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| Rev 492 | Rev 500 | ||
|---|---|---|---|
| Line 84... | Line 84... | ||
| 84 | // two calibrtion sets for extern and intern sensor |
84 | // two calibrtion sets for extern and intern sensor |
| 85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
| 86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
| Line 87... | Line 87... | ||
| 87 | 87 | ||
| 88 | #define CALIBRATION_VERSION 1 |
88 | #define CALIBRATION_VERSION 1 |
| Line 89... | Line 89... | ||
| 89 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
89 | #define MAG_CALIBRATION_COMPATIBLE 0xA3 |
| 90 | 90 | ||
| 91 | #define NCMAG_MIN_RAWVALUE -2047 |
91 | #define NCMAG_MIN_RAWVALUE -2047 |
| Line 193... | Line 193... | ||
| 193 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
193 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| Line 194... | Line 194... | ||
| 194 | 194 | ||
| 195 | // bit mask for gain |
195 | // bit mask for gain |
| 196 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
196 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| 197 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
197 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| 198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
| 199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| 200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 // <--- we use this (Since V2.03) |
| 201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| 202 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
202 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| Line 203... | Line 203... | ||
| 203 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
203 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| Line 224... | Line 224... | ||
| 224 | } __attribute__((packed)) MagConfig_t; |
224 | } __attribute__((packed)) MagConfig_t; |
| Line 225... | Line 225... | ||
| 225 | 225 | ||
| Line 226... | Line 226... | ||
| 226 | volatile MagConfig_t MagConfig; |
226 | volatile MagConfig_t MagConfig; |
| 227 | 227 | ||
| 228 | // self test value |
228 | // self test value |
| 229 | #define LSM303DLH_TEST_XSCALE 495 |
229 | #define LSM303DLH_TEST_XSCALE 245 |
| 230 | #define LSM303DLH_TEST_YSCALE 495 |
230 | #define LSM303DLH_TEST_YSCALE 245 |
| 231 | #define LSM303DLH_TEST_ZSCALE 470 |
231 | #define LSM303DLH_TEST_ZSCALE 235 |
| Line 232... | Line 232... | ||
| 232 | // clibration range |
232 | // clibration range |
| 233 | #define LSM303_CALIBRATION_RANGE 550 |
233 | #define LSM303_CALIBRATION_RANGE 300 // War bis V2.02: 550 -> Auflösung von 19Ga auf 40GA reduziert |
| Line 234... | Line 234... | ||
| 234 | 234 | ||
| Line 378... | Line 378... | ||
| 378 | Xmax = -10000; |
378 | Xmax = -10000; |
| 379 | Ymin = 10000; |
379 | Ymin = 10000; |
| 380 | Ymax = -10000; |
380 | Ymax = -10000; |
| 381 | Zmin = 10000; |
381 | Zmin = 10000; |
| 382 | Zmax = -10000; |
382 | Zmax = -10000; |
| - | 383 | Zmin2 = 10000; |
|
| - | 384 | Zmax2 = -10000; |
|
| - | 385 | X = 0; Y = 0; Z = 0; |
|
| 383 | speak = 1; |
386 | speak = 1; |
| 384 | CompassValueErrorCount = 0; |
387 | CompassValueErrorCount = 0; |
| 385 | if(Compass_CalState != OldCalState) // only once per state |
388 | if(Compass_CalState != OldCalState) // only once per state |
| 386 | { |
389 | { |
| 387 | UART1_PutString("\r\nStarting compass calibration"); |
390 | UART1_PutString("\r\nStarting compass calibration"); |
| Line 825... | Line 828... | ||
| 825 | 828 | ||
| 826 | //---------------------------------------------------------------- |
829 | //---------------------------------------------------------------- |
| 827 | u8 NCMAG_ConfigureSensor(void) |
830 | u8 NCMAG_ConfigureSensor(void) |
| 828 | { |
831 | { |
| 829 | u8 crb_gain, cra_rate; |
- | |
| 830 | 832 | u8 crb_gain, cra_rate; |
|
| 831 | switch(NCMAG_SensorType) |
833 | switch(NCMAG_SensorType) |
| 832 | { |
834 | { |
| 833 | case TYPE_HMC5843: |
835 | case TYPE_HMC5843: |
| 834 | crb_gain = HMC5843_CRB_GAIN_15GA; |
836 | crb_gain = HMC5843_CRB_GAIN_15GA; |
| 835 | cra_rate = HMC5843_CRA_RATE_50HZ; |
837 | cra_rate = HMC5843_CRA_RATE_50HZ; |
| Line 836... | Line 838... | ||
| 836 | break; |
838 | break; |
| 837 | 839 | ||
| 838 | case TYPE_LSM303DLH: |
840 | case TYPE_LSM303DLH: |
| - | 841 | case TYPE_LSM303DLM: |
|
| 839 | case TYPE_LSM303DLM: |
842 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| 840 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
843 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
| Line 841... | Line 844... | ||
| 841 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
844 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 842 | break; |
845 | break; |
| Line 949... | Line 952... | ||
| 949 | yscale = HMC5843_TEST_YSCALE; |
952 | yscale = HMC5843_TEST_YSCALE; |
| 950 | zscale = HMC5843_TEST_ZSCALE; |
953 | zscale = HMC5843_TEST_ZSCALE; |
| 951 | break; |
954 | break; |
| Line 952... | Line 955... | ||
| 952 | 955 | ||
| 953 | case TYPE_LSM303DLH: |
956 | case TYPE_LSM303DLH: |
| - | 957 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
|
| 954 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
958 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
| 955 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
959 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 956 | xscale = LSM303DLH_TEST_XSCALE; |
960 | xscale = LSM303DLH_TEST_XSCALE; |
| 957 | yscale = LSM303DLH_TEST_YSCALE; |
961 | yscale = LSM303DLH_TEST_YSCALE; |
| 958 | zscale = LSM303DLH_TEST_ZSCALE; |
962 | zscale = LSM303DLH_TEST_ZSCALE; |