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| Rev 271 | Rev 275 | ||
|---|---|---|---|
| Line 279... | Line 279... | ||
| 279 | } |
279 | } |
| Line 280... | Line 280... | ||
| 280 | 280 | ||
| 281 | 281 | ||
| 282 | void NCMAG_Calibrate(void) |
- | |
| 283 | { |
282 | void NCMAG_Calibrate(void) |
| 284 | u8 new = 1; |
283 | { |
| 285 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
284 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| Line 286... | Line 285... | ||
| 286 | static s16 X = 0, Y = 0, Z = 0; |
285 | static s16 X = 0, Y = 0, Z = 0; |
| Line 304... | Line 303... | ||
| 304 | Zmax = -10000; |
303 | Zmax = -10000; |
| 305 | break; |
304 | break; |
| Line 306... | Line 305... | ||
| 306 | 305 | ||
| 307 | case 2: // 2nd step of calibration |
306 | case 2: // 2nd step of calibration |
| 308 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
307 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 309 | if(X < Xmin) { Xmin = X; if(new) BeepTime = 20;} |
308 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| 310 | else if(X > Xmax) { Xmax = X; if(new) BeepTime = 20;} |
309 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| 311 | if(Y < Ymin) { Ymin = Y; if(new) BeepTime = 60;} |
310 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| 312 | else if(Y > Ymax) { Ymax = Y; if(new) BeepTime = 60;} |
- | |
| 313 | - | ||
| 314 | if(new) |
- | |
| 315 | { |
- | |
| 316 | if(Z < Zmin) { Zmin = Z; BeepTime = 100;} |
- | |
| 317 | else if(Z > Zmax) { Zmax = Z; BeepTime = 100;} |
- | |
| 318 | } |
- | |
| 319 | 311 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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| Line 320... | Line 312... | ||
| 320 | break; |
312 | break; |
| 321 | 313 | ||
| 322 | case 3: // 3rd step of calibration |
- | |
| 323 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
314 | case 3: // 3rd step of calibration |
| Line 324... | Line 315... | ||
| 324 | // if(new) Compass_CalState = 5; |
315 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| 325 | break; |
316 | break; |
| 326 | 317 | ||
| 327 | case 4: |
318 | case 4: |
| 328 | // find Min and Max of the Z-Sensor |
319 | // find Min and Max of the Z-Sensor |
| Line 329... | Line 320... | ||
| 329 | if(Z < Zmin) { Zmin = Z; if(new) BeepTime = 80;} |
320 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
| 330 | else if(Z > Zmax) { Zmax = Z; if(new) BeepTime = 80;} |
321 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
| 331 | break; |
322 | break; |
| Line 617... | Line 608... | ||
| 617 | 608 | ||
| 618 | // -------------------------------------------------------- |
609 | // -------------------------------------------------------- |
| 619 | u8 NCMAG_SelfTest(void) |
610 | u8 NCMAG_SelfTest(void) |
| 620 | { |
611 | { |
| - | 612 | u8 msg[64]; |
|
| Line -... | Line 613... | ||
| - | 613 | static u8 done = 0; |
|
| - | 614 | ||
| 621 | u8 msg[64]; |
615 | if(done) return(1); |
| 622 | 616 | ||
| 623 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
617 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
| 624 | u32 time; |
618 | u32 time; |
| 625 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
619 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| Line 712... | Line 706... | ||
| 712 | { |
706 | { |
| 713 | retval = 0; |
707 | retval = 0; |
| 714 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
708 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
| 715 | UART1_PutString(msg); |
709 | UART1_PutString(msg); |
| 716 | } |
710 | } |
| - | 711 | done = retval; |
|
| 717 | return(retval); |
712 | return(retval); |
| 718 | } |
713 | } |
| Line 719... | Line 714... | ||
| 719 | 714 | ||