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| Rev 395 | Rev 397 | ||
|---|---|---|---|
| Line 263... | Line 263... | ||
| 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 |
| Line 267... | Line 267... | ||
| 267 | 267 | ||
| 268 | #define ACC_CRTL2_FILTER8 0x00 |
268 | #define ACC_CRTL2_FILTER8 0x10 |
| 269 | #define ACC_CRTL2_FILTER16 0x01 |
269 | #define ACC_CRTL2_FILTER16 0x11 |
| 270 | #define ACC_CRTL2_FILTER32 0x02 |
270 | #define ACC_CRTL2_FILTER32 0x12 |
| Line 271... | Line 271... | ||
| 271 | #define ACC_CRTL2_FILTER64 0x03 |
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) |
| Line 499... | Line 499... | ||
| 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 | if(RxBufferSize == sizeof(AccRawVector) ) |
505 | if(RxBufferSize == sizeof(AccRawVector) ) |
| 505 | { |
506 | { |
| 506 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
507 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| 507 | } |
508 | } |
| 508 | DebugOut.Analog[16] = AccRawVector.X; |
509 | DebugOut.Analog[16] = AccRawVector.X; |
| 509 | DebugOut.Analog[17] = AccRawVector.Y; |
510 | DebugOut.Analog[17] = AccRawVector.Y; |
| - | 511 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
|
| - | 512 | ||
| 510 | DebugOut.Analog[18] = AccRawVector.Z; |
513 | DebugOut.Analog[18] = filter_z; |
| 511 | DebugOut.Analog[19] = (DebugOut.Analog[19] * 3 + AccRawVector.Z) / 4; |
514 | DebugOut.Analog[19] = AccRawVector.Z; |
| 512 | } |
515 | } |
| 513 | // rx data handler for reading magnetic sensor configuration |
516 | // rx data handler for reading magnetic sensor configuration |
| 514 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
517 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 515 | { // if number of byte are matching |
518 | { // if number of byte are matching |
| 516 | if(RxBufferSize == sizeof(MagConfig) ) |
519 | if(RxBufferSize == sizeof(MagConfig) ) |
| Line 718... | Line 721... | ||
| 718 | 721 | ||
| 719 | //---------------------------------------------------------------- |
722 | //---------------------------------------------------------------- |
| 720 | u8 NCMAG_Init_ACCSensor(void) |
723 | u8 NCMAG_Init_ACCSensor(void) |
| 721 | { |
724 | { |
| 722 | 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; |
| 723 | AccConfig.ctrl_2 = ACC_CRTL2_FILTER64; |
726 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
| 724 | AccConfig.ctrl_3 = 0x00; |
727 | AccConfig.ctrl_3 = 0x00; |
| 725 | AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_8G; |
728 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
| 726 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
729 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
| 727 | return(NCMAG_SetAccConfig()); |
730 | return(NCMAG_SetAccConfig()); |
| 728 | } |
731 | } |
| 729 | // -------------------------------------------------------- |
732 | // -------------------------------------------------------- |
| Line 762... | Line 765... | ||
| 762 | NCMAG_GetMagVector(); |
765 | NCMAG_GetMagVector(); |
| 763 | delay = 20; |
766 | delay = 20; |
| 764 | break; |
767 | break; |
| 765 | case TYPE_LSM303DLH: |
768 | case TYPE_LSM303DLH: |
| 766 | case TYPE_LSM303DLM: |
769 | case TYPE_LSM303DLM: |
| - | 770 | NCMAG_GetMagVector(); |
|
| - | 771 | delay = 20; |
|
| 767 | if(s){ NCMAG_GetMagVector(); s = 0;} |
772 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
| 768 | else { NCMAG_GetAccVector(); s = 1;} |
773 | else { NCMAG_GetAccVector(); s = 1;} |
| 769 | delay = 10; |
774 | delay = 10; |
| - | 775 | */ |
|
| 770 | break; |
776 | break; |
| 771 | } |
777 | } |
| 772 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
778 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| 773 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
779 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
| 774 | } |
780 | } |