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| Rev 330 | Rev 338 | ||
|---|---|---|---|
| Line 73... | Line 73... | ||
| 73 | #define MAG_TYPE_NONE 0 |
73 | #define MAG_TYPE_NONE 0 |
| 74 | #define MAG_TYPE_HMC5843 1 |
74 | #define MAG_TYPE_HMC5843 1 |
| 75 | #define MAG_TYPE_LSM303DLH 2 |
75 | #define MAG_TYPE_LSM303DLH 2 |
| 76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
| Line 77... | Line 77... | ||
| 77 | 77 | ||
| 78 | #define CALIBRATION_VERSION 1 |
78 | #define CALIBRATION_VERSION 1 |
| - | 79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
|
| Line 79... | Line 80... | ||
| 79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
80 | #define MAG_CALIBRATION_COMPATIBEL 0xA1 |
| 80 | 81 | ||
| 81 | #define NCMAG_MIN_RAWVALUE -2047 |
82 | #define NCMAG_MIN_RAWVALUE -2047 |
| Line 175... | Line 176... | ||
| 175 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
176 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
| 176 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
177 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
| 177 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
178 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
| 178 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
179 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
| 179 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
180 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| - | 181 | ||
| 180 | // bit mask for gain |
182 | // bit mask for gain |
| 181 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
183 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| 182 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
184 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| 183 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
185 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
| 184 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
186 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| 185 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
187 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
| 186 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
188 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| 187 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
189 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| 188 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
190 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| 189 | // self test value |
191 | // self test value |
| 190 | #define LSM303DLH_TEST_XSCALE 655 |
192 | #define LSM303DLH_TEST_XSCALE 495 |
| 191 | #define LSM303DLH_TEST_YSCALE 655 |
193 | #define LSM303DLH_TEST_YSCALE 495 |
| 192 | #define LSM303DLH_TEST_ZSCALE 630 |
194 | #define LSM303DLH_TEST_ZSCALE 470 |
| Line 193... | Line 195... | ||
| 193 | 195 | ||
| 194 | // the i2c ACC interface |
196 | // the i2c ACC interface |
| 195 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
197 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
| 196 | // register mapping |
198 | // register mapping |
| Line 249... | Line 251... | ||
| 249 | volatile s16vec_t MagRawVector; |
251 | volatile s16vec_t MagRawVector; |
| Line 250... | Line 252... | ||
| 250 | 252 | ||
| 251 | 253 | ||
| 252 | u8 NCMag_CalibrationWrite(void) |
254 | u8 NCMag_CalibrationWrite(void) |
| 253 | { |
255 | { |
| 254 | u8 i, crc = 0xAA; |
256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
| Line 255... | Line 257... | ||
| 255 | EEPROM_Result_t eres; |
257 | EEPROM_Result_t eres; |
| 256 | u8 *pBuff = (u8*)&Calibration; |
258 | u8 *pBuff = (u8*)&Calibration; |
| Line 267... | Line 269... | ||
| 267 | return(i); |
269 | return(i); |
| 268 | } |
270 | } |
| Line 269... | Line 271... | ||
| 269 | 271 | ||
| 270 | u8 NCMag_CalibrationRead(void) |
272 | u8 NCMag_CalibrationRead(void) |
| 271 | { |
273 | { |
| 272 | u8 i, crc = 0xAA; |
274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
| Line 273... | Line 275... | ||
| 273 | u8 *pBuff = (u8*)&Calibration; |
275 | u8 *pBuff = (u8*)&Calibration; |
| 274 | 276 | ||
| 275 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
| Line 331... | Line 333... | ||
| 331 | 333 | ||
| 332 | case 5: |
334 | case 5: |
| 333 | // Save values |
335 | // Save values |
| 334 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
336 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| 335 | { |
337 | { |
| - | 338 | // #define MIN_CALIBRATION 256 |
|
| 336 | #define MIN_CALIBRATION 256 |
339 | #define MIN_CALIBRATION 450 |
| 337 | Calibration.MagX.Range = Xmax - Xmin; |
340 | Calibration.MagX.Range = Xmax - Xmin; |
| 338 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
341 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| 339 | Calibration.MagY.Range = Ymax - Ymin; |
342 | Calibration.MagY.Range = Ymax - Ymin; |
| 340 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
343 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| Line 620... | Line 623... | ||
| 620 | //---------------------------------------------------------------- |
623 | //---------------------------------------------------------------- |
| 621 | void InitNC_MagnetSensor(void) |
624 | void InitNC_MagnetSensor(void) |
| 622 | { |
625 | { |
| 623 | s16 xscale, yscale, zscale; |
626 | s16 xscale, yscale, zscale; |
| 624 | u8 crb_gain, cra_rate; |
627 | u8 crb_gain, cra_rate; |
| 625 | u8 i = 0, retval = 1; |
628 | // u8 retval = 1; |
| Line 626... | Line 629... | ||
| 626 | 629 | ||
| 627 | switch(NCMAG_MagType) |
630 | switch(NCMAG_MagType) |
| 628 | { |
631 | { |
| 629 | case MAG_TYPE_HMC5843: |
632 | case MAG_TYPE_HMC5843: |
| Line 633... | Line 636... | ||
| 633 | yscale = HMC5843_TEST_YSCALE; |
636 | yscale = HMC5843_TEST_YSCALE; |
| 634 | zscale = HMC5843_TEST_ZSCALE; |
637 | zscale = HMC5843_TEST_ZSCALE; |
| 635 | break; |
638 | break; |
| Line 636... | Line 639... | ||
| 636 | 639 | ||
| 637 | case MAG_TYPE_LSM303DLH: |
640 | case MAG_TYPE_LSM303DLH: |
| 638 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
641 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| 639 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
642 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 640 | xscale = LSM303DLH_TEST_XSCALE; |
643 | xscale = LSM303DLH_TEST_XSCALE; |
| 641 | yscale = LSM303DLH_TEST_YSCALE; |
644 | yscale = LSM303DLH_TEST_YSCALE; |
| 642 | zscale = LSM303DLH_TEST_ZSCALE; |
645 | zscale = LSM303DLH_TEST_ZSCALE; |
| Line 643... | Line 646... | ||
| 643 | break; |
646 | break; |
| 644 | 647 | ||
| 645 | default: |
648 | default: |
| Line 646... | Line 649... | ||
| 646 | return(0); |
649 | return; |
| 647 | } |
650 | } |
| 648 | 651 | ||
| Line 711... | Line 714... | ||
| 711 | yscale = HMC5843_TEST_YSCALE; |
714 | yscale = HMC5843_TEST_YSCALE; |
| 712 | zscale = HMC5843_TEST_ZSCALE; |
715 | zscale = HMC5843_TEST_ZSCALE; |
| 713 | break; |
716 | break; |
| Line 714... | Line 717... | ||
| 714 | 717 | ||
| 715 | case MAG_TYPE_LSM303DLH: |
718 | case MAG_TYPE_LSM303DLH: |
| 716 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
719 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| 717 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
720 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 718 | xscale = LSM303DLH_TEST_XSCALE; |
721 | xscale = LSM303DLH_TEST_XSCALE; |
| 719 | yscale = LSM303DLH_TEST_YSCALE; |
722 | yscale = LSM303DLH_TEST_YSCALE; |
| 720 | zscale = LSM303DLH_TEST_ZSCALE; |
723 | zscale = LSM303DLH_TEST_ZSCALE; |