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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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254 | killagreg | 57 | #include <math.h> |
292 | killagreg | 58 | #include <stdio.h> |
242 | killagreg | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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253 | killagreg | 61 | #include "ncmag.h" |
242 | killagreg | 62 | #include "i2c.h" |
63 | #include "timer1.h" |
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64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
242 | killagreg | 69 | |
253 | killagreg | 70 | u8 NCMAG_Present = 0; |
254 | killagreg | 71 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 72 | |
253 | killagreg | 73 | #define MAG_TYPE_NONE 0 |
74 | #define MAG_TYPE_HMC5843 1 |
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75 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 77 | |
338 | holgerb | 78 | #define CALIBRATION_VERSION 1 |
79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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339 | holgerb | 80 | #define MAG_CALIBRATION_COMPATIBEL 0xA2 |
254 | killagreg | 81 | |
256 | killagreg | 82 | #define NCMAG_MIN_RAWVALUE -2047 |
83 | #define NCMAG_MAX_RAWVALUE 2047 |
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84 | #define NCMAG_INVALID_DATA -4096 |
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85 | |||
254 | killagreg | 86 | typedef struct |
87 | { |
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88 | s16 Range; |
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89 | s16 Offset; |
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256 | killagreg | 90 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 91 | |
92 | typedef struct |
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93 | { |
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94 | Scaling_t MagX; |
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95 | Scaling_t MagY; |
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96 | Scaling_t MagZ; |
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97 | u8 Version; |
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98 | u8 crc; |
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256 | killagreg | 99 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 100 | |
101 | Calibration_t Calibration; // calibration data in RAM |
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339 | holgerb | 102 | volatile s16vec_t AccRawVector; |
103 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 104 | |
253 | killagreg | 105 | // i2c MAG interface |
106 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 107 | |
253 | killagreg | 108 | // register mapping |
109 | #define REG_MAG_CRA 0x00 |
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110 | #define REG_MAG_CRB 0x01 |
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111 | #define REG_MAG_MODE 0x02 |
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112 | #define REG_MAG_DATAX_MSB 0x03 |
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113 | #define REG_MAG_DATAX_LSB 0x04 |
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114 | #define REG_MAG_DATAY_MSB 0x05 |
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115 | #define REG_MAG_DATAY_LSB 0x06 |
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116 | #define REG_MAG_DATAZ_MSB 0x07 |
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117 | #define REG_MAG_DATAZ_LSB 0x08 |
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118 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 119 | |
253 | killagreg | 120 | #define REG_MAG_IDA 0x0A |
121 | #define REG_MAG_IDB 0x0B |
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122 | #define REG_MAG_IDC 0x0C |
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329 | holgerb | 123 | #define REG_MAG_IDF 0x0F |
242 | killagreg | 124 | |
253 | killagreg | 125 | // bit mask for configuration mode |
126 | #define CRA_MODE_MASK 0x03 |
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127 | #define CRA_MODE_NORMAL 0x00 //default |
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128 | #define CRA_MODE_POSBIAS 0x01 |
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129 | #define CRA_MODE_NEGBIAS 0x02 |
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130 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 131 | |
253 | killagreg | 132 | // bit mask for measurement mode |
133 | #define MODE_MASK 0xFF |
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134 | #define MODE_CONTINUOUS 0x00 |
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135 | #define MODE_SINGLE 0x01 // default |
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136 | #define MODE_IDLE 0x02 |
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137 | #define MODE_SLEEP 0x03 |
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138 | |||
242 | killagreg | 139 | // bit mask for rate |
253 | killagreg | 140 | #define CRA_RATE_MASK 0x1C |
141 | |||
142 | // bit mask for gain |
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143 | #define CRB_GAIN_MASK 0xE0 |
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144 | |||
145 | // ids |
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146 | #define MAG_IDA 0x48 |
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147 | #define MAG_IDB 0x34 |
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148 | #define MAG_IDC 0x33 |
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149 | |||
150 | // the special HMC5843 interface |
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151 | // bit mask for rate |
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242 | killagreg | 152 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
153 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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154 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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155 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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156 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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157 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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158 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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159 | // bit mask for gain |
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160 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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161 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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339 | holgerb | 162 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 163 | #define HMC5843_CRB_GAIN_20GA 0x60 |
164 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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165 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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166 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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167 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 168 | // self test value |
339 | holgerb | 169 | #define HMC5843_TEST_XSCALE 555 |
170 | #define HMC5843_TEST_YSCALE 555 |
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171 | #define HMC5843_TEST_ZSCALE 555 |
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172 | // clibration range |
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342 | holgerb | 173 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 174 | |
253 | killagreg | 175 | // the special LSM302DLH interface |
176 | // bit mask for rate |
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177 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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178 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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179 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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180 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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181 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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182 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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183 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 184 | |
253 | killagreg | 185 | // bit mask for gain |
186 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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187 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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339 | holgerb | 188 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 189 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
190 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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191 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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192 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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193 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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194 | // self test value |
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338 | holgerb | 195 | #define LSM303DLH_TEST_XSCALE 495 |
196 | #define LSM303DLH_TEST_YSCALE 495 |
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197 | #define LSM303DLH_TEST_ZSCALE 470 |
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339 | holgerb | 198 | // clibration range |
342 | holgerb | 199 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 200 | |
201 | // the i2c ACC interface |
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202 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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203 | // register mapping |
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204 | #define REG_ACC_CTRL1 0x20 |
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205 | #define REG_ACC_CTRL2 0x21 |
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206 | #define REG_ACC_CTRL3 0x22 |
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207 | #define REG_ACC_CTRL4 0x23 |
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208 | #define REG_ACC_CTRL5 0x24 |
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209 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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210 | #define REG_ACC_REFERENCE 0x26 |
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211 | #define REG_ACC_STATUS 0x27 |
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212 | #define REG_ACC_X_LSB 0x28 |
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213 | #define REG_ACC_X_MSB 0x29 |
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214 | #define REG_ACC_Y_LSB 0x2A |
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215 | #define REG_ACC_Y_MSB 0x2B |
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216 | #define REG_ACC_Z_LSB 0x2C |
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217 | #define REG_ACC_Z_MSB 0x2D |
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218 | |||
219 | |||
220 | |||
242 | killagreg | 221 | typedef struct |
222 | { |
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253 | killagreg | 223 | u8 A; |
224 | u8 B; |
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225 | u8 C; |
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226 | } __attribute__((packed)) Identification_t; |
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227 | volatile Identification_t NCMAG_Identification; |
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242 | killagreg | 228 | |
253 | killagreg | 229 | typedef struct |
230 | { |
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329 | holgerb | 231 | u8 Sub; |
232 | } __attribute__((packed)) Identification2_t; |
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233 | volatile Identification2_t NCMAG_Identification2; |
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234 | |||
235 | typedef struct |
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236 | { |
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253 | killagreg | 237 | u8 cra; |
238 | u8 crb; |
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239 | u8 mode; |
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240 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 241 | |
253 | killagreg | 242 | volatile MagConfig_t MagConfig; |
242 | killagreg | 243 | |
253 | killagreg | 244 | typedef struct |
245 | { |
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246 | u8 ctrl_1; |
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247 | u8 ctrl_2; |
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248 | u8 ctrl_3; |
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249 | u8 ctrl_4; |
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250 | u8 ctrl_5; |
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251 | } __attribute__((packed)) AccConfig_t; |
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252 | |||
253 | volatile AccConfig_t AccConfig; |
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254 | |||
254 | killagreg | 255 | u8 NCMag_CalibrationWrite(void) |
256 | { |
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338 | holgerb | 257 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 258 | EEPROM_Result_t eres; |
259 | u8 *pBuff = (u8*)&Calibration; |
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260 | |||
261 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 262 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 263 | { |
264 | crc += pBuff[i]; |
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265 | } |
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266 | Calibration.crc = ~crc; |
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267 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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268 | if(EEPROM_SUCCESS == eres) i = 1; |
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269 | else i = 0; |
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270 | return(i); |
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271 | } |
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272 | |||
273 | u8 NCMag_CalibrationRead(void) |
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274 | { |
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338 | holgerb | 275 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 276 | u8 *pBuff = (u8*)&Calibration; |
277 | |||
278 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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279 | { |
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256 | killagreg | 280 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 281 | { |
282 | crc += pBuff[i]; |
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283 | } |
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284 | crc = ~crc; |
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285 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 286 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 287 | } |
288 | return(0); |
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289 | } |
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290 | |||
291 | |||
292 | void NCMAG_Calibrate(void) |
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293 | { |
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330 | holgerb | 294 | u8 msg[64]; |
254 | killagreg | 295 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 296 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 297 | static u8 OldCalState = 0; |
339 | holgerb | 298 | s16 MinCaclibration = 450; |
254 | killagreg | 299 | |
256 | killagreg | 300 | X = (4*X + MagRawVector.X + 3)/5; |
301 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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302 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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303 | |||
254 | killagreg | 304 | switch(Compass_CalState) |
305 | { |
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306 | case 1: |
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307 | // 1st step of calibration |
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308 | // initialize ranges |
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309 | // used to change the orientation of the NC in the horizontal plane |
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310 | Xmin = 10000; |
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311 | Xmax = -10000; |
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312 | Ymin = 10000; |
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313 | Ymax = -10000; |
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314 | Zmin = 10000; |
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315 | Zmax = -10000; |
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316 | break; |
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317 | |||
318 | case 2: // 2nd step of calibration |
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319 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 320 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
321 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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322 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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323 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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254 | killagreg | 324 | break; |
325 | |||
326 | case 3: // 3rd step of calibration |
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327 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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328 | break; |
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329 | |||
330 | case 4: |
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331 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 332 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
333 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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254 | killagreg | 334 | break; |
335 | |||
336 | case 5: |
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337 | // Save values |
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338 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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339 | { |
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338 | holgerb | 340 | // #define MIN_CALIBRATION 256 |
339 | holgerb | 341 | if(NCMAG_MagType == MAG_TYPE_HMC5843) |
342 | { |
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343 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
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344 | MinCaclibration = HMC5843_CALIBRATION_RANGE; |
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345 | } |
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346 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
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347 | { |
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348 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
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349 | MinCaclibration =LSM303_CALIBRATION_RANGE; |
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350 | } |
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342 | holgerb | 351 | if(EarthMagneticStrengthTheoretic) |
352 | { |
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353 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
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354 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
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355 | UART1_PutString(msg); |
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356 | } |
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357 | else UART1_PutString("without GPS\n\r"); |
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339 | holgerb | 358 | |
254 | killagreg | 359 | Calibration.MagX.Range = Xmax - Xmin; |
360 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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361 | Calibration.MagY.Range = Ymax - Ymin; |
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362 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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363 | Calibration.MagZ.Range = Zmax - Zmin; |
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364 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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339 | holgerb | 365 | if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
254 | killagreg | 366 | { |
367 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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270 | killagreg | 368 | BeepTime = 2500; |
342 | holgerb | 369 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
254 | killagreg | 370 | } |
371 | else |
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372 | { |
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339 | holgerb | 373 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
374 | if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
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342 | holgerb | 375 | if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("Y! "); |
339 | holgerb | 376 | if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
330 | holgerb | 377 | UART1_PutString("\r\n"); |
339 | holgerb | 378 | |
254 | killagreg | 379 | // restore old calibration data from eeprom |
380 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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381 | } |
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330 | holgerb | 382 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
383 | UART1_PutString(msg); |
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384 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
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385 | UART1_PutString(msg); |
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386 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
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387 | UART1_PutString(msg); |
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342 | holgerb | 388 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
389 | UART1_PutString(msg); |
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254 | killagreg | 390 | } |
391 | break; |
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392 | |||
393 | default: |
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394 | break; |
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395 | } |
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396 | OldCalState = Compass_CalState; |
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397 | } |
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398 | |||
242 | killagreg | 399 | // ---------- call back handlers ----------------------------------------- |
400 | |||
401 | // rx data handler for id info request |
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253 | killagreg | 402 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 403 | { // if number of bytes are matching |
253 | killagreg | 404 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 405 | { |
253 | killagreg | 406 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
407 | } |
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242 | killagreg | 408 | } |
329 | holgerb | 409 | |
410 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
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411 | { // if number of bytes are matching |
||
412 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
413 | { |
||
414 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
415 | } |
||
416 | } |
||
417 | |||
254 | killagreg | 418 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 419 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 420 | { // if number of bytes are matching |
421 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 422 | { // byte order from big to little endian |
256 | killagreg | 423 | s16 raw; |
424 | raw = pRxBuffer[0]<<8; |
||
425 | raw+= pRxBuffer[1]; |
||
426 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
||
427 | raw = pRxBuffer[2]<<8; |
||
428 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 429 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
430 | { |
||
431 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
||
432 | else MagRawVector.Y = raw; |
||
433 | } |
||
256 | killagreg | 434 | raw = pRxBuffer[4]<<8; |
435 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 436 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
437 | { |
||
438 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
||
439 | else MagRawVector.Z = raw; |
||
440 | } |
||
342 | holgerb | 441 | //MagRawVector.X += 2 * ((s32) FC.Poti[7] - 128); |
242 | killagreg | 442 | } |
254 | killagreg | 443 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 444 | { // mark out data invalid |
289 | killagreg | 445 | MagVector.X = MagRawVector.X; |
446 | MagVector.Y = MagRawVector.Y; |
||
447 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 448 | Compass_Heading = -1; |
449 | } |
||
450 | else |
||
451 | { |
||
452 | // update MagVector from MagRaw Vector by Scaling |
||
453 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
454 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
455 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 456 | Compass_CalcHeading(); |
254 | killagreg | 457 | } |
242 | killagreg | 458 | } |
254 | killagreg | 459 | // rx data handler for acceleration raw data |
253 | killagreg | 460 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
461 | { // if number of byte are matching |
||
254 | killagreg | 462 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 463 | { |
254 | killagreg | 464 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 465 | } |
466 | } |
||
254 | killagreg | 467 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 468 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
469 | { // if number of byte are matching |
||
470 | if(RxBufferSize == sizeof(MagConfig) ) |
||
471 | { |
||
472 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
473 | } |
||
474 | } |
||
254 | killagreg | 475 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 476 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
477 | { // if number of byte are matching |
||
478 | if(RxBufferSize == sizeof(AccConfig) ) |
||
479 | { |
||
480 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
481 | } |
||
482 | } |
||
254 | killagreg | 483 | //---------------------------------------------------------------------- |
253 | killagreg | 484 | |
254 | killagreg | 485 | |
486 | // --------------------------------------------------------------------- |
||
253 | killagreg | 487 | u8 NCMAG_SetMagConfig(void) |
488 | { |
||
489 | u8 retval = 0; |
||
490 | // try to catch the i2c buffer within 100 ms timeout |
||
491 | if(I2C_LockBuffer(100)) |
||
492 | { |
||
493 | u8 TxBytes = 0; |
||
494 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
495 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
496 | TxBytes += sizeof(MagConfig); |
||
497 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
498 | { |
||
499 | if(I2C_WaitForEndOfTransmission(100)) |
||
500 | { |
||
501 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
502 | } |
||
503 | } |
||
504 | } |
||
505 | return(retval); |
||
506 | } |
||
242 | killagreg | 507 | |
253 | killagreg | 508 | // ---------------------------------------------------------------------------------------- |
509 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 510 | { |
253 | killagreg | 511 | u8 retval = 0; |
252 | killagreg | 512 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 513 | if(I2C_LockBuffer(100)) |
242 | killagreg | 514 | { |
253 | killagreg | 515 | u8 TxBytes = 0; |
516 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
517 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 518 | { |
252 | killagreg | 519 | if(I2C_WaitForEndOfTransmission(100)) |
520 | { |
||
521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
522 | } |
||
248 | killagreg | 523 | } |
242 | killagreg | 524 | } |
253 | killagreg | 525 | return(retval); |
242 | killagreg | 526 | } |
527 | |||
528 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 529 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 530 | { |
252 | killagreg | 531 | u8 retval = 0; |
253 | killagreg | 532 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 533 | if(I2C_LockBuffer(100)) |
242 | killagreg | 534 | { |
253 | killagreg | 535 | u8 TxBytes = 0; |
536 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
537 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
538 | TxBytes += sizeof(AccConfig); |
||
539 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
540 | { |
||
541 | if(I2C_WaitForEndOfTransmission(100)) |
||
542 | { |
||
543 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
544 | } |
||
545 | } |
||
546 | } |
||
547 | return(retval); |
||
548 | } |
||
549 | |||
550 | // ---------------------------------------------------------------------------------------- |
||
551 | u8 NCMAG_GetAccConfig(void) |
||
552 | { |
||
553 | u8 retval = 0; |
||
554 | // try to catch the i2c buffer within 100 ms timeout |
||
555 | if(I2C_LockBuffer(100)) |
||
556 | { |
||
557 | u8 TxBytes = 0; |
||
558 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
559 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
560 | { |
||
561 | if(I2C_WaitForEndOfTransmission(100)) |
||
562 | { |
||
563 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
564 | } |
||
565 | } |
||
566 | } |
||
567 | return(retval); |
||
568 | } |
||
569 | |||
570 | // ---------------------------------------------------------------------------------------- |
||
571 | u8 NCMAG_GetIdentification(void) |
||
572 | { |
||
573 | u8 retval = 0; |
||
574 | // try to catch the i2c buffer within 100 ms timeout |
||
575 | if(I2C_LockBuffer(100)) |
||
576 | { |
||
577 | u16 TxBytes = 0; |
||
578 | NCMAG_Identification.A = 0xFF; |
||
579 | NCMAG_Identification.B = 0xFF; |
||
580 | NCMAG_Identification.C = 0xFF; |
||
581 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 582 | // initiate transmission |
253 | killagreg | 583 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 584 | { |
253 | killagreg | 585 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 586 | { |
587 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
588 | } |
||
248 | killagreg | 589 | } |
242 | killagreg | 590 | } |
253 | killagreg | 591 | return(retval); |
242 | killagreg | 592 | } |
593 | |||
329 | holgerb | 594 | u8 NCMAG_GetIdentification_Sub(void) |
595 | { |
||
596 | u8 retval = 0; |
||
597 | // try to catch the i2c buffer within 100 ms timeout |
||
598 | if(I2C_LockBuffer(100)) |
||
599 | { |
||
600 | u16 TxBytes = 0; |
||
601 | NCMAG_Identification2.Sub = 0xFF; |
||
602 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
||
603 | // initiate transmission |
||
604 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
||
605 | { |
||
606 | if(I2C_WaitForEndOfTransmission(100)) |
||
607 | { |
||
608 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
609 | } |
||
610 | } |
||
611 | } |
||
612 | return(retval); |
||
613 | } |
||
614 | |||
615 | |||
253 | killagreg | 616 | // ---------------------------------------------------------------------------------------- |
617 | void NCMAG_GetMagVector(void) |
||
618 | { |
||
619 | // try to catch the I2C buffer within 0 ms |
||
620 | if(I2C_LockBuffer(0)) |
||
621 | { |
||
330 | holgerb | 622 | // s16 tmp; |
253 | killagreg | 623 | u16 TxBytes = 0; |
624 | // set register pointer |
||
625 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
626 | // initiate transmission |
||
627 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
628 | } |
||
629 | } |
||
630 | |||
242 | killagreg | 631 | //---------------------------------------------------------------- |
253 | killagreg | 632 | void NCMAG_GetAccVector(void) |
243 | killagreg | 633 | { |
252 | killagreg | 634 | // try to catch the I2C buffer within 0 ms |
635 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 636 | { |
248 | killagreg | 637 | u16 TxBytes = 0; |
243 | killagreg | 638 | // set register pointer |
253 | killagreg | 639 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 640 | // initiate transmission |
254 | killagreg | 641 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 642 | } |
643 | } |
||
644 | |||
330 | holgerb | 645 | //---------------------------------------------------------------- |
646 | void InitNC_MagnetSensor(void) |
||
647 | { |
||
648 | s16 xscale, yscale, zscale; |
||
649 | u8 crb_gain, cra_rate; |
||
338 | holgerb | 650 | // u8 retval = 1; |
330 | holgerb | 651 | |
652 | switch(NCMAG_MagType) |
||
653 | { |
||
654 | case MAG_TYPE_HMC5843: |
||
339 | holgerb | 655 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 656 | cra_rate = HMC5843_CRA_RATE_50HZ; |
657 | xscale = HMC5843_TEST_XSCALE; |
||
658 | yscale = HMC5843_TEST_YSCALE; |
||
659 | zscale = HMC5843_TEST_ZSCALE; |
||
660 | break; |
||
661 | |||
662 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 663 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 664 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
665 | xscale = LSM303DLH_TEST_XSCALE; |
||
666 | yscale = LSM303DLH_TEST_YSCALE; |
||
667 | zscale = LSM303DLH_TEST_ZSCALE; |
||
668 | break; |
||
669 | |||
670 | default: |
||
338 | holgerb | 671 | return; |
330 | holgerb | 672 | } |
673 | |||
674 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
675 | MagConfig.crb = crb_gain; |
||
676 | MagConfig.mode = MODE_CONTINUOUS; |
||
677 | NCMAG_SetMagConfig(); |
||
678 | } |
||
679 | |||
680 | |||
253 | killagreg | 681 | // -------------------------------------------------------- |
292 | killagreg | 682 | void NCMAG_Update(void) |
243 | killagreg | 683 | { |
292 | killagreg | 684 | static u32 TimerUpdate = 0; |
321 | holgerb | 685 | static u8 send_config = 0; |
243 | killagreg | 686 | |
254 | killagreg | 687 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
688 | { |
||
689 | Compass_Heading = -1; |
||
326 | holgerb | 690 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 691 | return; |
692 | } |
||
292 | killagreg | 693 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 694 | { |
326 | holgerb | 695 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
696 | if(++send_config == 25) // 500ms |
||
321 | holgerb | 697 | { |
698 | send_config = 0; |
||
330 | holgerb | 699 | InitNC_MagnetSensor(); |
321 | holgerb | 700 | TimerUpdate = SetDelay(15); // back into the old time-slot |
701 | } |
||
702 | else |
||
703 | { |
||
254 | killagreg | 704 | // check for new calibration state |
705 | Compass_UpdateCalState(); |
||
706 | if(Compass_CalState) NCMAG_Calibrate(); |
||
707 | NCMAG_GetMagVector(); //Get new data; |
||
326 | holgerb | 708 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
321 | holgerb | 709 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
710 | } |
||
243 | killagreg | 711 | } |
712 | } |
||
713 | |||
330 | holgerb | 714 | |
254 | killagreg | 715 | // -------------------------------------------------------- |
253 | killagreg | 716 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 717 | { |
266 | holgerb | 718 | u8 msg[64]; |
275 | killagreg | 719 | static u8 done = 0; |
266 | holgerb | 720 | |
287 | holgerb | 721 | if(done) return(1); // just make it once |
275 | killagreg | 722 | |
271 | holgerb | 723 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 724 | u32 time; |
253 | killagreg | 725 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
726 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
727 | u8 crb_gain, cra_rate; |
||
728 | u8 i = 0, retval = 1; |
||
243 | killagreg | 729 | |
253 | killagreg | 730 | switch(NCMAG_MagType) |
731 | { |
||
732 | case MAG_TYPE_HMC5843: |
||
339 | holgerb | 733 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 734 | cra_rate = HMC5843_CRA_RATE_50HZ; |
735 | xscale = HMC5843_TEST_XSCALE; |
||
736 | yscale = HMC5843_TEST_YSCALE; |
||
737 | zscale = HMC5843_TEST_ZSCALE; |
||
738 | break; |
||
739 | |||
740 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 741 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 742 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
743 | xscale = LSM303DLH_TEST_XSCALE; |
||
744 | yscale = LSM303DLH_TEST_YSCALE; |
||
745 | zscale = LSM303DLH_TEST_ZSCALE; |
||
746 | break; |
||
747 | |||
748 | default: |
||
749 | return(0); |
||
750 | } |
||
751 | |||
752 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
753 | MagConfig.crb = crb_gain; |
||
754 | MagConfig.mode = MODE_CONTINUOUS; |
||
755 | // activate positive bias field |
||
756 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 757 | // wait for stable readings |
758 | time = SetDelay(50); |
||
759 | while(!CheckDelay(time)); |
||
243 | killagreg | 760 | // averaging |
253 | killagreg | 761 | #define AVERAGE 20 |
762 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 763 | { |
253 | killagreg | 764 | NCMAG_GetMagVector(); |
243 | killagreg | 765 | time = SetDelay(20); |
766 | while(!CheckDelay(time)); |
||
254 | killagreg | 767 | XMax += MagRawVector.X; |
768 | YMax += MagRawVector.Y; |
||
769 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 770 | } |
253 | killagreg | 771 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
772 | // activate positive bias field |
||
773 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 774 | // wait for stable readings |
775 | time = SetDelay(50); |
||
776 | while(!CheckDelay(time)); |
||
243 | killagreg | 777 | // averaging |
253 | killagreg | 778 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 779 | { |
253 | killagreg | 780 | NCMAG_GetMagVector(); |
243 | killagreg | 781 | time = SetDelay(20); |
782 | while(!CheckDelay(time)); |
||
254 | killagreg | 783 | XMin += MagRawVector.X; |
784 | YMin += MagRawVector.Y; |
||
785 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 786 | } |
787 | // setup final configuration |
||
253 | killagreg | 788 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
789 | // activate positive bias field |
||
790 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 791 | // check scale for all axes |
243 | killagreg | 792 | // prepare scale limits |
253 | killagreg | 793 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 794 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 795 | if((xscale > scale_max) || (xscale < scale_min)) |
796 | { |
||
797 | retval = 0; |
||
798 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
799 | UART1_PutString(msg); |
||
800 | } |
||
267 | holgerb | 801 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 802 | yscale = (YMax - YMin)/(2*AVERAGE); |
803 | if((yscale > scale_max) || (yscale < scale_min)) |
||
804 | { |
||
805 | retval = 0; |
||
806 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
807 | UART1_PutString(msg); |
||
808 | } |
||
267 | holgerb | 809 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 810 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
811 | if((zscale > scale_max) || (zscale < scale_min)) |
||
812 | { |
||
813 | retval = 0; |
||
814 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
815 | UART1_PutString(msg); |
||
816 | } |
||
275 | killagreg | 817 | done = retval; |
253 | killagreg | 818 | return(retval); |
243 | killagreg | 819 | } |
820 | |||
821 | |||
822 | //---------------------------------------------------------------- |
||
253 | killagreg | 823 | u8 NCMAG_Init(void) |
242 | killagreg | 824 | { |
825 | u8 msg[64]; |
||
252 | killagreg | 826 | u8 retval = 0; |
242 | killagreg | 827 | u8 repeat; |
828 | |||
253 | killagreg | 829 | NCMAG_Present = 0; |
830 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
831 | // polling for LSM302DLH option |
||
832 | repeat = 0; |
||
833 | do |
||
834 | { |
||
835 | retval = NCMAG_GetAccConfig(); |
||
836 | if(retval) break; // break loop on success |
||
837 | UART1_PutString("."); |
||
838 | repeat++; |
||
839 | }while(repeat < 3); |
||
840 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 841 | // polling of identification |
842 | repeat = 0; |
||
843 | do |
||
844 | { |
||
329 | holgerb | 845 | retval = NCMAG_GetIdentification_Sub(); |
846 | if(retval) break; // break loop on success |
||
847 | UART1_PutString("."); |
||
848 | repeat++; |
||
849 | }while(repeat < 12); |
||
850 | retval = 0; |
||
851 | do |
||
852 | { |
||
253 | killagreg | 853 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 854 | if(retval) break; // break loop on success |
242 | killagreg | 855 | UART1_PutString("."); |
856 | repeat++; |
||
252 | killagreg | 857 | }while(repeat < 12); |
329 | holgerb | 858 | |
253 | killagreg | 859 | // if we got an answer to id request |
252 | killagreg | 860 | if(retval) |
242 | killagreg | 861 | { |
329 | holgerb | 862 | u8 n1[] = "\n\r HMC5843"; |
863 | u8 n2[] = "\n\r LSM303DLH"; |
||
864 | u8 n3[] = "\n\r LSM303DLM"; |
||
253 | killagreg | 865 | u8* pn; |
329 | holgerb | 866 | |
867 | pn = n1; |
||
868 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
||
869 | { |
||
870 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
||
871 | else pn = n2; |
||
872 | } |
||
873 | |||
874 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 875 | UART1_PutString(msg); |
253 | killagreg | 876 | if ( (NCMAG_Identification.A == MAG_IDA) |
877 | && (NCMAG_Identification.B == MAG_IDB) |
||
878 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 879 | { |
268 | killagreg | 880 | NCMAG_Present = 1; |
329 | holgerb | 881 | |
882 | if(EEPROM_Init()) |
||
264 | killagreg | 883 | { |
884 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
885 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
886 | } |
||
329 | holgerb | 887 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
888 | |||
889 | if(NCMAG_Identification2.Sub == 0x00) |
||
890 | { |
||
891 | if(!NCMAG_SelfTest()) |
||
892 | { |
||
893 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
894 | LED_RED_ON; |
||
895 | NCMAG_IsCalibrated = 0; |
||
896 | } else UART1_PutString("\r\n Selftest ok"); |
||
254 | killagreg | 897 | } |
330 | holgerb | 898 | else InitNC_MagnetSensor(); |
242 | killagreg | 899 | } |
900 | else |
||
901 | { |
||
254 | killagreg | 902 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 903 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 904 | LED_RED_ON; |
905 | } |
||
906 | } |
||
253 | killagreg | 907 | else // nothing found |
908 | { |
||
909 | NCMAG_MagType = MAG_TYPE_NONE; |
||
910 | UART1_PutString("not found!"); |
||
911 | } |
||
912 | return(NCMAG_Present); |
||
242 | killagreg | 913 | } |
914 |