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| 242 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "compass.h" |
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| 59 | #include "mk3mag.h" |
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| 253 | killagreg | 60 | #include "ncmag.h" |
| 242 | killagreg | 61 | #include "uart1.h" |
| 254 | killagreg | 62 | #include "fifo.h" |
| 242 | killagreg | 63 | |
| 64 | |||
| 254 | killagreg | 65 | u8 CompassCalStateQueue[10]; |
| 66 | fifo_t CompassCalcStateFiFo; |
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| 67 | |||
| 68 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
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| 69 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
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| 70 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
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| 71 | |||
| 253 | killagreg | 72 | #define COMPASS_NONE 0 |
| 73 | #define COMPASS_MK3MAG 1 |
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| 74 | #define COMPASS_NCMAG 2 |
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| 254 | killagreg | 75 | u8 Compass_Device = COMPASS_NONE; |
| 242 | killagreg | 76 | |
| 77 | void Compass_Init(void) |
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| 78 | { |
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| 79 | UART1_PutString("\r\n Looking for compass"); |
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| 254 | killagreg | 80 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
| 81 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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| 82 | else Compass_Device = COMPASS_NONE; |
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| 83 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
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| 242 | killagreg | 84 | } |
| 85 | |||
| 86 | |||
| 87 | void Compass_UpdateHeading(void) |
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| 88 | { |
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| 254 | killagreg | 89 | switch(Compass_Device) |
| 242 | killagreg | 90 | { |
| 91 | case COMPASS_MK3MAG: |
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| 92 | MK3MAG_UpdateCompass(); |
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| 93 | break; |
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| 253 | killagreg | 94 | case COMPASS_NCMAG: |
| 95 | NCMAG_UpdateCompass(); |
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| 242 | killagreg | 96 | break; |
| 97 | default: |
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| 98 | break; |
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| 99 | } |
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| 100 | } |
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| 101 | |||
| 102 | void Compass_UpdateMagVector(void) |
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| 103 | { |
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| 254 | killagreg | 104 | switch(Compass_Device) |
| 242 | killagreg | 105 | { |
| 106 | case COMPASS_MK3MAG: |
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| 107 | MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); |
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| 108 | break; |
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| 253 | killagreg | 109 | case COMPASS_NCMAG: |
| 110 | NCMAG_UpdateCompass(); |
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| 242 | killagreg | 111 | default: |
| 112 | break; |
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| 113 | } |
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| 114 | } |
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| 254 | killagreg | 115 | |
| 116 | // put cal state into fifo |
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| 117 | void Compass_SetCalState(u8 CalState) |
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| 118 | { |
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| 119 | fifo_put(&CompassCalcStateFiFo, CalState); |
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| 120 | } |
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| 121 | |||
| 122 | // get cal state from fifo |
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| 123 | void Compass_UpdateCalState() |
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| 124 | { |
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| 125 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
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| 126 | } |
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| 127 |