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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
42 | // + In case of doubt please contact: info@MikroKopter.de |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
44 | // + clearly linked as origin |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <avr/io.h> |
57 | #include <avr/io.h> |
58 | #include <avr/interrupt.h> |
58 | #include <avr/interrupt.h> |
59 | #include <util/twi.h> |
59 | #include <util/twi.h> |
60 | #include "twislave.h" |
60 | #include "twislave.h" |
61 | #include "uart.h" |
61 | #include "uart.h" |
62 | #include "main.h" |
62 | #include "main.h" |
63 | #include "timer0.h" |
63 | #include "timer0.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | 65 | ||
66 | 66 | ||
67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
67 | volatile uint8_t I2C_RxBufferSize = 0, I2C_TxBufferSize = 0; |
68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
68 | volatile uint8_t *I2C_TxBuffer = 0, *I2C_RxBuffer = 0; |
69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
69 | volatile uint8_t Tx_Idx = 0, Rx_Idx = 0; |
70 | 70 | ||
71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
71 | volatile uint8_t I2C_PrimRxBuffer[10]; |
72 | 72 | ||
73 | uint8_t NC_Connected = 0; |
73 | uint8_t NC_Connected = 0; |
74 | struct I2C_Heading_t I2C_Heading; |
74 | I2C_Heading_t I2C_Heading; |
75 | struct I2C_WriteAttitude_t I2C_WriteAttitude; |
75 | I2C_WriteAttitude_t I2C_WriteAttitude; |
76 | struct I2C_Mag_t I2C_Mag; |
76 | I2C_Mag_t I2C_Mag; |
77 | struct I2C_Version_t I2C_Version; |
77 | I2C_Version_t I2C_Version; |
78 | struct I2C_WriteCal_t I2C_WriteCal; |
78 | I2C_WriteCal_t I2C_WriteCal; |
79 | 79 | ||
80 | 80 | ||
81 | void I2C_Init(void) |
81 | void I2C_Init(void) |
82 | { |
82 | { |
83 | 83 | ||
84 | uint8_t sreg; |
84 | uint8_t sreg; |
85 | 85 | ||
86 | // backup status register |
86 | // backup status register |
87 | sreg = SREG; |
87 | sreg = SREG; |
88 | // disable global interrupts |
88 | // disable global interrupts |
89 | cli(); |
89 | cli(); |
90 | 90 | ||
91 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
91 | // SCK/SCL and MISO/SDA are at put together on the same connector pin in the schematic |
92 | 92 | ||
93 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
93 | // set PB4 (SCK) and PB5 (MISO) as input pull up |
94 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
94 | DDRB &= ~((1<<DDB4)|(1<<DDB5)); |
95 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
95 | PORTB |= ((1<<PORTB4)|(1<<PORTB5)); |
96 | 96 | ||
97 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
97 | // set PC4 (SDA) and PC5 (SCL) as input tristate |
98 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
98 | DDRC &= ~((1<<DDC4)|(1<<DDC5)); |
99 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
99 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
100 | 100 | ||
101 | I2C_TxBuffer = 0; |
101 | I2C_TxBuffer = 0; |
102 | Tx_Idx = 0; |
102 | Tx_Idx = 0; |
103 | I2C_TxBufferSize = 0; |
103 | I2C_TxBufferSize = 0; |
104 | I2C_RxBuffer = 0; |
104 | I2C_RxBuffer = 0; |
105 | Rx_Idx = 0; |
105 | Rx_Idx = 0; |
106 | I2C_RxBufferSize = 0; |
106 | I2C_RxBufferSize = 0; |
107 | 107 | ||
108 | 108 | ||
109 | 109 | ||
110 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
110 | TWCR &= ~(1<<TWSTA)|(1<<TWSTO); |
111 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
111 | TWCR|= (1<<TWEA) | (1<<TWEN)|(1<<TWIE); |
112 | 112 | ||
113 | // set own address |
113 | // set own address |
114 | // set own address in the upper 7 bits |
114 | // set own address in the upper 7 bits |
115 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
115 | TWAR = I2C_SLAVE_ADDRESS; // set own address only the upper 7 bits are relevant |
116 | // TWI Control Register |
116 | // TWI Control Register |
117 | // enable TWI Acknowledge Bit (TWEA = 1) |
117 | // enable TWI Acknowledge Bit (TWEA = 1) |
118 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
118 | // disable TWI START Condition Bit (TWSTA = 0), SLAVE |
119 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
119 | // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE |
120 | // enable TWI (TWEN = 1) |
120 | // enable TWI (TWEN = 1) |
121 | // enable TWI Interrupt (TWIE = 1) |
121 | // enable TWI Interrupt (TWIE = 1) |
122 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
122 | TWCR |= (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC); |
123 | // update version info |
123 | // update version info |
124 | I2C_Version.Major = VERSION_MAJOR; |
124 | I2C_Version.Major = VERSION_MAJOR; |
125 | I2C_Version.Minor = VERSION_MINOR; |
125 | I2C_Version.Minor = VERSION_MINOR; |
126 | I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
126 | I2C_Version.Compatible = I2C_PROTOCOL_COMP; |
127 | 127 | ||
128 | // resore status register |
128 | // resore status register |
129 | SREG = sreg; |
129 | SREG = sreg; |
130 | } |
130 | } |
131 | 131 | ||
132 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
132 | // send ACK after recieving a byte / ACK is expected after transmitting a byte |
133 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
133 | #define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
134 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
134 | // send no ACK after recieving a byte / No ACK is expected after transmitting a byte |
135 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
135 | #define TWCR_NACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(0<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
136 | // switched to the non adressed slave mode |
136 | // switched to the non adressed slave mode |
137 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
137 | #define TWCR_RESET TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC) |
138 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
138 | // The bit pattern for TWCR_ACK and TWCR_RESET are equal. This is no errro but used for better understanding. |
139 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
139 | #define TWCR_CLEARBUS TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(1<<TWSTO)|(0<<TWWC) |
140 | 140 | ||
141 | ISR (TWI_vect) |
141 | ISR (TWI_vect) |
142 | { |
142 | { |
143 | uint8_t data; |
143 | uint8_t data; |
144 | static uint8_t crc; |
144 | static uint8_t crc; |
145 | // check event |
145 | // check event |
146 | switch (TW_STATUS) |
146 | switch (TW_STATUS) |
147 | { |
147 | { |
148 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
148 | case TW_SR_SLA_ACK: // slave addressed in receiver mode and ack has been returned |
149 | Rx_Idx = 0xFF; // reset rx buffer pointer |
149 | Rx_Idx = 0xFF; // reset rx buffer pointer |
150 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
150 | TWCR_ACK; // trigger receiving of first data byte and send ack afterwards |
151 | return; |
151 | return; |
152 | 152 | ||
153 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
153 | case TW_SR_DATA_ACK: // data has been received and ack has been returned |
154 | data = TWDR; |
154 | data = TWDR; |
155 | if (Rx_Idx == 0xFF) |
155 | if (Rx_Idx == 0xFF) |
156 | { // if the fisrt byte after slave addressing was received |
156 | { // if the fisrt byte after slave addressing was received |
157 | switch(data) |
157 | switch(data) |
158 | { |
158 | { |
159 | case I2C_CMD_VERSION: |
159 | case I2C_CMD_VERSION: |
160 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
160 | I2C_TxBuffer = (uint8_t *)&I2C_Version; |
161 | I2C_TxBufferSize = sizeof(I2C_Version); |
161 | I2C_TxBufferSize = sizeof(I2C_Version); |
162 | I2C_RxBuffer = 0; |
162 | I2C_RxBuffer = 0; |
163 | I2C_RxBufferSize = 0; |
163 | I2C_RxBufferSize = 0; |
164 | break; |
164 | break; |
165 | 165 | ||
166 | case I2C_CMD_WRITE_CAL: |
166 | case I2C_CMD_WRITE_CAL: |
167 | I2C_TxBuffer = 0; |
167 | I2C_TxBuffer = 0; |
168 | I2C_TxBufferSize = 0; |
168 | I2C_TxBufferSize = 0; |
169 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
169 | I2C_RxBuffer = (uint8_t *)&I2C_WriteCal; |
170 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
170 | I2C_RxBufferSize = sizeof(I2C_WriteCal); |
171 | break; |
171 | break; |
172 | 172 | ||
173 | case I2C_CMD_READ_MAG: |
173 | case I2C_CMD_READ_MAG: |
174 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
174 | I2C_TxBuffer = (uint8_t *)&I2C_Mag; |
175 | I2C_TxBufferSize = sizeof(I2C_Mag); |
175 | I2C_TxBufferSize = sizeof(I2C_Mag); |
176 | I2C_RxBuffer = 0; |
176 | I2C_RxBuffer = 0; |
177 | I2C_RxBufferSize = 0; |
177 | I2C_RxBufferSize = 0; |
178 | 178 | ||
179 | I2C_Mag.MagX = MagX; |
179 | I2C_Mag.MagX = MagX; |
180 | I2C_Mag.MagY = MagY; |
180 | I2C_Mag.MagY = MagY; |
181 | I2C_Mag.MagZ = MagZ; |
181 | I2C_Mag.MagZ = MagZ; |
182 | break; |
182 | break; |
183 | 183 | ||
184 | case I2C_CMD_READ_HEADING: |
184 | case I2C_CMD_READ_HEADING: |
185 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
185 | I2C_TxBuffer = (uint8_t *)&I2C_Heading; |
186 | I2C_TxBufferSize = sizeof(I2C_Heading); |
186 | I2C_TxBufferSize = sizeof(I2C_Heading); |
187 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
187 | I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude; |
188 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
188 | I2C_RxBufferSize = sizeof(I2C_WriteAttitude); |
189 | I2C_Heading.Heading = Heading; |
189 | I2C_Heading.Heading = Heading; |
190 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
190 | AttitudeSource = ATTITUDE_SOURCE_I2C; |
191 | Orientation = ORIENTATION_NC; |
191 | Orientation = ORIENTATION_NC; |
192 | NC_Connected = 255; |
192 | NC_Connected = 255; |
193 | break; |
193 | break; |
194 | default: // unknown command id |
194 | default: // unknown command id |
195 | I2C_RxBuffer = 0; |
195 | I2C_RxBuffer = 0; |
196 | I2C_RxBufferSize = 0; |
196 | I2C_RxBufferSize = 0; |
197 | I2C_TxBuffer = 0; |
197 | I2C_TxBuffer = 0; |
198 | I2C_TxBufferSize = 0; |
198 | I2C_TxBufferSize = 0; |
199 | break; |
199 | break; |
200 | } |
200 | } |
201 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
201 | Rx_Idx = 0; // set rx buffer index to start of the buffer |
202 | crc = data; |
202 | crc = data; |
203 | } |
203 | } |
204 | else // Rx_Idx != 0xFF |
204 | else // Rx_Idx != 0xFF |
205 | { |
205 | { |
206 | // fill receiver buffer with the byte that has been received |
206 | // fill receiver buffer with the byte that has been received |
207 | // if buffer exist and there is still some free space |
207 | // if buffer exist and there is still some free space |
208 | if(Rx_Idx < I2C_RxBufferSize) |
208 | if(Rx_Idx < I2C_RxBufferSize) |
209 | { |
209 | { |
210 | I2C_PrimRxBuffer[Rx_Idx] = data; |
210 | I2C_PrimRxBuffer[Rx_Idx] = data; |
211 | crc += data; |
211 | crc += data; |
212 | } |
212 | } |
213 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
213 | else if (Rx_Idx == I2C_RxBufferSize) // crc byte was transfered |
214 | { // if checksum matched |
214 | { // if checksum matched |
215 | if(crc == data) |
215 | if(crc == data) |
216 | { // and RxBuffer exist |
216 | { // and RxBuffer exist |
217 | if(I2C_RxBuffer != 0) |
217 | if(I2C_RxBuffer != 0) |
218 | { // copy data to rx buffer |
218 | { // copy data to rx buffer |
219 | for(data = 0; data < I2C_RxBufferSize; data++) |
219 | for(data = 0; data < I2C_RxBufferSize; data++) |
220 | { |
220 | { |
221 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
221 | I2C_RxBuffer[data] = I2C_PrimRxBuffer[data]; |
222 | } |
222 | } |
223 | } |
223 | } |
224 | DebugOut.Analog[31]++; |
224 | DebugOut.Analog[31]++; |
225 | } |
225 | } |
226 | else |
226 | else |
227 | { |
227 | { |
228 | DebugOut.Analog[30]++; |
228 | DebugOut.Analog[30]++; |
229 | } |
229 | } |
230 | } |
230 | } |
231 | // else ignore data |
231 | // else ignore data |
232 | Rx_Idx++; |
232 | Rx_Idx++; |
233 | } |
233 | } |
234 | TWCR_ACK; |
234 | TWCR_ACK; |
235 | return; |
235 | return; |
236 | 236 | ||
237 | case TW_ST_SLA_ACK: // slave transmitter selected |
237 | case TW_ST_SLA_ACK: // slave transmitter selected |
238 | // reset index to start of tx buffer |
238 | // reset index to start of tx buffer |
239 | Tx_Idx = 0; |
239 | Tx_Idx = 0; |
240 | crc = 0; |
240 | crc = 0; |
241 | // if tx buffer exist and there is at least one byte to transfer |
241 | // if tx buffer exist and there is at least one byte to transfer |
242 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
242 | if((I2C_TxBuffer != 0) && (I2C_TxBufferSize > 1)) |
243 | { |
243 | { |
244 | data = I2C_TxBuffer[Tx_Idx]; |
244 | data = I2C_TxBuffer[Tx_Idx]; |
245 | 245 | ||
246 | } |
246 | } |
247 | else |
247 | else |
248 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
248 | { // send 0x00 if no tx buffer exist or all bytes of the tx buffer have been transmitted |
249 | data = 0x00; |
249 | data = 0x00; |
250 | } |
250 | } |
251 | crc += data; |
251 | crc += data; |
252 | Tx_Idx++; |
252 | Tx_Idx++; |
253 | TWDR = data; |
253 | TWDR = data; |
254 | TWCR_ACK; |
254 | TWCR_ACK; |
255 | return; |
255 | return; |
256 | 256 | ||
257 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
257 | case TW_ST_DATA_ACK: // data byte has been transmitted ack has been received |
258 | // put next byte from tx buffer to the data register |
258 | // put next byte from tx buffer to the data register |
259 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
259 | if((I2C_TxBuffer != 0) && (Tx_Idx < I2C_TxBufferSize)) |
260 | { |
260 | { |
261 | data = I2C_TxBuffer[Tx_Idx]; |
261 | data = I2C_TxBuffer[Tx_Idx]; |
262 | crc += data; |
262 | crc += data; |
263 | } |
263 | } |
264 | else if (Tx_Idx == I2C_TxBufferSize) |
264 | else if (Tx_Idx == I2C_TxBufferSize) |
265 | { // send crc byte at the end |
265 | { // send crc byte at the end |
266 | data = crc; |
266 | data = crc; |
267 | } |
267 | } |
268 | else |
268 | else |
269 | { |
269 | { |
270 | data = 0x00; |
270 | data = 0x00; |
271 | } |
271 | } |
272 | Tx_Idx++; |
272 | Tx_Idx++; |
273 | TWDR = data; |
273 | TWDR = data; |
274 | TWCR_ACK; |
274 | TWCR_ACK; |
275 | return; |
275 | return; |
276 | 276 | ||
277 | case TW_BUS_ERROR: // Bus-Error |
277 | case TW_BUS_ERROR: // Bus-Error |
278 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
278 | TWCR_CLEARBUS; // free bus, reset to nonselected slave |
279 | return; |
279 | return; |
280 | 280 | ||
281 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
281 | case TW_ST_DATA_NACK: // data transmitted, NACK received |
282 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
282 | case TW_ST_LAST_DATA: // last data byte transmitted, ACK received |
283 | case TW_SR_STOP: // stop or repeated start condition received while selected |
283 | case TW_SR_STOP: // stop or repeated start condition received while selected |
284 | default: |
284 | default: |
285 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
285 | TWCR_RESET; // switch to the not addressed slave mode, own SLA will be recognized |
286 | return; |
286 | return; |
287 | } |
287 | } |
288 | } |
288 | } |
289 | 289 | ||
290 | 290 | ||
291 | 291 |