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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 <util/twi.h>
#include "main.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;
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;



//############################################################################
//I2C (TWI) Interface Init
void InitIC2_Slave(void)
//############################################################################
{
    TWAR = I2C_SLAVE_ADDRESS; // Eigene Adresse setzen
    TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);
       
       
        I2C_Version.Hauptversion = VersionInfo.Hauptversion;
        I2C_Version.Nebenversion = VersionInfo.Nebenversion;
        I2C_Version.Comp = 1;
       
}
#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
//sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.
ISR (TWI_vect)
//############################################################################
{  
    switch (TWSR & 0xF8)
        {  
        case SR_SLA_ACK:  
            //TWCR |= (1<<TWINT);
            Rx_Idx = 0;
                       
                        TWCR_ACK;
            return;
        // Daten Empfangen
        case SR_PREV_ACK:
           
                        if (Rx_Idx  == 0)
                        { I2C_Command = TWDR;
                         
                          switch(I2C_Command)
                          {
                             case I2C_CMD_VERSION:
                                                I2C_TxBuffer = (unsigned char *)&I2C_Version;
                                                I2C_TxBufferSize = sizeof(I2C_Version);
                                                I2C_RxBufferSize = 0;
                                break;
                                case I2C_CMD_WRITE_EEPROM:
                                                I2C_TxBufferSize = 0;
                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteEEPROM;
                                                I2C_RxBufferSize = sizeof(I2C_WriteEEPROM);
                                break;

                                case I2C_CMD_WRITE_CAL:
                                                I2C_TxBufferSize = 0;
                                                I2C_RxBuffer = (unsigned char *)&I2C_WriteCal;
                                                I2C_RxBufferSize = sizeof(I2C_WriteCal);
                                break;

                                case I2C_CMD_READ_EEPROM:
                                                I2C_TxBuffer = (unsigned char *)&I2C_ReadEEPROM.Inhalt;
                                                I2C_TxBufferSize = 2;
                                                I2C_RxBuffer = (unsigned char *)&I2C_ReadEEPROM;
                                                I2C_RxBufferSize = 1;
                                break;
                                case I2C_CMD_READ_MAG:
                                                I2C_TxBuffer = (unsigned char *)&I2C_Mag;
                                                I2C_TxBufferSize = sizeof(I2C_Mag);
                                                I2C_RxBufferSize = 0;
                                               
                                                I2C_Mag.MagX = MagnetN;
                                                I2C_Mag.MagY = MagnetR;
                                                I2C_Mag.MagZ = MagnetZ;
                                               
                                break;
                                case I2C_CMD_READ_HEADING:
                                                I2C_TxBuffer = (unsigned char *)&I2C_Heading;
                                                I2C_TxBufferSize = sizeof(I2C_Heading);
                                                I2C_RxBuffer =  (unsigned char *)&I2C_WriteNickRoll;
                                                I2C_RxBufferSize = sizeof(I2C_WriteNickRoll);
                                               
                                                I2C_Heading.Heading = Heading;
                                                ExternData.Winkel[NICK] = I2C_WriteNickRoll.Nick;
                                                ExternData.Winkel[ROLL] = I2C_WriteNickRoll.Roll;
                                break;
                          }
                        }
                        else
                        {
                          if ((Rx_Idx-1) < I2C_RxBufferSize) I2C_RxBuffer[Rx_Idx-1] = TWDR;
                        }
                       
                        Rx_Idx++;
                       
                       
            I2C_Timeout = 500;
            //TWCR |= (1<<TWINT);
                        TWCR_ACK;
            return;
        // Daten Senden
               
        case SW_SLA_ACK:  
            Tx_Idx = 0;
                       
                        if (I2C_TxBufferSize > 0) TWDR = I2C_TxBuffer[Tx_Idx++];
                       
//            TWCR |= (1<<TWINT) | (1<< TWEA);
             TWCR_ACK;
            return;
        // Daten Senden
                case SW_DATA_ACK:
            if (Tx_Idx < I2C_TxBufferSize) TWDR = I2C_TxBuffer[Tx_Idx++];
                         else TWDR = 0x00;
                        //TWCR |= (1<<TWINT) | (1<< TWEA);
                        TWCR_ACK;
            return;
        // Bus-Fehler zurücksetzen
        case TWI_BUS_ERR_2:
            TWCR |=(1<<TWSTO) | (1<<TWINT);
        // Bus-Fehler zurücksetzen  
        case TWI_BUS_ERR_1:
            TWCR |=(1<<TWSTO) | (1<<TWINT);
        }
    TWCR =(1<<TWEA) | (1<<TWINT) | (1<<TWEN) | (1<<TWIE); // TWI Reset
}