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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + 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 |
35 | // + 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 |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <math.h> |
56 | #include <math.h> |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "i2c.h" |
61 | #include "i2c.h" |
62 | #include "timer1.h" |
62 | #include "timer1.h" |
63 | #include "led.h" |
63 | #include "led.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "eeprom.h" |
65 | #include "eeprom.h" |
66 | #include "mymath.h" |
66 | #include "mymath.h" |
67 | #include "main.h" |
67 | #include "main.h" |
68 | 68 | ||
69 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
71 | 71 | ||
72 | // supported magnetic sensor types |
72 | // supported magnetic sensor types |
73 | #define TYPE_NONE 0 |
73 | #define TYPE_NONE 0 |
74 | #define TYPE_HMC5843 1 |
74 | #define TYPE_HMC5843 1 |
75 | #define TYPE_LSM303DLH 2 |
75 | #define TYPE_LSM303DLH 2 |
76 | #define TYPE_LSM303DLM 3 |
76 | #define TYPE_LSM303DLM 3 |
77 | 77 | ||
78 | u8 NCMAG_SensorType = TYPE_NONE; |
78 | u8 NCMAG_SensorType = TYPE_NONE; |
79 | 79 | ||
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
81 | #define CALIBRATION_VERSION 1 |
81 | #define CALIBRATION_VERSION 1 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
83 | 83 | ||
84 | #define NCMAG_MIN_RAWVALUE -2047 |
84 | #define NCMAG_MIN_RAWVALUE -2047 |
85 | #define NCMAG_MAX_RAWVALUE 2047 |
85 | #define NCMAG_MAX_RAWVALUE 2047 |
86 | #define NCMAG_INVALID_DATA -4096 |
86 | #define NCMAG_INVALID_DATA -4096 |
87 | 87 | ||
88 | typedef struct |
88 | typedef struct |
89 | { |
89 | { |
90 | s16 Range; |
90 | s16 Range; |
91 | s16 Offset; |
91 | s16 Offset; |
92 | } __attribute__((packed)) Scaling_t; |
92 | } __attribute__((packed)) Scaling_t; |
93 | 93 | ||
94 | typedef struct |
94 | typedef struct |
95 | { |
95 | { |
96 | Scaling_t MagX; |
96 | Scaling_t MagX; |
97 | Scaling_t MagY; |
97 | Scaling_t MagY; |
98 | Scaling_t MagZ; |
98 | Scaling_t MagZ; |
99 | u8 Version; |
99 | u8 Version; |
100 | u8 crc; |
100 | u8 crc; |
101 | } __attribute__((packed)) Calibration_t; |
101 | } __attribute__((packed)) Calibration_t; |
102 | 102 | ||
103 | Calibration_t Calibration; // calibration data in RAM |
103 | Calibration_t Calibration; // calibration data in RAM |
104 | volatile s16vec_t AccRawVector; |
104 | volatile s16vec_t AccRawVector; |
105 | volatile s16vec_t MagRawVector; |
105 | volatile s16vec_t MagRawVector; |
106 | 106 | ||
107 | // i2c MAG interface |
107 | // i2c MAG interface |
108 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
108 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
109 | 109 | ||
110 | // register mapping |
110 | // register mapping |
111 | #define REG_MAG_CRA 0x00 |
111 | #define REG_MAG_CRA 0x00 |
112 | #define REG_MAG_CRB 0x01 |
112 | #define REG_MAG_CRB 0x01 |
113 | #define REG_MAG_MODE 0x02 |
113 | #define REG_MAG_MODE 0x02 |
114 | #define REG_MAG_DATAX_MSB 0x03 |
114 | #define REG_MAG_DATAX_MSB 0x03 |
115 | #define REG_MAG_DATAX_LSB 0x04 |
115 | #define REG_MAG_DATAX_LSB 0x04 |
116 | #define REG_MAG_DATAY_MSB 0x05 |
116 | #define REG_MAG_DATAY_MSB 0x05 |
117 | #define REG_MAG_DATAY_LSB 0x06 |
117 | #define REG_MAG_DATAY_LSB 0x06 |
118 | #define REG_MAG_DATAZ_MSB 0x07 |
118 | #define REG_MAG_DATAZ_MSB 0x07 |
119 | #define REG_MAG_DATAZ_LSB 0x08 |
119 | #define REG_MAG_DATAZ_LSB 0x08 |
120 | #define REG_MAG_STATUS 0x09 |
120 | #define REG_MAG_STATUS 0x09 |
121 | 121 | ||
122 | #define REG_MAG_IDA 0x0A |
122 | #define REG_MAG_IDA 0x0A |
123 | #define REG_MAG_IDB 0x0B |
123 | #define REG_MAG_IDB 0x0B |
124 | #define REG_MAG_IDC 0x0C |
124 | #define REG_MAG_IDC 0x0C |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
126 | 126 | ||
127 | // bit mask for configuration mode |
127 | // bit mask for configuration mode |
128 | #define CRA_MODE_MASK 0x03 |
128 | #define CRA_MODE_MASK 0x03 |
129 | #define CRA_MODE_NORMAL 0x00 //default |
129 | #define CRA_MODE_NORMAL 0x00 //default |
130 | #define CRA_MODE_POSBIAS 0x01 |
130 | #define CRA_MODE_POSBIAS 0x01 |
131 | #define CRA_MODE_NEGBIAS 0x02 |
131 | #define CRA_MODE_NEGBIAS 0x02 |
132 | #define CRA_MODE_SELFTEST 0x03 |
132 | #define CRA_MODE_SELFTEST 0x03 |
133 | 133 | ||
134 | // bit mask for measurement mode |
134 | // bit mask for measurement mode |
135 | #define MODE_MASK 0xFF |
135 | #define MODE_MASK 0xFF |
136 | #define MODE_CONTINUOUS 0x00 |
136 | #define MODE_CONTINUOUS 0x00 |
137 | #define MODE_SINGLE 0x01 // default |
137 | #define MODE_SINGLE 0x01 // default |
138 | #define MODE_IDLE 0x02 |
138 | #define MODE_IDLE 0x02 |
139 | #define MODE_SLEEP 0x03 |
139 | #define MODE_SLEEP 0x03 |
140 | 140 | ||
141 | // bit mask for rate |
141 | // bit mask for rate |
142 | #define CRA_RATE_MASK 0x1C |
142 | #define CRA_RATE_MASK 0x1C |
143 | 143 | ||
144 | // bit mask for gain |
144 | // bit mask for gain |
145 | #define CRB_GAIN_MASK 0xE0 |
145 | #define CRB_GAIN_MASK 0xE0 |
146 | 146 | ||
147 | // ids |
147 | // ids |
148 | #define MAG_IDA 0x48 |
148 | #define MAG_IDA 0x48 |
149 | #define MAG_IDB 0x34 |
149 | #define MAG_IDB 0x34 |
150 | #define MAG_IDC 0x33 |
150 | #define MAG_IDC 0x33 |
151 | #define MAG_IDF_LSM303DLM 0x3C |
151 | #define MAG_IDF_LSM303DLM 0x3C |
152 | 152 | ||
153 | // the special HMC5843 interface |
153 | // the special HMC5843 interface |
154 | // bit mask for rate |
154 | // bit mask for rate |
155 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
155 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
156 | #define HMC5843_CRA_RATE_1HZ 0x04 |
156 | #define HMC5843_CRA_RATE_1HZ 0x04 |
157 | #define HMC5843_CRA_RATE_2HZ 0x08 |
157 | #define HMC5843_CRA_RATE_2HZ 0x08 |
158 | #define HMC5843_CRA_RATE_5HZ 0x0C |
158 | #define HMC5843_CRA_RATE_5HZ 0x0C |
159 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
159 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
160 | #define HMC5843_CRA_RATE_20HZ 0x14 |
160 | #define HMC5843_CRA_RATE_20HZ 0x14 |
161 | #define HMC5843_CRA_RATE_50HZ 0x18 |
161 | #define HMC5843_CRA_RATE_50HZ 0x18 |
162 | // bit mask for gain |
162 | // bit mask for gain |
163 | #define HMC5843_CRB_GAIN_07GA 0x00 |
163 | #define HMC5843_CRB_GAIN_07GA 0x00 |
164 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
164 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
165 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
165 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
166 | #define HMC5843_CRB_GAIN_20GA 0x60 |
166 | #define HMC5843_CRB_GAIN_20GA 0x60 |
167 | #define HMC5843_CRB_GAIN_32GA 0x80 |
167 | #define HMC5843_CRB_GAIN_32GA 0x80 |
168 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
168 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
169 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
169 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
171 | // self test value |
171 | // self test value |
172 | #define HMC5843_TEST_XSCALE 555 |
172 | #define HMC5843_TEST_XSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
175 | // calibration range |
175 | // calibration range |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
177 | 177 | ||
178 | // the special LSM302DLH interface |
178 | // the special LSM302DLH interface |
179 | // bit mask for rate |
179 | // bit mask for rate |
180 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
180 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
181 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
181 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
182 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
182 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
183 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
183 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
184 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
184 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
185 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
185 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
186 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
186 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
187 | 187 | ||
188 | // bit mask for gain |
188 | // bit mask for gain |
189 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
189 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
190 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
190 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
191 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
191 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
197 | 197 | ||
198 | typedef struct |
198 | typedef struct |
199 | { |
199 | { |
200 | u8 A; |
200 | u8 A; |
201 | u8 B; |
201 | u8 B; |
202 | u8 C; |
202 | u8 C; |
203 | } __attribute__((packed)) Identification_t; |
203 | } __attribute__((packed)) Identification_t; |
204 | volatile Identification_t NCMAG_Identification; |
204 | volatile Identification_t NCMAG_Identification; |
205 | 205 | ||
206 | typedef struct |
206 | typedef struct |
207 | { |
207 | { |
208 | u8 Sub; |
208 | u8 Sub; |
209 | } __attribute__((packed)) Identification2_t; |
209 | } __attribute__((packed)) Identification2_t; |
210 | volatile Identification2_t NCMAG_Identification2; |
210 | volatile Identification2_t NCMAG_Identification2; |
211 | 211 | ||
212 | typedef struct |
212 | typedef struct |
213 | { |
213 | { |
214 | u8 cra; |
214 | u8 cra; |
215 | u8 crb; |
215 | u8 crb; |
216 | u8 mode; |
216 | u8 mode; |
217 | } __attribute__((packed)) MagConfig_t; |
217 | } __attribute__((packed)) MagConfig_t; |
218 | 218 | ||
219 | volatile MagConfig_t MagConfig; |
219 | volatile MagConfig_t MagConfig; |
220 | 220 | ||
221 | 221 | ||
222 | // self test value |
222 | // self test value |
223 | #define LSM303DLH_TEST_XSCALE 495 |
223 | #define LSM303DLH_TEST_XSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
226 | // clibration range |
226 | // clibration range |
227 | #define LSM303_CALIBRATION_RANGE 550 |
227 | #define LSM303_CALIBRATION_RANGE 550 |
228 | 228 | ||
229 | // the i2c ACC interface |
229 | // the i2c ACC interface |
230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
231 | 231 | ||
232 | // multiple byte read/write mask |
232 | // multiple byte read/write mask |
233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
234 | 234 | ||
235 | // register mapping |
235 | // register mapping |
236 | #define REG_ACC_CTRL1 0x20 |
236 | #define REG_ACC_CTRL1 0x20 |
237 | #define REG_ACC_CTRL2 0x21 |
237 | #define REG_ACC_CTRL2 0x21 |
238 | #define REG_ACC_CTRL3 0x22 |
238 | #define REG_ACC_CTRL3 0x22 |
239 | #define REG_ACC_CTRL4 0x23 |
239 | #define REG_ACC_CTRL4 0x23 |
240 | #define REG_ACC_CTRL5 0x24 |
240 | #define REG_ACC_CTRL5 0x24 |
241 | #define REG_ACC_HP_FILTER_RESET 0x25 |
241 | #define REG_ACC_HP_FILTER_RESET 0x25 |
242 | #define REG_ACC_REFERENCE 0x26 |
242 | #define REG_ACC_REFERENCE 0x26 |
243 | #define REG_ACC_STATUS 0x27 |
243 | #define REG_ACC_STATUS 0x27 |
244 | #define REG_ACC_X_LSB 0x28 |
244 | #define REG_ACC_X_LSB 0x28 |
245 | #define REG_ACC_X_MSB 0x29 |
245 | #define REG_ACC_X_MSB 0x29 |
246 | #define REG_ACC_Y_LSB 0x2A |
246 | #define REG_ACC_Y_LSB 0x2A |
247 | #define REG_ACC_Y_MSB 0x2B |
247 | #define REG_ACC_Y_MSB 0x2B |
248 | #define REG_ACC_Z_LSB 0x2C |
248 | #define REG_ACC_Z_LSB 0x2C |
249 | #define REG_ACC_Z_MSB 0x2D |
249 | #define REG_ACC_Z_MSB 0x2D |
250 | 250 | ||
251 | #define ACC_CRTL1_PM_DOWN 0x00 |
251 | #define ACC_CRTL1_PM_DOWN 0x00 |
252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
258 | // Output data rate in normal power mode |
258 | // Output data rate in normal power mode |
259 | #define ACC_CRTL1_DR_50HZ 0x00 |
259 | #define ACC_CRTL1_DR_50HZ 0x00 |
260 | #define ACC_CRTL1_DR_100HZ 0x08 |
260 | #define ACC_CRTL1_DR_100HZ 0x08 |
261 | #define ACC_CRTL1_DR_400HZ 0x10 |
261 | #define ACC_CRTL1_DR_400HZ 0x10 |
262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
263 | // axis anable flags |
263 | // axis anable flags |
264 | #define ACC_CRTL1_XEN 0x01 |
264 | #define ACC_CRTL1_XEN 0x01 |
265 | #define ACC_CRTL1_YEN 0x02 |
265 | #define ACC_CRTL1_YEN 0x02 |
266 | #define ACC_CRTL1_ZEN 0x04 |
266 | #define ACC_CRTL1_ZEN 0x04 |
267 | 267 | ||
268 | #define ACC_CRTL2_FILTER8 0x10 |
268 | #define ACC_CRTL2_FILTER8 0x10 |
269 | #define ACC_CRTL2_FILTER16 0x11 |
269 | #define ACC_CRTL2_FILTER16 0x11 |
270 | #define ACC_CRTL2_FILTER32 0x12 |
270 | #define ACC_CRTL2_FILTER32 0x12 |
271 | #define ACC_CRTL2_FILTER64 0x13 |
271 | #define ACC_CRTL2_FILTER64 0x13 |
272 | 272 | ||
273 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
273 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
274 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
274 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
275 | #define ACC_CTRL4_FS_2G 0x00 |
275 | #define ACC_CTRL4_FS_2G 0x00 |
276 | #define ACC_CTRL4_FS_4G 0x10 |
276 | #define ACC_CTRL4_FS_4G 0x10 |
277 | #define ACC_CTRL4_FS_8G 0x30 |
277 | #define ACC_CTRL4_FS_8G 0x30 |
278 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
278 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
279 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
279 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
280 | #define ACC_CTRL4_ST_ENABLE 0x02 |
280 | #define ACC_CTRL4_ST_ENABLE 0x02 |
281 | 281 | ||
282 | #define ACC_CTRL5_STW_ON 0x03 |
282 | #define ACC_CTRL5_STW_ON 0x03 |
283 | #define ACC_CTRL5_STW_OFF 0x00 |
283 | #define ACC_CTRL5_STW_OFF 0x00 |
284 | 284 | ||
285 | typedef struct |
285 | typedef struct |
286 | { |
286 | { |
287 | u8 ctrl_1; |
287 | u8 ctrl_1; |
288 | u8 ctrl_2; |
288 | u8 ctrl_2; |
289 | u8 ctrl_3; |
289 | u8 ctrl_3; |
290 | u8 ctrl_4; |
290 | u8 ctrl_4; |
291 | u8 ctrl_5; |
291 | u8 ctrl_5; |
292 | } __attribute__((packed)) AccConfig_t; |
292 | } __attribute__((packed)) AccConfig_t; |
293 | 293 | ||
294 | volatile AccConfig_t AccConfig; |
294 | volatile AccConfig_t AccConfig; |
295 | 295 | ||
296 | u8 NCMag_CalibrationWrite(void) |
296 | u8 NCMag_CalibrationWrite(void) |
297 | { |
297 | { |
298 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
298 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
299 | EEPROM_Result_t eres; |
299 | EEPROM_Result_t eres; |
300 | u8 *pBuff = (u8*)&Calibration; |
300 | u8 *pBuff = (u8*)&Calibration; |
301 | 301 | ||
302 | Calibration.Version = CALIBRATION_VERSION; |
302 | Calibration.Version = CALIBRATION_VERSION; |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
304 | { |
304 | { |
305 | crc += pBuff[i]; |
305 | crc += pBuff[i]; |
306 | } |
306 | } |
307 | Calibration.crc = ~crc; |
307 | Calibration.crc = ~crc; |
308 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
308 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
310 | else i = 0; |
310 | else i = 0; |
311 | return(i); |
311 | return(i); |
312 | } |
312 | } |
313 | 313 | ||
314 | u8 NCMag_CalibrationRead(void) |
314 | u8 NCMag_CalibrationRead(void) |
315 | { |
315 | { |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
317 | u8 *pBuff = (u8*)&Calibration; |
317 | u8 *pBuff = (u8*)&Calibration; |
318 | 318 | ||
319 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
319 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
320 | { |
320 | { |
321 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
321 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
322 | { |
322 | { |
323 | crc += pBuff[i]; |
323 | crc += pBuff[i]; |
324 | } |
324 | } |
325 | crc = ~crc; |
325 | crc = ~crc; |
326 | if(Calibration.crc != crc) return(0); // crc mismatch |
326 | if(Calibration.crc != crc) return(0); // crc mismatch |
327 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
327 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
328 | } |
328 | } |
329 | return(0); |
329 | return(0); |
330 | } |
330 | } |
331 | 331 | ||
332 | 332 | ||
333 | void NCMAG_Calibrate(void) |
333 | void NCMAG_Calibrate(void) |
334 | { |
334 | { |
335 | u8 msg[64]; |
335 | u8 msg[64]; |
336 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
336 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
337 | static s16 X = 0, Y = 0, Z = 0; |
337 | static s16 X = 0, Y = 0, Z = 0; |
338 | static u8 OldCalState = 0; |
338 | static u8 OldCalState = 0; |
339 | s16 MinCalibration = 450; |
339 | s16 MinCalibration = 450; |
340 | 340 | ||
341 | X = (4*X + MagRawVector.X + 3)/5; |
341 | X = (4*X + MagRawVector.X + 3)/5; |
342 | Y = (4*Y + MagRawVector.Y + 3)/5; |
342 | Y = (4*Y + MagRawVector.Y + 3)/5; |
343 | Z = (4*Z + MagRawVector.Z + 3)/5; |
343 | Z = (4*Z + MagRawVector.Z + 3)/5; |
344 | 344 | ||
345 | switch(Compass_CalState) |
345 | switch(Compass_CalState) |
346 | { |
346 | { |
347 | case 1: |
347 | case 1: |
348 | // 1st step of calibration |
348 | // 1st step of calibration |
349 | // initialize ranges |
349 | // initialize ranges |
350 | // used to change the orientation of the NC in the horizontal plane |
350 | // used to change the orientation of the NC in the horizontal plane |
351 | Xmin = 10000; |
351 | Xmin = 10000; |
352 | Xmax = -10000; |
352 | Xmax = -10000; |
353 | Ymin = 10000; |
353 | Ymin = 10000; |
354 | Ymax = -10000; |
354 | Ymax = -10000; |
355 | Zmin = 10000; |
355 | Zmin = 10000; |
356 | Zmax = -10000; |
356 | Zmax = -10000; |
357 | break; |
357 | break; |
358 | 358 | ||
359 | case 2: // 2nd step of calibration |
359 | case 2: // 2nd step of calibration |
360 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
360 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
361 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
361 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
362 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
362 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
363 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
363 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
364 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
364 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
365 | break; |
365 | break; |
366 | 366 | ||
367 | case 3: // 3rd step of calibration |
367 | case 3: // 3rd step of calibration |
368 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
368 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
369 | break; |
369 | break; |
370 | 370 | ||
371 | case 4: |
371 | case 4: |
372 | // find Min and Max of the Z-Sensor |
372 | // find Min and Max of the Z-Sensor |
373 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
373 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
374 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
374 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
375 | break; |
375 | break; |
376 | 376 | ||
377 | case 5: |
377 | case 5: |
378 | // Save values |
378 | // Save values |
379 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
379 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
380 | { |
380 | { |
381 | switch(NCMAG_SensorType) |
381 | switch(NCMAG_SensorType) |
382 | { |
382 | { |
383 | case TYPE_HMC5843: |
383 | case TYPE_HMC5843: |
384 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
384 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
385 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
385 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
386 | break; |
386 | break; |
387 | 387 | ||
388 | case TYPE_LSM303DLH: |
388 | case TYPE_LSM303DLH: |
389 | case TYPE_LSM303DLM: |
389 | case TYPE_LSM303DLM: |
390 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
390 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
391 | MinCalibration = LSM303_CALIBRATION_RANGE; |
391 | MinCalibration = LSM303_CALIBRATION_RANGE; |
392 | break; |
392 | break; |
393 | } |
393 | } |
394 | if(EarthMagneticStrengthTheoretic) |
394 | if(EarthMagneticStrengthTheoretic) |
395 | { |
395 | { |
396 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
396 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
397 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
397 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
398 | UART1_PutString(msg); |
398 | UART1_PutString(msg); |
399 | } |
399 | } |
400 | else UART1_PutString("without GPS\n\r"); |
400 | else UART1_PutString("without GPS\n\r"); |
401 | 401 | ||
402 | Calibration.MagX.Range = Xmax - Xmin; |
402 | Calibration.MagX.Range = Xmax - Xmin; |
403 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
403 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
404 | Calibration.MagY.Range = Ymax - Ymin; |
404 | Calibration.MagY.Range = Ymax - Ymin; |
405 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
405 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
406 | Calibration.MagZ.Range = Zmax - Zmin; |
406 | Calibration.MagZ.Range = Zmax - Zmin; |
407 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
407 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
408 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
408 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
409 | { |
409 | { |
410 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
410 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
411 | BeepTime = 2500; |
411 | BeepTime = 2500; |
412 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
412 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
413 | } |
413 | } |
414 | else |
414 | else |
415 | { |
415 | { |
416 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
416 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
417 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
417 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
418 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
418 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
419 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
419 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
420 | UART1_PutString("\r\n"); |
420 | UART1_PutString("\r\n"); |
421 | 421 | ||
422 | // restore old calibration data from eeprom |
422 | // restore old calibration data from eeprom |
423 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
423 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
424 | } |
424 | } |
425 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
425 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
426 | UART1_PutString(msg); |
426 | UART1_PutString(msg); |
427 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
427 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
428 | UART1_PutString(msg); |
428 | UART1_PutString(msg); |
429 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
429 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
430 | UART1_PutString(msg); |
430 | UART1_PutString(msg); |
431 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
431 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
432 | UART1_PutString(msg); |
432 | UART1_PutString(msg); |
433 | } |
433 | } |
434 | break; |
434 | break; |
435 | 435 | ||
436 | default: |
436 | default: |
437 | break; |
437 | break; |
438 | } |
438 | } |
439 | OldCalState = Compass_CalState; |
439 | OldCalState = Compass_CalState; |
440 | } |
440 | } |
441 | 441 | ||
442 | // ---------- call back handlers ----------------------------------------- |
442 | // ---------- call back handlers ----------------------------------------- |
443 | 443 | ||
444 | // rx data handler for id info request |
444 | // rx data handler for id info request |
445 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
445 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
446 | { // if number of bytes are matching |
446 | { // if number of bytes are matching |
447 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
447 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
448 | { |
448 | { |
449 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
449 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
450 | } |
450 | } |
451 | } |
451 | } |
452 | 452 | ||
453 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
453 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
454 | { // if number of bytes are matching |
454 | { // if number of bytes are matching |
455 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
455 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
456 | { |
456 | { |
457 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
457 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
458 | } |
458 | } |
459 | } |
459 | } |
460 | 460 | ||
461 | // rx data handler for magnetic sensor raw data |
461 | // rx data handler for magnetic sensor raw data |
462 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
462 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
463 | { // if number of bytes are matching |
463 | { // if number of bytes are matching |
464 | if(RxBufferSize == sizeof(MagRawVector) ) |
464 | if(RxBufferSize == sizeof(MagRawVector) ) |
465 | { // byte order from big to little endian |
465 | { // byte order from big to little endian |
466 | s16 raw; |
466 | s16 raw; |
467 | raw = pRxBuffer[0]<<8; |
467 | raw = pRxBuffer[0]<<8; |
468 | raw+= pRxBuffer[1]; |
468 | raw+= pRxBuffer[1]; |
469 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
469 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
470 | raw = pRxBuffer[2]<<8; |
470 | raw = pRxBuffer[2]<<8; |
471 | raw+= pRxBuffer[3]; |
471 | raw+= pRxBuffer[3]; |
472 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
472 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
473 | { |
473 | { |
474 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
474 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
475 | else MagRawVector.Y = raw; |
475 | else MagRawVector.Y = raw; |
476 | } |
476 | } |
477 | raw = pRxBuffer[4]<<8; |
477 | raw = pRxBuffer[4]<<8; |
478 | raw+= pRxBuffer[5]; |
478 | raw+= pRxBuffer[5]; |
479 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
479 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
480 | { |
480 | { |
481 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
481 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
482 | else MagRawVector.Z = raw; |
482 | else MagRawVector.Z = raw; |
483 | } |
483 | } |
484 | } |
484 | } |
485 | if(Compass_CalState || !NCMAG_IsCalibrated) |
485 | if(Compass_CalState || !NCMAG_IsCalibrated) |
486 | { // mark out data invalid |
486 | { // mark out data invalid |
487 | MagVector.X = MagRawVector.X; |
487 | MagVector.X = MagRawVector.X; |
488 | MagVector.Y = MagRawVector.Y; |
488 | MagVector.Y = MagRawVector.Y; |
489 | MagVector.Z = MagRawVector.Z; |
489 | MagVector.Z = MagRawVector.Z; |
490 | Compass_Heading = -1; |
490 | Compass_Heading = -1; |
491 | } |
491 | } |
492 | else |
492 | else |
493 | { |
493 | { |
494 | // update MagVector from MagRaw Vector by Scaling |
494 | // update MagVector from MagRaw Vector by Scaling |
495 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
495 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
496 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
496 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
497 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
497 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
498 | Compass_CalcHeading(); |
498 | Compass_CalcHeading(); |
499 | } |
499 | } |
500 | } |
500 | } |
501 | // rx data handler for acceleration raw data |
501 | // rx data handler for acceleration raw data |
502 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
502 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
503 | { // if number of byte are matching |
503 | { // if number of byte are matching |
504 | static s32 filter_z; |
504 | static s32 filter_z; |
505 | if(RxBufferSize == sizeof(AccRawVector) ) |
505 | if(RxBufferSize == sizeof(AccRawVector) ) |
506 | { |
506 | { |
507 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
507 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
508 | } |
508 | } |
509 | // DebugOut.Analog[16] = AccRawVector.X; |
509 | // DebugOut.Analog[16] = AccRawVector.X; |
510 | // DebugOut.Analog[17] = AccRawVector.Y; |
510 | // DebugOut.Analog[17] = AccRawVector.Y; |
511 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
511 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
512 | 512 | ||
513 | // DebugOut.Analog[18] = filter_z; |
513 | // DebugOut.Analog[18] = filter_z; |
514 | // DebugOut.Analog[19] = AccRawVector.Z; |
514 | // DebugOut.Analog[19] = AccRawVector.Z; |
515 | } |
515 | } |
516 | // rx data handler for reading magnetic sensor configuration |
516 | // rx data handler for reading magnetic sensor configuration |
517 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
517 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
518 | { // if number of byte are matching |
518 | { // if number of byte are matching |
519 | if(RxBufferSize == sizeof(MagConfig) ) |
519 | if(RxBufferSize == sizeof(MagConfig) ) |
520 | { |
520 | { |
521 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
521 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
522 | } |
522 | } |
523 | } |
523 | } |
524 | // rx data handler for reading acceleration sensor configuration |
524 | // rx data handler for reading acceleration sensor configuration |
525 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
525 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
526 | { // if number of byte are matching |
526 | { // if number of byte are matching |
527 | if(RxBufferSize == sizeof(AccConfig) ) |
527 | if(RxBufferSize == sizeof(AccConfig) ) |
528 | { |
528 | { |
529 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
529 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
530 | } |
530 | } |
531 | } |
531 | } |
532 | //---------------------------------------------------------------------- |
532 | //---------------------------------------------------------------------- |
533 | 533 | ||
534 | 534 | ||
535 | // --------------------------------------------------------------------- |
535 | // --------------------------------------------------------------------- |
536 | u8 NCMAG_SetMagConfig(void) |
536 | u8 NCMAG_SetMagConfig(void) |
537 | { |
537 | { |
538 | u8 retval = 0; |
538 | u8 retval = 0; |
539 | // try to catch the i2c buffer within 100 ms timeout |
539 | // try to catch the i2c buffer within 100 ms timeout |
540 | if(I2C_LockBuffer(100)) |
540 | if(I2C_LockBuffer(100)) |
541 | { |
541 | { |
542 | u8 TxBytes = 0; |
542 | u8 TxBytes = 0; |
543 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
543 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
544 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
544 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
545 | TxBytes += sizeof(MagConfig); |
545 | TxBytes += sizeof(MagConfig); |
546 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
546 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
547 | { |
547 | { |
548 | if(I2C_WaitForEndOfTransmission(100)) |
548 | if(I2C_WaitForEndOfTransmission(100)) |
549 | { |
549 | { |
550 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
550 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
551 | } |
551 | } |
552 | } |
552 | } |
553 | } |
553 | } |
554 | return(retval); |
554 | return(retval); |
555 | } |
555 | } |
556 | 556 | ||
557 | // ---------------------------------------------------------------------------------------- |
557 | // ---------------------------------------------------------------------------------------- |
558 | u8 NCMAG_GetMagConfig(void) |
558 | u8 NCMAG_GetMagConfig(void) |
559 | { |
559 | { |
560 | u8 retval = 0; |
560 | u8 retval = 0; |
561 | // try to catch the i2c buffer within 100 ms timeout |
561 | // try to catch the i2c buffer within 100 ms timeout |
562 | if(I2C_LockBuffer(100)) |
562 | if(I2C_LockBuffer(100)) |
563 | { |
563 | { |
564 | u8 TxBytes = 0; |
564 | u8 TxBytes = 0; |
565 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
565 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
566 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
566 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
567 | { |
567 | { |
568 | if(I2C_WaitForEndOfTransmission(100)) |
568 | if(I2C_WaitForEndOfTransmission(100)) |
569 | { |
569 | { |
570 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
570 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
571 | } |
571 | } |
572 | } |
572 | } |
573 | } |
573 | } |
574 | return(retval); |
574 | return(retval); |
575 | } |
575 | } |
576 | 576 | ||
577 | // ---------------------------------------------------------------------------------------- |
577 | // ---------------------------------------------------------------------------------------- |
578 | u8 NCMAG_SetAccConfig(void) |
578 | u8 NCMAG_SetAccConfig(void) |
579 | { |
579 | { |
580 | u8 retval = 0; |
580 | u8 retval = 0; |
581 | // try to catch the i2c buffer within 100 ms timeout |
581 | // try to catch the i2c buffer within 100 ms timeout |
582 | if(I2C_LockBuffer(100)) |
582 | if(I2C_LockBuffer(100)) |
583 | { |
583 | { |
584 | u8 TxBytes = 0; |
584 | u8 TxBytes = 0; |
585 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
585 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
586 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
586 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
587 | TxBytes += sizeof(AccConfig); |
587 | TxBytes += sizeof(AccConfig); |
588 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
588 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
589 | { |
589 | { |
590 | if(I2C_WaitForEndOfTransmission(100)) |
590 | if(I2C_WaitForEndOfTransmission(100)) |
591 | { |
591 | { |
592 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
592 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
593 | } |
593 | } |
594 | } |
594 | } |
595 | } |
595 | } |
596 | return(retval); |
596 | return(retval); |
597 | } |
597 | } |
598 | 598 | ||
599 | // ---------------------------------------------------------------------------------------- |
599 | // ---------------------------------------------------------------------------------------- |
600 | u8 NCMAG_GetAccConfig(void) |
600 | u8 NCMAG_GetAccConfig(void) |
601 | { |
601 | { |
602 | u8 retval = 0; |
602 | u8 retval = 0; |
603 | // try to catch the i2c buffer within 100 ms timeout |
603 | // try to catch the i2c buffer within 100 ms timeout |
604 | if(I2C_LockBuffer(100)) |
604 | if(I2C_LockBuffer(100)) |
605 | { |
605 | { |
606 | u8 TxBytes = 0; |
606 | u8 TxBytes = 0; |
607 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
607 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
608 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
608 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
609 | { |
609 | { |
610 | if(I2C_WaitForEndOfTransmission(100)) |
610 | if(I2C_WaitForEndOfTransmission(100)) |
611 | { |
611 | { |
612 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
612 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
613 | } |
613 | } |
614 | } |
614 | } |
615 | } |
615 | } |
616 | return(retval); |
616 | return(retval); |
617 | } |
617 | } |
618 | 618 | ||
619 | // ---------------------------------------------------------------------------------------- |
619 | // ---------------------------------------------------------------------------------------- |
620 | u8 NCMAG_GetIdentification(void) |
620 | u8 NCMAG_GetIdentification(void) |
621 | { |
621 | { |
622 | u8 retval = 0; |
622 | u8 retval = 0; |
623 | // try to catch the i2c buffer within 100 ms timeout |
623 | // try to catch the i2c buffer within 100 ms timeout |
624 | if(I2C_LockBuffer(100)) |
624 | if(I2C_LockBuffer(100)) |
625 | { |
625 | { |
626 | u16 TxBytes = 0; |
626 | u16 TxBytes = 0; |
627 | NCMAG_Identification.A = 0xFF; |
627 | NCMAG_Identification.A = 0xFF; |
628 | NCMAG_Identification.B = 0xFF; |
628 | NCMAG_Identification.B = 0xFF; |
629 | NCMAG_Identification.C = 0xFF; |
629 | NCMAG_Identification.C = 0xFF; |
630 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
630 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
631 | // initiate transmission |
631 | // initiate transmission |
632 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
632 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
633 | { |
633 | { |
634 | if(I2C_WaitForEndOfTransmission(100)) |
634 | if(I2C_WaitForEndOfTransmission(100)) |
635 | { |
635 | { |
636 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
636 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
637 | } |
637 | } |
638 | } |
638 | } |
639 | } |
639 | } |
640 | return(retval); |
640 | return(retval); |
641 | } |
641 | } |
642 | 642 | ||
643 | u8 NCMAG_GetIdentification_Sub(void) |
643 | u8 NCMAG_GetIdentification_Sub(void) |
644 | { |
644 | { |
645 | u8 retval = 0; |
645 | u8 retval = 0; |
646 | // try to catch the i2c buffer within 100 ms timeout |
646 | // try to catch the i2c buffer within 100 ms timeout |
647 | if(I2C_LockBuffer(100)) |
647 | if(I2C_LockBuffer(100)) |
648 | { |
648 | { |
649 | u16 TxBytes = 0; |
649 | u16 TxBytes = 0; |
650 | NCMAG_Identification2.Sub = 0xFF; |
650 | NCMAG_Identification2.Sub = 0xFF; |
651 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
651 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
652 | // initiate transmission |
652 | // initiate transmission |
653 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
653 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
654 | { |
654 | { |
655 | if(I2C_WaitForEndOfTransmission(100)) |
655 | if(I2C_WaitForEndOfTransmission(100)) |
656 | { |
656 | { |
657 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
657 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
658 | } |
658 | } |
659 | } |
659 | } |
660 | } |
660 | } |
661 | return(retval); |
661 | return(retval); |
662 | } |
662 | } |
663 | 663 | ||
664 | 664 | ||
665 | // ---------------------------------------------------------------------------------------- |
665 | // ---------------------------------------------------------------------------------------- |
666 | void NCMAG_GetMagVector(void) |
666 | void NCMAG_GetMagVector(void) |
667 | { |
667 | { |
668 | // try to catch the I2C buffer within 0 ms |
668 | // try to catch the I2C buffer within 0 ms |
669 | if(I2C_LockBuffer(0)) |
669 | if(I2C_LockBuffer(0)) |
670 | { |
670 | { |
671 | u16 TxBytes = 0; |
671 | u16 TxBytes = 0; |
672 | // set register pointer |
672 | // set register pointer |
673 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
673 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
674 | // initiate transmission |
674 | // initiate transmission |
675 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
675 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
676 | } |
676 | } |
677 | } |
677 | } |
678 | 678 | ||
679 | //---------------------------------------------------------------- |
679 | //---------------------------------------------------------------- |
680 | void NCMAG_GetAccVector(void) |
680 | void NCMAG_GetAccVector(void) |
681 | { |
681 | { |
682 | // try to catch the I2C buffer within 0 ms |
682 | // try to catch the I2C buffer within 0 ms |
683 | if(I2C_LockBuffer(0)) |
683 | if(I2C_LockBuffer(0)) |
684 | { |
684 | { |
685 | u16 TxBytes = 0; |
685 | u16 TxBytes = 0; |
686 | // set register pointer |
686 | // set register pointer |
687 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
687 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
688 | // initiate transmission |
688 | // initiate transmission |
689 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
689 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
690 | } |
690 | } |
691 | } |
691 | } |
692 | 692 | ||
693 | //---------------------------------------------------------------- |
693 | //---------------------------------------------------------------- |
694 | u8 InitNC_MagnetSensor(void) |
694 | u8 InitNC_MagnetSensor(void) |
695 | { |
695 | { |
696 | u8 crb_gain, cra_rate; |
696 | u8 crb_gain, cra_rate; |
697 | 697 | ||
698 | switch(NCMAG_SensorType) |
698 | switch(NCMAG_SensorType) |
699 | { |
699 | { |
700 | case TYPE_HMC5843: |
700 | case TYPE_HMC5843: |
701 | crb_gain = HMC5843_CRB_GAIN_15GA; |
701 | crb_gain = HMC5843_CRB_GAIN_15GA; |
702 | cra_rate = HMC5843_CRA_RATE_50HZ; |
702 | cra_rate = HMC5843_CRA_RATE_50HZ; |
703 | break; |
703 | break; |
704 | 704 | ||
705 | case TYPE_LSM303DLH: |
705 | case TYPE_LSM303DLH: |
706 | case TYPE_LSM303DLM: |
706 | case TYPE_LSM303DLM: |
707 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
707 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
708 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
708 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
709 | break; |
709 | break; |
710 | 710 | ||
711 | default: |
711 | default: |
712 | return(0); |
712 | return(0); |
713 | } |
713 | } |
714 | 714 | ||
715 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
715 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
716 | MagConfig.crb = crb_gain; |
716 | MagConfig.crb = crb_gain; |
717 | MagConfig.mode = MODE_CONTINUOUS; |
717 | MagConfig.mode = MODE_CONTINUOUS; |
718 | return(NCMAG_SetMagConfig()); |
718 | return(NCMAG_SetMagConfig()); |
719 | } |
719 | } |
720 | 720 | ||
721 | 721 | ||
722 | //---------------------------------------------------------------- |
722 | //---------------------------------------------------------------- |
723 | u8 NCMAG_Init_ACCSensor(void) |
723 | u8 NCMAG_Init_ACCSensor(void) |
724 | { |
724 | { |
725 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
725 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
726 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
726 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
727 | AccConfig.ctrl_3 = 0x00; |
727 | AccConfig.ctrl_3 = 0x00; |
728 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
728 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
729 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
729 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
730 | return(NCMAG_SetAccConfig()); |
730 | return(NCMAG_SetAccConfig()); |
731 | } |
731 | } |
732 | // -------------------------------------------------------- |
732 | // -------------------------------------------------------- |
733 | void NCMAG_Update(void) |
733 | void NCMAG_Update(void) |
734 | { |
734 | { |
735 | static u32 TimerUpdate = 0; |
735 | static u32 TimerUpdate = 0; |
736 | static u8 send_config = 0; |
736 | static s8 send_config = 0; |
737 | u32 delay = 20; |
737 | u32 delay = 20; |
738 | 738 | ||
739 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
739 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
740 | { |
740 | { |
741 | Compass_Heading = -1; |
741 | Compass_Heading = -1; |
742 | DebugOut.Analog[14]++; // count I2C error |
742 | DebugOut.Analog[14]++; // count I2C error |
743 | return; |
743 | return; |
744 | } |
744 | } |
745 | if(CheckDelay(TimerUpdate)) |
745 | if(CheckDelay(TimerUpdate)) |
746 | { |
746 | { |
747 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
747 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
748 | if(++send_config == 25) // 500ms |
748 | if(++send_config == 25) // 500ms |
749 | { |
749 | { |
750 | send_config = 0; |
750 | send_config = -25; // next try after 1 second |
751 | InitNC_MagnetSensor(); |
751 | InitNC_MagnetSensor(); |
752 | TimerUpdate = SetDelay(15); // back into the old time-slot |
752 | TimerUpdate = SetDelay(20); // back into the old time-slot |
753 | } |
753 | } |
754 | else |
754 | else |
755 | { |
755 | { |
756 | // static u8 s = 0; |
756 | // static u8 s = 0; |
757 | // check for new calibration state |
757 | // check for new calibration state |
758 | Compass_UpdateCalState(); |
758 | Compass_UpdateCalState(); |
759 | if(Compass_CalState) NCMAG_Calibrate(); |
759 | if(Compass_CalState) NCMAG_Calibrate(); |
760 | 760 | ||
761 | // in case of LSM303 type |
761 | // in case of LSM303 type |
762 | switch(NCMAG_SensorType) |
762 | switch(NCMAG_SensorType) |
763 | { |
763 | { |
764 | case TYPE_HMC5843: |
764 | case TYPE_HMC5843: |
765 | NCMAG_GetMagVector(); |
765 | NCMAG_GetMagVector(); |
766 | delay = 20; |
766 | delay = 20; |
767 | break; |
767 | break; |
768 | case TYPE_LSM303DLH: |
768 | case TYPE_LSM303DLH: |
769 | case TYPE_LSM303DLM: |
769 | case TYPE_LSM303DLM: |
770 | NCMAG_GetMagVector(); |
770 | NCMAG_GetMagVector(); |
771 | delay = 20; |
771 | delay = 20; |
772 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
772 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
773 | else { NCMAG_GetAccVector(); s = 1;} |
773 | else { NCMAG_GetAccVector(); s = 1;} |
774 | delay = 10; |
774 | delay = 10; |
775 | */ |
775 | */ |
776 | break; |
776 | break; |
777 | } |
777 | } |
778 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
778 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
779 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
779 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
780 | } |
780 | } |
781 | } |
781 | } |
782 | } |
782 | } |
783 | 783 | ||
784 | 784 | ||
785 | // -------------------------------------------------------- |
785 | // -------------------------------------------------------- |
786 | u8 NCMAG_SelfTest(void) |
786 | u8 NCMAG_SelfTest(void) |
787 | { |
787 | { |
788 | u8 msg[64]; |
788 | u8 msg[64]; |
789 | static u8 done = 0; |
789 | static u8 done = 0; |
790 | 790 | ||
791 | if(done) return(1); // just make it once |
791 | if(done) return(1); // just make it once |
792 | 792 | ||
793 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
793 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
794 | u32 time; |
794 | u32 time; |
795 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
795 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
796 | s16 xscale, yscale, zscale, scale_min, scale_max; |
796 | s16 xscale, yscale, zscale, scale_min, scale_max; |
797 | u8 crb_gain, cra_rate; |
797 | u8 crb_gain, cra_rate; |
798 | u8 i = 0, retval = 1; |
798 | u8 i = 0, retval = 1; |
799 | 799 | ||
800 | switch(NCMAG_SensorType) |
800 | switch(NCMAG_SensorType) |
801 | { |
801 | { |
802 | case TYPE_HMC5843: |
802 | case TYPE_HMC5843: |
803 | crb_gain = HMC5843_CRB_GAIN_15GA; |
803 | crb_gain = HMC5843_CRB_GAIN_15GA; |
804 | cra_rate = HMC5843_CRA_RATE_50HZ; |
804 | cra_rate = HMC5843_CRA_RATE_50HZ; |
805 | xscale = HMC5843_TEST_XSCALE; |
805 | xscale = HMC5843_TEST_XSCALE; |
806 | yscale = HMC5843_TEST_YSCALE; |
806 | yscale = HMC5843_TEST_YSCALE; |
807 | zscale = HMC5843_TEST_ZSCALE; |
807 | zscale = HMC5843_TEST_ZSCALE; |
808 | break; |
808 | break; |
809 | 809 | ||
810 | case TYPE_LSM303DLH: |
810 | case TYPE_LSM303DLH: |
811 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
811 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
812 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
812 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
813 | xscale = LSM303DLH_TEST_XSCALE; |
813 | xscale = LSM303DLH_TEST_XSCALE; |
814 | yscale = LSM303DLH_TEST_YSCALE; |
814 | yscale = LSM303DLH_TEST_YSCALE; |
815 | zscale = LSM303DLH_TEST_ZSCALE; |
815 | zscale = LSM303DLH_TEST_ZSCALE; |
816 | break; |
816 | break; |
817 | 817 | ||
818 | case TYPE_LSM303DLM: |
818 | case TYPE_LSM303DLM: |
819 | // does not support self test feature |
819 | // does not support self test feature |
820 | done = retval; |
820 | done = retval; |
821 | return(retval); |
821 | return(retval); |
822 | break; |
822 | break; |
823 | 823 | ||
824 | default: |
824 | default: |
825 | return(0); |
825 | return(0); |
826 | } |
826 | } |
827 | 827 | ||
828 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
828 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
829 | MagConfig.crb = crb_gain; |
829 | MagConfig.crb = crb_gain; |
830 | MagConfig.mode = MODE_CONTINUOUS; |
830 | MagConfig.mode = MODE_CONTINUOUS; |
831 | // activate positive bias field |
831 | // activate positive bias field |
832 | NCMAG_SetMagConfig(); |
832 | NCMAG_SetMagConfig(); |
833 | // wait for stable readings |
833 | // wait for stable readings |
834 | time = SetDelay(50); |
834 | time = SetDelay(50); |
835 | while(!CheckDelay(time)); |
835 | while(!CheckDelay(time)); |
836 | // averaging |
836 | // averaging |
837 | #define AVERAGE 20 |
837 | #define AVERAGE 20 |
838 | for(i = 0; i<AVERAGE; i++) |
838 | for(i = 0; i<AVERAGE; i++) |
839 | { |
839 | { |
840 | NCMAG_GetMagVector(); |
840 | NCMAG_GetMagVector(); |
841 | time = SetDelay(20); |
841 | time = SetDelay(20); |
842 | while(!CheckDelay(time)); |
842 | while(!CheckDelay(time)); |
843 | XMax += MagRawVector.X; |
843 | XMax += MagRawVector.X; |
844 | YMax += MagRawVector.Y; |
844 | YMax += MagRawVector.Y; |
845 | ZMax += MagRawVector.Z; |
845 | ZMax += MagRawVector.Z; |
846 | } |
846 | } |
847 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
847 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
848 | // activate positive bias field |
848 | // activate positive bias field |
849 | NCMAG_SetMagConfig(); |
849 | NCMAG_SetMagConfig(); |
850 | // wait for stable readings |
850 | // wait for stable readings |
851 | time = SetDelay(50); |
851 | time = SetDelay(50); |
852 | while(!CheckDelay(time)); |
852 | while(!CheckDelay(time)); |
853 | // averaging |
853 | // averaging |
854 | for(i = 0; i < AVERAGE; i++) |
854 | for(i = 0; i < AVERAGE; i++) |
855 | { |
855 | { |
856 | NCMAG_GetMagVector(); |
856 | NCMAG_GetMagVector(); |
857 | time = SetDelay(20); |
857 | time = SetDelay(20); |
858 | while(!CheckDelay(time)); |
858 | while(!CheckDelay(time)); |
859 | XMin += MagRawVector.X; |
859 | XMin += MagRawVector.X; |
860 | YMin += MagRawVector.Y; |
860 | YMin += MagRawVector.Y; |
861 | ZMin += MagRawVector.Z; |
861 | ZMin += MagRawVector.Z; |
862 | } |
862 | } |
863 | // setup final configuration |
863 | // setup final configuration |
864 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
864 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
865 | // activate positive bias field |
865 | // activate positive bias field |
866 | NCMAG_SetMagConfig(); |
866 | NCMAG_SetMagConfig(); |
867 | // check scale for all axes |
867 | // check scale for all axes |
868 | // prepare scale limits |
868 | // prepare scale limits |
869 | LIMITS(xscale, scale_min, scale_max); |
869 | LIMITS(xscale, scale_min, scale_max); |
870 | xscale = (XMax - XMin)/(2*AVERAGE); |
870 | xscale = (XMax - XMin)/(2*AVERAGE); |
871 | if((xscale > scale_max) || (xscale < scale_min)) |
871 | if((xscale > scale_max) || (xscale < scale_min)) |
872 | { |
872 | { |
873 | retval = 0; |
873 | retval = 0; |
874 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
874 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
875 | UART1_PutString(msg); |
875 | UART1_PutString(msg); |
876 | } |
876 | } |
877 | LIMITS(yscale, scale_min, scale_max); |
877 | LIMITS(yscale, scale_min, scale_max); |
878 | yscale = (YMax - YMin)/(2*AVERAGE); |
878 | yscale = (YMax - YMin)/(2*AVERAGE); |
879 | if((yscale > scale_max) || (yscale < scale_min)) |
879 | if((yscale > scale_max) || (yscale < scale_min)) |
880 | { |
880 | { |
881 | retval = 0; |
881 | retval = 0; |
882 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
882 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
883 | UART1_PutString(msg); |
883 | UART1_PutString(msg); |
884 | } |
884 | } |
885 | LIMITS(zscale, scale_min, scale_max); |
885 | LIMITS(zscale, scale_min, scale_max); |
886 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
886 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
887 | if((zscale > scale_max) || (zscale < scale_min)) |
887 | if((zscale > scale_max) || (zscale < scale_min)) |
888 | { |
888 | { |
889 | retval = 0; |
889 | retval = 0; |
890 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
890 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
891 | UART1_PutString(msg); |
891 | UART1_PutString(msg); |
892 | } |
892 | } |
893 | done = retval; |
893 | done = retval; |
894 | return(retval); |
894 | return(retval); |
895 | } |
895 | } |
896 | 896 | ||
897 | 897 | ||
898 | //---------------------------------------------------------------- |
898 | //---------------------------------------------------------------- |
899 | u8 NCMAG_Init(void) |
899 | u8 NCMAG_Init(void) |
900 | { |
900 | { |
901 | u8 msg[64]; |
901 | u8 msg[64]; |
902 | u8 retval = 0; |
902 | u8 retval = 0; |
903 | u8 repeat; |
903 | u8 repeat; |
904 | 904 | ||
905 | NCMAG_Present = 0; |
905 | NCMAG_Present = 0; |
906 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
906 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
907 | // polling for LSM302DLH/DLM option by ACC address ack |
907 | // polling for LSM302DLH/DLM option by ACC address ack |
908 | repeat = 0; |
908 | repeat = 0; |
909 | do |
909 | do |
910 | { |
910 | { |
911 | retval = NCMAG_GetAccConfig(); |
911 | retval = NCMAG_GetAccConfig(); |
912 | if(retval) break; // break loop on success |
912 | if(retval) break; // break loop on success |
913 | UART1_PutString("."); |
913 | UART1_PutString("."); |
914 | repeat++; |
914 | repeat++; |
915 | }while(repeat < 3); |
915 | }while(repeat < 3); |
916 | if(retval) |
916 | if(retval) |
917 | { |
917 | { |
918 | // initialize ACC sensor |
918 | // initialize ACC sensor |
919 | NCMAG_Init_ACCSensor(); |
919 | NCMAG_Init_ACCSensor(); |
920 | 920 | ||
921 | NCMAG_SensorType = TYPE_LSM303DLH; |
921 | NCMAG_SensorType = TYPE_LSM303DLH; |
922 | // polling of sub identification |
922 | // polling of sub identification |
923 | repeat = 0; |
923 | repeat = 0; |
924 | do |
924 | do |
925 | { |
925 | { |
926 | retval = NCMAG_GetIdentification_Sub(); |
926 | retval = NCMAG_GetIdentification_Sub(); |
927 | if(retval) break; // break loop on success |
927 | if(retval) break; // break loop on success |
928 | UART1_PutString("."); |
928 | UART1_PutString("."); |
929 | repeat++; |
929 | repeat++; |
930 | }while(repeat < 12); |
930 | }while(repeat < 12); |
931 | if(retval) |
931 | if(retval) |
932 | { |
932 | { |
933 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
933 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
934 | } |
934 | } |
935 | } |
935 | } |
936 | // get id bytes |
936 | // get id bytes |
937 | retval = 0; |
937 | retval = 0; |
938 | do |
938 | do |
939 | { |
939 | { |
940 | retval = NCMAG_GetIdentification(); |
940 | retval = NCMAG_GetIdentification(); |
941 | if(retval) break; // break loop on success |
941 | if(retval) break; // break loop on success |
942 | UART1_PutString("."); |
942 | UART1_PutString("."); |
943 | repeat++; |
943 | repeat++; |
944 | }while(repeat < 12); |
944 | }while(repeat < 12); |
945 | 945 | ||
946 | // if we got an answer to id request |
946 | // if we got an answer to id request |
947 | if(retval) |
947 | if(retval) |
948 | { |
948 | { |
949 | u8 n1[] = "\n\r HMC5843"; |
949 | u8 n1[] = "\n\r HMC5843"; |
950 | u8 n2[] = "\n\r LSM303DLH"; |
950 | u8 n2[] = "\n\r LSM303DLH"; |
951 | u8 n3[] = "\n\r LSM303DLM"; |
951 | u8 n3[] = "\n\r LSM303DLM"; |
952 | u8* pn = n1; |
952 | u8* pn = n1; |
953 | 953 | ||
954 | switch(NCMAG_SensorType) |
954 | switch(NCMAG_SensorType) |
955 | { |
955 | { |
956 | case TYPE_HMC5843: |
956 | case TYPE_HMC5843: |
957 | pn = n1; |
957 | pn = n1; |
958 | break; |
958 | break; |
959 | case TYPE_LSM303DLH: |
959 | case TYPE_LSM303DLH: |
960 | pn = n2; |
960 | pn = n2; |
961 | break; |
961 | break; |
962 | case TYPE_LSM303DLM: |
962 | case TYPE_LSM303DLM: |
963 | pn = n3; |
963 | pn = n3; |
964 | break; |
964 | break; |
965 | } |
965 | } |
966 | 966 | ||
967 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
967 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
968 | UART1_PutString(msg); |
968 | UART1_PutString(msg); |
969 | if ( (NCMAG_Identification.A == MAG_IDA) |
969 | if ( (NCMAG_Identification.A == MAG_IDA) |
970 | && (NCMAG_Identification.B == MAG_IDB) |
970 | && (NCMAG_Identification.B == MAG_IDB) |
971 | && (NCMAG_Identification.C == MAG_IDC)) |
971 | && (NCMAG_Identification.C == MAG_IDC)) |
972 | { |
972 | { |
973 | NCMAG_Present = 1; |
973 | NCMAG_Present = 1; |
974 | 974 | ||
975 | if(EEPROM_Init()) |
975 | if(EEPROM_Init()) |
976 | { |
976 | { |
977 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
977 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
978 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
978 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
979 | } |
979 | } |
980 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
980 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
981 | // perform self test |
981 | // perform self test |
982 | if(!NCMAG_SelfTest()) |
982 | if(!NCMAG_SelfTest()) |
983 | { |
983 | { |
984 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
984 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
985 | LED_RED_ON; |
985 | LED_RED_ON; |
986 | NCMAG_IsCalibrated = 0; |
986 | NCMAG_IsCalibrated = 0; |
987 | } |
987 | } |
988 | else UART1_PutString("\r\n Selftest ok"); |
988 | else UART1_PutString("\r\n Selftest ok"); |
989 | 989 | ||
990 | // initialize magnetic sensor configuration |
990 | // initialize magnetic sensor configuration |
991 | InitNC_MagnetSensor(); |
991 | InitNC_MagnetSensor(); |
992 | } |
992 | } |
993 | else |
993 | else |
994 | { |
994 | { |
995 | UART1_PutString("\n\r Not compatible!"); |
995 | UART1_PutString("\n\r Not compatible!"); |
996 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
996 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
997 | LED_RED_ON; |
997 | LED_RED_ON; |
998 | } |
998 | } |
999 | } |
999 | } |
1000 | else // nothing found |
1000 | else // nothing found |
1001 | { |
1001 | { |
1002 | NCMAG_SensorType = TYPE_NONE; |
1002 | NCMAG_SensorType = TYPE_NONE; |
1003 | UART1_PutString("not found!"); |
1003 | UART1_PutString("not found!"); |
1004 | } |
1004 | } |
1005 | return(NCMAG_Present); |
1005 | return(NCMAG_Present); |
1006 | } |
1006 | } |
1007 | 1007 | ||
1008 | 1008 |