WebSVN - NaviCtrl - Diff - Rev 743 and 767



                        if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!
                        {
                                switch(NCMAG_SensorType)
                                {
                                        case TYPE_HMC5843:
                                                UART1_PutString("\r\nFinished: HMC5843 calibration\r\n");
                                                MinCalibration = HMC5843_CALIBRATION_RANGE;
                                                break;

 
                                        case TYPE_LSM303DLH:
                                        case TYPE_LSM303DLM:
                                        case TYPE_LSM303D:
                                        default:
                                                UART1_PutString("\r\nFinished: LSM303 calibration\r\n");
                                                MinCalibration = LSM303_CALIBRATION_RANGE;
                                                break;
                                }
                                if(EarthMagneticStrengthTheoretic)
                                {
                                        MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50;
                                        sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
                                        UART1_PutString(msg);
                                }

                            else UART1_PutString("without GPS\r\n");
 
                                if(Zmin2 < Zmin) Zmin = Zmin2;
                                if(Zmax2 > Zmax) Zmax = Zmax2;

                                else
                                if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration))
                                {
                                        NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort);
                                        BeepTime = 2500;
                                        UART1_PutString("\r\n-> Calibration okay <-\r\n");
                                        SpeakHoTT = SPEAK_MIKROKOPTER;
                                }
                                else
                                {
                                        SpeakHoTT = SPEAK_ERR_CALIBARTION;

                }
        }
                // if we got an answer to id request
                if(retval)
                {
                        u8 n1[] = "\r\n HMC5843";
                        u8 n2[] = "\r\n LSM303DLH";
                        u8 n3[] = "\r\n LSM303DLM";
                        u8 n4[] = "\r\n LSM303D";
                        u8 n5[] = "\r\n ??";
                        u8* pn = n5;

 
                        switch(NCMAG_SensorType)
                        {

                                                UART1_PutString(msg);
                                                if(NCMAG_IsCalibrated) // check against calibration data orientation
                                                {
                                                        if(NCMAG_Orientation != Calibration.Version >> 4)
                                                        {
                                                                sprintf(msg, "\r\n Warning: calibrated orientation was %d !",Calibration.Version >> 4);
                                                                UART1_PutString(msg);
//NCMAG_IsCalibrated = 0; // force new calibration!
                                                        }
                                                }
                                        }

                                // initialize magnetic sensor configuration
                                NCMAG_ConfigureSensor();
                        }
                        else
                        {
                                UART1_PutString("\r\n Not compatible!");
                                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
                                LED_RED_ON;
                        }
                }
                else // nothing found

Rev 743	Rev 767
Line 467...	Line 467...
467	if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!	467	if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!
468	{	468	{
469	switch(NCMAG_SensorType)	469	switch(NCMAG_SensorType)
470	{	470	{
471	case TYPE_HMC5843:	471	case TYPE_HMC5843:
472	UART1_PutString("\r\nFinished: HMC5843 calibration\n\r");	472	UART1_PutString("\r\nFinished: HMC5843 calibration\r\n");
473	MinCalibration = HMC5843_CALIBRATION_RANGE;	473	MinCalibration = HMC5843_CALIBRATION_RANGE;
474	break;	474	break;
Line 475...	Line 475...
475		475
476	case TYPE_LSM303DLH:	476	case TYPE_LSM303DLH:
477	case TYPE_LSM303DLM:	477	case TYPE_LSM303DLM:
478	case TYPE_LSM303D:	478	case TYPE_LSM303D:
479	default:	479	default:
480	UART1_PutString("\r\nFinished: LSM303 calibration\n\r");	480	UART1_PutString("\r\nFinished: LSM303 calibration\r\n");
481	MinCalibration = LSM303_CALIBRATION_RANGE;	481	MinCalibration = LSM303_CALIBRATION_RANGE;
482	break;	482	break;
483	}	483	}
484	if(EarthMagneticStrengthTheoretic)	484	if(EarthMagneticStrengthTheoretic)
485	{	485	{
486	MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50;	486	MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50;
487	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);	487	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
488	UART1_PutString(msg);	488	UART1_PutString(msg);
489	}	489	}
Line 490...	Line 490...
490	else UART1_PutString("without GPS\n\r");	490	else UART1_PutString("without GPS\r\n");
491		491
492	if(Zmin2 < Zmin) Zmin = Zmin2;	492	if(Zmin2 < Zmin) Zmin = Zmin2;
493	if(Zmax2 > Zmax) Zmax = Zmax2;	493	if(Zmax2 > Zmax) Zmax = Zmax2;
Line 506...	Line 506...
506	else	506	else
507	if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration))	507	if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration))
508	{	508	{
509	NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort);	509	NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort);
510	BeepTime = 2500;	510	BeepTime = 2500;
511	UART1_PutString("\r\n-> Calibration okay <-\n\r");	511	UART1_PutString("\r\n-> Calibration okay <-\r\n");
512	SpeakHoTT = SPEAK_MIKROKOPTER;	512	SpeakHoTT = SPEAK_MIKROKOPTER;
513	}	513	}
514	else	514	else
515	{	515	{
516	SpeakHoTT = SPEAK_ERR_CALIBARTION;	516	SpeakHoTT = SPEAK_ERR_CALIBARTION;
Line 1262...	Line 1262...
1262	}	1262	}
1263	}	1263	}
1264	// if we got an answer to id request	1264	// if we got an answer to id request
1265	if(retval)	1265	if(retval)
1266	{	1266	{
1267	u8 n1[] = "\n\r HMC5843";	1267	u8 n1[] = "\r\n HMC5843";
1268	u8 n2[] = "\n\r LSM303DLH";	1268	u8 n2[] = "\r\n LSM303DLH";
1269	u8 n3[] = "\n\r LSM303DLM";	1269	u8 n3[] = "\r\n LSM303DLM";
1270	u8 n4[] = "\n\r LSM303D";	1270	u8 n4[] = "\r\n LSM303D";
1271	u8 n5[] = "\n\r ??";	1271	u8 n5[] = "\r\n ??";
1272	u8* pn = n5;	1272	u8* pn = n5;
Line 1273...	Line 1273...
1273		1273
1274	switch(NCMAG_SensorType)	1274	switch(NCMAG_SensorType)
1275	{	1275	{
Line 1322...	Line 1322...
1322	UART1_PutString(msg);	1322	UART1_PutString(msg);
1323	if(NCMAG_IsCalibrated) // check against calibration data orientation	1323	if(NCMAG_IsCalibrated) // check against calibration data orientation
1324	{	1324	{
1325	if(NCMAG_Orientation != Calibration.Version >> 4)	1325	if(NCMAG_Orientation != Calibration.Version >> 4)
1326	{	1326	{
1327	sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4);	1327	sprintf(msg, "\r\n Warning: calibrated orientation was %d !",Calibration.Version >> 4);
1328	UART1_PutString(msg);	1328	UART1_PutString(msg);
1329	//NCMAG_IsCalibrated = 0; // force new calibration!	1329	//NCMAG_IsCalibrated = 0; // force new calibration!
1330	}	1330	}
1331	}	1331	}
1332	}	1332	}
Line 1349...	Line 1349...
1349	// initialize magnetic sensor configuration	1349	// initialize magnetic sensor configuration
1350	NCMAG_ConfigureSensor();	1350	NCMAG_ConfigureSensor();
1351	}	1351	}
1352	else	1352	else
1353	{	1353	{
1354	UART1_PutString("\n\r Not compatible!");	1354	UART1_PutString("\r\n Not compatible!");
1355	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	1355	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
1356	LED_RED_ON;	1356	LED_RED_ON;
1357	}	1357	}
1358	}	1358	}
1359	else // nothing found	1359	else // nothing found

Subversion Repositories NaviCtrl

(root)/tags/V2.20f/ncmag.c @ 875 - Rev 743 → 767