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| Rev 470 | Rev 482 | ||
|---|---|---|---|
| Line 55... | Line 55... | ||
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | #include <stdio.h> |
56 | #include <stdio.h> |
| 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 "i2c1.h" |
- | |
| 61 | #include "i2c0.h" |
60 | #include "i2c.h" |
| 62 | #include "timer1.h" |
61 | #include "timer1.h" |
| 63 | #include "led.h" |
62 | #include "led.h" |
| 64 | #include "main.h" |
63 | #include "main.h" |
| 65 | #include "uart1.h" |
64 | #include "uart1.h" |
| 66 | #include "compass.h" |
65 | #include "compass.h" |
| Line 172... | Line 171... | ||
| 172 | 171 | ||
| 173 | // use I2C1 for communication |
172 | // use I2C1 for communication |
| 174 | void MK3MAG_SendCommand(u8 command) |
173 | void MK3MAG_SendCommand(u8 command) |
| 175 | { |
174 | { |
| 176 | // try to catch the I2C buffer |
175 | // try to catch the I2C buffer |
| 177 | if(I2C1_LockBuffer(0)) |
176 | if(I2CBus_LockBuffer(I2C1, 0)) |
| - | 177 | { |
|
| 178 | { |
178 | u8 TxData[100]; |
| 179 | u16 TxBytes = 0; |
179 | u16 TxBytes = 0; |
| 180 | u16 RxBytes = 0; |
180 | u16 RxBytes = 0; |
| Line 181... | Line 181... | ||
| 181 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
181 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
| 182 | 182 | ||
| Line 183... | Line 183... | ||
| 183 | // update current command id |
183 | // update current command id |
| 184 | I2C1_Buffer[TxBytes++] = command; |
184 | TxData[TxBytes++] = command; |
| 185 | 185 | ||
| 186 | // set pointers to data area with respect to the command id |
186 | // set pointers to data area with respect to the command id |
| Line 191... | Line 191... | ||
| 191 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
191 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
| 192 | break; |
192 | break; |
| 193 | case MK3MAG_CMD_WRITE_CAL: |
193 | case MK3MAG_CMD_WRITE_CAL: |
| 194 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
194 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
| 195 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
195 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
| 196 | memcpy((u8*)I2C1_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
196 | memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
| 197 | TxBytes += sizeof(MK3MAG_WriteCal); |
197 | TxBytes += sizeof(MK3MAG_WriteCal); |
| 198 | break; |
198 | break; |
| 199 | case MK3MAG_CMD_READ_MAGVECT: |
199 | case MK3MAG_CMD_READ_MAGVECT: |
| 200 | RxBytes = sizeof(MagVector)+1; |
200 | RxBytes = sizeof(MagVector)+1; |
| 201 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
201 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
| Line 204... | Line 204... | ||
| 204 | RxBytes = 0; |
204 | RxBytes = 0; |
| 205 | pRxHandlerFunc = NULL; |
205 | pRxHandlerFunc = NULL; |
| 206 | break; |
206 | break; |
| 207 | } |
207 | } |
| 208 | // update packet checksum |
208 | // update packet checksum |
| 209 | I2C1_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C1_Buffer, TxBytes); |
209 | TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes); |
| 210 | TxBytes++; |
210 | TxBytes++; |
| 211 | // initiate I2C transmission |
211 | // initiate I2C transmission |
| 212 | I2C1_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
212 | I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes); |
| 213 | } // EOF I2C_State == I2C_IDLE |
213 | } // EOF I2C_State == I2C_IDLE |
| 214 | } |
214 | } |
| Line 215... | Line 215... | ||
| 215 | 215 | ||
| 216 | 216 | ||
| 217 | //---------------------------------------------------------------- |
217 | //---------------------------------------------------------------- |
| 218 | u8 MK3MAG_Init(void) |
- | |
| 219 | { |
- | |
| 220 | u8 msg[64]; |
- | |
| 221 | u8 repeat; |
- | |
| 222 | u32 timeout; |
- | |
| 223 | - | ||
| 224 | MK3MAG_Present = 0; |
- | |
| 225 | - | ||
| 226 | MK3MAG_Version.Major = 0xFF; |
- | |
| 227 | MK3MAG_Version.Minor = 0xFF; |
218 | u8 MK3MAG_Init(void) |
| 228 | MK3MAG_Version.Patch = 0xFF; |
- | |
| 229 | MK3MAG_Version.Compatible = 0xFF; |
- | |
| 230 | - | ||
| 231 | Compass_Heading = -1; |
- | |
| 232 | - | ||
| 233 | // polling of version info |
- | |
| 234 | repeat = 0; |
219 | { |
| - | 220 | if(MK3MAG_Present) // do only short init ! , full init was called before |
|
| - | 221 | { |
|
| - | 222 | // try reconnect by reseting the I2C bus |
|
| - | 223 | I2CBus_Deinit(I2C1); |
|
| - | 224 | I2CBus_Init(I2C1); |
|
| - | 225 | } |
|
| - | 226 | else // full init |
|
| - | 227 | { |
|
| - | 228 | u8 msg[64]; |
|
| - | 229 | u8 repeat; |
|
| - | 230 | u32 timeout; |
|
| - | 231 | ||
| - | 232 | Compass_I2CPort = I2C1; |
|
| 235 | do |
233 | MK3MAG_Present = 0; |
| 236 | { |
234 | |
| - | 235 | MK3MAG_Version.Major = 0xFF; |
|
| 237 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
236 | MK3MAG_Version.Minor = 0xFF; |
| 238 | if(Version_HW > 11) timeout = SetDelay(100); |
237 | MK3MAG_Version.Patch = 0xFF; |
| - | 238 | MK3MAG_Version.Compatible = 0xFF; |
|
| - | 239 | ||
| 239 | else timeout = SetDelay(250); |
240 | // polling of version info |
| 240 | 241 | repeat = 0; |
|
| - | 242 | do |
|
| - | 243 | { |
|
| - | 244 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
|
| - | 245 | if(Version_HW > 11) timeout = SetDelay(100); |
|
| - | 246 | else timeout = SetDelay(250); |
|
| - | 247 | ||
| 241 | do |
248 | do |
| 242 | { |
249 | { |
| 243 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
250 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
| 244 | }while (!CheckDelay(timeout)); |
251 | }while (!CheckDelay(timeout)); |
| 245 | UART1_PutString("."); |
252 | UART1_PutString("."); |
| 246 | repeat++; |
253 | repeat++; |
| 247 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
254 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
| 248 | // if we got it |
- | |
| 249 | if (MK3MAG_Version.Major != 0xFF) |
- | |
| 250 | { |
- | |
| 251 | sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
- | |
| 252 | UART1_PutString(msg); |
255 | // if we got it |
| - | 256 | if (MK3MAG_Version.Major != 0xFF) |
|
| - | 257 | { |
|
| - | 258 | sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
|
| - | 259 | UART1_PutString(msg); |
|
| 253 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
260 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 254 | { |
261 | { |
| 255 | UART1_PutString("\n\r MK3MAG not compatible!"); |
262 | UART1_PutString("\n\r MK3MAG not compatible!"); |
| 256 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
263 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
| 257 | LED_RED_ON; |
264 | LED_RED_ON; |
| 258 | } |
265 | } |
| 259 | else |
266 | else |
| - | 267 | { // version ok |
|
| 260 | { // version ok |
268 | MK3MAG_Present = 1; |
| 261 | MK3MAG_Present = 1; |
269 | } |
| 262 | } |
270 | } |
| 263 | } |
271 | } |
| Line 271... | Line 279... | ||
| 271 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
279 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
| 272 | static u8 last_state,speak = 0; |
280 | static u8 last_state,speak = 0; |
| 273 | u8 msg[64]; |
281 | u8 msg[64]; |
| 274 | u16 MinCaclibration = 500; |
282 | u16 MinCaclibration = 500; |
| Line 275... | Line 283... | ||
| 275 | 283 | ||
| Line 276... | Line 284... | ||
| 276 | if( (I2C1_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
284 | if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !MK3MAG_Present ) return; |
| 277 | 285 | ||
| 278 | if(CheckDelay(TimerUpdate)) |
286 | if(CheckDelay(TimerUpdate)) |
| 279 | { |
287 | { |