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241 | 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) 2008 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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292 | killagreg | 57 | #include <stdio.h> |
241 | killagreg | 58 | #include <string.h> |
59 | #include "91x_lib.h" |
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60 | #include "mk3mag.h" |
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61 | #include "i2c.h" |
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62 | #include "timer1.h" |
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242 | killagreg | 63 | #include "led.h" |
241 | killagreg | 64 | #include "main.h" |
65 | #include "uart1.h" |
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242 | killagreg | 66 | #include "compass.h" |
241 | killagreg | 67 | |
68 | #define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address |
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69 | |||
242 | killagreg | 70 | u8 MK3MAG_Present = 0; |
241 | killagreg | 71 | |
242 | killagreg | 72 | typedef struct |
73 | { |
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74 | s16 Nick; |
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75 | s16 Roll; |
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76 | } __attribute__((packed)) MK3MAG_WriteAttitude_t; |
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77 | |||
292 | killagreg | 78 | typedef struct |
79 | { |
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80 | u8 Major; |
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81 | u8 Minor; |
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82 | u8 Patch; |
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83 | u8 Compatible; |
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84 | } __attribute__((packed)) MK3MAG_Version_t; |
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85 | |||
86 | typedef struct |
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87 | { |
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88 | u8 CalByte; |
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89 | u8 Dummy1; |
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90 | u8 Dummy2; |
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91 | } __attribute__((packed)) MK3MAG_Cal_t; |
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92 | |||
241 | killagreg | 93 | // Transfer buffers |
94 | volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude; |
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95 | volatile MK3MAG_Version_t MK3MAG_Version; |
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96 | volatile MK3MAG_Cal_t MK3MAG_WriteCal; |
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97 | volatile MK3MAG_Cal_t MK3MAG_ReadCal; |
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98 | |||
99 | // ------------------------------------------------------------------------------- |
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100 | // the calculation of the MK3MAG packet checksum |
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101 | |||
102 | // calculate the crc of bytecount bytes in buffer |
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103 | u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount) |
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104 | { |
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105 | u8 i, crc = 0; |
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106 | for(i=0; i < bytecount; i++) |
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107 | { |
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108 | crc += pBuffer[i]; |
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109 | } |
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110 | crc = ~crc; |
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111 | return crc; |
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112 | } |
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113 | |||
114 | // assuming the last byte in buffer is the crc byte |
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115 | u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen) |
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116 | { |
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117 | u8 crc = 0, retval = 0; |
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118 | if(BuffLen == 0) return(retval); |
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119 | crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1); |
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120 | if(crc == pBuffer[BuffLen-1]) |
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121 | { |
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122 | retval = 1; |
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123 | DebugOut.Analog[15]++; // count mk3mag ok |
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124 | } |
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125 | else |
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126 | { |
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127 | retval = 0; |
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128 | DebugOut.Analog[14]++; // count mk3mag crc error |
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129 | } |
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130 | return(retval); |
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131 | } |
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132 | |||
133 | // ------------------------------------------------------------------------------- |
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134 | // the I2C rx data handler functions |
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135 | |||
136 | // rx data handler for version info request |
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137 | void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize) |
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138 | { // if crc is ok and number of byte are matching |
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139 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) ) |
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140 | { |
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141 | memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version)); |
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142 | } |
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143 | } |
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144 | |||
145 | // rx data handler for calibration request |
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146 | void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize) |
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147 | { // if crc is ok and number of byte are matching |
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148 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) ) |
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149 | { |
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150 | memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal)); |
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151 | } |
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152 | } |
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153 | |||
154 | // rx data handler for magnetic vector request |
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155 | void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
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156 | { // if crc is ok and number of byte are matching |
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242 | killagreg | 157 | if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) ) |
241 | killagreg | 158 | { |
292 | killagreg | 159 | s16vec_t *pMagVector = (s16vec_t*)pRxBuffer; |
160 | MagVector.X = pMagVector->Y; |
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161 | MagVector.Y = pMagVector->X; |
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162 | MagVector.Z = -pMagVector->Z; |
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163 | Compass_CalcHeading(); |
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241 | killagreg | 164 | } |
165 | } |
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166 | |||
292 | killagreg | 167 | //---------------------------------------------------------------- |
168 | #define MK3MAG_CMD_VERSION 0x01 |
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169 | #define MK3MAG_CMD_READ_MAGVECT 0x02 |
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170 | #define MK3MAG_CMD_WRITE_CAL 0x04 |
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241 | killagreg | 171 | |
172 | void MK3MAG_SendCommand(u8 command) |
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173 | { |
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288 | killagreg | 174 | // try to catch the I2C buffer |
248 | killagreg | 175 | if(I2C_LockBuffer(0)) |
241 | killagreg | 176 | { |
248 | killagreg | 177 | u16 TxBytes = 0; |
178 | u16 RxBytes = 0; |
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241 | killagreg | 179 | I2C_pRxHandler_t pRxHandlerFunc = NULL; |
248 | killagreg | 180 | |
241 | killagreg | 181 | // update current command id |
248 | killagreg | 182 | I2C_Buffer[TxBytes++] = command; |
241 | killagreg | 183 | |
184 | // set pointers to data area with respect to the command id |
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185 | switch (command) |
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186 | { |
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187 | case MK3MAG_CMD_VERSION: |
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188 | RxBytes = sizeof(MK3MAG_Version)+1; |
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189 | pRxHandlerFunc = &MK3MAG_UpdateVersion; |
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190 | break; |
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191 | case MK3MAG_CMD_WRITE_CAL: |
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192 | RxBytes = sizeof(MK3MAG_ReadCal)+1; |
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193 | pRxHandlerFunc = &MK3MAG_UpdateCalibration; |
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248 | killagreg | 194 | memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal)); |
195 | TxBytes += sizeof(MK3MAG_WriteCal); |
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241 | killagreg | 196 | break; |
197 | case MK3MAG_CMD_READ_MAGVECT: |
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242 | killagreg | 198 | RxBytes = sizeof(MagVector)+1; |
241 | killagreg | 199 | pRxHandlerFunc = &MK3MAG_UpdateMagVector; |
200 | break; |
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201 | default: // unknown command id |
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202 | RxBytes = 0; |
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203 | pRxHandlerFunc = NULL; |
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204 | break; |
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205 | } |
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206 | // update packet checksum |
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248 | killagreg | 207 | I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes); |
208 | TxBytes++; |
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241 | killagreg | 209 | // initiate I2C transmission |
248 | killagreg | 210 | I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes); |
242 | killagreg | 211 | } // EOF I2C_State == I2C_IDLE |
241 | killagreg | 212 | } |
213 | |||
214 | |||
215 | //---------------------------------------------------------------- |
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242 | killagreg | 216 | u8 MK3MAG_Init(void) |
241 | killagreg | 217 | { |
218 | u8 msg[64]; |
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219 | u8 repeat; |
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220 | u32 timeout; |
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221 | |||
242 | killagreg | 222 | MK3MAG_Present = 0; |
241 | killagreg | 223 | |
224 | MK3MAG_Version.Major = 0xFF; |
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225 | MK3MAG_Version.Minor = 0xFF; |
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226 | MK3MAG_Version.Patch = 0xFF; |
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227 | MK3MAG_Version.Compatible = 0xFF; |
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242 | killagreg | 228 | |
254 | killagreg | 229 | Compass_Heading = -1; |
242 | killagreg | 230 | |
241 | killagreg | 231 | // polling of version info |
232 | repeat = 0; |
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233 | do |
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234 | { |
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235 | MK3MAG_SendCommand(MK3MAG_CMD_VERSION); |
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342 | holgerb | 236 | if(Version_HW > 11) timeout = SetDelay(100); |
237 | else timeout = SetDelay(250); |
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238 | |||
241 | killagreg | 239 | do |
240 | { |
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241 | if (MK3MAG_Version.Major != 0xFF) break; // break loop on success |
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242 | }while (!CheckDelay(timeout)); |
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243 | UART1_PutString("."); |
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244 | repeat++; |
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245 | }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s |
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246 | // if we got it |
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247 | if (MK3MAG_Version.Major != 0xFF) |
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248 | { |
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242 | killagreg | 249 | sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
241 | killagreg | 250 | UART1_PutString(msg); |
242 | killagreg | 251 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
252 | { |
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253 | UART1_PutString("\n\r MK3MAG not compatible!"); |
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256 | killagreg | 254 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 255 | LED_RED_ON; |
256 | } |
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257 | else |
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258 | { // version ok |
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259 | MK3MAG_Present = 1; |
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260 | } |
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241 | killagreg | 261 | } |
242 | killagreg | 262 | return(MK3MAG_Present); |
241 | killagreg | 263 | } |
264 | |||
265 | //---------------------------------------------------------------- |
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292 | killagreg | 266 | void MK3MAG_Update(void) |
241 | killagreg | 267 | { |
292 | killagreg | 268 | static u32 TimerUpdate = 0; |
269 | static s16 x_max,y_max,z_max,x_min,y_min,z_min; |
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339 | holgerb | 270 | static u8 last_state; |
271 | u8 msg[64]; |
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272 | u16 MinCaclibration = 500; |
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241 | killagreg | 273 | |
242 | killagreg | 274 | if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return; |
241 | killagreg | 275 | |
292 | killagreg | 276 | if(CheckDelay(TimerUpdate)) |
241 | killagreg | 277 | { |
278 | // check for incomming compass calibration request |
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254 | killagreg | 279 | Compass_UpdateCalState(); |
280 | MK3MAG_WriteCal.CalByte = Compass_CalState; |
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292 | killagreg | 281 | |
241 | killagreg | 282 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
292 | killagreg | 283 | { // send new calibration state |
241 | killagreg | 284 | MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL); |
285 | } |
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292 | killagreg | 286 | else |
287 | { // calibration state matches |
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288 | MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer |
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289 | |||
290 | switch(Compass_CalState) |
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291 | { |
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292 | case 1: |
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339 | holgerb | 293 | if(last_state != Compass_CalState) |
294 | { |
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295 | UART1_PutString("\r\nMK3Mag calibration\n\r"); |
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342 | holgerb | 296 | if(EarthMagneticStrengthTheoretic) |
297 | { |
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298 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
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299 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
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300 | UART1_PutString(msg); |
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301 | } |
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302 | else UART1_PutString("without GPS\n\r"); |
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339 | holgerb | 303 | } |
292 | killagreg | 304 | x_max = -30000; y_max = -30000; z_max = -30000; |
305 | x_min = 30000; y_min = 30000; z_min = 30000; |
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306 | break; |
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307 | |||
308 | case 2: |
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309 | if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; } |
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310 | else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; } |
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311 | if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; } |
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312 | else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; } |
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313 | break; |
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314 | |||
315 | case 4: |
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316 | if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; } |
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317 | else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; } |
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318 | break; |
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339 | holgerb | 319 | case 5: |
320 | if(last_state == Compass_CalState) break; |
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321 | if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration)) |
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322 | { |
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323 | BeepTime = 2500; |
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342 | holgerb | 324 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
339 | holgerb | 325 | } |
326 | else |
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327 | { |
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328 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
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329 | if((x_max - x_min) < MinCaclibration) UART1_PutString("X! "); |
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342 | holgerb | 330 | if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! "); |
339 | holgerb | 331 | if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! "); |
332 | UART1_PutString("\r\n"); |
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333 | } |
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334 | UART1_PutString(msg); |
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335 | sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min); |
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336 | UART1_PutString(msg); |
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337 | sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min); |
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338 | UART1_PutString(msg); |
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339 | sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min); |
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340 | UART1_PutString(msg); |
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342 | holgerb | 341 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
342 | UART1_PutString(msg); |
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339 | holgerb | 343 | break; |
292 | killagreg | 344 | default: |
345 | break; |
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339 | holgerb | 346 | } |
347 | last_state = Compass_CalState; |
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287 | holgerb | 348 | } |
292 | killagreg | 349 | TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
241 | killagreg | 350 | } |
351 | } |