WebSVN - MK3Mag - Diff - Rev 18 and 19 - /branches/MK3Mag V0.14 Code Redesign Killagreg/twislave.c

 /*#######################################################################################
 MK3Mag 3D-Magnet sensor
 !!! THIS IS NOT FREE SOFTWARE !!!
 #######################################################################################*/
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 05.2008 Holger Buss
 // + Thanks to Ilja Fähnrich (P_Latzhalter)
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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.
 // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
 // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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.
 // +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
 // +   * 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 permittet
 // +     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
 // +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
 // +     In case of doubt please contact: info@MikroKopter.de
 // +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
 // +  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 <avr/io.h>
+#include <avr/interrupt.h>
 #include <util/twi.h>
+#include "twislave.h"
+#include "uart.h"
 #include "main.h"
+#include "timer0.h"
-unsigned char I2C_RxBufferSize, I2C_TxBufferSize;
-unsigned char *I2C_TxBuffer, *I2C_RxBuffer;
-unsigned char Tx_Idx=0, Rx_Idx=0, I2C_Direction;
-unsigned char I2C_Command;
+#define TWI_BUS_ERR_1   0x00
-unsigned char Tx_Idx, Rx_Idx;
-struct str_I2C_Heading       I2C_Heading;
-struct str_I2C_WriteNickRoll I2C_WriteNickRoll;
-struct str_I2C_Mag           I2C_Mag;
-struct str_I2C_EEPROM        I2C_ReadEEPROM, I2C_WriteEEPROM;
-struct str_I2C_Version       I2C_Version;
-struct str_I2C_WriteCal      I2C_WriteCal;
+#define TWI_BUS_ERR_2   0xF8
+// Status Slave RX Mode
+#define SR_SLA_ACK      0x60
+#define SR_LOST_ACK     0x68
+#define SR_GEN_CALL_ACK 0x70
+#define GEN_LOST_ACK    0x78
+#define SR_PREV_ACK     0x80
+#define SR_PREV_NACK    0x88
+#define GEN_PREV_ACK    0x90
+#define GEN_PREV_NACK   0x98
+#define STOP_CONDITION  0xA0
+#define REPEATED_START  0xA0
+// Status Slave TX mode
+#define SW_SLA_ACK      0xA8
+#define SW_LOST_ACK     0xB0
+#define SW_DATA_ACK     0xB8
+#define SW_DATA_NACK    0xC0
+#define SW_LAST_ACK     0xC8
+uint8_t I2C_RxBufferSize, I2C_TxBufferSize;
+uint8_t *I2C_TxBuffer, *I2C_RxBuffer;
+uint8_t Tx_Idx = 0, Rx_Idx = 0, I2C_Direction;
+uint8_t I2C_Command;
+I2C_Heading_t       I2C_Heading;
+I2C_WriteAttitude_t I2C_WriteAttitude;
+I2C_Mag_t           I2C_Mag;
+I2C_EEPROM_t        I2C_ReadEEPROM, I2C_WriteEEPROM;
+I2C_Version_t       I2C_Version;
+I2C_WriteCal_t      I2C_WriteCal;
-//############################################################################
+void I2C_Init(void)
+{
+        uint8_t sreg = SREG;
-//I2C (TWI) Interface Init
+        cli();
+        //SPI SCK/SCL and  MISO/SDA are at put together on the same connector pin in the schematic
+        // set PB4 (SCK) and PB5 (MISO) as input pull up
+        DDRB &= ~((1<<DDB4)|(1<<DDB5));
+        PORTB |= ((1<<PORTB4)|(1<<PORTB5));
+        // set PC4 (SDA) and PC5 (SCL) as input pull up
-void InitIC2_Slave(void)
+        DDRC &= ~((1<<DDC4)|(1<<DDC5));
+        PORTC |= ((1<<PORTC4)|(1<<PORTC5));
-//############################################################################
+         // set own address
+    TWAR = I2C_SLAVE_ADDRESS; // set own address
+        // TWI Control Register
+        // clear TWI interrupt flag (TWINT=1)
+        // enable TWI Acknowledge Bit (TWEA = 1)
+        // disable TWI START Condition Bit (TWSTA = 0), SLAVE
+        // disable TWI STOP Condition Bit (TWSTO = 0), SLAVE
+        // disable TWI Write Collision Flag (TWWC = 0)
         // enable i2c (TWEN = 1)
-    TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen
-    TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
+        // enable TWI Interrupt (TWIE = 1)
+    TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
+        // update version info
-        I2C_Version.Hauptversion = VersionInfo.Hauptversion;
+        I2C_Version.Major = VERSION_MAJOR;
-        I2C_Version.Nebenversion = VersionInfo.Nebenversion;
+        I2C_Version.Minor = VERSION_MINOR;
+        I2C_Version.Compatible = I2C_PROTOCOL_COMP;
         I2C_Version.Comp = 1;
+        SREG = sreg;
+}
-}
-#define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
-//############################################################################
-//ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet
+#define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
-//sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.
-ISR (TWI_vect)
+ISR (TWI_vect)
-//############################################################################
+{
-{
+        // check event
-    switch (TWSR & 0xF8)
+        switch (TWSR & 0xF8)
-        {
         case SR_SLA_ACK:
-            //TWCR |= (1<<TWINT);
-            Rx_Idx = 0;
+        case SR_SLA_ACK:
             Rx_Idx = 0;
-                        TWCR_ACK;
+                        TWCR_ACK;
             return;
-        // Daten Empfangen
-        case SR_PREV_ACK:
+        case SR_PREV_ACK: // data byte received
+                        if (Rx_Idx  == 0)
-                        if (Rx_Idx  == 0)
+                        {
-                        { I2C_Command = TWDR;
+                                I2C_Command = TWDR;
-                          switch(I2C_Command)
+                                switch(I2C_Command)
-                          {
+                                {
-                             case I2C_CMD_VERSION:
+                                        case I2C_CMD_VERSION:
-                                                I2C_TxBuffer = (unsigned char *)&I2C_Version;
+                                                I2C_TxBuffer = (uint8_t *)&I2C_Version;
                                                 I2C_TxBufferSize = sizeof(I2C_Version);
+                                                I2C_RxBufferSize = 0;
-                                                I2C_RxBufferSize = 0;
+                                                break;
                                 break;
-                                case I2C_CMD_WRITE_EEPROM:
+                                        case I2C_CMD_WRITE_EEPROM:
                                                 I2C_TxBufferSize = 0;
-                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM;
+                                                I2C_RxBuffer = (uint8_t *)&I2C_WriteEEPROM;
                                                 I2C_RxBufferSize = sizeof(I2C_WriteEEPROM);
-                                break;
+                                                break;
-                                case I2C_CMD_WRITE_CAL:
+                                        case I2C_CMD_WRITE_CAL:
                                                 I2C_TxBufferSize = 0;
-                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteCal;
+                                                I2C_RxBuffer = (uint8_t *)&I2C_WriteCal;
                                                 I2C_RxBufferSize = sizeof(I2C_WriteCal);
-                                break;
+                                                break;
-                                case I2C_CMD_READ_EEPROM:
+                                        case I2C_CMD_READ_EEPROM:
-                                                I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt;
+                                                I2C_TxBuffer = (uint8_t *)&I2C_ReadEEPROM.Content;
+                                                I2C_TxBufferSize = 2;
-                                                I2C_TxBufferSize = 2;
+                                                I2C_RxBuffer = (uint8_t *)&I2C_ReadEEPROM;
-                                                I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM;
+                                                I2C_RxBufferSize = 1;
-                                                I2C_RxBufferSize = 1;
+                                                break;
                                 break;
-                                case I2C_CMD_READ_MAG:
+                                        case I2C_CMD_READ_MAG:
-                                                I2C_TxBuffer = (unsigned char *)&I2C_Mag;
+                                                I2C_TxBuffer = (uint8_t *)&I2C_Mag;
                                                 I2C_TxBufferSize = sizeof(I2C_Mag);
                                                 I2C_RxBufferSize = 0;
+                                                I2C_Mag.MagX = MagnetX;
-                                                I2C_Mag.MagX = MagnetN;
-                                                I2C_Mag.MagY = MagnetR;
+                                                I2C_Mag.MagY = MagnetY;
                                                 I2C_Mag.MagZ = MagnetZ;
                                                 break;
-                                break;
-                                case I2C_CMD_READ_HEADING:
+                                        case I2C_CMD_READ_HEADING:
-                                                I2C_TxBuffer = (unsigned char *)&I2C_Heading;
+                                                I2C_TxBuffer = (uint8_t *)&I2C_Heading;
                                                 I2C_TxBufferSize = sizeof(I2C_Heading);
+                                                I2C_RxBuffer =  (uint8_t *)&I2C_WriteAttitude;
-                                                I2C_RxBuffer =  (unsigned char *)&I2C_WriteNickRoll;
+                                                I2C_RxBufferSize = sizeof(I2C_WriteAttitude);
-                                                I2C_RxBufferSize = sizeof(I2C_WriteNickRoll);
+                                                // update heading from global variable
+                                                I2C_Heading.Heading = Heading;
-                                                I2C_Heading.Heading = Heading;
+                                                // copy current attitude from I2C rx buffer to uart rx buffer (this is used for the calulation of the heading)
-                                                ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick;
+                                                ExternData.Attitude[NICK] = I2C_WriteAttitude.Nick;
-                                                ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll;
+                                                ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll;
-                                break;
+                                                break;
+                                }
-                          }
+                        }
                         else // Rx_Idx  != 0
-                        else
+                        {
                                 // fill receiver buffer
-                          if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR;
-                        }
+                                if ((Rx_Idx - 1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx - 1] = TWDR;
+                        }
-                        Rx_Idx++;
+                        // next byte
                         Rx_Idx++;
-            I2C_Timeout = 500;
-            //TWCR |= (1<<TWINT);
-                        TWCR_ACK;
+            I2C_Timeout = 500;
+                        TWCR_ACK; // send acknowledge
             return;
-        // Daten Senden
         case SW_SLA_ACK: // slave transmitter selected
-        case SW_SLA_ACK:
-            Tx_Idx = 0;
+                // reset position in tx buffer
+            Tx_Idx = 0;
-                        if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++];
+            // write first bte o tx buffer to the twi data register
+                        if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++];
-//            TWCR |= (1<<TWINT) | (1<< TWEA);
+                        // send acknowledge
+            TWCR_ACK;
-             TWCR_ACK;
+            return;
-            return;
-        // Daten Senden
+                case SW_DATA_ACK: // send data byte
-                case SW_DATA_ACK:
-            if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++];
+                        // put next byte from tx buffer to twi data register
+            if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++];
-                         else TWDR = 0x00;
+                        else TWDR = 0x00;
-                        //TWCR |= (1<<TWINT) | (1<< TWEA);
+                        TWCR_ACK; // send acknowledge
-                        TWCR_ACK;
+            return;
-            return;
-        // Bus-Fehler zurücksetzen
+        // clear Bus-Error
         case TWI_BUS_ERR_2:
+            TWCR |=(1<<TWSTO) | (1<<TWINT);
+        // clear Bus-Error
+        case TWI_BUS_ERR_1:
             TWCR |=(1<<TWSTO) | (1<<TWINT);
+        }
-        // Bus-Fehler zurücksetzen
+        // clear interrupt flag (TWINT = 1)
-        case TWI_BUS_ERR_1:
+        // enable TWI Acknowledge Bit (TWEA = 1)

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(root)/branches/MK3Mag V0.14 Code Redesign Killagreg/twislave.c - Rev 18 → 19