| 0,0 → 1,1007 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <math.h> |
| #include <stdio.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "ncmag.h" |
| #include "i2c.h" |
| #include "timer1.h" |
| #include "led.h" |
| #include "uart1.h" |
| #include "eeprom.h" |
| #include "mymath.h" |
| #include "main.h" |
| |
| u8 NCMAG_Present = 0; |
| u8 NCMAG_IsCalibrated = 0; |
| |
| // supported magnetic sensor types |
| #define TYPE_NONE 0 |
| #define TYPE_HMC5843 1 |
| #define TYPE_LSM303DLH 2 |
| #define TYPE_LSM303DLM 3 |
| |
| u8 NCMAG_SensorType = TYPE_NONE; |
| |
| #define EEPROM_ADR_MAG_CALIBRATION 50 |
| #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; |
| |
| // i2c MAG interface |
| #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
| |
| // register mapping |
| #define REG_MAG_CRA 0x00 |
| #define REG_MAG_CRB 0x01 |
| #define REG_MAG_MODE 0x02 |
| #define REG_MAG_DATAX_MSB 0x03 |
| #define REG_MAG_DATAX_LSB 0x04 |
| #define REG_MAG_DATAY_MSB 0x05 |
| #define REG_MAG_DATAY_LSB 0x06 |
| #define REG_MAG_DATAZ_MSB 0x07 |
| #define REG_MAG_DATAZ_LSB 0x08 |
| #define REG_MAG_STATUS 0x09 |
| |
| #define REG_MAG_IDA 0x0A |
| #define REG_MAG_IDB 0x0B |
| #define REG_MAG_IDC 0x0C |
| #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
| |
| // bit mask for configuration mode |
| #define CRA_MODE_MASK 0x03 |
| #define CRA_MODE_NORMAL 0x00 //default |
| #define CRA_MODE_POSBIAS 0x01 |
| #define CRA_MODE_NEGBIAS 0x02 |
| #define CRA_MODE_SELFTEST 0x03 |
| |
| // bit mask for measurement mode |
| #define MODE_MASK 0xFF |
| #define MODE_CONTINUOUS 0x00 |
| #define MODE_SINGLE 0x01 // default |
| #define MODE_IDLE 0x02 |
| #define MODE_SLEEP 0x03 |
| |
| // bit mask for rate |
| #define CRA_RATE_MASK 0x1C |
| |
| // bit mask for gain |
| #define CRB_GAIN_MASK 0xE0 |
| |
| // ids |
| #define MAG_IDA 0x48 |
| #define MAG_IDB 0x34 |
| #define MAG_IDC 0x33 |
| #define MAG_IDF_LSM303DLM 0x3C |
| |
| // the special HMC5843 interface |
| // bit mask for rate |
| #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 gain |
| #define HMC5843_CRB_GAIN_07GA 0x00 |
| #define HMC5843_CRB_GAIN_10GA 0x20 //default |
| #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
| #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 |
| // self test value |
| #define HMC5843_TEST_XSCALE 555 |
| #define HMC5843_TEST_YSCALE 555 |
| #define HMC5843_TEST_ZSCALE 555 |
| // calibration range |
| #define HMC5843_CALIBRATION_RANGE 600 |
| |
| // the special LSM302DLH interface |
| // bit mask for rate |
| #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
| #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
| #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
| #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
| #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
| #define LSM303DLH_CRA_RATE_30HZ 0x14 |
| #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| |
| // bit mask for gain |
| #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
| #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| #define LSM303DLH_CRB_GAIN_40GA 0x80 |
| #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| |
| typedef struct |
| { |
| u8 A; |
| u8 B; |
| u8 C; |
| } __attribute__((packed)) Identification_t; |
| volatile Identification_t NCMAG_Identification; |
| |
| typedef struct |
| { |
| u8 Sub; |
| } __attribute__((packed)) Identification2_t; |
| volatile Identification2_t NCMAG_Identification2; |
| |
| typedef struct |
| { |
| u8 cra; |
| u8 crb; |
| u8 mode; |
| } __attribute__((packed)) MagConfig_t; |
| |
| volatile MagConfig_t MagConfig; |
| |
| |
| // self test value |
| #define LSM303DLH_TEST_XSCALE 495 |
| #define LSM303DLH_TEST_YSCALE 495 |
| #define LSM303DLH_TEST_ZSCALE 470 |
| // clibration range |
| #define LSM303_CALIBRATION_RANGE 550 |
| |
| // the i2c ACC interface |
| #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
| |
| // multiple byte read/write mask |
| #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
| |
| // register mapping |
| #define REG_ACC_CTRL1 0x20 |
| #define REG_ACC_CTRL2 0x21 |
| #define REG_ACC_CTRL3 0x22 |
| #define REG_ACC_CTRL4 0x23 |
| #define REG_ACC_CTRL5 0x24 |
| #define REG_ACC_HP_FILTER_RESET 0x25 |
| #define REG_ACC_REFERENCE 0x26 |
| #define REG_ACC_STATUS 0x27 |
| #define REG_ACC_X_LSB 0x28 |
| #define REG_ACC_X_MSB 0x29 |
| #define REG_ACC_Y_LSB 0x2A |
| #define REG_ACC_Y_MSB 0x2B |
| #define REG_ACC_Z_LSB 0x2C |
| #define REG_ACC_Z_MSB 0x2D |
| |
| #define ACC_CRTL1_PM_DOWN 0x00 |
| #define ACC_CRTL1_PM_NORMAL 0x20 |
| #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
| #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
| #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
| #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
| #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
| // Output data rate in normal power mode |
| #define ACC_CRTL1_DR_50HZ 0x00 |
| #define ACC_CRTL1_DR_100HZ 0x08 |
| #define ACC_CRTL1_DR_400HZ 0x10 |
| #define ACC_CRTL1_DR_1000HZ 0x18 |
| // axis anable flags |
| #define ACC_CRTL1_XEN 0x01 |
| #define ACC_CRTL1_YEN 0x02 |
| #define ACC_CRTL1_ZEN 0x04 |
| |
| #define ACC_CRTL2_FILTER8 0x10 |
| #define ACC_CRTL2_FILTER16 0x11 |
| #define ACC_CRTL2_FILTER32 0x12 |
| #define ACC_CRTL2_FILTER64 0x13 |
| |
| #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
| #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
| #define ACC_CTRL4_FS_2G 0x00 |
| #define ACC_CTRL4_FS_4G 0x10 |
| #define ACC_CTRL4_FS_8G 0x30 |
| #define ACC_CTRL4_STSIGN_PLUS 0x00 |
| #define ACC_CTRL4_STSIGN_MINUS 0x08 |
| #define ACC_CTRL4_ST_ENABLE 0x02 |
| |
| #define ACC_CTRL5_STW_ON 0x03 |
| #define ACC_CTRL5_STW_OFF 0x00 |
| |
| typedef struct |
| { |
| u8 ctrl_1; |
| u8 ctrl_2; |
| u8 ctrl_3; |
| u8 ctrl_4; |
| u8 ctrl_5; |
| } __attribute__((packed)) AccConfig_t; |
| |
| volatile AccConfig_t AccConfig; |
| |
| u8 NCMag_CalibrationWrite(void) |
| { |
| u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
| EEPROM_Result_t eres; |
| u8 *pBuff = (u8*)&Calibration; |
| |
| Calibration.Version = CALIBRATION_VERSION; |
| for(i = 0; i<(sizeof(Calibration)-1); i++) |
| { |
| crc += pBuff[i]; |
| } |
| Calibration.crc = ~crc; |
| eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
| if(EEPROM_SUCCESS == eres) i = 1; |
| else i = 0; |
| return(i); |
| } |
| |
| u8 NCMag_CalibrationRead(void) |
| { |
| u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
| u8 *pBuff = (u8*)&Calibration; |
| |
| if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
| { |
| for(i = 0; i<(sizeof(Calibration)-1); i++) |
| { |
| crc += pBuff[i]; |
| } |
| crc = ~crc; |
| if(Calibration.crc != crc) return(0); // crc mismatch |
| if(Calibration.Version == CALIBRATION_VERSION) return(1); |
| } |
| return(0); |
| } |
| |
| |
| void NCMAG_Calibrate(void) |
| { |
| u8 msg[64]; |
| static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| static s16 X = 0, Y = 0, Z = 0; |
| static u8 OldCalState = 0; |
| s16 MinCalibration = 450; |
| |
| X = (4*X + MagRawVector.X + 3)/5; |
| Y = (4*Y + MagRawVector.Y + 3)/5; |
| Z = (4*Z + MagRawVector.Z + 3)/5; |
| |
| switch(Compass_CalState) |
| { |
| case 1: |
| // 1st step of calibration |
| // initialize ranges |
| // used to change the orientation of the NC in the horizontal plane |
| Xmin = 10000; |
| Xmax = -10000; |
| Ymin = 10000; |
| Ymax = -10000; |
| Zmin = 10000; |
| Zmax = -10000; |
| 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;} |
| else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
| break; |
| |
| case 3: // 3rd step of calibration |
| // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| break; |
| |
| case 4: |
| // find Min and Max of the Z-Sensor |
| if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
| else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
| break; |
| |
| case 5: |
| // Save values |
| if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| { |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| UART1_PutString("\r\nHMC5843 calibration\n\r"); |
| MinCalibration = HMC5843_CALIBRATION_RANGE; |
| break; |
| |
| case TYPE_LSM303DLH: |
| case TYPE_LSM303DLM: |
| UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
| MinCalibration = LSM303_CALIBRATION_RANGE; |
| break; |
| } |
| if(EarthMagneticStrengthTheoretic) |
| { |
| MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
| sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
| UART1_PutString(msg); |
| } |
| else UART1_PutString("without GPS\n\r"); |
| |
| Calibration.MagX.Range = Xmax - Xmin; |
| Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| Calibration.MagY.Range = Ymax - Ymin; |
| Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| Calibration.MagZ.Range = Zmax - Zmin; |
| Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
| { |
| NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
| BeepTime = 2500; |
| UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
| } |
| else |
| { |
| UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
| if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
| if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
| if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
| UART1_PutString("\r\n"); |
| |
| // restore old calibration data from eeprom |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| } |
| sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
| UART1_PutString(msg); |
| sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
| UART1_PutString(msg); |
| sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
| UART1_PutString(msg); |
| sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
| UART1_PutString(msg); |
| } |
| break; |
| |
| default: |
| break; |
| } |
| OldCalState = Compass_CalState; |
| } |
| |
| // ---------- call back handlers ----------------------------------------- |
| |
| // rx data handler for id info request |
| void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of bytes are matching |
| if(RxBufferSize == sizeof(NCMAG_Identification) ) |
| { |
| memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
| } |
| } |
| |
| void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of bytes are matching |
| if(RxBufferSize == sizeof(NCMAG_Identification2)) |
| { |
| memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
| } |
| } |
| |
| // rx data handler for magnetic sensor raw data |
| void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of bytes are matching |
| if(RxBufferSize == sizeof(MagRawVector) ) |
| { // byte order from big to little endian |
| s16 raw; |
| raw = pRxBuffer[0]<<8; |
| raw+= pRxBuffer[1]; |
| if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
| raw = pRxBuffer[2]<<8; |
| raw+= pRxBuffer[3]; |
| if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| { |
| if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
| else MagRawVector.Y = raw; |
| } |
| raw = pRxBuffer[4]<<8; |
| raw+= pRxBuffer[5]; |
| if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| { |
| if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
| else MagRawVector.Z = raw; |
| } |
| } |
| if(Compass_CalState || !NCMAG_IsCalibrated) |
| { // mark out data invalid |
| MagVector.X = MagRawVector.X; |
| MagVector.Y = MagRawVector.Y; |
| MagVector.Z = MagRawVector.Z; |
| Compass_Heading = -1; |
| } |
| else |
| { |
| // update MagVector from MagRaw Vector by Scaling |
| MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
| MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
| MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
| Compass_CalcHeading(); |
| } |
| } |
| // rx data handler for acceleration raw data |
| void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| { // if number of byte are matching |
| static s32 filter_z; |
| if(RxBufferSize == sizeof(AccRawVector) ) |
| { |
| memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| } |
| DebugOut.Analog[16] = AccRawVector.X; |
| DebugOut.Analog[17] = AccRawVector.Y; |
| filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
| |
| DebugOut.Analog[18] = filter_z; |
| DebugOut.Analog[19] = AccRawVector.Z; |
| } |
| // 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_LockBuffer(100)) |
| { |
| u8 TxBytes = 0; |
| I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| TxBytes += sizeof(MagConfig); |
| if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| u8 NCMAG_GetMagConfig(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBuffer(100)) |
| { |
| u8 TxBytes = 0; |
| I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| u8 NCMAG_SetAccConfig(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBuffer(100)) |
| { |
| u8 TxBytes = 0; |
| I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| TxBytes += sizeof(AccConfig); |
| if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| u8 NCMAG_GetAccConfig(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBuffer(100)) |
| { |
| u8 TxBytes = 0; |
| I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| // ---------------------------------------------------------------------------------------- |
| u8 NCMAG_GetIdentification(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBuffer(100)) |
| { |
| u16 TxBytes = 0; |
| NCMAG_Identification.A = 0xFF; |
| NCMAG_Identification.B = 0xFF; |
| NCMAG_Identification.C = 0xFF; |
| I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
| // initiate transmission |
| if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| u8 NCMAG_GetIdentification_Sub(void) |
| { |
| u8 retval = 0; |
| // try to catch the i2c buffer within 100 ms timeout |
| if(I2C_LockBuffer(100)) |
| { |
| u16 TxBytes = 0; |
| NCMAG_Identification2.Sub = 0xFF; |
| I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
| // initiate transmission |
| if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
| { |
| if(I2C_WaitForEndOfTransmission(100)) |
| { |
| if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| } |
| } |
| } |
| return(retval); |
| } |
| |
| |
| // ---------------------------------------------------------------------------------------- |
| void NCMAG_GetMagVector(void) |
| { |
| // try to catch the I2C buffer within 0 ms |
| if(I2C_LockBuffer(0)) |
| { |
| u16 TxBytes = 0; |
| // set register pointer |
| I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
| // initiate transmission |
| I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| } |
| } |
| |
| //---------------------------------------------------------------- |
| void NCMAG_GetAccVector(void) |
| { |
| // try to catch the I2C buffer within 0 ms |
| if(I2C_LockBuffer(0)) |
| { |
| u16 TxBytes = 0; |
| // set register pointer |
| I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
| // initiate transmission |
| I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| } |
| } |
| |
| //---------------------------------------------------------------- |
| u8 InitNC_MagnetSensor(void) |
| { |
| u8 crb_gain, cra_rate; |
| |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| crb_gain = HMC5843_CRB_GAIN_15GA; |
| cra_rate = HMC5843_CRA_RATE_50HZ; |
| break; |
| |
| case TYPE_LSM303DLH: |
| case TYPE_LSM303DLM: |
| crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| break; |
| |
| default: |
| return(0); |
| } |
| |
| MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| MagConfig.crb = crb_gain; |
| MagConfig.mode = MODE_CONTINUOUS; |
| return(NCMAG_SetMagConfig()); |
| } |
| |
| |
| //---------------------------------------------------------------- |
| u8 NCMAG_Init_ACCSensor(void) |
| { |
| AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
| AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
| AccConfig.ctrl_3 = 0x00; |
| AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
| AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
| return(NCMAG_SetAccConfig()); |
| } |
| // -------------------------------------------------------- |
| void NCMAG_Update(void) |
| { |
| static u32 TimerUpdate = 0; |
| static u8 send_config = 0; |
| u32 delay = 20; |
| |
| if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| { |
| Compass_Heading = -1; |
| DebugOut.Analog[14]++; // count I2C error |
| return; |
| } |
| if(CheckDelay(TimerUpdate)) |
| { |
| if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
| if(++send_config == 25) // 500ms |
| { |
| send_config = 0; |
| InitNC_MagnetSensor(); |
| TimerUpdate = SetDelay(15); // back into the old time-slot |
| } |
| else |
| { |
| // static u8 s = 0; |
| // check for new calibration state |
| Compass_UpdateCalState(); |
| if(Compass_CalState) NCMAG_Calibrate(); |
| |
| // in case of LSM303 type |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| NCMAG_GetMagVector(); |
| delay = 20; |
| break; |
| case TYPE_LSM303DLH: |
| case TYPE_LSM303DLM: |
| NCMAG_GetMagVector(); |
| delay = 20; |
| /* if(s){ NCMAG_GetMagVector(); s = 0;} |
| else { NCMAG_GetAccVector(); s = 1;} |
| delay = 10; |
| */ |
| break; |
| } |
| if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
| } |
| } |
| } |
| |
| |
| // -------------------------------------------------------- |
| u8 NCMAG_SelfTest(void) |
| { |
| u8 msg[64]; |
| static u8 done = 0; |
| |
| if(done) return(1); // just make it once |
| |
| #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
| u32 time; |
| s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| s16 xscale, yscale, zscale, scale_min, scale_max; |
| u8 crb_gain, cra_rate; |
| u8 i = 0, retval = 1; |
| |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| crb_gain = HMC5843_CRB_GAIN_15GA; |
| cra_rate = HMC5843_CRA_RATE_50HZ; |
| xscale = HMC5843_TEST_XSCALE; |
| yscale = HMC5843_TEST_YSCALE; |
| zscale = HMC5843_TEST_ZSCALE; |
| break; |
| |
| case TYPE_LSM303DLH: |
| crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| xscale = LSM303DLH_TEST_XSCALE; |
| yscale = LSM303DLH_TEST_YSCALE; |
| zscale = LSM303DLH_TEST_ZSCALE; |
| break; |
| |
| case TYPE_LSM303DLM: |
| // does not support self test feature |
| done = retval; |
| return(retval); |
| break; |
| |
| default: |
| return(0); |
| } |
| |
| MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
| MagConfig.crb = crb_gain; |
| MagConfig.mode = MODE_CONTINUOUS; |
| // activate positive bias field |
| NCMAG_SetMagConfig(); |
| // wait for stable readings |
| time = SetDelay(50); |
| while(!CheckDelay(time)); |
| // averaging |
| #define AVERAGE 20 |
| for(i = 0; i<AVERAGE; i++) |
| { |
| NCMAG_GetMagVector(); |
| time = SetDelay(20); |
| while(!CheckDelay(time)); |
| XMax += MagRawVector.X; |
| YMax += MagRawVector.Y; |
| ZMax += MagRawVector.Z; |
| } |
| MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
| // activate positive bias field |
| NCMAG_SetMagConfig(); |
| // wait for stable readings |
| time = SetDelay(50); |
| while(!CheckDelay(time)); |
| // averaging |
| for(i = 0; i < AVERAGE; i++) |
| { |
| NCMAG_GetMagVector(); |
| time = SetDelay(20); |
| while(!CheckDelay(time)); |
| XMin += MagRawVector.X; |
| YMin += MagRawVector.Y; |
| ZMin += MagRawVector.Z; |
| } |
| // setup final configuration |
| MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| // activate positive bias field |
| NCMAG_SetMagConfig(); |
| // check scale for all axes |
| // prepare scale limits |
| LIMITS(xscale, scale_min, scale_max); |
| xscale = (XMax - XMin)/(2*AVERAGE); |
| if((xscale > scale_max) || (xscale < scale_min)) |
| { |
| retval = 0; |
| sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
| UART1_PutString(msg); |
| } |
| LIMITS(yscale, scale_min, scale_max); |
| yscale = (YMax - YMin)/(2*AVERAGE); |
| if((yscale > scale_max) || (yscale < scale_min)) |
| { |
| retval = 0; |
| sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
| UART1_PutString(msg); |
| } |
| LIMITS(zscale, scale_min, scale_max); |
| zscale = (ZMax - ZMin)/(2*AVERAGE); |
| if((zscale > scale_max) || (zscale < scale_min)) |
| { |
| retval = 0; |
| sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
| UART1_PutString(msg); |
| } |
| done = retval; |
| return(retval); |
| } |
| |
| |
| //---------------------------------------------------------------- |
| u8 NCMAG_Init(void) |
| { |
| u8 msg[64]; |
| u8 retval = 0; |
| u8 repeat; |
| |
| NCMAG_Present = 0; |
| NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
| // polling for LSM302DLH/DLM option by ACC address ack |
| repeat = 0; |
| do |
| { |
| retval = NCMAG_GetAccConfig(); |
| if(retval) break; // break loop on success |
| UART1_PutString("."); |
| repeat++; |
| }while(repeat < 3); |
| if(retval) |
| { |
| // initialize ACC sensor |
| NCMAG_Init_ACCSensor(); |
| |
| NCMAG_SensorType = TYPE_LSM303DLH; |
| // polling of sub identification |
| repeat = 0; |
| do |
| { |
| retval = NCMAG_GetIdentification_Sub(); |
| if(retval) break; // break loop on success |
| UART1_PutString("."); |
| repeat++; |
| }while(repeat < 12); |
| if(retval) |
| { |
| if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
| } |
| } |
| // get id bytes |
| retval = 0; |
| do |
| { |
| retval = NCMAG_GetIdentification(); |
| if(retval) break; // break loop on success |
| UART1_PutString("."); |
| repeat++; |
| }while(repeat < 12); |
| |
| // if we got an answer to id request |
| if(retval) |
| { |
| u8 n1[] = "\n\r HMC5843"; |
| u8 n2[] = "\n\r LSM303DLH"; |
| u8 n3[] = "\n\r LSM303DLM"; |
| u8* pn = n1; |
| |
| switch(NCMAG_SensorType) |
| { |
| case TYPE_HMC5843: |
| pn = n1; |
| break; |
| case TYPE_LSM303DLH: |
| pn = n2; |
| break; |
| case TYPE_LSM303DLM: |
| pn = n3; |
| break; |
| } |
| |
| sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
| UART1_PutString(msg); |
| if ( (NCMAG_Identification.A == MAG_IDA) |
| && (NCMAG_Identification.B == MAG_IDB) |
| && (NCMAG_Identification.C == MAG_IDC)) |
| { |
| NCMAG_Present = 1; |
| |
| if(EEPROM_Init()) |
| { |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| } |
| else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
| // perform self test |
| if(!NCMAG_SelfTest()) |
| { |
| UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
| LED_RED_ON; |
| NCMAG_IsCalibrated = 0; |
| } |
| else UART1_PutString("\r\n Selftest ok"); |
| |
| // initialize magnetic sensor configuration |
| InitNC_MagnetSensor(); |
| } |
| else |
| { |
| UART1_PutString("\n\r Not compatible!"); |
| UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
| LED_RED_ON; |
| } |
| } |
| else // nothing found |
| { |
| NCMAG_SensorType = TYPE_NONE; |
| UART1_PutString("not found!"); |
| } |
| return(NCMAG_Present); |
| } |
| |