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Line 67... | Line 67... | ||
67 | #include "main.h" |
67 | #include "main.h" |
Line 68... | Line 68... | ||
68 | 68 | ||
69 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
Line -... | Line 70... | ||
- | 70 | u8 NCMAG_IsCalibrated = 0; |
|
70 | u8 NCMAG_IsCalibrated = 0; |
71 | |
71 | 72 | // supported magnetic sensor types |
|
72 | #define MAG_TYPE_NONE 0 |
73 | #define TYPE_NONE 0 |
- | 74 | #define TYPE_HMC5843 1 |
|
- | 75 | #define TYPE_LSM303DLH 2 |
|
73 | #define MAG_TYPE_HMC5843 1 |
76 | #define TYPE_LSM303DLM 3 |
Line 74... | Line -... | ||
74 | #define MAG_TYPE_LSM303DLH 2 |
- | |
75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
77 | |
- | 78 | u8 NCMAG_SensorType = TYPE_NONE; |
|
76 | 79 | ||
Line 77... | Line 80... | ||
77 | #define CALIBRATION_VERSION 1 |
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
81 | #define CALIBRATION_VERSION 1 |
79 | #define MAG_CALIBRATION_COMPATIBEL 0xA2 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
Line 117... | Line 120... | ||
117 | #define REG_MAG_STATUS 0x09 |
120 | #define REG_MAG_STATUS 0x09 |
Line 118... | Line 121... | ||
118 | 121 | ||
119 | #define REG_MAG_IDA 0x0A |
122 | #define REG_MAG_IDA 0x0A |
120 | #define REG_MAG_IDB 0x0B |
123 | #define REG_MAG_IDB 0x0B |
121 | #define REG_MAG_IDC 0x0C |
124 | #define REG_MAG_IDC 0x0C |
Line 122... | Line 125... | ||
122 | #define REG_MAG_IDF 0x0F |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
123 | 126 | ||
124 | // bit mask for configuration mode |
127 | // bit mask for configuration mode |
125 | #define CRA_MODE_MASK 0x03 |
128 | #define CRA_MODE_MASK 0x03 |
Line 143... | Line 146... | ||
143 | 146 | ||
144 | // ids |
147 | // ids |
145 | #define MAG_IDA 0x48 |
148 | #define MAG_IDA 0x48 |
146 | #define MAG_IDB 0x34 |
149 | #define MAG_IDB 0x34 |
- | 150 | #define MAG_IDC 0x33 |
|
Line 147... | Line 151... | ||
147 | #define MAG_IDC 0x33 |
151 | #define MAG_IDF_LSM303DLM 0x3C |
148 | 152 | ||
149 | // the special HMC5843 interface |
153 | // the special HMC5843 interface |
150 | // bit mask for rate |
154 | // bit mask for rate |
Line 166... | Line 170... | ||
166 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
167 | // self test value |
171 | // self test value |
168 | #define HMC5843_TEST_XSCALE 555 |
172 | #define HMC5843_TEST_XSCALE 555 |
169 | #define HMC5843_TEST_YSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
170 | #define HMC5843_TEST_ZSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
171 | // clibration range |
175 | // calibration range |
172 | #define HMC5843_CALIBRATION_RANGE 600 |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
Line 173... | Line 177... | ||
173 | 177 | ||
174 | // the special LSM302DLH interface |
178 | // the special LSM302DLH interface |
175 | // bit mask for rate |
179 | // bit mask for rate |
Line 188... | Line 192... | ||
188 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
189 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
190 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
191 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
192 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
- | 197 | ||
- | 198 | typedef struct |
|
- | 199 | { |
|
- | 200 | u8 A; |
|
- | 201 | u8 B; |
|
- | 202 | u8 C; |
|
- | 203 | } __attribute__((packed)) Identification_t; |
|
- | 204 | volatile Identification_t NCMAG_Identification; |
|
- | 205 | ||
- | 206 | typedef struct |
|
- | 207 | { |
|
- | 208 | u8 Sub; |
|
- | 209 | } __attribute__((packed)) Identification2_t; |
|
- | 210 | volatile Identification2_t NCMAG_Identification2; |
|
- | 211 | ||
- | 212 | typedef struct |
|
- | 213 | { |
|
- | 214 | u8 cra; |
|
- | 215 | u8 crb; |
|
- | 216 | u8 mode; |
|
- | 217 | } __attribute__((packed)) MagConfig_t; |
|
- | 218 | ||
- | 219 | volatile MagConfig_t MagConfig; |
|
- | 220 | ||
- | 221 | ||
193 | // self test value |
222 | // self test value |
194 | #define LSM303DLH_TEST_XSCALE 495 |
223 | #define LSM303DLH_TEST_XSCALE 495 |
195 | #define LSM303DLH_TEST_YSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
196 | #define LSM303DLH_TEST_ZSCALE 470 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
197 | // clibration range |
226 | // clibration range |
198 | #define LSM303_CALIBRATION_RANGE 550 |
227 | #define LSM303_CALIBRATION_RANGE 550 |
Line 199... | Line 228... | ||
199 | 228 | ||
200 | // the i2c ACC interface |
229 | // the i2c ACC interface |
- | 230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
|
- | 231 | ||
- | 232 | // multiple byte read/write mask |
|
- | 233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
|
201 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
234 | |
202 | // register mapping |
235 | // register mapping |
203 | #define REG_ACC_CTRL1 0x20 |
236 | #define REG_ACC_CTRL1 0x20 |
204 | #define REG_ACC_CTRL2 0x21 |
237 | #define REG_ACC_CTRL2 0x21 |
205 | #define REG_ACC_CTRL3 0x22 |
238 | #define REG_ACC_CTRL3 0x22 |
Line 213... | Line 246... | ||
213 | #define REG_ACC_Y_LSB 0x2A |
246 | #define REG_ACC_Y_LSB 0x2A |
214 | #define REG_ACC_Y_MSB 0x2B |
247 | #define REG_ACC_Y_MSB 0x2B |
215 | #define REG_ACC_Z_LSB 0x2C |
248 | #define REG_ACC_Z_LSB 0x2C |
216 | #define REG_ACC_Z_MSB 0x2D |
249 | #define REG_ACC_Z_MSB 0x2D |
Line -... | Line 250... | ||
- | 250 | ||
- | 251 | #define ACC_CRTL1_PM_DOWN 0x00 |
|
- | 252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
|
- | 253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
|
- | 254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
|
- | 255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
|
- | 256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
|
- | 257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
|
- | 258 | // Output data rate in normal power mode |
|
- | 259 | #define ACC_CRTL1_DR_50HZ 0x00 |
|
- | 260 | #define ACC_CRTL1_DR_100HZ 0x08 |
|
- | 261 | #define ACC_CRTL1_DR_400HZ 0x10 |
|
- | 262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
|
- | 263 | // axis anable flags |
|
- | 264 | #define ACC_CRTL1_XEN 0x01 |
|
- | 265 | #define ACC_CRTL1_YEN 0x02 |
|
- | 266 | #define ACC_CRTL1_ZEN 0x04 |
|
- | 267 | ||
- | 268 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
|
- | 269 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
|
- | 270 | #define ACC_CTRL4_FS_2G 0x00 |
|
- | 271 | #define ACC_CTRL4_FS_4G 0x10 |
|
- | 272 | #define ACC_CTRL4_FS_8G 0x30 |
|
- | 273 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
|
- | 274 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
|
Line 217... | Line -... | ||
217 | - | ||
218 | - | ||
219 | - | ||
220 | typedef struct |
- | |
221 | { |
- | |
222 | u8 A; |
- | |
223 | u8 B; |
- | |
224 | u8 C; |
- | |
225 | } __attribute__((packed)) Identification_t; |
- | |
226 | volatile Identification_t NCMAG_Identification; |
- | |
227 | - | ||
228 | typedef struct |
- | |
229 | { |
- | |
230 | u8 Sub; |
- | |
231 | } __attribute__((packed)) Identification2_t; |
- | |
232 | volatile Identification2_t NCMAG_Identification2; |
- | |
233 | - | ||
234 | typedef struct |
- | |
235 | { |
- | |
236 | u8 cra; |
- | |
237 | u8 crb; |
275 | #define ACC_CTRL4_ST_ENABLE 0x02 |
238 | u8 mode; |
- | |
239 | } __attribute__((packed)) MagConfig_t; |
276 | |
Line 240... | Line 277... | ||
240 | 277 | #define ACC_CTRL5_STW_ON 0x03 |
|
241 | volatile MagConfig_t MagConfig; |
278 | #define ACC_CTRL5_STW_OFF 0x00 |
242 | 279 | ||
243 | typedef struct |
280 | typedef struct |
Line 251... | Line 288... | ||
251 | 288 | ||
Line 252... | Line 289... | ||
252 | volatile AccConfig_t AccConfig; |
289 | volatile AccConfig_t AccConfig; |
253 | 290 | ||
254 | u8 NCMag_CalibrationWrite(void) |
291 | u8 NCMag_CalibrationWrite(void) |
255 | { |
292 | { |
256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
293 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
Line 257... | Line 294... | ||
257 | EEPROM_Result_t eres; |
294 | EEPROM_Result_t eres; |
258 | u8 *pBuff = (u8*)&Calibration; |
295 | u8 *pBuff = (u8*)&Calibration; |
Line 269... | Line 306... | ||
269 | return(i); |
306 | return(i); |
270 | } |
307 | } |
Line 271... | Line 308... | ||
271 | 308 | ||
272 | u8 NCMag_CalibrationRead(void) |
309 | u8 NCMag_CalibrationRead(void) |
273 | { |
310 | { |
274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
311 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
Line 275... | Line 312... | ||
275 | u8 *pBuff = (u8*)&Calibration; |
312 | u8 *pBuff = (u8*)&Calibration; |
276 | 313 | ||
277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
314 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
Line 292... | Line 329... | ||
292 | { |
329 | { |
293 | u8 msg[64]; |
330 | u8 msg[64]; |
294 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
331 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
295 | static s16 X = 0, Y = 0, Z = 0; |
332 | static s16 X = 0, Y = 0, Z = 0; |
296 | static u8 OldCalState = 0; |
333 | static u8 OldCalState = 0; |
297 | s16 MinCaclibration = 450; |
334 | s16 MinCalibration = 450; |
Line 298... | Line 335... | ||
298 | 335 | ||
299 | X = (4*X + MagRawVector.X + 3)/5; |
336 | X = (4*X + MagRawVector.X + 3)/5; |
300 | Y = (4*Y + MagRawVector.Y + 3)/5; |
337 | Y = (4*Y + MagRawVector.Y + 3)/5; |
Line 334... | Line 371... | ||
334 | 371 | ||
335 | case 5: |
372 | case 5: |
336 | // Save values |
373 | // Save values |
337 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
374 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
338 | { |
- | |
339 | // #define MIN_CALIBRATION 256 |
375 | { |
340 | if(NCMAG_MagType == MAG_TYPE_HMC5843) |
376 | switch(NCMAG_SensorType) |
- | 377 | { |
|
341 | { |
378 | case TYPE_HMC5843: |
342 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
379 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
343 | MinCaclibration = HMC5843_CALIBRATION_RANGE; |
380 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
- | 381 | break; |
|
344 | } |
382 | |
345 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
383 | case TYPE_LSM303DLH: |
346 | { |
384 | case TYPE_LSM303DLM: |
347 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
385 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
- | 386 | MinCalibration = LSM303_CALIBRATION_RANGE; |
|
348 | MinCaclibration =LSM303_CALIBRATION_RANGE; |
387 | break; |
349 | } |
388 | } |
350 | if(EarthMagneticStrengthTheoretic) |
389 | if(EarthMagneticStrengthTheoretic) |
351 | { |
390 | { |
352 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
391 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
353 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
392 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
354 | UART1_PutString(msg); |
393 | UART1_PutString(msg); |
355 | } |
394 | } |
Line 359... | Line 398... | ||
359 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
398 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
360 | Calibration.MagY.Range = Ymax - Ymin; |
399 | Calibration.MagY.Range = Ymax - Ymin; |
361 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
400 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
362 | Calibration.MagZ.Range = Zmax - Zmin; |
401 | Calibration.MagZ.Range = Zmax - Zmin; |
363 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
402 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
364 | if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
403 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
365 | { |
404 | { |
366 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
405 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
367 | BeepTime = 2500; |
406 | BeepTime = 2500; |
368 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
407 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
369 | } |
408 | } |
370 | else |
409 | else |
371 | { |
410 | { |
372 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
411 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
373 | if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
412 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
374 | if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("Y! "); |
413 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
375 | if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
414 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
376 | UART1_PutString("\r\n"); |
415 | UART1_PutString("\r\n"); |
Line 377... | Line 416... | ||
377 | 416 | ||
378 | // restore old calibration data from eeprom |
417 | // restore old calibration data from eeprom |
379 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
418 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
Line 382... | Line 421... | ||
382 | UART1_PutString(msg); |
421 | UART1_PutString(msg); |
383 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
422 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
384 | UART1_PutString(msg); |
423 | UART1_PutString(msg); |
385 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
424 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
386 | UART1_PutString(msg); |
425 | UART1_PutString(msg); |
387 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
426 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
388 | UART1_PutString(msg); |
427 | UART1_PutString(msg); |
389 | } |
428 | } |
390 | break; |
429 | break; |
Line 391... | Line 430... | ||
391 | 430 | ||
Line 425... | Line 464... | ||
425 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
464 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
426 | raw = pRxBuffer[2]<<8; |
465 | raw = pRxBuffer[2]<<8; |
427 | raw+= pRxBuffer[3]; |
466 | raw+= pRxBuffer[3]; |
428 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
467 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
429 | { |
468 | { |
430 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
469 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
431 | else MagRawVector.Y = raw; |
470 | else MagRawVector.Y = raw; |
432 | } |
471 | } |
433 | raw = pRxBuffer[4]<<8; |
472 | raw = pRxBuffer[4]<<8; |
434 | raw+= pRxBuffer[5]; |
473 | raw+= pRxBuffer[5]; |
435 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
474 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
436 | { |
475 | { |
437 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
476 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
438 | else MagRawVector.Z = raw; |
477 | else MagRawVector.Z = raw; |
439 | } |
478 | } |
440 | //MagRawVector.X += 2 * ((s32) FC.Poti[7] - 128); |
- | |
441 | } |
479 | } |
442 | if(Compass_CalState || !NCMAG_IsCalibrated) |
480 | if(Compass_CalState || !NCMAG_IsCalibrated) |
443 | { // mark out data invalid |
481 | { // mark out data invalid |
444 | MagVector.X = MagRawVector.X; |
482 | MagVector.X = MagRawVector.X; |
445 | MagVector.Y = MagRawVector.Y; |
483 | MagVector.Y = MagRawVector.Y; |
Line 460... | Line 498... | ||
460 | { // if number of byte are matching |
498 | { // if number of byte are matching |
461 | if(RxBufferSize == sizeof(AccRawVector) ) |
499 | if(RxBufferSize == sizeof(AccRawVector) ) |
462 | { |
500 | { |
463 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
501 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
464 | } |
502 | } |
- | 503 | DebugOut.Analog[16] = AccRawVector.X; |
|
- | 504 | DebugOut.Analog[17] = AccRawVector.Y; |
|
- | 505 | DebugOut.Analog[18] = AccRawVector.Z; |
|
465 | } |
506 | } |
466 | // rx data handler for reading magnetic sensor configuration |
507 | // rx data handler for reading magnetic sensor configuration |
467 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
508 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
468 | { // if number of byte are matching |
509 | { // if number of byte are matching |
469 | if(RxBufferSize == sizeof(MagConfig) ) |
510 | if(RxBufferSize == sizeof(MagConfig) ) |
Line 530... | Line 571... | ||
530 | u8 retval = 0; |
571 | u8 retval = 0; |
531 | // try to catch the i2c buffer within 100 ms timeout |
572 | // try to catch the i2c buffer within 100 ms timeout |
532 | if(I2C_LockBuffer(100)) |
573 | if(I2C_LockBuffer(100)) |
533 | { |
574 | { |
534 | u8 TxBytes = 0; |
575 | u8 TxBytes = 0; |
535 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
576 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
536 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
577 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
537 | TxBytes += sizeof(AccConfig); |
578 | TxBytes += sizeof(AccConfig); |
538 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
579 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
539 | { |
580 | { |
540 | if(I2C_WaitForEndOfTransmission(100)) |
581 | if(I2C_WaitForEndOfTransmission(100)) |
Line 552... | Line 593... | ||
552 | u8 retval = 0; |
593 | u8 retval = 0; |
553 | // try to catch the i2c buffer within 100 ms timeout |
594 | // try to catch the i2c buffer within 100 ms timeout |
554 | if(I2C_LockBuffer(100)) |
595 | if(I2C_LockBuffer(100)) |
555 | { |
596 | { |
556 | u8 TxBytes = 0; |
597 | u8 TxBytes = 0; |
557 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
598 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
558 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
599 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
559 | { |
600 | { |
560 | if(I2C_WaitForEndOfTransmission(100)) |
601 | if(I2C_WaitForEndOfTransmission(100)) |
561 | { |
602 | { |
562 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
603 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
Line 616... | Line 657... | ||
616 | void NCMAG_GetMagVector(void) |
657 | void NCMAG_GetMagVector(void) |
617 | { |
658 | { |
618 | // try to catch the I2C buffer within 0 ms |
659 | // try to catch the I2C buffer within 0 ms |
619 | if(I2C_LockBuffer(0)) |
660 | if(I2C_LockBuffer(0)) |
620 | { |
661 | { |
621 | // s16 tmp; |
- | |
622 | u16 TxBytes = 0; |
662 | u16 TxBytes = 0; |
623 | // set register pointer |
663 | // set register pointer |
624 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
664 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
625 | // initiate transmission |
665 | // initiate transmission |
626 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
666 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
Line 633... | Line 673... | ||
633 | // try to catch the I2C buffer within 0 ms |
673 | // try to catch the I2C buffer within 0 ms |
634 | if(I2C_LockBuffer(0)) |
674 | if(I2C_LockBuffer(0)) |
635 | { |
675 | { |
636 | u16 TxBytes = 0; |
676 | u16 TxBytes = 0; |
637 | // set register pointer |
677 | // set register pointer |
638 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
678 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
639 | // initiate transmission |
679 | // initiate transmission |
640 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
680 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
641 | } |
681 | } |
642 | } |
682 | } |
Line 643... | Line 683... | ||
643 | 683 | ||
644 | //---------------------------------------------------------------- |
684 | //---------------------------------------------------------------- |
645 | void InitNC_MagnetSensor(void) |
685 | u8 InitNC_MagnetSensor(void) |
646 | { |
- | |
647 | s16 xscale, yscale, zscale; |
686 | { |
648 | u8 crb_gain, cra_rate; |
- | |
Line 649... | Line 687... | ||
649 | // u8 retval = 1; |
687 | u8 crb_gain, cra_rate; |
650 | 688 | ||
651 | switch(NCMAG_MagType) |
689 | switch(NCMAG_SensorType) |
652 | { |
690 | { |
653 | case MAG_TYPE_HMC5843: |
691 | case TYPE_HMC5843: |
654 | crb_gain = HMC5843_CRB_GAIN_15GA; |
- | |
655 | cra_rate = HMC5843_CRA_RATE_50HZ; |
- | |
656 | xscale = HMC5843_TEST_XSCALE; |
- | |
657 | yscale = HMC5843_TEST_YSCALE; |
692 | crb_gain = HMC5843_CRB_GAIN_15GA; |
Line 658... | Line 693... | ||
658 | zscale = HMC5843_TEST_ZSCALE; |
693 | cra_rate = HMC5843_CRA_RATE_50HZ; |
- | 694 | break; |
|
659 | break; |
695 | |
660 | 696 | case TYPE_LSM303DLH: |
|
661 | case MAG_TYPE_LSM303DLH: |
- | |
662 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
- | |
663 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
- | |
664 | xscale = LSM303DLH_TEST_XSCALE; |
697 | case TYPE_LSM303DLM: |
Line 665... | Line 698... | ||
665 | yscale = LSM303DLH_TEST_YSCALE; |
698 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
666 | zscale = LSM303DLH_TEST_ZSCALE; |
699 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
667 | break; |
700 | break; |
Line 668... | Line 701... | ||
668 | 701 | ||
669 | default: |
702 | default: |
670 | return; |
703 | return(0); |
671 | } |
704 | } |
672 | 705 | ||
Line -... | Line 706... | ||
- | 706 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
|
- | 707 | MagConfig.crb = crb_gain; |
|
673 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
708 | MagConfig.mode = MODE_CONTINUOUS; |
- | 709 | return(NCMAG_SetMagConfig()); |
|
- | 710 | } |
|
- | 711 | ||
- | 712 | //---------------------------------------------------------------- |
|
- | 713 | u8 NCMAG_Init_ACCSensor(void) |
|
- | 714 | { |
|
- | 715 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_400HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
|
674 | MagConfig.crb = crb_gain; |
716 | AccConfig.ctrl_2 = 0x00; |
675 | MagConfig.mode = MODE_CONTINUOUS; |
717 | AccConfig.ctrl_3 = 0x00; |
676 | NCMAG_SetMagConfig(); |
718 | AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_2G; |
677 | } |
719 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
678 | 720 | return(NCMAG_SetAccConfig()); |
|
- | 721 | } |
|
Line 679... | Line 722... | ||
679 | 722 | // -------------------------------------------------------- |
|
680 | // -------------------------------------------------------- |
723 | void NCMAG_Update(void) |
681 | void NCMAG_Update(void) |
724 | { |
682 | { |
725 | static u32 TimerUpdate = 0; |
683 | static u32 TimerUpdate = 0; |
726 | static u8 send_config = 0; |
684 | static u8 send_config = 0; |
727 | u32 delay = 20; |
685 | 728 | ||
686 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
729 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
687 | { |
730 | { |
688 | Compass_Heading = -1; |
731 | Compass_Heading = -1; |
689 | DebugOut.Analog[14]++; // count I2C error |
732 | DebugOut.Analog[14]++; // count I2C error |
690 | return; |
733 | return; |
691 | } |
734 | } |
692 | if(CheckDelay(TimerUpdate)) |
735 | if(CheckDelay(TimerUpdate)) |
693 | { |
736 | { |
694 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
737 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
695 | if(++send_config == 25) // 500ms |
738 | if(++send_config == 25) // 500ms |
- | 739 | { |
|
696 | { |
740 | send_config = 0; |
697 | send_config = 0; |
741 | InitNC_MagnetSensor(); |
698 | InitNC_MagnetSensor(); |
742 | TimerUpdate = SetDelay(15); // back into the old time-slot |
- | 743 | } |
|
- | 744 | else |
|
- | 745 | { |
|
- | 746 | static u8 s = 0; |
|
- | 747 | // check for new calibration state |
|
- | 748 | Compass_UpdateCalState(); |
|
- | 749 | if(Compass_CalState) NCMAG_Calibrate(); |
|
- | 750 | ||
- | 751 | // in case of LSM303 type |
|
- | 752 | switch(NCMAG_SensorType) |
|
699 | TimerUpdate = SetDelay(15); // back into the old time-slot |
753 | { |
- | 754 | case TYPE_HMC5843: |
|
- | 755 | NCMAG_GetMagVector(); |
|
- | 756 | delay = 20; |
|
- | 757 | break; |
|
700 | } |
758 | case TYPE_LSM303DLH: |
701 | else |
759 | case TYPE_LSM303DLM: |
702 | { |
760 | if(s){ NCMAG_GetMagVector(); s = 0;} |
703 | // check for new calibration state |
761 | else { NCMAG_GetAccVector(); s = 1;} |
704 | Compass_UpdateCalState(); |
762 | delay = 10; |
Line 724... | Line 782... | ||
724 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
782 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
725 | s16 xscale, yscale, zscale, scale_min, scale_max; |
783 | s16 xscale, yscale, zscale, scale_min, scale_max; |
726 | u8 crb_gain, cra_rate; |
784 | u8 crb_gain, cra_rate; |
727 | u8 i = 0, retval = 1; |
785 | u8 i = 0, retval = 1; |
Line 728... | Line 786... | ||
728 | 786 | ||
729 | switch(NCMAG_MagType) |
787 | switch(NCMAG_SensorType) |
730 | { |
788 | { |
731 | case MAG_TYPE_HMC5843: |
789 | case TYPE_HMC5843: |
732 | crb_gain = HMC5843_CRB_GAIN_15GA; |
790 | crb_gain = HMC5843_CRB_GAIN_15GA; |
733 | cra_rate = HMC5843_CRA_RATE_50HZ; |
791 | cra_rate = HMC5843_CRA_RATE_50HZ; |
734 | xscale = HMC5843_TEST_XSCALE; |
792 | xscale = HMC5843_TEST_XSCALE; |
735 | yscale = HMC5843_TEST_YSCALE; |
793 | yscale = HMC5843_TEST_YSCALE; |
736 | zscale = HMC5843_TEST_ZSCALE; |
794 | zscale = HMC5843_TEST_ZSCALE; |
Line 737... | Line 795... | ||
737 | break; |
795 | break; |
738 | 796 | ||
739 | case MAG_TYPE_LSM303DLH: |
797 | case TYPE_LSM303DLH: |
740 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
798 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
741 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
799 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
742 | xscale = LSM303DLH_TEST_XSCALE; |
800 | xscale = LSM303DLH_TEST_XSCALE; |
743 | yscale = LSM303DLH_TEST_YSCALE; |
801 | yscale = LSM303DLH_TEST_YSCALE; |
Line -... | Line 802... | ||
- | 802 | zscale = LSM303DLH_TEST_ZSCALE; |
|
- | 803 | break; |
|
- | 804 | ||
- | 805 | case TYPE_LSM303DLM: |
|
- | 806 | // does not support self test feature |
|
- | 807 | done = retval; |
|
744 | zscale = LSM303DLH_TEST_ZSCALE; |
808 | return(retval); |
745 | break; |
809 | break; |
746 | 810 | ||
Line 747... | Line 811... | ||
747 | default: |
811 | default: |
748 | return(0); |
812 | return(0); |
749 | } |
813 | } |
Line 790... | Line 854... | ||
790 | // check scale for all axes |
854 | // check scale for all axes |
791 | // prepare scale limits |
855 | // prepare scale limits |
792 | LIMITS(xscale, scale_min, scale_max); |
856 | LIMITS(xscale, scale_min, scale_max); |
793 | xscale = (XMax - XMin)/(2*AVERAGE); |
857 | xscale = (XMax - XMin)/(2*AVERAGE); |
794 | if((xscale > scale_max) || (xscale < scale_min)) |
858 | if((xscale > scale_max) || (xscale < scale_min)) |
795 | { |
859 | { |
796 | retval = 0; |
860 | retval = 0; |
797 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
861 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
798 | UART1_PutString(msg); |
862 | UART1_PutString(msg); |
799 | } |
863 | } |
800 | LIMITS(yscale, scale_min, scale_max); |
864 | LIMITS(yscale, scale_min, scale_max); |
801 | yscale = (YMax - YMin)/(2*AVERAGE); |
865 | yscale = (YMax - YMin)/(2*AVERAGE); |
802 | if((yscale > scale_max) || (yscale < scale_min)) |
866 | if((yscale > scale_max) || (yscale < scale_min)) |
803 | { |
867 | { |
804 | retval = 0; |
868 | retval = 0; |
805 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
869 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
806 | UART1_PutString(msg); |
870 | UART1_PutString(msg); |
807 | } |
871 | } |
808 | LIMITS(zscale, scale_min, scale_max); |
872 | LIMITS(zscale, scale_min, scale_max); |
809 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
873 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
810 | if((zscale > scale_max) || (zscale < scale_min)) |
874 | if((zscale > scale_max) || (zscale < scale_min)) |
811 | { |
875 | { |
812 | retval = 0; |
876 | retval = 0; |
813 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
877 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
814 | UART1_PutString(msg); |
878 | UART1_PutString(msg); |
815 | } |
879 | } |
816 | done = retval; |
880 | done = retval; |
817 | return(retval); |
881 | return(retval); |
818 | } |
882 | } |
Line 824... | Line 888... | ||
824 | u8 msg[64]; |
888 | u8 msg[64]; |
825 | u8 retval = 0; |
889 | u8 retval = 0; |
826 | u8 repeat; |
890 | u8 repeat; |
Line 827... | Line 891... | ||
827 | 891 | ||
828 | NCMAG_Present = 0; |
892 | NCMAG_Present = 0; |
829 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
893 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
830 | // polling for LSM302DLH option |
894 | // polling for LSM302DLH/DLM option by ACC address ack |
831 | repeat = 0; |
895 | repeat = 0; |
832 | do |
896 | do |
833 | { |
897 | { |
834 | retval = NCMAG_GetAccConfig(); |
898 | retval = NCMAG_GetAccConfig(); |
835 | if(retval) break; // break loop on success |
899 | if(retval) break; // break loop on success |
836 | UART1_PutString("."); |
900 | UART1_PutString("."); |
837 | repeat++; |
901 | repeat++; |
838 | }while(repeat < 3); |
- | |
839 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
- | |
840 | // polling of identification |
902 | }while(repeat < 3); |
841 | repeat = 0; |
- | |
842 | do |
903 | if(retval) |
- | 904 | { |
|
- | 905 | // initialize ACC sensor |
|
- | 906 | NCMAG_Init_ACCSensor(); |
|
- | 907 | ||
- | 908 | NCMAG_SensorType = TYPE_LSM303DLH; |
|
- | 909 | // polling of sub identification |
|
- | 910 | repeat = 0; |
|
- | 911 | do |
|
843 | { |
912 | { |
844 | retval = NCMAG_GetIdentification_Sub(); |
913 | retval = NCMAG_GetIdentification_Sub(); |
845 | if(retval) break; // break loop on success |
914 | if(retval) break; // break loop on success |
846 | UART1_PutString("."); |
915 | UART1_PutString("."); |
847 | repeat++; |
916 | repeat++; |
- | 917 | }while(repeat < 12); |
|
- | 918 | if(retval) |
|
- | 919 | { |
|
- | 920 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
|
- | 921 | } |
|
- | 922 | } |
|
848 | }while(repeat < 12); |
923 | // get id bytes |
849 | retval = 0; |
924 | retval = 0; |
850 | do |
925 | do |
851 | { |
926 | { |
852 | retval = NCMAG_GetIdentification(); |
927 | retval = NCMAG_GetIdentification(); |
Line 859... | Line 934... | ||
859 | if(retval) |
934 | if(retval) |
860 | { |
935 | { |
861 | u8 n1[] = "\n\r HMC5843"; |
936 | u8 n1[] = "\n\r HMC5843"; |
862 | u8 n2[] = "\n\r LSM303DLH"; |
937 | u8 n2[] = "\n\r LSM303DLH"; |
863 | u8 n3[] = "\n\r LSM303DLM"; |
938 | u8 n3[] = "\n\r LSM303DLM"; |
864 | u8* pn; |
939 | u8* pn = n1; |
Line 865... | Line -... | ||
865 | - | ||
866 | pn = n1; |
940 | |
867 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
941 | switch(NCMAG_SensorType) |
- | 942 | { |
|
- | 943 | case TYPE_HMC5843: |
|
- | 944 | pn = n1; |
|
868 | { |
945 | break; |
869 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
946 | case TYPE_LSM303DLH: |
- | 947 | pn = n2; |
|
- | 948 | break; |
|
- | 949 | case TYPE_LSM303DLM: |
|
- | 950 | pn = n3; |
|
870 | else pn = n2; |
951 | break; |
Line 871... | Line 952... | ||
871 | } |
952 | } |
872 | 953 | ||
873 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
954 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
Line 877... | Line 958... | ||
877 | && (NCMAG_Identification.C == MAG_IDC)) |
958 | && (NCMAG_Identification.C == MAG_IDC)) |
878 | { |
959 | { |
879 | NCMAG_Present = 1; |
960 | NCMAG_Present = 1; |
Line 880... | Line 961... | ||
880 | 961 | ||
881 | if(EEPROM_Init()) |
- | |
882 | { |
- | |
883 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
- | |
884 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
- | |
885 | } |
- | |
886 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
- | |
887 | - | ||
888 | if(NCMAG_Identification2.Sub == 0x00) |
962 | if(EEPROM_Init()) |
- | 963 | { |
|
- | 964 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
|
- | 965 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
|
- | 966 | } |
|
- | 967 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
|
889 | { |
968 | // perform self test |
890 | if(!NCMAG_SelfTest()) |
969 | if(!NCMAG_SelfTest()) |
891 | { |
970 | { |
892 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
971 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
893 | LED_RED_ON; |
972 | LED_RED_ON; |
- | 973 | NCMAG_IsCalibrated = 0; |
|
894 | NCMAG_IsCalibrated = 0; |
974 | } |
895 | } else UART1_PutString("\r\n Selftest ok"); |
975 | else UART1_PutString("\r\n Selftest ok"); |
- | 976 | ||
896 | } |
977 | // initialize magnetic sensor configuration |
897 | else InitNC_MagnetSensor(); |
978 | InitNC_MagnetSensor(); |
898 | } |
979 | } |
899 | else |
980 | else |
900 | { |
981 | { |
901 | UART1_PutString("\n\r Not compatible!"); |
982 | UART1_PutString("\n\r Not compatible!"); |
902 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
983 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
903 | LED_RED_ON; |
984 | LED_RED_ON; |
904 | } |
985 | } |
905 | } |
986 | } |
906 | else // nothing found |
987 | else // nothing found |
907 | { |
988 | { |
908 | NCMAG_MagType = MAG_TYPE_NONE; |
989 | NCMAG_SensorType = TYPE_NONE; |
909 | UART1_PutString("not found!"); |
990 | UART1_PutString("not found!"); |
910 | } |
991 | } |
911 | return(NCMAG_Present); |
992 | return(NCMAG_Present); |