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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include <string.h> |
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58 | #include "91x_lib.h" |
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59 | #include "hmc5843.h" |
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60 | #include "i2c.h" |
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61 | #include "timer1.h" |
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62 | #include "led.h" |
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63 | #include "spi_slave.h" |
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64 | #include "uart1.h" |
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65 | #include "compass.h" |
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66 | |||
67 | #define HMC5843_SLAVE_ADDRESS 0x3C // i2C slave address |
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68 | |||
69 | u8 HMC5843_Present = 0; |
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70 | |||
71 | #define REGISTER_CRA 0 |
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72 | #define REGISTER_CRB 1 |
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73 | #define REGISTER_MODE 2 |
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74 | #define REGISTER_DATAX_MSB 3 |
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75 | #define REGISTER_DATAX_LSB 4 |
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76 | #define REGISTER_DATAY_MSB 5 |
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77 | #define REGISTER_DATAY_LSB 6 |
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78 | #define REGISTER_DATAZ_MSB 7 |
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79 | #define REGISTER_DATAZ_LSB 8 |
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80 | #define REGISTER_STATUS 9 |
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81 | #define REGISTER_IDA 10 |
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82 | #define REGISTER_IDB 11 |
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83 | #define REGISTER_IDC 12 |
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84 | |||
85 | |||
86 | #define HMC5843_IDA 0x48 |
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87 | #define HMC5843_IDB 0x34 |
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88 | #define HMC5843_IDC 0x33 |
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89 | |||
90 | // bit mask for rate |
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91 | #define HMC5843_CRA_RATE_MASK 0x1C |
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92 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
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93 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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94 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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95 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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96 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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97 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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98 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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99 | |||
100 | // bit mask for mode |
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101 | #define HMC5843_CRA_MODE_MASK 0x03 |
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102 | #define HMC5843_CRA_MODE_NORMAL 0x00 //default |
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103 | #define HMC5843_CRA_MODE_POSBIAS 0x01 |
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104 | #define HMC5843_CRA_MODE_NEGBIAS 0x02 |
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105 | #define HMC5843_CRA_MODE_SELFTEST 0x03 |
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106 | |||
107 | // bit mask for gain |
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108 | #define HMC5843_CRB_GAIN_MASK 0xE0 |
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109 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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110 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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111 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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112 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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113 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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114 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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115 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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116 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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117 | |||
118 | // bit mask for measurement mode |
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119 | #define HMC5843_MODE_MASK 0xFF |
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120 | #define HMC5843_MODE_CONTINUOUS 0x00 |
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121 | #define HMC5843_MODE_SINGLE 0x01 // default |
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122 | #define HMC5843_MODE_IDLE 0x02 |
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123 | #define HMC5843_MODE_SLEEP 0x03 |
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124 | |||
125 | typedef struct |
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126 | { |
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127 | u8 A; |
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128 | u8 B; |
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129 | u8 C; |
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130 | } __attribute__((packed)) HMC5843_Identification_t; |
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131 | |||
132 | volatile HMC5843_Identification_t HMC5843_Identification; |
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133 | |||
134 | |||
135 | |||
136 | // ---------- call back handlers ----------------------------------------- |
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137 | |||
138 | // rx data handler for id info request |
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139 | void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
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140 | { // if number of byte are matching |
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141 | if(RxBufferSize == sizeof(HMC5843_Identification) ) |
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142 | { |
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143 | memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification)); |
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144 | } |
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145 | } |
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146 | |||
147 | // rx data handler for mag vector request |
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148 | void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
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149 | { // if number of byte are matching |
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150 | if(RxBufferSize == sizeof(MagVector) ) |
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243 | killagreg | 151 | { // byte order from big to little endian |
242 | killagreg | 152 | MagVector.X = pRxBuffer[0]<<8; |
153 | MagVector.X+= pRxBuffer[1]; |
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154 | MagVector.Y = pRxBuffer[2]<<8; |
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155 | MagVector.Y+= pRxBuffer[3]; |
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156 | MagVector.Z = pRxBuffer[4]<<8; |
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157 | MagVector.Z+= pRxBuffer[5]; |
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158 | } |
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159 | // tbd. calculate heading from mag vector and attitude |
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160 | CompassHeading = 50; // tbd. |
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161 | } |
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162 | |||
163 | |||
164 | // ---------------------------------------------------------------------------------------- |
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165 | |||
252 | killagreg | 166 | u8 HMC5843_GetIdentification(void) |
242 | killagreg | 167 | { |
252 | killagreg | 168 | u8 retval = 0; |
169 | // try to catch the i2c buffer within 100 ms timeout |
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248 | killagreg | 170 | if(I2C_LockBuffer(100)) |
242 | killagreg | 171 | { |
248 | killagreg | 172 | u16 TxBytes = 0; |
173 | HMC5843_Identification.A = 0xFF; |
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174 | HMC5843_Identification.B = 0xFF; |
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175 | HMC5843_Identification.C = 0xFF; |
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176 | I2C_Buffer[TxBytes++] = REGISTER_IDA; |
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242 | killagreg | 177 | // initiate transmission |
248 | killagreg | 178 | if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification))) |
179 | { |
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252 | killagreg | 180 | if(I2C_WaitForEndOfTransmission(100)) |
181 | { |
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182 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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183 | } |
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248 | killagreg | 184 | } |
242 | killagreg | 185 | } |
252 | killagreg | 186 | return(retval); |
242 | killagreg | 187 | } |
188 | |||
189 | // ---------------------------------------------------------------------------------------- |
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190 | u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode) |
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191 | { |
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252 | killagreg | 192 | u8 retval = 0; |
193 | // tra to catch the I2c buffer within 100 ms timeout |
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248 | killagreg | 194 | if(I2C_LockBuffer(100)) |
242 | killagreg | 195 | { |
248 | killagreg | 196 | u16 TxBytes = 0; |
197 | I2C_Buffer[TxBytes++] = REGISTER_CRA; |
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198 | I2C_Buffer[TxBytes++] = cra; |
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199 | I2C_Buffer[TxBytes++] = crb; |
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200 | I2C_Buffer[TxBytes++] = mode; |
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201 | // initiate transmission |
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202 | if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0)) |
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203 | { |
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252 | killagreg | 204 | if(I2C_WaitForEndOfTransmission(50)) |
205 | { |
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206 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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207 | } |
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248 | killagreg | 208 | } |
242 | killagreg | 209 | } |
248 | killagreg | 210 | return(retval); |
242 | killagreg | 211 | } |
212 | |||
213 | //---------------------------------------------------------------- |
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243 | killagreg | 214 | void HMC5843_GetMagVector(void) |
215 | { |
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252 | killagreg | 216 | // try to catch the I2C buffer within 0 ms |
217 | if(I2C_LockBuffer(0)) |
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243 | killagreg | 218 | { |
248 | killagreg | 219 | u16 TxBytes = 0; |
243 | killagreg | 220 | // set register pointer |
248 | killagreg | 221 | I2C_Buffer[TxBytes++] = REGISTER_DATAX_MSB; |
243 | killagreg | 222 | // initiate transmission |
248 | killagreg | 223 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateMagVector, sizeof(MagVector)); |
243 | killagreg | 224 | } |
225 | } |
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226 | |||
227 | void HMC5843_UpdateCompass(void) |
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228 | { |
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229 | static u32 TimerCompassUpdate = 0; |
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230 | |||
231 | if( (I2C_State == I2C_STATE_OFF) || !HMC5843_Present ) return; |
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232 | |||
233 | if(CheckDelay(TimerCompassUpdate)) |
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234 | { |
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235 | // check for incomming compass calibration request |
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236 | // update CalByte from spi input queue |
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237 | /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
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238 | // send new calstate |
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239 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
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240 | { |
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241 | do the calibration here |
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242 | } |
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243 | else // request current heading */ |
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244 | { |
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245 | HMC5843_GetMagVector(); |
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246 | } |
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247 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
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248 | } |
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249 | } |
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250 | |||
251 | u8 HMC5843_SelfTest(void) |
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252 | { |
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253 | u32 time; |
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254 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
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251 | killagreg | 255 | s16 scale, scale_min, scale_max; |
243 | killagreg | 256 | u8 i = 0; |
257 | |||
258 | // activate positive bias field of 0.55 gauss |
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259 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
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251 | killagreg | 260 | // wait for stable readings |
261 | time = SetDelay(50); |
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262 | while(!CheckDelay(time)); |
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243 | killagreg | 263 | // averaging |
264 | for(i = 0; i<20; i++) |
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265 | { |
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266 | HMC5843_GetMagVector(); |
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267 | time = SetDelay(20); |
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268 | while(!CheckDelay(time)); |
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269 | XMax += MagVector.X; |
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270 | YMax += MagVector.Y; |
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271 | ZMax += MagVector.Z; |
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272 | } |
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273 | // activate negative bias field of 0.55 gauss |
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274 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
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251 | killagreg | 275 | // wait for stable readings |
276 | time = SetDelay(50); |
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277 | while(!CheckDelay(time)); |
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243 | killagreg | 278 | // averaging |
279 | for(i = 0; i < 20; i++) |
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280 | { |
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281 | HMC5843_GetMagVector(); |
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282 | time = SetDelay(20); |
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283 | while(!CheckDelay(time)); |
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284 | XMin += MagVector.X; |
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285 | YMin += MagVector.Y; |
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286 | ZMin += MagVector.Z; |
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287 | } |
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288 | // setup final configuration |
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289 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
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290 | // prepare scale limits |
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291 | scale = 715; // 1300 counts/Gauss * 0.55 Gauss = 715 counts |
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248 | killagreg | 292 | scale_min = (scale * 90)/100; |
243 | killagreg | 293 | scale_max = (scale * 110)/100; |
294 | // check scale for all axes |
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295 | scale = (XMax - XMin)/40; |
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251 | killagreg | 296 | if((scale > scale_max) || (scale < scale_min)) return(0); |
297 | scale = (YMax - YMin)/40; |
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298 | if((scale > scale_max) || (scale < scale_min)) return(0); |
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299 | scale = (ZMax - ZMin)/40; |
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300 | if((scale > scale_max) || (scale < scale_min)) return(0); |
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301 | return(1); |
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243 | killagreg | 302 | } |
303 | |||
304 | |||
305 | //---------------------------------------------------------------- |
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242 | killagreg | 306 | u8 HMC5843_Init(void) |
307 | { |
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308 | u8 msg[64]; |
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252 | killagreg | 309 | u8 retval = 0; |
242 | killagreg | 310 | u8 repeat; |
311 | |||
312 | HMC5843_Present = 0; |
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313 | |||
314 | // polling of identification |
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315 | repeat = 0; |
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316 | do |
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317 | { |
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252 | killagreg | 318 | retval = HMC5843_GetIdentification(); |
319 | if(retval) break; // break loop on success |
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242 | killagreg | 320 | UART1_PutString("."); |
321 | repeat++; |
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252 | killagreg | 322 | }while(repeat < 12); |
242 | killagreg | 323 | // if we got it |
252 | killagreg | 324 | if(retval) |
242 | killagreg | 325 | { |
243 | killagreg | 326 | sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C); |
242 | killagreg | 327 | UART1_PutString(msg); |
328 | |||
329 | if ( (HMC5843_Identification.A == HMC5843_IDA) |
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330 | && (HMC5843_Identification.B == HMC5843_IDB) |
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331 | && (HMC5843_Identification.C == HMC5843_IDC)) |
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332 | { |
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243 | killagreg | 333 | //HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
334 | if(!HMC5843_SelfTest()) |
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335 | { |
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336 | UART1_PutString("\n\r HMC5843 selftest failed!"); |
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337 | LED_RED_ON; |
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338 | } |
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339 | else HMC5843_Present = 1; |
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242 | killagreg | 340 | } |
341 | else |
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342 | { |
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343 | UART1_PutString("\n\r HMC5843 not compatible!"); |
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344 | LED_RED_ON; |
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345 | } |
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346 | } |
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252 | killagreg | 347 | // else no answer |
242 | killagreg | 348 | return(HMC5843_Present); |
349 | } |
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350 |