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/*#######################################################################################
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + 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"
#define TWI_BUS_ERR_1 0x00
#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;
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
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)
// enable TWI Interrupt (TWIE = 1)
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
// update version info
I2C_Version.Major = VERSION_MAJOR;
I2C_Version.Minor = VERSION_MINOR;
I2C_Version.Compatible = I2C_PROTOCOL_COMP;
SREG = sreg;
}
#define TWCR_ACK TWCR = (1<<TWEN)|(1<<TWIE)|(1<<TWINT)|(1<<TWEA)|(0<<TWSTA)|(0<<TWSTO)|(0<<TWWC)
ISR (TWI_vect)
{
// check event
switch (TWSR & 0xF8)
{
case SR_SLA_ACK:
Rx_Idx = 0;
TWCR_ACK;
return;
case SR_PREV_ACK: // data byte received
if (Rx_Idx == 0)
{
I2C_Command = TWDR;
switch(I2C_Command)
{
case I2C_CMD_VERSION:
I2C_TxBuffer = (uint8_t *)&I2C_Version;
I2C_TxBufferSize = sizeof(I2C_Version);
I2C_RxBufferSize = 0;
break;
case I2C_CMD_WRITE_EEPROM:
I2C_TxBufferSize = 0;
I2C_RxBuffer = (uint8_t *)&I2C_WriteEEPROM;
I2C_RxBufferSize = sizeof(I2C_WriteEEPROM);
break;
case I2C_CMD_WRITE_CAL:
I2C_TxBufferSize = 0;
I2C_RxBuffer = (uint8_t *)&I2C_WriteCal;
I2C_RxBufferSize = sizeof(I2C_WriteCal);
break;
case I2C_CMD_READ_EEPROM:
I2C_TxBuffer = (uint8_t *)&I2C_ReadEEPROM.Content;
I2C_TxBufferSize = 2;
I2C_RxBuffer = (uint8_t *)&I2C_ReadEEPROM;
I2C_RxBufferSize = 1;
break;
case I2C_CMD_READ_MAG:
I2C_TxBuffer = (uint8_t *)&I2C_Mag;
I2C_TxBufferSize = sizeof(I2C_Mag);
I2C_RxBufferSize = 0;
I2C_Mag.MagX = MagnetX;
I2C_Mag.MagY = MagnetY;
I2C_Mag.MagZ = MagnetZ;
break;
case I2C_CMD_READ_HEADING:
I2C_TxBuffer = (uint8_t *)&I2C_Heading;
I2C_TxBufferSize = sizeof(I2C_Heading);
I2C_RxBuffer = (uint8_t *)&I2C_WriteAttitude;
I2C_RxBufferSize = sizeof(I2C_WriteAttitude);
// update heading from global variable
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.Attitude[NICK] = I2C_WriteAttitude.Nick;
ExternData.Attitude[ROLL] = I2C_WriteAttitude.Roll;
break;
}
}
else // Rx_Idx != 0
{
// fill receiver buffer
if ((Rx_Idx - 1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx - 1] = TWDR;
}
// next byte
Rx_Idx++;
I2C_Timeout = 500;
TWCR_ACK; // send acknowledge
return;
case SW_SLA_ACK: // slave transmitter selected
// reset position in tx buffer
Tx_Idx = 0;
// write first bte o tx buffer to the twi data register
if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++];
// send acknowledge
TWCR_ACK;
return;
case SW_DATA_ACK: // send data byte
// put next byte from tx buffer to twi data register
if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++];
else TWDR = 0x00;
TWCR_ACK; // send acknowledge
return;
// 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);
}
// clear interrupt flag (TWINT = 1)
// enable TWI Acknowledge Bit (TWEA = 1)
// enable TWI (TWEN = 1)
// enable TWI interrpt (TWIE = 1)
TWCR = (1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset
}