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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include "91x_lib.h" |
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58 | #include "compass.h" |
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59 | #include "mk3mag.h" |
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253 | killagreg | 60 | #include "ncmag.h" |
242 | killagreg | 61 | #include "uart1.h" |
254 | killagreg | 62 | #include "fifo.h" |
264 | killagreg | 63 | #include "led.h" |
242 | killagreg | 64 | |
65 | |||
254 | killagreg | 66 | u8 CompassCalStateQueue[10]; |
67 | fifo_t CompassCalcStateFiFo; |
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68 | |||
69 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
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70 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
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71 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
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72 | |||
253 | killagreg | 73 | #define COMPASS_NONE 0 |
74 | #define COMPASS_MK3MAG 1 |
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75 | #define COMPASS_NCMAG 2 |
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254 | killagreg | 76 | u8 Compass_Device = COMPASS_NONE; |
242 | killagreg | 77 | |
78 | void Compass_Init(void) |
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79 | { |
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264 | killagreg | 80 | Compass_Device = COMPASS_NONE; |
242 | killagreg | 81 | UART1_PutString("\r\n Looking for compass"); |
264 | killagreg | 82 | if(Version_HW > 11) |
83 | { |
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84 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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85 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
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86 | } |
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87 | else |
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88 | { |
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89 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
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90 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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91 | } |
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92 | |||
254 | killagreg | 93 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
242 | killagreg | 94 | } |
95 | |||
96 | |||
97 | void Compass_UpdateHeading(void) |
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98 | { |
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254 | killagreg | 99 | switch(Compass_Device) |
242 | killagreg | 100 | { |
101 | case COMPASS_MK3MAG: |
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102 | MK3MAG_UpdateCompass(); |
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103 | break; |
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253 | killagreg | 104 | case COMPASS_NCMAG: |
105 | NCMAG_UpdateCompass(); |
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242 | killagreg | 106 | break; |
107 | default: |
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108 | break; |
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109 | } |
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110 | } |
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111 | |||
112 | void Compass_UpdateMagVector(void) |
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113 | { |
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254 | killagreg | 114 | switch(Compass_Device) |
242 | killagreg | 115 | { |
116 | case COMPASS_MK3MAG: |
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117 | MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); |
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118 | break; |
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253 | killagreg | 119 | case COMPASS_NCMAG: |
120 | NCMAG_UpdateCompass(); |
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242 | killagreg | 121 | default: |
122 | break; |
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123 | } |
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124 | } |
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254 | killagreg | 125 | |
126 | // put cal state into fifo |
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127 | void Compass_SetCalState(u8 CalState) |
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128 | { |
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129 | fifo_put(&CompassCalcStateFiFo, CalState); |
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130 | } |
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131 | |||
132 | // get cal state from fifo |
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133 | void Compass_UpdateCalState() |
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134 | { |
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135 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
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136 | } |
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137 |