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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 <avr/wdt.h>
#include "main.h"
#include "uart.h"
#include "timer0.h"
#include "twislave.h"
#define FALSE 0
#define TRUE 1
#define TXD_BUFFER_LEN 100
#define RXD_BUFFER_LEN 100
volatile uint8_t txd_buffer[TXD_BUFFER_LEN];
volatile uint8_t rxd_buffer_locked = FALSE;
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN];
volatile uint8_t txd_complete = TRUE;
volatile uint8_t ReceivedBytes = 0;
#define VERSION_INFO 0x01
#define DEBUG_DATA 0x02
#define DEBUG_LABEL 0x04
#define COMPASS_HEADING 0x08
uint8_t RequestFlags = 0x00;
uint8_t RequestDebugLabel = 0;
uint8_t MySlaveAddr = 0;
struct DebugOut_t DebugOut;
struct ExternData_t ExternData;
struct ExternControl_t ExternControl;
struct VersionInfo_t VersionInfo;
uint16_t Debug_Timer;
const uint8_t ANALOG_LABEL[32][16] =
{
//1234567890123456
"Magnet X ", //0
"Magnet Y ",
"Magnet Z ",
"Raw X ",
"Raw Y ",
"Raw Z ", //5
"Attitude Nick ",
"Attitude Roll ",
"XOffset ",
"XRange ",
"YOffset ", //10
"YRange ",
"ZOffset ",
"ZRange ",
"Calstate ",
"Heading ", //15
"User0 ",
"User1 ",
"Analog18 ",
"Analog19 ",
"Analog20 ", //20
"Analog21 ",
"Analog22 ",
"Analog23 ",
"Analog24 ",
"Analog25 ", //25
"Analog26 ",
"Analog27 ",
"Analog28 ",
"Analog29 ",
"I2C Error ", //30
"I2C Okay "
};
/****************************************************************/
/* Initialization of the USART0 */
/****************************************************************/
void USART0_Init (void)
{
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * BAUD_RATE) - 1);
// disable all interrupts before configuration
cli();
// disable RX-Interrupt
UCSR0B &= ~(1 << RXCIE0);
// disable TX-Interrupt
UCSR0B &= ~(1 << TXCIE0);
// set direction of RXD0 and TXD0 pins
// set RXD0 (PD0) as an input pin tristate
DDRD &= ~(1 << DDD0);
PORTD &= ~(1 << PORTD0);
// set TXD0 (PD1) as an output pin
DDRD |= (1 << DDD1);
PORTD &= ~(1 << PORTD1);
// USART0 Baud Rate Register
// set clock divider
UBRR0H = (uint8_t)(ubrr >> 8);
UBRR0L = (uint8_t)ubrr;
// USART0 Control and Status Register A, B, C
// enable double speed operation
UCSR0A |= (1 << U2X0);
// set asynchronous mode
UCSR0C &= ~(1 << UMSEL01);
UCSR0C &= ~(1 << UMSEL00);
// no parity
UCSR0C &= ~(1 << UPM01);
UCSR0C &= ~(1 << UPM00);
// 1 stop bit
UCSR0C &= ~(1 << USBS0);
// 8-bit
UCSR0B &= ~(1 << UCSZ02);
UCSR0C |= (1 << UCSZ01);
UCSR0C |= (1 << UCSZ00);
// enable receiver and transmitter
UCSR0B |= (1 << RXEN0);
UCSR0B |= (1 << TXEN0);
// flush receive buffer
while ( UCSR0A & (1<<RXC0) ) UDR0;
// enable RX-Interrupt
UCSR0B |= (1 << RXCIE0);
// enable TX-Interrupt
UCSR0B |= (1 << TXCIE0);
rxd_buffer_locked = FALSE;
txd_complete = TRUE;
VersionInfo.Major = VERSION_MAJOR;
VersionInfo.Minor = VERSION_MINOR;
VersionInfo.PCCompatible = VERSION_COMPATIBLE;
// Version beim Start ausgeben (nicht schön, aber geht... )
uart_putchar ('\n');
uart_putchar ('C');
uart_putchar ('P');
uart_putchar (':');
uart_putchar ('V');
uart_putchar (0x30 + VERSION_MAJOR);
uart_putchar ('.');uart_putchar (0x30 + VERSION_MINOR/10);
uart_putchar (0x30 + VERSION_MINOR%10);
uart_putchar ('\n');
}
// ---------------------------------------------------------------------------------
void USART0_EnableTXD(void)
{
DDRD |= (1<<DDD1); // set TXD pin as output
PORTD &= ~(1 << PORTD1);
UCSR0B |= (1 << TXEN0); // enable TX in USART
UCSR0B |= (1 << TXCIE0); // disable TX-Interrupt
}
// ---------------------------------------------------------------------------------
void USART0_DisableTXD(void)
{
while(!txd_complete){ };
UCSR0B &= ~(1 << TXCIE0); // disable TX-Interrupt
UCSR0B &= ~(1 << TXEN0); // disable TXD in USART
DDRD &= ~(1<<DDD1); // set TXD pin as input
PORTD &= ~(1 << PORTD1);
}
/****************************************************************/
/* USART0 transmitter ISR */
/****************************************************************/
ISR(USART_TX_vect)
{
static uint16_t ptr_txd_buffer = 0;
uint8_t tmp_tx;
if(!txd_complete) // transmission not completed
{
ptr_txd_buffer++; // die [0] wurde schon gesendet
tmp_tx = txd_buffer[ptr_txd_buffer];
// if terminating character or end of txd buffer was reached
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN))
{
ptr_txd_buffer = 0; // reset txd pointer
txd_complete = TRUE; // stop transmission
}
UDR0 = tmp_tx; // send current byte will trigger this ISR again
}
// transmission completed
else ptr_txd_buffer = 0;
}
/****************************************************************/
/* USART0 receiver ISR */
/****************************************************************/
ISR(USART_RX_vect)
{
static uint16_t crc;
uint8_t crc1, crc2;
uint8_t c;
static uint8_t ptr_rxd_buffer = 0;
c = UDR0; // catch the received byte
if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
// the rxd buffer is unlocked
if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer
crc = c; // init crc
}
#if 0
else if (ptr_rxd_buffer == 1) // handle address
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
crc += c; // update crc
}
#endif
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes
{
if(c != '\r') // no termination character
{
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer
crc += c; // update crc
}
else // termination character was received
{
// the last 2 bytes are no subject for checksum calculation
// they are the checksum itself
crc -= rxd_buffer[ptr_rxd_buffer-2];
crc -= rxd_buffer[ptr_rxd_buffer-1];
// calculate checksum from transmitted data
crc %= 4096;
crc1 = '=' + crc / 64;
crc2 = '=' + crc % 64;
// compare checksum to transmitted checksum bytes
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1]))
{ // checksum valid
rxd_buffer_locked = TRUE; // lock the rxd buffer
ReceivedBytes = ptr_rxd_buffer; // store number of received bytes
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
// if 2nd byte is an 'R' enable watchdog that will result in an reset
if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando
}
else
{ // checksum invalid
rxd_buffer_locked = FALSE; // unlock rxd buffer
}
ptr_rxd_buffer = 0; // reset rxd buffer pointer
}
}
else // rxd buffer overrun
{
ptr_rxd_buffer = 0; // reset rxd buffer
rxd_buffer_locked = FALSE; // unlock rxd buffer
}
}
// --------------------------------------------------------------------------
void AddCRC(uint16_t datalen)
{
uint16_t tmpCRC = 0, i;
for(i = 0; i < datalen; i++)
{
tmpCRC += txd_buffer[i];
}
tmpCRC %= 4096;
txd_buffer[i++] = '=' + tmpCRC / 64;
txd_buffer[i++] = '=' + tmpCRC % 64;
txd_buffer[i++] = '\r';
txd_complete = FALSE;
UDR0 = txd_buffer[0]; // initiates the transmission (continued in the TXD ISR)
}
// --------------------------------------------------------------------------
void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len)
{
uint16_t pt = 0;
uint8_t a,b,c;
uint8_t ptr = 0;
txd_buffer[pt++] = '#'; // Start character
txd_buffer[pt++] = module; // Address (a=0; b=1,...)
txd_buffer[pt++] = cmd; // Command
while(len)
{
if(len) { a = snd[ptr++]; len--;} else a = 0;
if(len) { b = snd[ptr++]; len--;} else b = 0;
if(len) { c = snd[ptr++]; len--;} else c = 0;
txd_buffer[pt++] = '=' + (a >> 2);
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4));
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6));
txd_buffer[pt++] = '=' + ( c & 0x3f);
}
AddCRC(pt); // add checksum after data block and initates the transmission
}
// --------------------------------------------------------------------------
void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max)
{
uint8_t a,b,c,d;
uint8_t ptr = 0;
uint8_t x,y,z;
while(len)
{
a = rxd_buffer[ptrIn++] - '=';
b = rxd_buffer[ptrIn++] - '=';
c = rxd_buffer[ptrIn++] - '=';
d = rxd_buffer[ptrIn++] - '=';
if(ptrIn > max - 2) break;
x = (a << 2) | (b >> 4);
y = ((b & 0x0f) << 4) | (c >> 2);
z = ((c & 0x03) << 6) | d;
if(len--) ptrOut[ptr++] = x; else break;
if(len--) ptrOut[ptr++] = y; else break;
if(len--) ptrOut[ptr++] = z; else break;
}
}
// --------------------------------------------------------------------------
int uart_putchar (int8_t c)
{
// if tx is not enabled return immediatly
if(!(UCSR0B & (1 << TXEN0))) return (0);
if (c == '\n') uart_putchar('\r');
// wait until previous character was send
loop_until_bit_is_set(UCSR0A, UDRE0);
// send character
UDR0 = c;
return (0);
}
// --------------------------------------------------------------------------
void USART0_ProcessRxData(void)
{
// if data in the rxd buffer are not locked immediately return
if(!rxd_buffer_locked) return;
uint8_t tmp_char_arr2[2]; // local char buffer
switch(rxd_buffer[2])
{
case 'w':// Attitude
Decode64((uint8_t *) &ExternData, sizeof(ExternData), 3, ReceivedBytes);
I2C_WriteAttitude.Nick = ExternData.Attitude[NICK];
I2C_WriteAttitude.Nick = ExternData.Attitude[ROLL];
RequestFlags |= COMPASS_HEADING;
break;
case 'b': // extern control
case 'c': // extern control with debug request
Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3,ReceivedBytes);
#define KEY1 0x01
#define KEY2 0x02
#define KEY3 0x04
#define KEY4 0x08
#define KEY5 0x10
// use right arrow at display for switching the calstate
if(ExternControl.RemoteButtons & KEY2)
{
ExternData.CalState++;
if(ExternData.CalState == 6) ExternData.CalState = 0;
}
//ExternData.Attitude[0] = ExternControl.Par1;
//ExternData.Attitude[1] = ExternControl.Par2;
PC_Connected = 255;
break;
case 'h':// x-1 display columns
PC_Connected = 255;
break;
case 'v': // get version and board release
RequestFlags |= VERSION_INFO;
PC_Connected = 255;
break;
case 'a':// Labels of the Analog Debug outputs
Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes);
RequestDebugLabel = tmp_char_arr2[0];
RequestFlags |= DEBUG_LABEL;
PC_Connected = 255;
break;
case 'g':// get debug data
RequestFlags |= DEBUG_DATA;
PC_Connected = 255;
break;
}
// unlock the rxd buffer after processing
rxd_buffer_locked = FALSE;
}
//---------------------------------------------------------------------------------------------
void USART0_TransmitTxData(void)
{
if(!(UCSR0B & (1 << TXEN0))) return;
if(!txd_complete) return;
if(CheckDelay(Debug_Timer))
{
SetDebugValues();
SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut));
Debug_Timer = SetDelay(250);
}
if(RequestFlags & DEBUG_LABEL)
{
SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16);
RequestDebugLabel = 255;
RequestFlags &= ~DEBUG_LABEL;
}
if(RequestFlags & VERSION_INFO)
{
SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo, sizeof(VersionInfo));
RequestFlags &= ~VERSION_INFO;
}
if(RequestFlags & DEBUG_DATA)
{
SetDebugValues();
SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl));
RequestFlags &= ~DEBUG_DATA;
}
if(RequestFlags & COMPASS_HEADING)
{
SendOutData('K',MySlaveAddr,(uint8_t *) &I2C_Heading, sizeof(I2C_Heading));
RequestFlags &= ~COMPASS_HEADING;
}
}