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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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80 | #define MAG_CALIBRATION_COMPATIBEL 0xA1 |
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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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102 | |||
253 | killagreg | 103 | // i2c MAG interface |
104 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 105 | |
253 | killagreg | 106 | // register mapping |
107 | #define REG_MAG_CRA 0x00 |
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108 | #define REG_MAG_CRB 0x01 |
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109 | #define REG_MAG_MODE 0x02 |
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110 | #define REG_MAG_DATAX_MSB 0x03 |
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111 | #define REG_MAG_DATAX_LSB 0x04 |
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112 | #define REG_MAG_DATAY_MSB 0x05 |
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113 | #define REG_MAG_DATAY_LSB 0x06 |
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114 | #define REG_MAG_DATAZ_MSB 0x07 |
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115 | #define REG_MAG_DATAZ_LSB 0x08 |
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116 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 117 | |
253 | killagreg | 118 | #define REG_MAG_IDA 0x0A |
119 | #define REG_MAG_IDB 0x0B |
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120 | #define REG_MAG_IDC 0x0C |
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329 | holgerb | 121 | #define REG_MAG_IDF 0x0F |
242 | killagreg | 122 | |
253 | killagreg | 123 | // bit mask for configuration mode |
124 | #define CRA_MODE_MASK 0x03 |
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125 | #define CRA_MODE_NORMAL 0x00 //default |
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126 | #define CRA_MODE_POSBIAS 0x01 |
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127 | #define CRA_MODE_NEGBIAS 0x02 |
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128 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 129 | |
253 | killagreg | 130 | // bit mask for measurement mode |
131 | #define MODE_MASK 0xFF |
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132 | #define MODE_CONTINUOUS 0x00 |
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133 | #define MODE_SINGLE 0x01 // default |
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134 | #define MODE_IDLE 0x02 |
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135 | #define MODE_SLEEP 0x03 |
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136 | |||
242 | killagreg | 137 | // bit mask for rate |
253 | killagreg | 138 | #define CRA_RATE_MASK 0x1C |
139 | |||
140 | // bit mask for gain |
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141 | #define CRB_GAIN_MASK 0xE0 |
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142 | |||
143 | // ids |
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144 | #define MAG_IDA 0x48 |
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145 | #define MAG_IDB 0x34 |
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146 | #define MAG_IDC 0x33 |
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147 | |||
148 | // the special HMC5843 interface |
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149 | // bit mask for rate |
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242 | killagreg | 150 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
151 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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152 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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153 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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154 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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155 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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156 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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157 | // bit mask for gain |
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158 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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159 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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160 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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161 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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162 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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163 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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164 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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165 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 166 | // self test value |
167 | #define HMC5843_TEST_XSCALE 715 |
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168 | #define HMC5843_TEST_YSCALE 715 |
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169 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 170 | |
171 | |||
253 | killagreg | 172 | // the special LSM302DLH interface |
173 | // bit mask for rate |
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174 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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175 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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176 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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177 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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178 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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179 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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180 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 181 | |
253 | killagreg | 182 | // bit mask for gain |
183 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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184 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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185 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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186 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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187 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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188 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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189 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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190 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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191 | // self test value |
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338 | holgerb | 192 | #define LSM303DLH_TEST_XSCALE 495 |
193 | #define LSM303DLH_TEST_YSCALE 495 |
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194 | #define LSM303DLH_TEST_ZSCALE 470 |
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253 | killagreg | 195 | |
196 | // the i2c ACC interface |
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197 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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198 | // register mapping |
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199 | #define REG_ACC_CTRL1 0x20 |
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200 | #define REG_ACC_CTRL2 0x21 |
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201 | #define REG_ACC_CTRL3 0x22 |
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202 | #define REG_ACC_CTRL4 0x23 |
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203 | #define REG_ACC_CTRL5 0x24 |
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204 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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205 | #define REG_ACC_REFERENCE 0x26 |
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206 | #define REG_ACC_STATUS 0x27 |
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207 | #define REG_ACC_X_LSB 0x28 |
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208 | #define REG_ACC_X_MSB 0x29 |
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209 | #define REG_ACC_Y_LSB 0x2A |
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210 | #define REG_ACC_Y_MSB 0x2B |
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211 | #define REG_ACC_Z_LSB 0x2C |
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212 | #define REG_ACC_Z_MSB 0x2D |
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213 | |||
214 | |||
215 | |||
242 | killagreg | 216 | typedef struct |
217 | { |
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253 | killagreg | 218 | u8 A; |
219 | u8 B; |
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220 | u8 C; |
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221 | } __attribute__((packed)) Identification_t; |
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222 | volatile Identification_t NCMAG_Identification; |
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242 | killagreg | 223 | |
253 | killagreg | 224 | typedef struct |
225 | { |
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329 | holgerb | 226 | u8 Sub; |
227 | } __attribute__((packed)) Identification2_t; |
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228 | volatile Identification2_t NCMAG_Identification2; |
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229 | |||
230 | typedef struct |
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231 | { |
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253 | killagreg | 232 | u8 cra; |
233 | u8 crb; |
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234 | u8 mode; |
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235 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 236 | |
253 | killagreg | 237 | volatile MagConfig_t MagConfig; |
242 | killagreg | 238 | |
253 | killagreg | 239 | typedef struct |
240 | { |
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241 | u8 ctrl_1; |
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242 | u8 ctrl_2; |
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243 | u8 ctrl_3; |
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244 | u8 ctrl_4; |
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245 | u8 ctrl_5; |
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246 | } __attribute__((packed)) AccConfig_t; |
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247 | |||
248 | volatile AccConfig_t AccConfig; |
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249 | |||
254 | killagreg | 250 | volatile s16vec_t AccRawVector; |
251 | volatile s16vec_t MagRawVector; |
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253 | killagreg | 252 | |
253 | |||
254 | killagreg | 254 | u8 NCMag_CalibrationWrite(void) |
255 | { |
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338 | holgerb | 256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 257 | EEPROM_Result_t eres; |
258 | u8 *pBuff = (u8*)&Calibration; |
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259 | |||
260 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 261 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 262 | { |
263 | crc += pBuff[i]; |
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264 | } |
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265 | Calibration.crc = ~crc; |
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266 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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267 | if(EEPROM_SUCCESS == eres) i = 1; |
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268 | else i = 0; |
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269 | return(i); |
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270 | } |
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271 | |||
272 | u8 NCMag_CalibrationRead(void) |
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273 | { |
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338 | holgerb | 274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 275 | u8 *pBuff = (u8*)&Calibration; |
276 | |||
277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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278 | { |
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256 | killagreg | 279 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 280 | { |
281 | crc += pBuff[i]; |
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282 | } |
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283 | crc = ~crc; |
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284 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 285 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 286 | } |
287 | return(0); |
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288 | } |
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289 | |||
290 | |||
291 | void NCMAG_Calibrate(void) |
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292 | { |
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330 | holgerb | 293 | u8 msg[64]; |
254 | killagreg | 294 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 295 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 296 | static u8 OldCalState = 0; |
297 | |||
256 | killagreg | 298 | X = (4*X + MagRawVector.X + 3)/5; |
299 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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300 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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301 | |||
254 | killagreg | 302 | switch(Compass_CalState) |
303 | { |
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304 | case 1: |
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305 | // 1st step of calibration |
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306 | // initialize ranges |
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307 | // used to change the orientation of the NC in the horizontal plane |
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308 | Xmin = 10000; |
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309 | Xmax = -10000; |
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310 | Ymin = 10000; |
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311 | Ymax = -10000; |
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312 | Zmin = 10000; |
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313 | Zmax = -10000; |
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314 | break; |
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315 | |||
316 | case 2: // 2nd step of calibration |
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317 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 318 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
319 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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320 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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321 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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254 | killagreg | 322 | break; |
323 | |||
324 | case 3: // 3rd step of calibration |
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325 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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326 | break; |
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327 | |||
328 | case 4: |
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329 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 330 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
331 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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254 | killagreg | 332 | break; |
333 | |||
334 | case 5: |
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335 | // Save values |
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336 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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337 | { |
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338 | holgerb | 338 | // #define MIN_CALIBRATION 256 |
339 | #define MIN_CALIBRATION 450 |
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254 | killagreg | 340 | Calibration.MagX.Range = Xmax - Xmin; |
341 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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342 | Calibration.MagY.Range = Ymax - Ymin; |
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343 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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344 | Calibration.MagZ.Range = Zmax - Zmin; |
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345 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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265 | holgerb | 346 | if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
254 | killagreg | 347 | { |
348 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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270 | killagreg | 349 | BeepTime = 2500; |
330 | holgerb | 350 | UART1_PutString("\r\n Calibration okay\n\r"); |
254 | killagreg | 351 | } |
352 | else |
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353 | { |
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330 | holgerb | 354 | UART1_PutString("\r\n Calibration FAILED - Values too low"); |
355 | if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
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356 | if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("y! "); |
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357 | if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
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358 | UART1_PutString("\r\n"); |
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254 | killagreg | 359 | // restore old calibration data from eeprom |
360 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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361 | } |
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330 | holgerb | 362 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
363 | UART1_PutString(msg); |
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364 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
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365 | UART1_PutString(msg); |
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366 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
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367 | UART1_PutString(msg); |
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254 | killagreg | 368 | } |
369 | break; |
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370 | |||
371 | default: |
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372 | break; |
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373 | } |
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374 | OldCalState = Compass_CalState; |
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375 | } |
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376 | |||
242 | killagreg | 377 | // ---------- call back handlers ----------------------------------------- |
378 | |||
379 | // rx data handler for id info request |
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253 | killagreg | 380 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 381 | { // if number of bytes are matching |
253 | killagreg | 382 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 383 | { |
253 | killagreg | 384 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
385 | } |
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242 | killagreg | 386 | } |
329 | holgerb | 387 | |
388 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
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389 | { // if number of bytes are matching |
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390 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
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391 | { |
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392 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
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393 | } |
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394 | } |
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395 | |||
254 | killagreg | 396 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 397 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 398 | { // if number of bytes are matching |
399 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 400 | { // byte order from big to little endian |
256 | killagreg | 401 | s16 raw; |
402 | raw = pRxBuffer[0]<<8; |
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403 | raw+= pRxBuffer[1]; |
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404 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
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405 | raw = pRxBuffer[2]<<8; |
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406 | raw+= pRxBuffer[3]; |
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330 | holgerb | 407 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
408 | { |
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409 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
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410 | else MagRawVector.Y = raw; |
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411 | } |
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256 | killagreg | 412 | raw = pRxBuffer[4]<<8; |
413 | raw+= pRxBuffer[5]; |
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330 | holgerb | 414 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
415 | { |
||
416 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
||
417 | else MagRawVector.Z = raw; |
||
418 | } |
||
419 | |||
242 | killagreg | 420 | } |
254 | killagreg | 421 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 422 | { // mark out data invalid |
289 | killagreg | 423 | MagVector.X = MagRawVector.X; |
424 | MagVector.Y = MagRawVector.Y; |
||
425 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 426 | Compass_Heading = -1; |
427 | } |
||
428 | else |
||
429 | { |
||
430 | // update MagVector from MagRaw Vector by Scaling |
||
431 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
432 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
433 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 434 | Compass_CalcHeading(); |
254 | killagreg | 435 | } |
242 | killagreg | 436 | } |
254 | killagreg | 437 | // rx data handler for acceleration raw data |
253 | killagreg | 438 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
439 | { // if number of byte are matching |
||
254 | killagreg | 440 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 441 | { |
254 | killagreg | 442 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 443 | } |
444 | } |
||
254 | killagreg | 445 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 446 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
447 | { // if number of byte are matching |
||
448 | if(RxBufferSize == sizeof(MagConfig) ) |
||
449 | { |
||
450 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
451 | } |
||
452 | } |
||
254 | killagreg | 453 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 454 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
455 | { // if number of byte are matching |
||
456 | if(RxBufferSize == sizeof(AccConfig) ) |
||
457 | { |
||
458 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
459 | } |
||
460 | } |
||
254 | killagreg | 461 | //---------------------------------------------------------------------- |
253 | killagreg | 462 | |
254 | killagreg | 463 | |
464 | // --------------------------------------------------------------------- |
||
253 | killagreg | 465 | u8 NCMAG_SetMagConfig(void) |
466 | { |
||
467 | u8 retval = 0; |
||
468 | // try to catch the i2c buffer within 100 ms timeout |
||
469 | if(I2C_LockBuffer(100)) |
||
470 | { |
||
471 | u8 TxBytes = 0; |
||
472 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
473 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
474 | TxBytes += sizeof(MagConfig); |
||
475 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
476 | { |
||
477 | if(I2C_WaitForEndOfTransmission(100)) |
||
478 | { |
||
479 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
480 | } |
||
481 | } |
||
482 | } |
||
483 | return(retval); |
||
484 | } |
||
242 | killagreg | 485 | |
253 | killagreg | 486 | // ---------------------------------------------------------------------------------------- |
487 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 488 | { |
253 | killagreg | 489 | u8 retval = 0; |
252 | killagreg | 490 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 491 | if(I2C_LockBuffer(100)) |
242 | killagreg | 492 | { |
253 | killagreg | 493 | u8 TxBytes = 0; |
494 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
495 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 496 | { |
252 | killagreg | 497 | if(I2C_WaitForEndOfTransmission(100)) |
498 | { |
||
499 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
500 | } |
||
248 | killagreg | 501 | } |
242 | killagreg | 502 | } |
253 | killagreg | 503 | return(retval); |
242 | killagreg | 504 | } |
505 | |||
506 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 507 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 508 | { |
252 | killagreg | 509 | u8 retval = 0; |
253 | killagreg | 510 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 511 | if(I2C_LockBuffer(100)) |
242 | killagreg | 512 | { |
253 | killagreg | 513 | u8 TxBytes = 0; |
514 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
515 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
516 | TxBytes += sizeof(AccConfig); |
||
517 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
518 | { |
||
519 | if(I2C_WaitForEndOfTransmission(100)) |
||
520 | { |
||
521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
522 | } |
||
523 | } |
||
524 | } |
||
525 | return(retval); |
||
526 | } |
||
527 | |||
528 | // ---------------------------------------------------------------------------------------- |
||
529 | u8 NCMAG_GetAccConfig(void) |
||
530 | { |
||
531 | u8 retval = 0; |
||
532 | // try to catch the i2c buffer within 100 ms timeout |
||
533 | if(I2C_LockBuffer(100)) |
||
534 | { |
||
535 | u8 TxBytes = 0; |
||
536 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
537 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
538 | { |
||
539 | if(I2C_WaitForEndOfTransmission(100)) |
||
540 | { |
||
541 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
542 | } |
||
543 | } |
||
544 | } |
||
545 | return(retval); |
||
546 | } |
||
547 | |||
548 | // ---------------------------------------------------------------------------------------- |
||
549 | u8 NCMAG_GetIdentification(void) |
||
550 | { |
||
551 | u8 retval = 0; |
||
552 | // try to catch the i2c buffer within 100 ms timeout |
||
553 | if(I2C_LockBuffer(100)) |
||
554 | { |
||
555 | u16 TxBytes = 0; |
||
556 | NCMAG_Identification.A = 0xFF; |
||
557 | NCMAG_Identification.B = 0xFF; |
||
558 | NCMAG_Identification.C = 0xFF; |
||
559 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 560 | // initiate transmission |
253 | killagreg | 561 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 562 | { |
253 | killagreg | 563 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 564 | { |
565 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
566 | } |
||
248 | killagreg | 567 | } |
242 | killagreg | 568 | } |
253 | killagreg | 569 | return(retval); |
242 | killagreg | 570 | } |
571 | |||
329 | holgerb | 572 | u8 NCMAG_GetIdentification_Sub(void) |
573 | { |
||
574 | u8 retval = 0; |
||
575 | // try to catch the i2c buffer within 100 ms timeout |
||
576 | if(I2C_LockBuffer(100)) |
||
577 | { |
||
578 | u16 TxBytes = 0; |
||
579 | NCMAG_Identification2.Sub = 0xFF; |
||
580 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
||
581 | // initiate transmission |
||
582 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
||
583 | { |
||
584 | if(I2C_WaitForEndOfTransmission(100)) |
||
585 | { |
||
586 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
587 | } |
||
588 | } |
||
589 | } |
||
590 | return(retval); |
||
591 | } |
||
592 | |||
593 | |||
253 | killagreg | 594 | // ---------------------------------------------------------------------------------------- |
595 | void NCMAG_GetMagVector(void) |
||
596 | { |
||
597 | // try to catch the I2C buffer within 0 ms |
||
598 | if(I2C_LockBuffer(0)) |
||
599 | { |
||
330 | holgerb | 600 | // s16 tmp; |
253 | killagreg | 601 | u16 TxBytes = 0; |
602 | // set register pointer |
||
603 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
604 | // initiate transmission |
||
605 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
606 | } |
||
607 | } |
||
608 | |||
242 | killagreg | 609 | //---------------------------------------------------------------- |
253 | killagreg | 610 | void NCMAG_GetAccVector(void) |
243 | killagreg | 611 | { |
252 | killagreg | 612 | // try to catch the I2C buffer within 0 ms |
613 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 614 | { |
248 | killagreg | 615 | u16 TxBytes = 0; |
243 | killagreg | 616 | // set register pointer |
253 | killagreg | 617 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 618 | // initiate transmission |
254 | killagreg | 619 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 620 | } |
621 | } |
||
622 | |||
330 | holgerb | 623 | //---------------------------------------------------------------- |
624 | void InitNC_MagnetSensor(void) |
||
625 | { |
||
626 | s16 xscale, yscale, zscale; |
||
627 | u8 crb_gain, cra_rate; |
||
338 | holgerb | 628 | // u8 retval = 1; |
330 | holgerb | 629 | |
630 | switch(NCMAG_MagType) |
||
631 | { |
||
632 | case MAG_TYPE_HMC5843: |
||
633 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
634 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
635 | xscale = HMC5843_TEST_XSCALE; |
||
636 | yscale = HMC5843_TEST_YSCALE; |
||
637 | zscale = HMC5843_TEST_ZSCALE; |
||
638 | break; |
||
639 | |||
640 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 641 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 642 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
643 | xscale = LSM303DLH_TEST_XSCALE; |
||
644 | yscale = LSM303DLH_TEST_YSCALE; |
||
645 | zscale = LSM303DLH_TEST_ZSCALE; |
||
646 | break; |
||
647 | |||
648 | default: |
||
338 | holgerb | 649 | return; |
330 | holgerb | 650 | } |
651 | |||
652 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
653 | MagConfig.crb = crb_gain; |
||
654 | MagConfig.mode = MODE_CONTINUOUS; |
||
655 | NCMAG_SetMagConfig(); |
||
656 | } |
||
657 | |||
658 | |||
253 | killagreg | 659 | // -------------------------------------------------------- |
292 | killagreg | 660 | void NCMAG_Update(void) |
243 | killagreg | 661 | { |
292 | killagreg | 662 | static u32 TimerUpdate = 0; |
321 | holgerb | 663 | static u8 send_config = 0; |
243 | killagreg | 664 | |
254 | killagreg | 665 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
666 | { |
||
667 | Compass_Heading = -1; |
||
326 | holgerb | 668 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 669 | return; |
670 | } |
||
292 | killagreg | 671 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 672 | { |
326 | holgerb | 673 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
674 | if(++send_config == 25) // 500ms |
||
321 | holgerb | 675 | { |
676 | send_config = 0; |
||
330 | holgerb | 677 | InitNC_MagnetSensor(); |
321 | holgerb | 678 | TimerUpdate = SetDelay(15); // back into the old time-slot |
679 | } |
||
680 | else |
||
681 | { |
||
254 | killagreg | 682 | // check for new calibration state |
683 | Compass_UpdateCalState(); |
||
684 | if(Compass_CalState) NCMAG_Calibrate(); |
||
685 | NCMAG_GetMagVector(); //Get new data; |
||
326 | holgerb | 686 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
321 | holgerb | 687 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
688 | } |
||
243 | killagreg | 689 | } |
690 | } |
||
691 | |||
330 | holgerb | 692 | |
254 | killagreg | 693 | // -------------------------------------------------------- |
253 | killagreg | 694 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 695 | { |
266 | holgerb | 696 | u8 msg[64]; |
275 | killagreg | 697 | static u8 done = 0; |
266 | holgerb | 698 | |
287 | holgerb | 699 | if(done) return(1); // just make it once |
275 | killagreg | 700 | |
271 | holgerb | 701 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 702 | u32 time; |
253 | killagreg | 703 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
704 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
705 | u8 crb_gain, cra_rate; |
||
706 | u8 i = 0, retval = 1; |
||
243 | killagreg | 707 | |
253 | killagreg | 708 | switch(NCMAG_MagType) |
709 | { |
||
710 | case MAG_TYPE_HMC5843: |
||
711 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
712 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
713 | xscale = HMC5843_TEST_XSCALE; |
||
714 | yscale = HMC5843_TEST_YSCALE; |
||
715 | zscale = HMC5843_TEST_ZSCALE; |
||
716 | break; |
||
717 | |||
718 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 719 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 720 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
721 | xscale = LSM303DLH_TEST_XSCALE; |
||
722 | yscale = LSM303DLH_TEST_YSCALE; |
||
723 | zscale = LSM303DLH_TEST_ZSCALE; |
||
724 | break; |
||
725 | |||
726 | default: |
||
727 | return(0); |
||
728 | } |
||
729 | |||
730 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
731 | MagConfig.crb = crb_gain; |
||
732 | MagConfig.mode = MODE_CONTINUOUS; |
||
733 | // activate positive bias field |
||
734 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 735 | // wait for stable readings |
736 | time = SetDelay(50); |
||
737 | while(!CheckDelay(time)); |
||
243 | killagreg | 738 | // averaging |
253 | killagreg | 739 | #define AVERAGE 20 |
740 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 741 | { |
253 | killagreg | 742 | NCMAG_GetMagVector(); |
243 | killagreg | 743 | time = SetDelay(20); |
744 | while(!CheckDelay(time)); |
||
254 | killagreg | 745 | XMax += MagRawVector.X; |
746 | YMax += MagRawVector.Y; |
||
747 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 748 | } |
253 | killagreg | 749 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
750 | // activate positive bias field |
||
751 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 752 | // wait for stable readings |
753 | time = SetDelay(50); |
||
754 | while(!CheckDelay(time)); |
||
243 | killagreg | 755 | // averaging |
253 | killagreg | 756 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 757 | { |
253 | killagreg | 758 | NCMAG_GetMagVector(); |
243 | killagreg | 759 | time = SetDelay(20); |
760 | while(!CheckDelay(time)); |
||
254 | killagreg | 761 | XMin += MagRawVector.X; |
762 | YMin += MagRawVector.Y; |
||
763 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 764 | } |
765 | // setup final configuration |
||
253 | killagreg | 766 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
767 | // activate positive bias field |
||
768 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 769 | // check scale for all axes |
243 | killagreg | 770 | // prepare scale limits |
253 | killagreg | 771 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 772 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 773 | if((xscale > scale_max) || (xscale < scale_min)) |
774 | { |
||
775 | retval = 0; |
||
776 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
777 | UART1_PutString(msg); |
||
778 | } |
||
267 | holgerb | 779 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 780 | yscale = (YMax - YMin)/(2*AVERAGE); |
781 | if((yscale > scale_max) || (yscale < scale_min)) |
||
782 | { |
||
783 | retval = 0; |
||
784 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
785 | UART1_PutString(msg); |
||
786 | } |
||
267 | holgerb | 787 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 788 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
789 | if((zscale > scale_max) || (zscale < scale_min)) |
||
790 | { |
||
791 | retval = 0; |
||
792 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
793 | UART1_PutString(msg); |
||
794 | } |
||
275 | killagreg | 795 | done = retval; |
253 | killagreg | 796 | return(retval); |
243 | killagreg | 797 | } |
798 | |||
799 | |||
800 | //---------------------------------------------------------------- |
||
253 | killagreg | 801 | u8 NCMAG_Init(void) |
242 | killagreg | 802 | { |
803 | u8 msg[64]; |
||
252 | killagreg | 804 | u8 retval = 0; |
242 | killagreg | 805 | u8 repeat; |
806 | |||
253 | killagreg | 807 | NCMAG_Present = 0; |
808 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
809 | // polling for LSM302DLH option |
||
810 | repeat = 0; |
||
811 | do |
||
812 | { |
||
813 | retval = NCMAG_GetAccConfig(); |
||
814 | if(retval) break; // break loop on success |
||
815 | UART1_PutString("."); |
||
816 | repeat++; |
||
817 | }while(repeat < 3); |
||
818 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 819 | // polling of identification |
820 | repeat = 0; |
||
821 | do |
||
822 | { |
||
329 | holgerb | 823 | retval = NCMAG_GetIdentification_Sub(); |
824 | if(retval) break; // break loop on success |
||
825 | UART1_PutString("."); |
||
826 | repeat++; |
||
827 | }while(repeat < 12); |
||
828 | retval = 0; |
||
829 | do |
||
830 | { |
||
253 | killagreg | 831 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 832 | if(retval) break; // break loop on success |
242 | killagreg | 833 | UART1_PutString("."); |
834 | repeat++; |
||
252 | killagreg | 835 | }while(repeat < 12); |
329 | holgerb | 836 | |
253 | killagreg | 837 | // if we got an answer to id request |
252 | killagreg | 838 | if(retval) |
242 | killagreg | 839 | { |
329 | holgerb | 840 | u8 n1[] = "\n\r HMC5843"; |
841 | u8 n2[] = "\n\r LSM303DLH"; |
||
842 | u8 n3[] = "\n\r LSM303DLM"; |
||
253 | killagreg | 843 | u8* pn; |
329 | holgerb | 844 | |
845 | pn = n1; |
||
846 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
||
847 | { |
||
848 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
||
849 | else pn = n2; |
||
850 | } |
||
851 | |||
852 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 853 | UART1_PutString(msg); |
253 | killagreg | 854 | if ( (NCMAG_Identification.A == MAG_IDA) |
855 | && (NCMAG_Identification.B == MAG_IDB) |
||
856 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 857 | { |
268 | killagreg | 858 | NCMAG_Present = 1; |
329 | holgerb | 859 | |
860 | if(EEPROM_Init()) |
||
264 | killagreg | 861 | { |
862 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
863 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
864 | } |
||
329 | holgerb | 865 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
866 | |||
867 | if(NCMAG_Identification2.Sub == 0x00) |
||
868 | { |
||
869 | if(!NCMAG_SelfTest()) |
||
870 | { |
||
871 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
872 | LED_RED_ON; |
||
873 | NCMAG_IsCalibrated = 0; |
||
874 | } else UART1_PutString("\r\n Selftest ok"); |
||
254 | killagreg | 875 | } |
330 | holgerb | 876 | else InitNC_MagnetSensor(); |
242 | killagreg | 877 | } |
878 | else |
||
879 | { |
||
254 | killagreg | 880 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 881 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 882 | LED_RED_ON; |
883 | } |
||
884 | } |
||
253 | killagreg | 885 | else // nothing found |
886 | { |
||
887 | NCMAG_MagType = MAG_TYPE_NONE; |
||
888 | UART1_PutString("not found!"); |
||
889 | } |
||
890 | return(NCMAG_Present); |
||
242 | killagreg | 891 | } |
892 |