WebSVN - NaviCtrl - Diff - Rev 241 and 242


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "mk3mag.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "spi_slave.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
 
#define MK3MAG_SLAVE_ADDRESS            0x50  // i2C slave address
 
u8 MK3MAG_Present = 0;
 
typedef struct
{
  s16 Nick;
  s16 Roll;
} __attribute__((packed)) MK3MAG_WriteAttitude_t;
 
 
 
// Transfer buffers
volatile MK3MAG_WriteAttitude_t         MK3MAG_WriteAttitude;
volatile MK3MAG_Version_t                       MK3MAG_Version;
volatile MK3MAG_Cal_t                           MK3MAG_WriteCal;
volatile MK3MAG_Cal_t                           MK3MAG_ReadCal;
 
 
 
 
 
 
 
 
 
 
 
 
// -------------------------------------------------------------------------------
// the calculation of the MK3MAG packet checksum
 
// calculate the crc of  bytecount bytes in buffer
u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
{
        u8 i, crc = 0;
        for(i=0; i < bytecount; i++)
        {
                crc += pBuffer[i];
        }
        crc = ~crc;
        return crc;
}
 
// assuming the last byte in buffer is the crc byte
u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
{
        u8 crc = 0, retval = 0;
        if(BuffLen == 0) return(retval);
        crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
        if(crc == pBuffer[BuffLen-1])
        {
                retval = 1;
                DebugOut.Analog[15]++; // count mk3mag ok
        }
        else
        {
                retval = 0;
                DebugOut.Analog[14]++; // count mk3mag crc error
        }
        return(retval);
}
 
// -------------------------------------------------------------------------------
// the I2C rx data handler functions
 
// rx data handler for version info request
void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
        {
                memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
        }                
}
 
// rx data handler for calibration request
void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
        {
                memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
        }                        
}
 
// rx data handler for magnetic vector request
void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
        {
                memcpy((u8 *)&MagVector, pRxBuffer, sizeof(MagVector));
        }                        
}
 
// rx data handler for heading request
void MK3MAG_UpdateHeading(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(CompassHeading)+1)) )
        {
                memcpy((u8 *)&CompassHeading, pRxBuffer, sizeof(CompassHeading));
        }                        
}
 
//----------------------------------------------------------------
void MK3MAG_SendCommand(u8 command)
{
 
 
        // If I2C no transmission is in progress
        if(I2C_State == I2C_STATE_IDLE)
        {
                I2C_TxBufferSize = 0;
                I2C_pRxHandler_t pRxHandlerFunc = NULL;
                u8 RxBytes = 0;
 
                // update current command id
                I2C_TxBuffer[I2C_TxBufferSize++] = command;
 
                // set pointers to data area with respect to the command id
                switch (command)
                {
                        case MK3MAG_CMD_VERSION:
                                RxBytes = sizeof(MK3MAG_Version)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateVersion;
                                break;
                        case MK3MAG_CMD_WRITE_CAL:
                                RxBytes = sizeof(MK3MAG_ReadCal)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateCalibration;
                                memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
                                I2C_TxBufferSize += sizeof(MK3MAG_WriteCal);
                                break;
                        case MK3MAG_CMD_READ_MAGVECT:
                                RxBytes = sizeof(MagVector)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateMagVector;
                                break;
                        case MK3MAG_CMD_READ_HEADING:
                                RxBytes = sizeof(CompassHeading)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateHeading;
                                // update attitude from spi rx buffer
                                VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy
                                MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
                                MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
                                VIC_ITCmd(SSP0_ITLine, ENABLE);
                                memcpy((u8*)I2C_TxBuffer+1, (u8*)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude));
                                I2C_TxBufferSize += sizeof(MK3MAG_WriteAttitude);
                                break;
                        default: // unknown command id
                                RxBytes = 0;
                                pRxHandlerFunc = NULL;
                                break;
                }
                // update packet checksum
                I2C_TxBuffer[I2C_TxBufferSize] = MK3MAG_CalcCRC((u8*)I2C_TxBuffer, I2C_TxBufferSize);
                I2C_TxBufferSize++;
 
 
                // initiate I2C transmission
                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, pRxHandlerFunc, RxBytes);
        } // EOF I2C_State == I2C_IDLE  
 
 
 
 
 
}
 
 
//----------------------------------------------------------------
u8 MK3MAG_Init(void)
{
        u8 msg[64];
        u8 repeat;
        u32 timeout;
 
 
       
        MK3MAG_Present = 0;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
 
        CompassHeading = -1;
 
        // polling of version info
        repeat = 0;
        do
        {
                MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
                timeout = SetDelay(250);
                do
                {
                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                }while (!CheckDelay(timeout));
                UART1_PutString(".");
                repeat++;
        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
        // if we got it
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
 
 
                UART1_PutString(msg);
                if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
                {
                        UART1_PutString("\n\r MK3MAG not compatible!");
                        LED_RED_ON;
                }
                else
                {       // version ok
                        MK3MAG_Present = 1;
                }
        }
        return(MK3MAG_Present);
 
 
}
 
//----------------------------------------------------------------
void MK3MAG_UpdateCompass(void)
{
        static u32 TimerCompassUpdate = 0;
 
        if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return;
       
        if(CheckDelay(TimerCompassUpdate))
        {
                // check for incomming compass calibration request
                // update CalByte from spi input queue
                fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));
                // send new calstate
                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
                {
                        MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
                }
                else // request current heading
                {
                        MK3MAG_SendCommand(MK3MAG_CMD_READ_HEADING);
                }
                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 

Rev 241	Rev 242
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
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 permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
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 <string.h>	57	#include <string.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "mk3mag.h"	59	#include "mk3mag.h"
60	#include "i2c.h"	60	#include "i2c.h"
61	#include "timer1.h"	61	#include "timer1.h"
-		62	#include "led.h"
62	#include "spi_slave.h"	63	#include "spi_slave.h"
63	#include "main.h"	64	#include "main.h"
64	#include "uart1.h"	65	#include "uart1.h"
-		66	#include "compass.h"
65		67
66	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address	68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address
67		69
-		70	u8 MK3MAG_Present = 0;
-		71
-		72	typedef struct
-		73	{
-		74	s16 Nick;
-		75	s16 Roll;
68	u8 MK3MAG_StopPolling = 1;	76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;
69		-
70	// Transfer buffers	77
71	volatile MK3MAG_Heading_t MK3MAG_Heading;	-
72	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;	78	// Transfer buffers
73	volatile MK3MAG_MagVector_t MK3MAG_MagVector;	79	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;
74	volatile MK3MAG_Version_t MK3MAG_Version;	80	volatile MK3MAG_Version_t MK3MAG_Version;
75	volatile MK3MAG_Cal_t MK3MAG_WriteCal;	81	volatile MK3MAG_Cal_t MK3MAG_WriteCal;
76	volatile MK3MAG_Cal_t MK3MAG_ReadCal;	82	volatile MK3MAG_Cal_t MK3MAG_ReadCal;
77		-
78		-
79		-
80	void MK3MAG_Init(void)	-
81	{	-
82	MK3MAG_Version.Major = 0xFF;	-
83	MK3MAG_Version.Minor = 0xFF;	-
84	MK3MAG_Version.Patch = 0xFF;	-
85	MK3MAG_Version.Compatible = 0xFF;	-
86		-
87	MK3MAG_Heading.Heading = -1;	-
88	}	83
89	// -------------------------------------------------------------------------------	84	// -------------------------------------------------------------------------------
90	// the calculation of the MK3MAG packet checksum	85	// the calculation of the MK3MAG packet checksum
91		86
92	// calculate the crc of bytecount bytes in buffer	87	// calculate the crc of bytecount bytes in buffer
93	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)	88	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
94	{	89	{
95	u8 i, crc = 0;	90	u8 i, crc = 0;
96	for(i=0; i < bytecount; i++)	91	for(i=0; i < bytecount; i++)
97	{	92	{
98	crc += pBuffer[i];	93	crc += pBuffer[i];
99	}	94	}
100	crc = ~crc;	95	crc = ~crc;
101	return crc;	96	return crc;
102	}	97	}
103		98
104	// assuming the last byte in buffer is the crc byte	99	// assuming the last byte in buffer is the crc byte
105	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)	100	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
106	{	101	{
107	u8 crc = 0, retval = 0;	102	u8 crc = 0, retval = 0;
108	if(BuffLen == 0) return(retval);	103	if(BuffLen == 0) return(retval);
109	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);	104	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
110	if(crc == pBuffer[BuffLen-1])	105	if(crc == pBuffer[BuffLen-1])
111	{	106	{
112	retval = 1;	107	retval = 1;
113	DebugOut.Analog[15]++; // count mk3mag ok	108	DebugOut.Analog[15]++; // count mk3mag ok
114	}	109	}
115	else	110	else
116	{	111	{
117	retval = 0;	112	retval = 0;
118	DebugOut.Analog[14]++; // count mk3mag crc error	113	DebugOut.Analog[14]++; // count mk3mag crc error
119	}	114	}
120	return(retval);	115	return(retval);
121	}	116	}
122		117
123	// -------------------------------------------------------------------------------	118	// -------------------------------------------------------------------------------
124	// the I2C rx data handler functions	119	// the I2C rx data handler functions
125		120
126	// rx data handler for version info request	121	// rx data handler for version info request
127	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)	122	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
128	{ // if crc is ok and number of byte are matching	123	{ // if crc is ok and number of byte are matching
129	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )	124	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
130	{	125	{
131	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));	126	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
132	}	127	}
133	}	128	}
134		129
135	// rx data handler for calibration request	130	// rx data handler for calibration request
136	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)	131	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
137	{ // if crc is ok and number of byte are matching	132	{ // if crc is ok and number of byte are matching
138	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )	133	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
139	{	134	{
140	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));	135	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
141	}	136	}
142	}	137	}
143		138
144	// rx data handler for magnetic vector request	139	// rx data handler for magnetic vector request
145	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	140	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
146	{ // if crc is ok and number of byte are matching	141	{ // if crc is ok and number of byte are matching
147	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_MagVector)+1)) )	142	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
148	{	143	{
149	memcpy((u8 *)&MK3MAG_MagVector, pRxBuffer, sizeof(MK3MAG_MagVector));	144	memcpy((u8 *)&MagVector, pRxBuffer, sizeof(MagVector));
150	}	145	}
151	}	146	}
152		147
153	// rx data handler for heading request	148	// rx data handler for heading request
154	void MK3MAG_UpdateHeading(u8* pRxBuffer, u8 RxBufferSize)	149	void MK3MAG_UpdateHeading(u8* pRxBuffer, u8 RxBufferSize)
155	{ // if crc is ok and number of byte are matching	150	{ // if crc is ok and number of byte are matching
156	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Heading)+1)) )	151	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(CompassHeading)+1)) )
157	{	152	{
158	memcpy((u8 *)&MK3MAG_Heading, pRxBuffer, sizeof(MK3MAG_Heading));	153	memcpy((u8 *)&CompassHeading, pRxBuffer, sizeof(CompassHeading));
159	}	154	}
160	}	155	}
161		156
162	//----------------------------------------------------------------	157	//----------------------------------------------------------------
163	void MK3MAG_SendCommand(u8 command)	158	void MK3MAG_SendCommand(u8 command)
164	{	159	{
165	// disable I2C IRQ to check state	-
166	//VIC_ITCmd(I2C1_ITLine, DISABLE);	-
167	// If I2C no transmission is in progress	160	// If I2C no transmission is in progress
168	if(I2C_State == I2C_STATE_IDLE)	161	if(I2C_State == I2C_STATE_IDLE)
169	{	162	{
170	I2C_TxBufferSize = 0;	163	I2C_TxBufferSize = 0;
171	I2C_pRxHandler_t pRxHandlerFunc = NULL;	164	I2C_pRxHandler_t pRxHandlerFunc = NULL;
172	u8 RxBytes = 0;	165	u8 RxBytes = 0;
173		166
174	// update current command id	167	// update current command id
175	I2C_TxBuffer[I2C_TxBufferSize++] = command;	168	I2C_TxBuffer[I2C_TxBufferSize++] = command;
176		169
177	// set pointers to data area with respect to the command id	170	// set pointers to data area with respect to the command id
178	switch (command)	171	switch (command)
179	{	172	{
180	case MK3MAG_CMD_VERSION:	173	case MK3MAG_CMD_VERSION:
181	RxBytes = sizeof(MK3MAG_Version)+1;	174	RxBytes = sizeof(MK3MAG_Version)+1;
182	pRxHandlerFunc = &MK3MAG_UpdateVersion;	175	pRxHandlerFunc = &MK3MAG_UpdateVersion;
183	break;	176	break;
184	case MK3MAG_CMD_WRITE_CAL:	177	case MK3MAG_CMD_WRITE_CAL:
185	RxBytes = sizeof(MK3MAG_ReadCal)+1;	178	RxBytes = sizeof(MK3MAG_ReadCal)+1;
186	pRxHandlerFunc = &MK3MAG_UpdateCalibration;	179	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
187	memcpy((u8)I2C_TxBuffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));	180	memcpy((u8)I2C_TxBuffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
188	I2C_TxBufferSize += sizeof(MK3MAG_WriteCal);	181	I2C_TxBufferSize += sizeof(MK3MAG_WriteCal);
189	break;	182	break;
190	case MK3MAG_CMD_READ_MAGVECT:	183	case MK3MAG_CMD_READ_MAGVECT:
191	RxBytes = sizeof(MK3MAG_MagVector)+1;	184	RxBytes = sizeof(MagVector)+1;
192	pRxHandlerFunc = &MK3MAG_UpdateMagVector;	185	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
193	break;	186	break;
194	case MK3MAG_CMD_READ_HEADING:	187	case MK3MAG_CMD_READ_HEADING:
195	RxBytes = sizeof(MK3MAG_Heading)+1;	188	RxBytes = sizeof(CompassHeading)+1;
196	pRxHandlerFunc = &MK3MAG_UpdateHeading;	189	pRxHandlerFunc = &MK3MAG_UpdateHeading;
197	// update attitude from spi rx buffer	190	// update attitude from spi rx buffer
198	VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy	191	VIC_ITCmd(SSP0_ITLine, DISABLE); // avoid spi buffer update during copy
199	MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;	192	MK3MAG_WriteAttitude.Roll = FromFlightCtrl.AngleRoll;
200	MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick;	193	MK3MAG_WriteAttitude.Nick = FromFlightCtrl.AngleNick;
201	VIC_ITCmd(SSP0_ITLine, ENABLE);	194	VIC_ITCmd(SSP0_ITLine, ENABLE);
202	memcpy((u8)I2C_TxBuffer+1, (u8)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude));	195	memcpy((u8)I2C_TxBuffer+1, (u8)&MK3MAG_WriteAttitude, sizeof(MK3MAG_WriteAttitude));
203	I2C_TxBufferSize += sizeof(MK3MAG_WriteAttitude);	196	I2C_TxBufferSize += sizeof(MK3MAG_WriteAttitude);
204	break;	197	break;
205	default: // unknown command id	198	default: // unknown command id
206	RxBytes = 0;	199	RxBytes = 0;
207	pRxHandlerFunc = NULL;	200	pRxHandlerFunc = NULL;
208	break;	201	break;
209	}	202	}
210	// update packet checksum	203	// update packet checksum
211	I2C_TxBuffer[I2C_TxBufferSize] = MK3MAG_CalcCRC((u8*)I2C_TxBuffer, I2C_TxBufferSize);	204	I2C_TxBuffer[I2C_TxBufferSize] = MK3MAG_CalcCRC((u8*)I2C_TxBuffer, I2C_TxBufferSize);
212	I2C_TxBufferSize++;	205	I2C_TxBufferSize++;
213	// enable I2C IRQ again	-
214	VIC_ITCmd(I2C1_ITLine, ENABLE);	-
215	// initiate I2C transmission	206	// initiate I2C transmission
216	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, pRxHandlerFunc, RxBytes);	207	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, pRxHandlerFunc, RxBytes);
217	} // EOF I2C_State == I2C_IDLE	208	} // EOF I2C_State == I2C_IDLE
218	else // I2C_State != I2C_IDLE	-
219	{	-
220	// re-enable I2C IRQ again	-
221	//VIC_ITCmd(I2C1_ITLine, ENABLE);	-
222	}	-
223	}	209	}
224		210
225		211
226	//----------------------------------------------------------------	212	//----------------------------------------------------------------
227	void MK3MAG_GetVersion(void)	213	u8 MK3MAG_Init(void)
228	{	214	{
229	u8 msg[64];	215	u8 msg[64];
230	u8 repeat;	216	u8 repeat;
231	u32 timeout;	217	u32 timeout;
232		-
233	UART1_PutString("\r\n Getting Version from MK3MAG");	-
234	// stop polling of other commands	218
235	MK3MAG_StopPolling = 1;	219	MK3MAG_Present = 0;
236		220
237	MK3MAG_Version.Major = 0xFF;	221	MK3MAG_Version.Major = 0xFF;
238	MK3MAG_Version.Minor = 0xFF;	222	MK3MAG_Version.Minor = 0xFF;
239	MK3MAG_Version.Patch = 0xFF;	223	MK3MAG_Version.Patch = 0xFF;
240	MK3MAG_Version.Compatible = 0xFF;	224	MK3MAG_Version.Compatible = 0xFF;
-		225
-		226	CompassHeading = -1;
-		227
241	// polling of version info	228	// polling of version info
242	repeat = 0;	229	repeat = 0;
243	do	230	do
244	{	231	{
245	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);	232	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
246	timeout = SetDelay(250);	233	timeout = SetDelay(250);
247	do	234	do
248	{	235	{
249	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	236	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
250	}while (!CheckDelay(timeout));	237	}while (!CheckDelay(timeout));
251	UART1_PutString(".");	238	UART1_PutString(".");
252	repeat++;	239	repeat++;
253	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	240	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
254	// if we got it	241	// if we got it
255	if (MK3MAG_Version.Major != 0xFF)	242	if (MK3MAG_Version.Major != 0xFF)
256	{	243	{
257	sprintf(msg, "\r\n MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	244	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
258	UART1_PutString(msg);	-
259	sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible);	-
260	UART1_PutString(msg);	245	UART1_PutString(msg);
-		246	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
-		247	{
-		248	UART1_PutString("\n\r MK3MAG not compatible!");
-		249	LED_RED_ON;
-		250	}
-		251	else
-		252	{ // version ok
-		253	MK3MAG_Present = 1;
-		254	}
261	}	255	}
262	else UART1_PutString("\n\r No version information from MK3Mag.");	256	return(MK3MAG_Present);
263		-
264	MK3MAG_StopPolling = 0; // enable polling of heading command	-
265	}	257	}
266		258
267	//----------------------------------------------------------------	259	//----------------------------------------------------------------
268	void MK3MAG_UpdateCompass(void)	260	void MK3MAG_UpdateCompass(void)
269	{	261	{
270	static u32 TimerCompassUpdate = 0;	262	static u32 TimerCompassUpdate = 0;
271		263
272	if( (I2C_State == I2C_STATE_OFF) \|\| MK3MAG_StopPolling ) return;	264	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;
273		265
274	if(CheckDelay(TimerCompassUpdate))	266	if(CheckDelay(TimerCompassUpdate))
275	{	267	{
276	// check for incomming compass calibration request	268	// check for incomming compass calibration request
277	// update CalByte from spi input queue	269	// update CalByte from spi input queue
278	fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));	270	fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));
279	// send new calstate	271	// send new calstate
280	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	272	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
281	{	273	{
282	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);	274	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
283	}	275	}
284	else // request current heading	276	else // request current heading
285	{	277	{
286	MK3MAG_SendCommand(MK3MAG_CMD_READ_HEADING);	278	MK3MAG_SendCommand(MK3MAG_CMD_READ_HEADING);
287	}	279	}
288	TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz	280	TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz
289	}	281	}
290	}	282	}
291		283

Subversion Repositories NaviCtrl

(root)/tags/V2.06b/mk3mag.c @ 782 - Rev 241 → 242