| /trunk/i2c1.c |
|---|
| File deleted |
| /trunk/i2c0.c |
|---|
| File deleted |
| /trunk/i2c1.h |
|---|
| File deleted |
| /trunk/i2c0.h |
|---|
| File deleted |
| /trunk/GPS.c |
|---|
| 74,7 → 74,7 |
| #include "timer1.h" |
| #include "spi_slave.h" |
| #include "waypoints.h" |
| #include "i2c1.h" |
| #include "i2c.h" |
| #define M_PI_180 (M_PI / 180.0f) |
| /trunk/Navi-Ctrl.Uv2 |
|---|
| 12,10 → 12,10 |
| File 1,1,<.\main.c><main.c> |
| File 1,1,<.\ramfunc.c><ramfunc.c> |
| File 1,1,<.\menu.c><menu.c> |
| File 1,1,<.\mymath.c><mymath.c> |
| File 1,1,<.\i2c.c><i2c.c> |
| File 1,1,<.\spi_slave.c><spi_slave.c> |
| File 1,1,<.\fat16.c><fat16.c> |
| File 1,1,<.\i2c0.c><i2c0.c> |
| File 1,1,<.\i2c1.c><i2c1.c> |
| File 1,1,<.\sdc.c><sdc.c> |
| File 1,1,<.\settings.c><settings.c> |
| File 1,1,<.\ftphelper.c><ftphelper.c> |
| 43,13 → 43,11 |
| File 1,1,<.\buffer.c><buffer.c> |
| File 1,1,<.\eeprom.c><eeprom.c> |
| File 1,1,<.\ncmag.c><ncmag.c> |
| File 1,1,<.\mymath.c><mymath.c> |
| File 2,5,<.\ramfunc.h><ramfunc.h> |
| File 2,5,<.\main.h><main.h> |
| File 2,5,<.\menu.h><menu.h> |
| File 2,5,<.\settings.h><settings.h> |
| File 2,5,<.\i2c0.h><i2c0.h> |
| File 2,5,<.\i2c1.h><i2c1.h> |
| File 2,5,<.\i2c.h><i2c.h> |
| File 2,5,<.\spi_slave.h><spi_slave.h> |
| File 2,5,<.\sdc.h><sdc.h> |
| File 2,5,<.\ssc.h><ssc.h> |
| /trunk/compass.c |
|---|
| 68,6 → 68,7 |
| fifo_t CompassCalcStateFiFo; |
| volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
| volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
| volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
| volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
| s16 Hx = 0, Hy = 0; |
| 84,6 → 85,7 |
| #define COMPASS_MK3MAG 1 |
| #define COMPASS_NCMAG 2 |
| u8 Compass_Device = COMPASS_NONE; |
| I2C_TypeDef* Compass_I2CPort = I2C1; |
| void Compass_Init(void) |
| { |
| 93,27 → 95,18 |
| UART1_PutString("\r\n Looking for compass"); |
| if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
| else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| /* if(Version_HW > 11) |
| { |
| if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
| } |
| else |
| { |
| if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
| else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| } |
| */ |
| break; |
| case COMPASS_NCMAG: |
| UART1_PutString("\r\n Re-Init compass"); |
| if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| else Compass_Device = COMPASS_NONE; |
| break; |
| case COMPASS_MK3MAG: |
| if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
| else Compass_Device = COMPASS_NONE; |
| break; |
| default: |
| // nothing to do |
| break; |
| 123,9 → 116,29 |
| if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT; |
| MagVector.X = 0; |
| MagVector.Y = 0; |
| MagVector.Z = 0; |
| Compass_Heading = -1; |
| } |
| void Compass_Check(void) |
| { |
| switch(Compass_Device) |
| { |
| case COMPASS_NCMAG: |
| NCMAG_CheckOrientation(); |
| break; |
| case COMPASS_MK3MAG: |
| case COMPASS_NONE: |
| default: |
| // nothing to do |
| break; |
| } |
| } |
| void Compass_CalcHeading(void) |
| { |
| if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
| 168,29 → 181,28 |
| { |
| case COMPASS_MK3MAG: |
| MK3MAG_Update(); |
| break; |
| case COMPASS_NCMAG: |
| NCMAG_Update(0); |
| break; |
| default: |
| break; |
| } |
| DebugOut.Analog[24] = MagVector.X; |
| DebugOut.Analog[25] = MagVector.Y; |
| DebugOut.Analog[26] = MagVector.Z; |
| break; |
| case COMPASS_NCMAG: |
| if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing |
| if(check_value_counter == 2000) |
| { |
| UART1_PutString("\n\r Init Mag.-Sensor"); |
| InitNC_MagnetSensor(); // 2 seconds no change of the compass value |
| Compass_Init(); // 2 seconds no change of the compass value |
| } |
| else NCMAG_Update(0); |
| DebugOut.Analog[24] = MagRawVector.X; |
| DebugOut.Analog[25] = MagRawVector.Y; |
| DebugOut.Analog[26] = MagRawVector.Z; |
| default: |
| break; |
| } |
| if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
| if(check_value_counter > 5000) |
| else if(check_value_counter > 5000) |
| { |
| Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
| // CompassValueErrorCount = 35; |
| } |
| else check_value_counter++; |
| /trunk/compass.h |
|---|
| 1,6 → 1,9 |
| #ifndef _COMPASS_H |
| #define _COMPASS_H |
| // this is the abstract interface for the magnetometer/compass sensor |
| // below this there are different special sensors that are supported |
| typedef struct |
| { |
| s16 X; |
| 9,6 → 12,7 |
| } __attribute__((packed)) s16vec_t; |
| extern volatile s16vec_t MagVector; // current magnetic field vector |
| extern volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
| extern volatile s16 Compass_Heading; // current heading direction |
| extern volatile u8 Compass_CalState; // current calibration state |
| extern s32 EarthMagneticField; |
| 20,17 → 24,18 |
| extern s16 EarthMagneticStrengthTheoretic; |
| extern s16 Hx, Hy; |
| extern u32 CompassValueErrorCount; |
| #define COMPASS_NONE 0 |
| #define COMPASS_MK3MAG 1 |
| #define COMPASS_NCMAG 2 |
| extern u8 Compass_Device; |
| extern I2C_TypeDef* Compass_I2CPort; |
| extern u32 CompassValueErrorCount; |
| void Compass_Init(void); |
| void Compass_Update(void); |
| void Compass_CalcHeading(void); |
| void Compass_SetCalState(u8 CalState); |
| void Compass_UpdateCalState(void); |
| void Compass_Init(void); // initialization for compass sensor |
| void Compass_Check(void); // possible check for compass plausibility, called when FC gets calibrates |
| void Compass_Update(void); // updates sensor values, cyclic called |
| void Compass_CalcHeading(void); // calculates heading from magent vector componentes |
| void Compass_SetCalState(u8 CalState); // append to CalState queue |
| void Compass_UpdateCalState(void); // process CalState queue |
| #endif // _COMPASS_H |
| /trunk/config.h |
|---|
| 64,8 → 64,8 |
| #define UART2_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
| //<o> I2C-Bus1 <22000=> 20 kBit <50000=> 50 kBit <100000=> 100 kBit <200000=> 200 kBit <400000=> 400 kBit |
| #define I2C0_CLOCK 100000 // Bit Rate for I2C |
| #define I2C1_CLOCK 50000 // Bit Rate for I2C |
| #define I2C0_CLOCK 100000 // Bit Rate for I2C |
| //</h> |
| //<<< end of configuration section >>> |
| /trunk/eeprom.c |
|---|
| 56,7 → 56,7 |
| #include <string.h> |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "i2c1.h" |
| #include "i2c.h" |
| #include "uart1.h" |
| #include "timer1.h" |
| #include "eeprom.h" |
| 63,7 → 63,10 |
| #include "led.h" |
| // The EEPROM M24C64 (64k) ist connected via I2C1 interface to the controller. |
| #define EEPROM_I2C I2C1 |
| // The E0, E2, E3 pins are set to low. Therefore the slave adressbits b3, b2, b1 are 0. |
| #define EEPROM_I2C_ADDRESS 0xA0 |
| 92,7 → 95,7 |
| // ---------------------------------------------------------------------------------------- |
| EEPROM_Result_t EEPROM_Transfer(u8 Direction, u16 Address, u8 *pData, u16 DataLen) |
| { |
| u16 i, TxBytes = 0; |
| u16 i; |
| u8 retry = 0; |
| EEPROM_Result_t retval = EEPROM_ERROR_UNKNOWN; |
| 101,7 → 104,7 |
| retval = EEPROM_ERROR_OUT_OF_ADDRESS_RANGE; |
| return(retval); |
| } |
| if((DataLen+2) > I2C1_BUFFER_LEN) |
| if((DataLen+2) > I2C_BUFFER_LEN) |
| { |
| retval = EEPROM_I2C_BUFFER_OVERRUN; |
| return(retval); |
| 108,23 → 111,24 |
| } |
| do |
| { |
| if(!I2C1_LockBuffer(I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_IDLE_TIMEOUT; |
| if(!I2CBus_LockBuffer(EEPROM_I2C, I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_IDLE_TIMEOUT; |
| // buffer is now locked |
| TxBytes = 0; |
| u8 TxBytes = 0; |
| u8 TxData[255]; |
| // transmitt address |
| I2C1_Buffer[TxBytes++] = (u8)(0x00FF & (Address>>8)); |
| I2C1_Buffer[TxBytes++] = (u8)(0x00FF & Address); |
| TxData[TxBytes++] = (u8)(0x00FF & (Address>>8)); |
| TxData[TxBytes++] = (u8)(0x00FF & Address); |
| if(Direction == EEPROM_WRITE) |
| { // copy data to i2c transfer buffer |
| for(i = 0; i<DataLen;i++) |
| { |
| I2C1_Buffer[TxBytes++] = pData[i]; |
| TxData[TxBytes++] = pData[i]; |
| } |
| // prepare pointer to rx data |
| EEPROM_pData = 0; |
| EEPROM_DataLen = 0; |
| // start transmission |
| if(!I2C1_Transmission(EEPROM_I2C_ADDRESS, TxBytes, 0, 0)) |
| if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, 0, 0)) |
| { |
| return(retval); |
| } |
| 135,15 → 139,15 |
| EEPROM_pData = pData; |
| EEPROM_DataLen = DataLen; |
| // start transmission |
| if(!I2C1_Transmission(EEPROM_I2C_ADDRESS, TxBytes, &EEPROM_RxDataHandler, DataLen)) |
| if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, &EEPROM_RxDataHandler, DataLen)) |
| { |
| return(retval); |
| } |
| } |
| //wait for end of this transfer |
| if(I2C1_WaitForEndOfTransmission(I2C_TRANSFER_TIMEOUT)) |
| if(I2CBus_WaitForEndOfTransmission(EEPROM_I2C, I2C_TRANSFER_TIMEOUT)) |
| { |
| if(I2C1_Error == I2C_ERROR_NONE) return(EEPROM_SUCCESS); |
| if(I2CBus(EEPROM_I2C)->Error == I2C_ERROR_NONE) return(EEPROM_SUCCESS); |
| else retval = EEPROM_DATA_TRANSFER_INCOMPLETE; |
| } |
| else// i2c transfer timed out |
| 190,7 → 194,7 |
| while(DataLen > 0) |
| { |
| if(DataLen > I2C1_BUFFER_LEN) RxLen = I2C1_BUFFER_LEN; |
| if(DataLen > I2C_BUFFER_LEN) RxLen = I2C_BUFFER_LEN; |
| else RxLen = DataLen; |
| retval = EEPROM_Transfer(EEPROM_READ, Address+AdrOffset, &(pData[AdrOffset]), RxLen); |
| /trunk/gpx.c |
|---|
| 110,7 → 110,7 |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document. |
| sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c</desc>\r\n", (FC_Version.Hardware&0x7f) /10,(FC_Version.Hardware&0x7f)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c</desc>\r\n", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| fputs_(string, doc->file); |
| fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document. |
| } |
| 273,20 → 273,6 |
| return(retvalue); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| unsigned int BL3_Current(unsigned char who) // in 0,1A |
| { |
| if(Motor[who].Current <= 200) return((unsigned int) Motor[who].Current); |
| else |
| { |
| if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (unsigned int) (Motor[who].Current-200)); |
| else return((unsigned int) Motor[who].Current); |
| } |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc); |
| // |
| /trunk/gpx.h |
|---|
| 23,7 → 23,7 |
| File_t *file; // filepointer to the file where the data should be saved. |
| } GPX_Document_t; |
| u8 GPX_LoggGPSCoordinates(GPX_Document_t *,unsigned char part); // intializes the gpx-document with standard filename and adds points to the file |
| u8 GPX_LoggGPSCoordinates(GPX_Document_t *,u8 part); // intializes the gpx-document with standard filename and adds points to the file |
| u8 GPX_DocumentInit(GPX_Document_t *); // Init the new gpx-document |
| u8 GPX_DocumentOpen(s8 *, GPX_Document_t *); // opens a new gpx-document. a new file is created on the sd-memorycard |
| u8 GPX_DocumentClose(GPX_Document_t *doc); // closes the specified document saving remaining data to the file. |
| 31,7 → 31,6 |
| u8 GPX_TrackEnd(GPX_Document_t *doc); // ends the actual track |
| u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); // begins a new tracksegment within the actual track |
| u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); // ends the actual track segment within the actual track |
| u8 GPX_TrackSegmentAddPoint(GPX_Document_t *,unsigned char part); // adds a point to the tracksegment |
| extern unsigned int BL3_Current(unsigned char who); // in 0,1A |
| u8 GPX_TrackSegmentAddPoint(GPX_Document_t *,u8 part); // adds a point to the tracksegment |
| #endif //_GPX_H |
| /trunk/led.h |
|---|
| 8,15 → 8,12 |
| #define LED_GRN_OFF {if(Led_Grn_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET);} |
| #define LED_GRN_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_6)) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET); |
| #define LED_RED_ON_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);} |
| #define LED_RED_OFF_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);} |
| #define LED_RED_ON_Q {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);} |
| #define LED_RED_OFF_Q {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);} |
| #define LED_RED_ON // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);} |
| #define LED_RED_OFF// {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);} |
| #define LED_RED_ON {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);} |
| #define LED_RED_OFF {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);} |
| #define LED_RED_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_7)) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); |
| extern u8 Version_HW; |
| /trunk/main.c |
|---|
| 62,8 → 62,7 |
| #include "uart1.h" |
| #include "uart2.h" |
| #include "gps.h" |
| #include "i2c0.h" |
| #include "i2c1.h" |
| #include "i2c.h" |
| #include "compass.h" |
| #include "ncmag.h" |
| #include "timer1.h" |
| 82,9 → 81,9 |
| #include "ssc.h" |
| #include "sdc.h" |
| #include "uart1.h" |
| #include "ncmag.h" |
| #ifdef FOLLOW_ME |
| u8 TransmitAlsoToFC = 0; |
| #endif |
| 146,9 → 145,7 |
| s32 newErrorCode = 0; |
| UART_VersionInfo.HardwareError[0] = 0; |
| if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0)) |
| DebugOut.StatusRed |= AMPEL_COMPASS; |
| if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
| else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
| if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
| 157,34 → 154,18 |
| if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
| else DebugOut.StatusRed &= ~AMPEL_NC; |
| //if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T; |
| if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1)) |
| if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no compass communica"); |
| //Reset I2CBus |
| I2C1_Deinit(); |
| I2C1_Init(); |
| //Reset Compass communication |
| Compass_Init(); |
| newErrorCode = 4; |
| StopNavigation = 1; |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| DebugOut.StatusRed |= AMPEL_COMPASS; |
| } |
| else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0)) |
| { |
| LED_RED_ON; |
| //LED_RED_ON_T; |
| sprintf(ErrorMSG,"no ext. compass "); |
| //Reset I2CBus |
| I2C0_Deinit(); |
| I2C0_Init(); |
| NCMAG_Update(1); |
| newErrorCode = 33; |
| StopNavigation = 1; |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| DebugOut.StatusRed |= AMPEL_COMPASS; |
| } |
| else if(CompassValueErrorCount > 30) |
| { |
| LED_RED_ON; |
| 192,27 → 173,16 |
| newErrorCode = 34; |
| StopNavigation = 1; |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| if(I2C_CompassPort == I2C_INTERN_1) |
| { |
| I2C1_Deinit(); |
| I2C1_Init(); |
| Compass_Init(); |
| } |
| else |
| else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| { |
| I2C0_Deinit(); |
| I2C0_Init(); |
| } |
| } |
| else |
| if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| { |
| sprintf(ErrorMSG,"Calibrate... "); |
| newErrorCode = 0; |
| ErrorCode = 0; |
| no_error_delay = 1; |
| } |
| else |
| if(CheckDelay(SPI0_Timeout)) |
| else if(CheckDelay(SPI0_Timeout)) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no FC communication "); |
| 235,7 → 205,6 |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
| DebugOut.StatusRed |= AMPEL_NC; |
| } |
| else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
| { |
| LED_RED_ON; |
| 374,9 → 343,8 |
| } |
| else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
| { |
| unsigned int i; |
| u16 i; |
| for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
| LED_RED_ON; |
| sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
| newErrorCode = 32; |
| 455,8 → 423,10 |
| { |
| static u8 running = 0, oldFcFlags = 0, count5sec; |
| static u32 old_ms = 0; |
| if(running) {/*DebugOut.Analog[18]++;*/ return(1);}; |
| running = 1; |
| if(CountMilliseconds != old_ms) // 1 ms |
| { |
| old_ms = CountMilliseconds; |
| 464,6 → 434,7 |
| Analog_Update(); // get new ADC values |
| CalcHeadFree(); |
| } |
| SPI0_UpdateBuffer(); // also calls the GPS-functions |
| UART0_ProcessRxData(); // GPS process request |
| UART0_TransmitTxData(); // GPS send answer |
| 470,9 → 441,8 |
| UART1_ProcessRxData(); // PC process request |
| UART1_TransmitTxData(); // PC send answer |
| UART2_TransmitTxData(); // FC send answer |
| // ---------------- Error Check Timing ---------------------------- |
| //DebugOut.Analog[16] = CompassValueErrorCount; |
| if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| { |
| if(CheckDelay(TimerCheckError)) |
| 513,6 → 483,7 |
| VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| // Compass_Update(); // update compass communication |
| // Analog_Update(); // get new ADC values |
| if(PollingTimeout == 0) |
| { |
| PollingTimeout = 5; |
| 530,8 → 501,8 |
| int main(void) |
| { |
| static u32 ftimer =0; |
| static u8 fstate = 0; |
| // static u32 ftimer =0; |
| // static u8 fstate = 0; |
| // static File_t* f = NULL; |
| 561,8 → 532,8 |
| // initialize SPI0 to FC |
| SPI0_Init(); |
| // initialize i2c busses (needs Timer 1) |
| I2C0_Init(); |
| I2C1_Init(); |
| I2CBus_Init(I2C0); |
| I2CBus_Init(I2C1); |
| // initialize fat16 partition on sd card (needs Timer 1) |
| Fat16_Init(); |
| 619,8 → 590,8 |
| { |
| PollingTimeout = 5; |
| Polling(); |
| // ---------------- Logging --------------------------------------- |
| if(SD_WatchDog) |
| { |
| SD_WatchDog = 30000; |
| 628,6 → 599,7 |
| else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
| if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
| } |
| /* |
| if(CheckDelay(ftimer)) |
| { |
| /trunk/main.h |
|---|
| 176,6 → 176,7 |
| u8 GlobalConfig3; |
| u8 NaviOut1Parameter; // Distance between Photo releases |
| u8 FromFC_LandingSpeed; |
| u8 FromFC_LowVoltageHomeActive; |
| } __attribute__((packed)) Param_t; |
| typedef struct |
| /trunk/menu.c |
|---|
| 68,7 → 68,6 |
| #include "ncmag.h" |
| #include "logging.h" |
| #include "settings.h" |
| #include "gpx.h" |
| u8 DispPtr = 0; |
| s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| 88,7 → 87,6 |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| // Display with 20 characters in 4 lines |
| void Menu_Update(u8 Keys) |
| { |
| 115,7 → 113,7 |
| // Version Info |
| case 0: |
| LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
| LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7f)/10, (Version_HW & 0x7f)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| if(ErrorCode) |
| { |
| 358,7 → 356,8 |
| LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
| LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
| if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") else LCD_printfxy(0,3,"not calibrated"); |
| if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") |
| else LCD_printfxy(0,3,"not calibrated"); |
| break; |
| case 15: |
| // LCD_printfxy(0,0,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10); |
| 427,7 → 426,8 |
| LCD_printfxy(0,2,"Y:%5i",MagVector.Y); |
| LCD_printfxy(0,3,"Z:%5i",MagVector.Z); |
| LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5); |
| if(I2C_CompassPort == I2C_EXTERN_0) LCD_printfxy(11,2,"Extern %d",ExtCompassOrientation) else LCD_printfxy(11,2,"Intern"); |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern") |
| else LCD_printfxy(11,2,"Intern"); |
| // LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
| // LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination); |
| LCD_printfxy(15,3,"(CAL)"); |
| 467,17 → 467,18 |
| if(Motor[4 + i1 * 4].State == 0) break; |
| } |
| break; |
| case 23: |
| LCD_printfxy(0,0,"Ext. Compass" ); |
| if(I2C_CompassPort == I2C_EXTERN_0) |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| { |
| u8 tmp; |
| LCD_printfxy(0,1,"ACC X Y Z"); |
| LCD_printfxy(0,2," %5d %5d %5d",AccRawVector.X/40,AccRawVector.Y/40,AccRawVector.Z/40); |
| tmp = GetExtCompassOrientation(); |
| LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40); |
| tmp = NCMAG_GetOrientationFromAcc(); |
| LCD_printfxy(0,3,"Orientat.: "); |
| if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp); |
| LCD_printfxy(15,3,"(%d)",ExtCompassOrientation); |
| LCD_printfxy(15,3,"(%d)",NCMAG_Orientation); |
| } |
| else |
| { |
| /trunk/mk3mag.c |
|---|
| 57,8 → 57,7 |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "mk3mag.h" |
| #include "i2c1.h" |
| #include "i2c0.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "led.h" |
| #include "main.h" |
| 174,14 → 173,15 |
| void MK3MAG_SendCommand(u8 command) |
| { |
| // try to catch the I2C buffer |
| if(I2C1_LockBuffer(0)) |
| if(I2CBus_LockBuffer(I2C1, 0)) |
| { |
| u8 TxData[100]; |
| u16 TxBytes = 0; |
| u16 RxBytes = 0; |
| I2C_pRxHandler_t pRxHandlerFunc = NULL; |
| // update current command id |
| I2C1_Buffer[TxBytes++] = command; |
| TxData[TxBytes++] = command; |
| // set pointers to data area with respect to the command id |
| switch (command) |
| 193,7 → 193,7 |
| case MK3MAG_CMD_WRITE_CAL: |
| RxBytes = sizeof(MK3MAG_ReadCal)+1; |
| pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
| memcpy((u8*)I2C1_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
| memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
| TxBytes += sizeof(MK3MAG_WriteCal); |
| break; |
| case MK3MAG_CMD_READ_MAGVECT: |
| 206,10 → 206,10 |
| break; |
| } |
| // update packet checksum |
| I2C1_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C1_Buffer, TxBytes); |
| TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes); |
| TxBytes++; |
| // initiate I2C transmission |
| I2C1_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
| I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes); |
| } // EOF I2C_State == I2C_IDLE |
| } |
| 217,10 → 217,19 |
| //---------------------------------------------------------------- |
| u8 MK3MAG_Init(void) |
| { |
| if(MK3MAG_Present) // do only short init ! , full init was called before |
| { |
| // try reconnect by reseting the I2C bus |
| I2CBus_Deinit(I2C1); |
| I2CBus_Init(I2C1); |
| } |
| else // full init |
| { |
| u8 msg[64]; |
| u8 repeat; |
| u32 timeout; |
| Compass_I2CPort = I2C1; |
| MK3MAG_Present = 0; |
| MK3MAG_Version.Major = 0xFF; |
| 228,14 → 237,12 |
| MK3MAG_Version.Patch = 0xFF; |
| MK3MAG_Version.Compatible = 0xFF; |
| Compass_Heading = -1; |
| // polling of version info |
| repeat = 0; |
| do |
| { |
| MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
| if((Version_HW & 0x7f)> 11) timeout = SetDelay(100); |
| if((Version_HW & 0x7F) > 11) timeout = SetDelay(100); |
| else timeout = SetDelay(250); |
| do |
| 261,6 → 268,7 |
| MK3MAG_Present = 1; |
| } |
| } |
| } |
| return(MK3MAG_Present); |
| } |
| 273,7 → 281,7 |
| u8 msg[64]; |
| u16 MinCaclibration = 500; |
| if( (I2C1_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
| if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !MK3MAG_Present ) return; |
| if(CheckDelay(TimerUpdate)) |
| { |
| /trunk/mkprotocol.c |
|---|
| 54,10 → 54,10 |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "mkprotocol.h" |
| #include "ramfunc.h" |
| #include "usb.h" |
| #include "uart1.h" |
| #include "main.h" |
| /trunk/ncmag.c |
|---|
| 55,12 → 55,11 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <math.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "ncmag.h" |
| #include "i2c1.h" |
| #include "i2c0.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "led.h" |
| #include "uart1.h" |
| 72,16 → 71,7 |
| u8 NCMAG_Present = 0; |
| u8 NCMAG_IsCalibrated = 0; |
| u8 I2C_CompassPort = 1; |
| u8 ExtCompassOrientation = 0; |
| u8 *I2C_BufferPnt; |
| u8 *I2C_ErrorPnt; |
| I2C_TransmissionFunc_t I2C_TransmissionFunc; |
| I2C_LockBufferFunc_t I2C_LockBufferFunc; |
| I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
| // supported magnetic sensor types |
| #define TYPE_NONE 0 |
| #define TYPE_HMC5843 1 |
| 89,7 → 79,34 |
| #define TYPE_LSM303DLM 3 |
| u8 NCMAG_SensorType = TYPE_NONE; |
| u8 NCMAG_Orientation = 0; // 0 means unknown! |
| // two calibrtion sets for extern and intern sensor |
| #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
| #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
| #define CALIBRATION_VERSION 1 |
| #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
| #define NCMAG_MIN_RAWVALUE -2047 |
| #define NCMAG_MAX_RAWVALUE 2047 |
| #define NCMAG_INVALID_DATA -4096 |
| typedef struct |
| { |
| s16 Range; |
| s16 Offset; |
| } __attribute__((packed)) Scaling_t; |
| typedef struct |
| { |
| Scaling_t MagX; |
| Scaling_t MagY; |
| Scaling_t MagZ; |
| u8 Version; |
| u8 crc; |
| } __attribute__((packed)) Calibration_t; |
| Calibration_t Calibration; // calibration data in RAM |
| volatile s16vec_t AccRawVector; |
| volatile s16vec_t MagRawVector; |
| 208,10 → 225,6 |
| volatile MagConfig_t MagConfig; |
| // self test value |
| #define LSM303DLH_TEST_XSCALE 495 |
| #define LSM303DLH_TEST_YSCALE 495 |
| 286,20 → 299,26 |
| volatile AccConfig_t AccConfig; |
| u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
| // write calibration data for external and internal sensor seperately |
| u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
| { |
| u16 address; |
| u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
| u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
| EEPROM_Result_t eres; |
| u8 *pBuff = (u8*)&Calibration; |
| Calibration.Version = CALIBRATION_VERSION; |
| if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
| else |
| if (I2Cx == NCMAG_PORT_EXTERN) |
| { |
| address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
| Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
| Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
| } |
| else if (I2Cx == NCMAG_PORT_INTERN) |
| { |
| address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
| Calibration.Version = CALIBRATION_VERSION; |
| } |
| else return(i); |
| for(i = 0; i<(sizeof(Calibration)-1); i++) |
| { |
| crc += pBuff[i]; |
| 311,14 → 330,16 |
| return(i); |
| } |
| u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
| // read calibration data for external and internal sensor seperately |
| u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
| { |
| u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
| u8 address; |
| u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
| u8 *pBuff = (u8*)&Calibration; |
| u16 address; |
| if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
| else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
| if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
| else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
| else return(0); |
| if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
| { |
| 328,7 → 349,7 |
| } |
| crc = ~crc; |
| if(Calibration.crc != crc) return(0); // crc mismatch |
| if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
| if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
| } |
| return(0); |
| } |
| 338,7 → 359,7 |
| { |
| u8 msg[64]; |
| static u8 speak = 0; |
| static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0; |
| static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
| static s16 X = 0, Y = 0, Z = 0; |
| static u8 OldCalState = 0; |
| s16 MinCalibration = 450; |
| 361,19 → 382,20 |
| Zmax = -10000; |
| speak = 1; |
| CompassValueErrorCount = 0; |
| if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| if(Compass_CalState != OldCalState) // only once per state |
| { |
| UART1_PutString("\r\nStarting compass calibration"); |
| if(I2C_CompassPort == I2C_EXTERN_0) |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| { |
| if(!ExtCompassOrientation) ExtCompassOrientation = GetExtCompassOrientation(); |
| if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| UART1_PutString(" - External sensor "); |
| sprintf(msg, "with orientation: %d ",ExtCompassOrientation); |
| sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString(" - Internal sensor "); |
| } |
| break; |
| case 2: // 2nd step of calibration |
| // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| 382,7 → 404,6 |
| else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
| if(Z < Zmin) { Zmin = Z; } // silent |
| else if(Z > Zmax) { Zmax = Z; } |
| if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
| break; |
| 395,12 → 416,10 |
| // find Min and Max of the Z-Sensor |
| if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
| else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
| if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
| if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
| break; |
| 429,9 → 448,8 |
| } |
| else UART1_PutString("without GPS\n\r"); |
| if(Zmin2 < Zmin) { Zmin = Zmin2; } |
| else if(Zmax2 > Zmax) { Zmax = Zmax2; } |
| if(Zmin2 < Zmin) Zmin = Zmin2; |
| if(Zmax2 > Zmax) Zmax = Zmax2; |
| Calibration.MagX.Range = Xmax - Xmin; |
| Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| Calibration.MagY.Range = Ymax - Ymin; |
| 447,7 → 465,7 |
| else |
| if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
| { |
| NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
| NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
| BeepTime = 2500; |
| UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
| SpeakHoTT = SPEAK_MIKROKOPTER; |
| 462,7 → 480,7 |
| UART1_PutString("\r\n"); |
| // restore old calibration data from eeprom |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
| } |
| sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
| UART1_PutString(msg); |
| 529,11 → 547,13 |
| } |
| else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
| switch(ExtCompassOrientation) |
| // correct compass orientation |
| switch(NCMAG_Orientation) |
| { |
| case 0: |
| case 1: |
| default: |
| // 1:1 Mapping |
| MagRawVector.X = X; |
| MagRawVector.Y = Y; |
| MagRawVector.Z = Z; |
| 583,22 → 603,44 |
| } |
| // rx data handler for acceleration raw data |
| void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| { // if number of bytes are matching |
| if(RxBufferSize == sizeof(AccRawVector) ) |
| { |
| // copy from I2C buffer |
| memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| // scale and update Acc Vector, at the moment simply 1:1 |
| memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
| } |
| } |
| // rx data handler for reading magnetic sensor configuration |
| void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| if(RxBufferSize == sizeof(MagConfig) ) |
| { |
| memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
| } |
| } |
| // rx data handler for reading acceleration sensor configuration |
| void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| if(RxBufferSize == sizeof(AccConfig) ) |
| { |
| memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| } |
| } |
| //---------------------------------------------------------------------- |
| u8 GetExtCompassOrientation(void) |
| u8 NCMAG_GetOrientationFromAcc(void) |
| { |
| if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
| // only if external compass connected |
| if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
| // MK must not be tilted |
| if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
| { |
| // UART1_PutString("\r\nTilted"); |
| return(0); |
| } |
| // select orientation |
| if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
| else |
| if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
| 613,41 → 655,25 |
| return(0); |
| } |
| // rx data handler for reading magnetic sensor configuration |
| void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| if(RxBufferSize == sizeof(MagConfig) ) |
| { |
| memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
| } |
| } |
| // rx data handler for reading acceleration sensor configuration |
| void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| if(RxBufferSize == sizeof(AccConfig) ) |
| { |
| memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| } |
| } |
| //---------------------------------------------------------------------- |
| // --------------------------------------------------------------------- |
| u8 NCMAG_SetMagConfig(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(100)) |
| if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| { |
| u8 TxBytes = 0; |
| I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
| memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| u8 TxData[sizeof(MagConfig) + 3]; |
| TxData[TxBytes++] = REG_MAG_CRA; |
| memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
| TxBytes += sizeof(MagConfig); |
| if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(100)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 659,15 → 685,16 |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(100)) |
| if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| { |
| u8 TxBytes = 0; |
| I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
| if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| u8 TxData[3]; |
| TxData[TxBytes++] = REG_MAG_CRA; |
| if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(100)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 678,18 → 705,19 |
| u8 NCMAG_SetAccConfig(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(50)) |
| // try to catch the i2c buffer within 50 ms timeout |
| if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
| { |
| u8 TxBytes = 0; |
| I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| u8 TxData[sizeof(AccConfig) + 3]; |
| TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
| TxBytes += sizeof(AccConfig); |
| if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(50)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 701,15 → 729,16 |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(100)) |
| if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| { |
| u8 TxBytes = 0; |
| I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| u8 TxData[3]; |
| TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(100)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 721,19 → 750,20 |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(100)) |
| if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| { |
| u16 TxBytes = 0; |
| u8 TxBytes = 0; |
| u8 TxData[3]; |
| NCMAG_Identification.A = 0xFF; |
| NCMAG_Identification.B = 0xFF; |
| NCMAG_Identification.C = 0xFF; |
| I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
| TxData[TxBytes++] = REG_MAG_IDA; |
| // initiate transmission |
| if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(100)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 744,17 → 774,18 |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBufferFunc(100)) |
| if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| { |
| u16 TxBytes = 0; |
| u8 TxBytes = 0; |
| u8 TxData[3]; |
| NCMAG_Identification2.Sub = 0xFF; |
| I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
| TxData[TxBytes++] = REG_MAG_IDF; |
| // initiate transmission |
| if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
| if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
| { |
| if(I2C_WaitForEndOfTransmissionFunc(100)) |
| if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| { |
| if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
| if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| 763,16 → 794,17 |
| // ---------------------------------------------------------------------------------------- |
| void NCMAG_GetMagVector(void) |
| void NCMAG_GetMagVector(u8 timeout) |
| { |
| // try to catch the I2C buffer within 0 ms |
| if(I2C_LockBufferFunc(5)) |
| // try to catch the I2C buffer within timeout ms |
| if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
| { |
| u16 TxBytes = 0; |
| u8 TxBytes = 0; |
| u8 TxData[3]; |
| // set register pointer |
| I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
| TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
| // initiate transmission |
| I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| } |
| } |
| 779,22 → 811,20 |
| //---------------------------------------------------------------- |
| void NCMAG_GetAccVector(u8 timeout) |
| { |
| // try to catch the I2C buffer within 0 ms |
| if(I2C_LockBufferFunc(timeout)) |
| // try to catch the I2C buffer within timeout ms |
| if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
| { |
| u16 TxBytes = 0; |
| u8 TxBytes = 0; |
| u8 TxData[3]; |
| // set register pointer |
| I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
| TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
| // initiate transmission |
| I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| //DebugOut.Analog[16] = AccRawVector.X; |
| //DebugOut.Analog[17] = AccRawVector.Y; |
| //DebugOut.Analog[18] = AccRawVector.Z; |
| I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| } |
| } |
| //---------------------------------------------------------------- |
| u8 InitNC_MagnetSensor(void) |
| u8 NCMAG_ConfigureSensor(void) |
| { |
| u8 crb_gain, cra_rate; |
| 838,10 → 868,10 |
| static u32 TimerUpdate = 0; |
| static s8 send_config = 0; |
| u32 delay = 20; |
| if(init) TimerUpdate = SetDelay(10); |
| // todo State Handling for both busses !! |
| if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF)/* || !NCMAG_Present*/ ) |
| if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
| { |
| Compass_Heading = -1; |
| DebugOut.Analog[14]++; // count I2C error |
| 848,13 → 878,13 |
| TimerUpdate = SetDelay(10); |
| return; |
| } |
| if(CheckDelay(TimerUpdate))// && I2C0_State == I2C_STATE_IDLE && I2C1_State == I2C_STATE_IDLE) |
| if(CheckDelay(TimerUpdate)) |
| { |
| if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
| if(++send_config == 25) // 500ms |
| { |
| send_config = -25; // next try after 1 second |
| InitNC_MagnetSensor(); |
| NCMAG_ConfigureSensor(); |
| TimerUpdate = SetDelay(20); // back into the old time-slot |
| } |
| else |
| 868,23 → 898,25 |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| NCMAG_GetMagVector(); |
| delay = 20; |
| delay = 20; // next cycle after 20 ms |
| NCMAG_GetMagVector(5); |
| break; |
| case TYPE_LSM303DLH: |
| case TYPE_LSM303DLM: |
| delay = 20; |
| //delay = 2; |
| if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
| else |
| if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
| { |
| if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
| delay = 20; // next cycle after 20 ms |
| NCMAG_GetMagVector(5); |
| } |
| else // having an external compass, read every 50th cycle the ACC vec |
| { // try to initialize if no data are there |
| if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
| // get new data |
| NCMAG_GetAccVector(5); |
| delay = 10; |
| s = 40; // about 0,8 sec |
| }; |
| if(!s) delay = 10; // ACC-Reading in the next step after 10ms |
| //if(!s) delay = 2; // ACC-Reading in the next step after 10ms |
| delay = 10; // next cycle after 10 ms |
| s = 40; //reset downconter about 0,8 sec |
| } |
| break; |
| } |
| if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
| 929,8 → 961,8 |
| case TYPE_LSM303DLM: |
| // does not support self test feature |
| done = retval; |
| return(retval); |
| done = 1; |
| return(1); // always return success |
| break; |
| default: |
| 949,7 → 981,7 |
| #define AVERAGE 20 |
| for(i = 0; i<AVERAGE; i++) |
| { |
| NCMAG_GetMagVector(); |
| NCMAG_GetMagVector(5); |
| time = SetDelay(20); |
| while(!CheckDelay(time)); |
| XMax += MagRawVector.X; |
| 965,7 → 997,7 |
| // averaging |
| for(i = 0; i < AVERAGE; i++) |
| { |
| NCMAG_GetMagVector(); |
| NCMAG_GetMagVector(5); |
| time = SetDelay(20); |
| while(!CheckDelay(time)); |
| XMin += MagRawVector.X; |
| 1007,90 → 1039,71 |
| } |
| //---------------------------------------------------------------- |
| void NCMAG_SelectI2CBus(u8 busno) |
| void NCMAG_CheckOrientation(void) |
| { // only for external sensor |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| { |
| if (busno == 0) |
| { |
| I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
| I2C_LockBufferFunc = &I2C0_LockBuffer; |
| I2C_TransmissionFunc = &I2C0_Transmission; |
| I2C_BufferPnt = I2C0_Buffer; |
| I2C_ErrorPnt = &I2C0_Error; |
| NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
| else NCMAG_IsCalibrated = 1; |
| } |
| else |
| { |
| I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
| I2C_LockBufferFunc = &I2C1_LockBuffer; |
| I2C_TransmissionFunc = &I2C1_Transmission; |
| I2C_BufferPnt = I2C1_Buffer; |
| I2C_ErrorPnt = &I2C1_Error; |
| } |
| } |
| //---------------------------------------------------------------- |
| u8 NCMAG_Init(void) |
| { |
| MagRawVector.X = 0; |
| MagRawVector.Y = 0; |
| MagRawVector.Z = 0; |
| AccRawVector.X = 0; |
| AccRawVector.Y = 0; |
| AccRawVector.Z = 0; |
| if(NCMAG_Present) // do only short init ! , full init was called before |
| { |
| // reset I2C Bus |
| I2CBus_Deinit(Compass_I2CPort); |
| I2CBus_Init(Compass_I2CPort); |
| // try to reconfigure senor |
| NCMAG_ConfigureSensor(); |
| NCMAG_Update(1); |
| } |
| else // full init |
| { |
| u8 msg[64]; |
| u8 retval = 0; |
| u8 repeat = 0; |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Search external sensor |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| I2C_CompassPort = I2C_EXTERN_0; |
| NCMAG_SelectI2CBus(I2C_CompassPort); |
| //-------------------------------------------- |
| // search external sensor first |
| //-------------------------------------------- |
| Compass_I2CPort = NCMAG_PORT_EXTERN; |
| // get id bytes |
| retval = 0; |
| for(repeat = 0; repeat < 5; repeat++) |
| { |
| // retval = NCMAG_GetIdentification(); |
| retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
| retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
| if(retval) break; // break loop on success |
| UART1_PutString("_"); |
| } |
| //retval = 1; |
| // Extenal sensor not found? |
| if(!retval) |
| { |
| // search internal sensor afterwards |
| UART1_PutString(" internal sensor "); |
| I2C_CompassPort = I2C_INTERN_1; |
| NCMAG_SelectI2CBus(I2C_CompassPort); |
| Compass_I2CPort = NCMAG_PORT_INTERN; |
| } |
| else |
| { |
| UART1_PutString(" external sensor "); |
| NCMAG_Init_ACCSensor(); |
| for(repeat = 0; repeat < 100; repeat++) |
| { |
| NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
| ExtCompassOrientation = GetExtCompassOrientation(); |
| if(ExtCompassOrientation && (ExtCompassOrientation == Calibration.Version / 16)) break; |
| //UART1_Putchar('-'); |
| Compass_I2CPort = NCMAG_PORT_EXTERN; |
| } |
| //DebugOut.Analog[19] = repeat; |
| //------------------------------------------- |
| if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
| else |
| { |
| NCMag_CalibrationRead(I2C_CompassPort); |
| sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
| UART1_PutString(msg); |
| if(ExtCompassOrientation != Calibration.Version / 16) |
| { |
| sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version / 16); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("ok "); |
| } |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| NCMAG_Present = 0; |
| NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
| // polling for LSM302DLH/DLM option by ACC address ack |
| repeat = 0; |
| for(repeat = 0; repeat < 3; repeat++) |
| { |
| retval = NCMAG_GetAccConfig(); |
| 1103,6 → 1116,7 |
| NCMAG_SensorType = TYPE_LSM303DLH; |
| // polling of sub identification |
| repeat = 0; |
| for(repeat = 0; repeat < 12; repeat++) |
| { |
| retval = NCMAG_GetIdentification_Sub(); |
| 1114,6 → 1128,7 |
| } |
| } |
| // get id bytes |
| retval = 0; |
| for(repeat = 0; repeat < 3; repeat++) |
| { |
| retval = NCMAG_GetIdentification(); |
| 1151,10 → 1166,44 |
| if(EEPROM_Init()) |
| { |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
| if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| } |
| else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
| // in case of an external sensor, try to get the orientation by acc readings |
| if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| { |
| // try to get orientation by acc sensor values |
| for(repeat = 0; repeat < 100; repeat++) |
| { |
| NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
| NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
| } |
| // check orientation result if available |
| sprintf(msg, "\r\n Orientation: "); |
| UART1_PutString(msg); |
| if(NCMAG_Orientation) |
| { |
| sprintf(msg, "%d ", NCMAG_Orientation); |
| UART1_PutString(msg); |
| if(NCMAG_IsCalibrated) // check against calibration data orientation |
| { |
| if(NCMAG_Orientation != Calibration.Version >> 4) |
| { |
| sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
| UART1_PutString(msg); |
| } |
| } |
| } |
| else |
| { |
| UART1_PutString("unknown!"); |
| } |
| } |
| // perform self test |
| if(!NCMAG_SelfTest()) |
| { |
| 1165,7 → 1214,7 |
| else UART1_PutString("\r\n Selftest ok"); |
| // initialize magnetic sensor configuration |
| InitNC_MagnetSensor(); |
| NCMAG_ConfigureSensor(); |
| } |
| else |
| { |
| 1179,6 → 1228,7 |
| NCMAG_SensorType = TYPE_NONE; |
| UART1_PutString("not found!"); |
| } |
| } |
| return(NCMAG_Present); |
| } |
| /trunk/ncmag.h |
|---|
| 2,56 → 2,19 |
| #define __NCMAG_H |
| #include "compass.h" |
| #include "i2c1.h" |
| #include "i2c.h" |
| extern s16vec_t ACC_Vector; |
| extern volatile s16vec_t MagRawVector; |
| extern volatile s16vec_t AccRawVector; |
| #define NCMAG_PORT_EXTERN I2C0 |
| #define NCMAG_PORT_INTERN I2C1 |
| #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 // two calibrtion sets for extern and intern sensor |
| #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
| #define CALIBRATION_VERSION 1 |
| #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
| #define NCMAG_MIN_RAWVALUE -2047 |
| #define NCMAG_MAX_RAWVALUE 2047 |
| #define NCMAG_INVALID_DATA -4096 |
| typedef struct |
| { |
| s16 Range; |
| s16 Offset; |
| } __attribute__((packed)) Scaling_t; |
| typedef struct |
| { |
| Scaling_t MagX; |
| Scaling_t MagY; |
| Scaling_t MagZ; |
| u8 Version; |
| u8 crc; |
| } __attribute__((packed)) Calibration_t; |
| extern Calibration_t Calibration; // calibration data in RAM |
| #define I2C_EXTERN_0 0 |
| #define I2C_INTERN_1 1 |
| extern u8 NCMAG_Init(void); |
| extern void NCMAG_Update(u8); |
| extern u8 NCMAG_Present; |
| extern u8 NCMAG_IsCalibrated; |
| extern u8 I2C_CompassPort; |
| extern u8 ExtCompassOrientation; |
| extern u8 NCMAG_Orientation; |
| u8 NCMAG_Init(void); |
| void NCMAG_Update(u8 init); |
| u8 NCMAG_GetOrientationFromAcc(void); |
| void NCMAG_CheckOrientation(void); |
| extern u8 *I2C_BufferPnt; |
| extern u8 *I2C_ErrorPnt; |
| typedef u8 (*I2C_TransmissionFunc_t) (u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes); |
| typedef u8 (*I2C_LockBufferFunc_t) (u32 timeout); |
| typedef u8 (*I2C_WaitForEndOfTransmissionFunc_t) (u32 timeout); |
| #endif // __NCMAG_H |
| /trunk/settings.c |
|---|
| 92,7 → 92,7 |
| {PID_MIN_EVENT_TIME , "MIN_EVENT_TIME \0" ,"minimum time of the Waypoint-Event value (seconds) ", 1, 2, 2, 0, 600}, // in seconds |
| {PID_WP_ACCELERATE , "WAYPOINT DYNAMIC\0" ,"dynamic for flying waypoints in percent (0-200) ", 1, 100, 100, 0, 255}, // in percent or Poti |
| {PID_WP_WAIT_FOR_LED , "WAIT_FOR_OUT1 \0" ,"Wait on Waypoint until Out-Pattern is finished (1=on 0=off) ", 1, 1, 1, 0, 1}, |
| {PID_SEND_NMEA , "NMEA_INTERVAL \0" ,"NMEA Output interval in ms (0 = disabled) ", 1, 0, 0, 0, 60000}, |
| {PID_SEND_NMEA , "NMEA_INTERVAL \0" ,"NMEA Output interval in ms (0 = disabled) ", 1, 0, 0, 0, 60000}, // the log interval for NMEA output, 0 = off |
| {PID_CH_SPEED , "COMINGHOME_SPEED\0" ,"Maximum speed for coming home in 0,1m/sec (80 = 8,0 m/sec) ", 1, 80, 80, 10, 150}, |
| {PID_GPS_AUTOCONFIG , "GPSAUTOCONFIG \0" ,"GPS configmode (0 = off, 1 = on) ", 1, 1, 1, 0, 1} |
| }; |
| /trunk/spi_slave.c |
|---|
| 56,6 → 56,7 |
| #include <string.h> |
| #include <math.h> |
| #include <stdlib.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "gps.h" |
| 66,11 → 67,8 |
| #include "timer2.h" |
| #include "config.h" |
| #include "main.h" |
| #include "compass.h" |
| #include "params.h" |
| #include "stdlib.h" |
| #include "settings.h" |
| #include "ncmag.h" |
| #define SPI_RXSYNCBYTE1 0xAA |
| #define SPI_RXSYNCBYTE2 0x83 |
| 126,7 → 124,6 |
| s16 POI_KameraNick = 0; |
| u8 NC_Wait_for_LED = 0; |
| s16 GyroCompassCorrected = 0; // corrected with the magnetic declination |
| u8 FromFC_LowVoltageHomeActive = 0; |
| //-------------------------------------------------------------- |
| void SSP0_IRQHandler(void) |
| 592,8 → 589,7 |
| if(--FCCalibActive == 0) |
| { |
| FC_is_Calibrated = 1; |
| ExtCompassOrientation = GetExtCompassOrientation(); |
| if(ExtCompassOrientation != Calibration.Version / 16) NCMAG_IsCalibrated = 0; |
| Compass_Check(); |
| } |
| } |
| } |
| 615,6 → 611,7 |
| HeadFreeStartAngle = GyroCompassCorrected; // in 0.1° |
| } |
| } |
| Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9]; |
| FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10]; |
| DebugOut.Analog[7] = FC.BAT_Voltage; |
| 674,7 → 671,7 |
| if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging |
| Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2]; |
| Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3]; |
| FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
| Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4]; |
| break; |
| case SPI_FCCMD_STICK: |
| FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| 744,13 → 741,13 |
| if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188) |
| { |
| FC.FromFC_DisableDeclination = 1; |
| FC.FromFC_CompassOffset = 10 * (signed char) ((unsigned char) FromFlightCtrl.Param.Byte[7] - 128); |
| FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128); |
| GeoMagDec = 0; |
| } |
| else |
| { |
| FC.FromFC_DisableDeclination = 0; |
| FC.FromFC_CompassOffset = 10 * (signed char) FromFlightCtrl.Param.Byte[7]; |
| FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7]; |
| } |
| Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8]; |
| Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9]; |
| 820,15 → 817,27 |
| }while (!CheckDelay(timeout)); |
| UART1_PutString("."); |
| repeat++; |
| // FCCalibActive = 1; |
| FCCalibActive = 1; |
| }while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s |
| // if we got it |
| if (FC_Version.Major != 0xFF) |
| { |
| sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("\n\r not found!"); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| u16 BL3_Current(u8 who) // in 0,1A |
| { |
| if(Motor[who].Current <= 200) return((u16) Motor[who].Current); |
| else |
| { |
| if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200)); |
| else return((u16) Motor[who].Current); |
| } |
| } |
| /trunk/spi_slave.h |
|---|
| 74,11 → 74,7 |
| extern u8 NC_Wait_for_LED; |
| extern s16 GyroCompassCorrected; |
| /*extern u8 MotorCurrent[12]; |
| extern u8 MotorTemperature[12]; |
| extern u8 MotorState[12]; |
| extern u8 MotorMaxPwm[12]; |
| */ |
| extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power |
| extern u32 FC_I2C_ErrorConter; |
| extern u8 FromFC_VarioCharacter; |
| 166,14 → 162,13 |
| extern Motor_t Motor[12]; |
| //Motor_Version[12] |
| #define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| #define MOTOR_STATE_FAST_MODE 0x02 |
| #define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
| extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt |
| typedef struct |
| { |
| u8 Major; |
| 189,10 → 184,10 |
| extern SPI_Version_t FC_Version; |
| extern u8 GPS_Aid_StickMultiplikator; |
| extern u8 CompassCalState; |
| extern u8 FromFC_LowVoltageHomeActive; |
| void SPI0_Init(void); |
| void SPI0_GetFlightCtrlVersion(void); |
| void SPI0_UpdateBuffer(void); |
| u16 BL3_Current(u8 who); // in 0.1A |
| #endif //_SPI_SLAVE_H |
| /trunk/timer1.c |
|---|
| 75,9 → 75,10 |
| if(SD_WatchDog) SD_WatchDog--; |
| if(SPIWatchDog) SPIWatchDog--; |
| if(PollingTimeout) PollingTimeout--; |
| // generate SW Interrupt to make a regular timing |
| // independent from the mainloop at the lowest IRQ priority |
| VIC_SWITCmd(EXTIT3_ITLine, ENABLE); // Start this Interrupt |
| VIC_SWITCmd(EXTIT3_ITLine, ENABLE); |
| } |
| // IDISABLE; |
| /trunk/uart1.c |
|---|
| 63,8 → 63,7 |
| #include "config.h" |
| #include "menu.h" |
| #include "GPS.h" |
| #include "i2c0.h" |
| #include "i2c1.h" |
| #include "i2c.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "uart2.h" |
| 250,8 → 249,6 |
| UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| // AVOID_I2C_COLLISION UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
| // AVOID_I2C_COLLISION UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_8; // FIFO size 16 bytes, FIFO level 2 bytes |
| UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
| 277,7 → 274,7 |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| UART_VersionInfo.HWMajor = Version_HW & 0x7f; |
| UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
| UART_VersionInfo.reserved2 = 0; |
| UART_VersionInfo.Flags = 0; |
| NaviData.Version = NAVIDATA_VERSION; |
| 655,7 → 652,6 |
| { |
| u8 tmp_tx; |
| if(DebugUART != UART1) return; |
| // AVOID_I2C_COLLISION if(I2C0_State != I2C_STATE_IDLE) return; |
| // if something has to be send and the txd fifo is not full |
| if(UART1_tx_buffer.Locked == TRUE) |
| { |
| 689,8 → 685,9 |
| //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
| void CreateNmeaGGA(void) |
| { |
| unsigned char array[200], i = 0, crc = 0, x; |
| long tmp1, tmp2; |
| u8 array[200], i = 0, crc = 0, x; |
| s32 tmp1, tmp2; |
| i += sprintf(array, "$GPGGA,"); |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| if(SystemTime.Valid) |
| 705,15 → 702,15 |
| if(GPSData.Flags & FLAG_GPSFIXOK) |
| { |
| tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
| i += sprintf(&array[i],"%02d",(int)tmp1); |
| i += sprintf(&array[i],"%02d",(s16)tmp1); |
| tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
| tmp1 *= 6; // in Minuten |
| tmp2 = tmp1 / 1000000L; |
| i += sprintf(&array[i],"%02d",(int)tmp2); |
| i += sprintf(&array[i],"%02d", (s16)tmp2); |
| tmp2 = tmp1 % 1000000L; |
| tmp2 /= 10; // eine Stelle zu viel |
| i += sprintf(&array[i],".%05d,",(int)tmp2); |
| i += sprintf(&array[i],".%05d,", (s16)tmp2); |
| if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
| else i += sprintf(&array[i],"S,"); |
| 720,15 → 717,15 |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
| i += sprintf(&array[i],"%03d",(int)tmp1); |
| i += sprintf(&array[i],"%03d", (s16)tmp1); |
| tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
| tmp1 *= 6; // in Minuten |
| tmp2 = tmp1 / 1000000L; |
| i += sprintf(&array[i],"%02d",(int)tmp2); |
| i += sprintf(&array[i],"%02d", (s16)tmp2); |
| tmp2 = tmp1 % 1000000L; |
| tmp2 /= 10; // eine Stelle zu viel |
| i += sprintf(&array[i],".%05d,",(int)tmp2); |
| i += sprintf(&array[i],".%05d,", (s16)tmp2); |
| if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
| 735,10 → 732,10 |
| else i += sprintf(&array[i],"W,"); |
| i += sprintf(&array[i],"%d,",GPSData.SatFix); |
| i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
| i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
| i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
| // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
| tmp1 = NaviData.Altimeter / 2; // in dm |
| i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
| i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
| i += sprintf(&array[i],",,,*"); |
| } |
| else |
| 760,9 → 757,9 |
| void CreateNmeaRMC(void) |
| { |
| unsigned char array[200], i = 0, crc = 0, x; |
| int tmp_int; |
| long tmp1, tmp2; |
| u8 array[200], i = 0, crc = 0, x; |
| s16 tmp_int; |
| s32 tmp1, tmp2; |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| i += sprintf(array, "$GPRMC,"); |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| 778,28 → 775,28 |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
| i += sprintf(&array[i],"A,%02d",(int)tmp1); // Status: A = Okay V = Warnung |
| i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
| tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
| tmp1 *= 6; // in Minuten |
| tmp2 = tmp1 / 1000000L; |
| i += sprintf(&array[i],"%02d",(int)tmp2); |
| i += sprintf(&array[i],"%02d", (s16)tmp2); |
| tmp2 = tmp1 % 1000000L; |
| tmp2 /= 10; // eine Stelle zu viel |
| i += sprintf(&array[i],".%05d,",(int)tmp2); |
| i += sprintf(&array[i],".%05d,", (s16)tmp2); |
| if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
| else i += sprintf(&array[i],"S,"); |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
| i += sprintf(&array[i],"%03d",(int)tmp1); |
| i += sprintf(&array[i],"%03d", (s16)tmp1); |
| tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
| tmp1 *= 6; // in Minuten |
| tmp2 = tmp1 / 1000000L; |
| i += sprintf(&array[i],"%02d",(int)tmp2); |
| i += sprintf(&array[i],"%02d", (s16)tmp2); |
| tmp2 = tmp1 % 1000000L; |
| tmp2 /= 10; // eine Stelle zu viel |
| i += sprintf(&array[i],".%05d,",(int)tmp2); |
| i += sprintf(&array[i],".%05d,", (s16)tmp2); |
| if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
| else i += sprintf(&array[i],"W,"); |
| // +++++++++++++++++++++++++++++++++++++++++++ |