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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 2010 Ingo Busker, Holger Buss

// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY

// + FOR NON COMMERCIAL USE ONLY

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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 Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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.

// +   * 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 permitted

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// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

//

// +  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

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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <string.h>

#include "91x_lib.h"

#include "hmc5843.h"

#include "i2c.h"

#include "timer1.h"

#include "led.h"

#include "spi_slave.h"

#include "uart1.h"

#include "compass.h"

#define HMC5843_SLAVE_ADDRESS           0x3C  // i2C slave address

u8 HMC5843_Present = 0;

#define REGISTER_CRA            0

#define REGISTER_CRB            1

#define REGISTER_MODE           2

#define REGISTER_DATAX_MSB      3

#define REGISTER_DATAX_LSB      4

#define REGISTER_DATAY_MSB      5

#define REGISTER_DATAY_LSB      6

#define REGISTER_DATAZ_MSB      7

#define REGISTER_DATAZ_LSB      8

#define REGISTER_STATUS         9

#define REGISTER_IDA            10

#define REGISTER_IDB            11

#define REGISTER_IDC            12

#define HMC5843_IDA 0x48

#define HMC5843_IDB 0x34

#define HMC5843_IDC     0x33

// bit mask for rate

#define HMC5843_CRA_RATE_MASK           0x1C

#define HMC5843_CRA_RATE_0_5HZ          0x00

#define HMC5843_CRA_RATE_1HZ            0x04

#define HMC5843_CRA_RATE_2HZ            0x08

#define HMC5843_CRA_RATE_5HZ            0x0C

#define HMC5843_CRA_RATE_10HZ           0x10    //default

#define HMC5843_CRA_RATE_20HZ           0x14

#define HMC5843_CRA_RATE_50HZ           0x18

// bit mask for mode

#define HMC5843_CRA_MODE_MASK           0x03

#define HMC5843_CRA_MODE_NORMAL         0x00    //default

#define HMC5843_CRA_MODE_POSBIAS        0x01

#define HMC5843_CRA_MODE_NEGBIAS        0x02

#define HMC5843_CRA_MODE_SELFTEST       0x03    

// bit mask for gain

#define HMC5843_CRB_GAIN_MASK           0xE0

#define HMC5843_CRB_GAIN_07GA           0x00

#define HMC5843_CRB_GAIN_10GA           0x20    //default

#define HMC5843_CRB_GAIN_15GA           0x40

#define HMC5843_CRB_GAIN_20GA           0x60

#define HMC5843_CRB_GAIN_32GA           0x80

#define HMC5843_CRB_GAIN_38GA           0xA0

#define HMC5843_CRB_GAIN_45GA           0xC0

#define HMC5843_CRB_GAIN_65GA           0xE0

// bit mask for measurement mode

#define HMC5843_MODE_MASK                       0xFF

#define HMC5843_MODE_CONTINUOUS         0x00

#define HMC5843_MODE_SINGLE                     0x01    // default

#define HMC5843_MODE_IDLE                       0x02

#define HMC5843_MODE_SLEEP                      0x03    

typedef struct

{

  u8 A;

  u8 B;

  u8 C;

} __attribute__((packed)) HMC5843_Identification_t;

volatile HMC5843_Identification_t HMC5843_Identification;

// ---------- call back handlers -----------------------------------------

// rx data handler for id info request

void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)

{       // if number of byte are matching

        if(RxBufferSize == sizeof(HMC5843_Identification) )

        {

                memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification));

        }                

}

// rx data handler for mag vector request

void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)

{       // if number of byte are matching

        if(RxBufferSize == sizeof(MagVector) )

        {       // byte order from big to little endian

                MagVector.X = pRxBuffer[0]<<8;

                MagVector.X+= pRxBuffer[1];

                MagVector.Y = pRxBuffer[2]<<8;

                MagVector.Y+= pRxBuffer[3];

                MagVector.Z = pRxBuffer[4]<<8;

                MagVector.Z+= pRxBuffer[5];

        }

        // tbd. calculate heading from mag vector and attitude

        CompassHeading = 50; // tbd.              

}

// ----------------------------------------------------------------------------------------

void HMC5843_GetIdentification(void)

{

        if(I2C_State == I2C_STATE_IDLE)

        {

                I2C_TxBufferSize = 0;

                // set register pointer

                I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_IDA;

                // initiate transmission

                I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification));

        }

}

// ----------------------------------------------------------------------------------------

u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode)

{

        u32 timeout = SetDelay(100);

        // wait for free I2C bus

        while(I2C_State != I2C_STATE_IDLE)

        {

                if(CheckDelay(timeout)) return 0;

        }

        I2C_TxBufferSize = 0;

        I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_CRA;

        I2C_TxBuffer[I2C_TxBufferSize++] = cra;

        I2C_TxBuffer[I2C_TxBufferSize++] = crb;

        I2C_TxBuffer[I2C_TxBufferSize++] = mode;

        // initiate transmission

        I2C_Transmission(HMC5843_SLAVE_ADDRESS, NULL, 0);

        return 1;      

}

//----------------------------------------------------------------

void HMC5843_GetMagVector(void)

{

        if(I2C_State == I2C_STATE_IDLE)

        {

                I2C_TxBufferSize = 0;

                // set register pointer

                I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_DATAX_MSB;

                // initiate transmission

                I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateMagVector, sizeof(MagVector));

        }

}

void HMC5843_UpdateCompass(void)

{

        static u32 TimerCompassUpdate = 0;

        if( (I2C_State == I2C_STATE_OFF) || !HMC5843_Present ) return;

        if(CheckDelay(TimerCompassUpdate))

        {

                // check for incomming compass calibration request

                // update CalByte from spi input queue

                /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));

                // send new calstate

                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)

                {

                        do the calibration here

                }

                else // request current heading */

                {

                        HMC5843_GetMagVector();

                }              

                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz

        }

}

u8 HMC5843_SelfTest(void)

{

        u32 time;

        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;

        s32 scale, scale_min, scale_max;

        u8 i = 0;

        // activate positive bias field  of 0.55 gauss

        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);

        // wait a while

        time = SetDelay(55);

        while(!CheckDelay(time));

        // averaging

        for(i = 0; i<20; i++)

        {

                HMC5843_GetMagVector();

                time = SetDelay(20);

        while(!CheckDelay(time));

                XMax += MagVector.X;

                YMax += MagVector.Y;

                ZMax += MagVector.Z;

        }

        // activate negative bias field of 0.55 gauss

        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);

        // wait a while

        time = SetDelay(55);

    while(!CheckDelay(time));

        // averaging

        for(i = 0; i < 20; i++)

        {

                HMC5843_GetMagVector();

                time = SetDelay(20);

        while(!CheckDelay(time));

                XMin += MagVector.X;

                YMin += MagVector.Y;

                ZMin += MagVector.Z;     

        }

        // setup final configuration

        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);

        // prepare scale limits

        scale = 715;  // 1300 counts/Gauss * 0.55 Gauss = 715 counts

        scale_min = (scale * 90)/100;

        scale_max = (scale * 110)/100;

        // check scale for all axes

        scale = (XMax - XMin)/40;

        if((scale > scale_max) && (scale < scale_min)) return 0;

        scale = (YMax + YMin)/40;

        if((scale > scale_max) && (scale < scale_min)) return 0;

        scale = (ZMax + ZMin)/40;

        if((scale > scale_max) && (scale < scale_min)) return 0;

        return 1;

}

//----------------------------------------------------------------

u8 HMC5843_Init(void)

{

        u8 msg[64];

        u8 repeat;

        u32 timeout;

        HMC5843_Present = 0;

        HMC5843_Identification.A = 0xFF;

        HMC5843_Identification.B = 0xFF;

        HMC5843_Identification.C = 0xFF;

        // polling of identification

        repeat = 0;

        do

        {

                HMC5843_GetIdentification();

                timeout = SetDelay(250);

                do

                {

                        if (HMC5843_Identification.A != 0xFF) break; // break loop on success

                }while (!CheckDelay(timeout));

                UART1_PutString(".");

                repeat++;

        }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12)); // 12*250ms=3s

        // if we got it

        if(HMC5843_Identification.A != 0xFF)

        {

                sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);

                UART1_PutString(msg);

                if (    (HMC5843_Identification.A == HMC5843_IDA)

                     && (HMC5843_Identification.B == HMC5843_IDB)

                         && (HMC5843_Identification.C == HMC5843_IDC))

                {

                        //HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);

                        if(!HMC5843_SelfTest())

                        {

                                UART1_PutString("\n\r HMC5843 selftest failed!");

                                LED_RED_ON;

                        }

                        else HMC5843_Present = 1;

                }

                else

                {

                        UART1_PutString("\n\r HMC5843 not compatible!");

                        LED_RED_ON;

                }

        }

        return(HMC5843_Present);

}