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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> |
242 | killagreg | 58 | #include <string.h> |
59 | #include "91x_lib.h" |
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253 | killagreg | 60 | #include "ncmag.h" |
242 | killagreg | 61 | #include "i2c.h" |
62 | #include "timer1.h" |
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63 | #include "led.h" |
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64 | #include "spi_slave.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" |
242 | killagreg | 68 | |
253 | killagreg | 69 | u8 NCMAG_Present = 0; |
254 | killagreg | 70 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 71 | |
253 | killagreg | 72 | #define MAG_TYPE_NONE 0 |
73 | #define MAG_TYPE_HMC5843 1 |
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74 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 76 | |
254 | killagreg | 77 | #define CALIBRATION_VERSION 1 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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79 | |||
256 | killagreg | 80 | #define NCMAG_MIN_RAWVALUE -2047 |
81 | #define NCMAG_MAX_RAWVALUE 2047 |
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82 | #define NCMAG_INVALID_DATA -4096 |
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83 | |||
254 | killagreg | 84 | typedef struct |
85 | { |
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86 | s16 Range; |
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87 | s16 Offset; |
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256 | killagreg | 88 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 89 | |
90 | typedef struct |
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91 | { |
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92 | Scaling_t MagX; |
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93 | Scaling_t MagY; |
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94 | Scaling_t MagZ; |
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95 | u8 Version; |
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96 | u8 crc; |
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256 | killagreg | 97 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 98 | |
99 | Calibration_t Calibration; // calibration data in RAM |
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100 | |||
253 | killagreg | 101 | // i2c MAG interface |
102 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 103 | |
253 | killagreg | 104 | // register mapping |
105 | #define REG_MAG_CRA 0x00 |
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106 | #define REG_MAG_CRB 0x01 |
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107 | #define REG_MAG_MODE 0x02 |
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108 | #define REG_MAG_DATAX_MSB 0x03 |
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109 | #define REG_MAG_DATAX_LSB 0x04 |
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110 | #define REG_MAG_DATAY_MSB 0x05 |
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111 | #define REG_MAG_DATAY_LSB 0x06 |
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112 | #define REG_MAG_DATAZ_MSB 0x07 |
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113 | #define REG_MAG_DATAZ_LSB 0x08 |
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114 | #define REG_MAG_STATUS 0x09 |
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115 | #define REG_MAG_IDA 0x0A |
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116 | #define REG_MAG_IDB 0x0B |
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117 | #define REG_MAG_IDC 0x0C |
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242 | killagreg | 118 | |
253 | killagreg | 119 | // bit mask for configuration mode |
120 | #define CRA_MODE_MASK 0x03 |
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121 | #define CRA_MODE_NORMAL 0x00 //default |
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122 | #define CRA_MODE_POSBIAS 0x01 |
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123 | #define CRA_MODE_NEGBIAS 0x02 |
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124 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 125 | |
253 | killagreg | 126 | // bit mask for measurement mode |
127 | #define MODE_MASK 0xFF |
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128 | #define MODE_CONTINUOUS 0x00 |
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129 | #define MODE_SINGLE 0x01 // default |
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130 | #define MODE_IDLE 0x02 |
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131 | #define MODE_SLEEP 0x03 |
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132 | |||
242 | killagreg | 133 | // bit mask for rate |
253 | killagreg | 134 | #define CRA_RATE_MASK 0x1C |
135 | |||
136 | // bit mask for gain |
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137 | #define CRB_GAIN_MASK 0xE0 |
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138 | |||
139 | // ids |
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140 | #define MAG_IDA 0x48 |
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141 | #define MAG_IDB 0x34 |
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142 | #define MAG_IDC 0x33 |
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143 | |||
144 | // the special HMC5843 interface |
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145 | // bit mask for rate |
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242 | killagreg | 146 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
147 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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148 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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149 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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150 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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151 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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152 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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153 | // bit mask for gain |
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154 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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155 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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156 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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157 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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158 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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159 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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160 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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161 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 162 | // self test value |
163 | #define HMC5843_TEST_XSCALE 715 |
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164 | #define HMC5843_TEST_YSCALE 715 |
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165 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 166 | |
167 | |||
253 | killagreg | 168 | // the special LSM302DLH interface |
169 | // bit mask for rate |
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170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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177 | // bit mask for gain |
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178 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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179 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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180 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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181 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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182 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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183 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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184 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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185 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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186 | // self test value |
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187 | #define LSM303DLH_TEST_XSCALE 655 |
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188 | #define LSM303DLH_TEST_YSCALE 655 |
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189 | #define LSM303DLH_TEST_ZSCALE 630 |
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190 | |||
191 | // the i2c ACC interface |
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192 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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193 | // register mapping |
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194 | #define REG_ACC_CTRL1 0x20 |
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195 | #define REG_ACC_CTRL2 0x21 |
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196 | #define REG_ACC_CTRL3 0x22 |
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197 | #define REG_ACC_CTRL4 0x23 |
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198 | #define REG_ACC_CTRL5 0x24 |
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199 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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200 | #define REG_ACC_REFERENCE 0x26 |
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201 | #define REG_ACC_STATUS 0x27 |
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202 | #define REG_ACC_X_LSB 0x28 |
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203 | #define REG_ACC_X_MSB 0x29 |
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204 | #define REG_ACC_Y_LSB 0x2A |
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205 | #define REG_ACC_Y_MSB 0x2B |
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206 | #define REG_ACC_Z_LSB 0x2C |
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207 | #define REG_ACC_Z_MSB 0x2D |
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208 | |||
209 | |||
210 | |||
242 | killagreg | 211 | typedef struct |
212 | { |
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253 | killagreg | 213 | u8 A; |
214 | u8 B; |
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215 | u8 C; |
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216 | } __attribute__((packed)) Identification_t; |
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242 | killagreg | 217 | |
253 | killagreg | 218 | volatile Identification_t NCMAG_Identification; |
242 | killagreg | 219 | |
253 | killagreg | 220 | typedef struct |
221 | { |
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222 | u8 cra; |
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223 | u8 crb; |
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224 | u8 mode; |
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225 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 226 | |
253 | killagreg | 227 | volatile MagConfig_t MagConfig; |
242 | killagreg | 228 | |
253 | killagreg | 229 | typedef struct |
230 | { |
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231 | u8 ctrl_1; |
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232 | u8 ctrl_2; |
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233 | u8 ctrl_3; |
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234 | u8 ctrl_4; |
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235 | u8 ctrl_5; |
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236 | } __attribute__((packed)) AccConfig_t; |
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237 | |||
238 | volatile AccConfig_t AccConfig; |
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239 | |||
254 | killagreg | 240 | volatile s16vec_t AccRawVector; |
241 | volatile s16vec_t MagRawVector; |
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253 | killagreg | 242 | |
243 | |||
254 | killagreg | 244 | u8 NCMag_CalibrationWrite(void) |
245 | { |
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246 | u8 i, crc = 0xAA; |
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247 | EEPROM_Result_t eres; |
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248 | u8 *pBuff = (u8*)&Calibration; |
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249 | |||
250 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 251 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 252 | { |
253 | crc += pBuff[i]; |
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254 | } |
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255 | Calibration.crc = ~crc; |
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256 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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257 | if(EEPROM_SUCCESS == eres) i = 1; |
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258 | else i = 0; |
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259 | return(i); |
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260 | } |
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261 | |||
262 | u8 NCMag_CalibrationRead(void) |
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263 | { |
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264 | u8 i, crc = 0xAA; |
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265 | u8 *pBuff = (u8*)&Calibration; |
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266 | |||
267 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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268 | { |
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256 | killagreg | 269 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 270 | { |
271 | crc += pBuff[i]; |
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272 | } |
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273 | crc = ~crc; |
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274 | if(Calibration.crc != crc) return(0); // crc mismatch |
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256 | killagreg | 275 | if(Calibration.Version == CALIBRATION_VERSION) |
276 | { |
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277 | //#ifdef DEBUG |
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278 | u8 msg[50]; |
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279 | UART1_PutString("\r\n"); |
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280 | sprintf(msg, "XRange = %d, XOffset = %d \r\n", Calibration.MagX.Range, Calibration.MagX.Offset); |
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281 | UART1_PutString(msg); |
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282 | sprintf(msg, "YRange = %d, YOffset = %d \r\n", Calibration.MagY.Range, Calibration.MagY.Offset); |
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283 | UART1_PutString(msg); |
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284 | sprintf(msg, "ZRange = %d, ZOffset = %d \r\n", Calibration.MagZ.Range, Calibration.MagZ.Offset); |
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285 | UART1_PutString(msg); |
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286 | //#endif |
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287 | return(1); |
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288 | } |
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254 | killagreg | 289 | } |
290 | return(0); |
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291 | } |
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292 | |||
293 | |||
294 | void NCMAG_Calibrate(void) |
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295 | { |
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296 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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256 | killagreg | 297 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 298 | static u8 OldCalState = 0; |
299 | |||
256 | killagreg | 300 | X = (4*X + MagRawVector.X + 3)/5; |
301 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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302 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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303 | |||
254 | killagreg | 304 | switch(Compass_CalState) |
305 | { |
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306 | case 1: |
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307 | // 1st step of calibration |
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308 | // initialize ranges |
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309 | // used to change the orientation of the NC in the horizontal plane |
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310 | Xmin = 10000; |
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311 | Xmax = -10000; |
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312 | Ymin = 10000; |
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313 | Ymax = -10000; |
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314 | Zmin = 10000; |
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315 | Zmax = -10000; |
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316 | break; |
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317 | |||
318 | case 2: // 2nd step of calibration |
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319 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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256 | killagreg | 320 | if(X < Xmin) Xmin = X; |
321 | else if(X > Xmax) Xmax = X; |
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322 | if(Y < Ymin) Ymin = Y; |
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323 | else if(Y > Ymax) Ymax = Y; |
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254 | killagreg | 324 | break; |
325 | |||
326 | case 3: // 3rd step of calibration |
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327 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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328 | break; |
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329 | |||
330 | case 4: |
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331 | // find Min and Max of the Z-Sensor |
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256 | killagreg | 332 | if(Z < Zmin) Zmin = Z; |
333 | else if(Z > Zmax) Zmax = Z; |
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254 | killagreg | 334 | break; |
335 | |||
336 | case 5: |
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337 | // Save values |
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338 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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339 | { |
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340 | Calibration.MagX.Range = Xmax - Xmin; |
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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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256 | killagreg | 346 | if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512)) |
254 | killagreg | 347 | { |
348 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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349 | } |
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350 | else |
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351 | { |
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352 | // restore old calibration data from eeprom |
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353 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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354 | } |
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355 | } |
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356 | break; |
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357 | |||
358 | default: |
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359 | break; |
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360 | } |
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361 | OldCalState = Compass_CalState; |
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362 | } |
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363 | |||
242 | killagreg | 364 | // ---------- call back handlers ----------------------------------------- |
365 | |||
366 | // rx data handler for id info request |
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253 | killagreg | 367 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 368 | { // if number of bytes are matching |
253 | killagreg | 369 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 370 | { |
253 | killagreg | 371 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
372 | } |
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242 | killagreg | 373 | } |
254 | killagreg | 374 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 375 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 376 | { // if number of bytes are matching |
377 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 378 | { // byte order from big to little endian |
256 | killagreg | 379 | s16 raw; |
380 | raw = pRxBuffer[0]<<8; |
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381 | raw+= pRxBuffer[1]; |
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382 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
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383 | raw = pRxBuffer[2]<<8; |
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384 | raw+= pRxBuffer[3]; |
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385 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
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386 | raw = pRxBuffer[4]<<8; |
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387 | raw+= pRxBuffer[5]; |
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388 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
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242 | killagreg | 389 | } |
254 | killagreg | 390 | if(Compass_CalState || !NCMAG_IsCalibrated) |
391 | { // direct output the raw data |
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392 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
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393 | Compass_Heading = -1; |
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394 | } |
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395 | else |
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396 | { |
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397 | // update MagVector from MagRaw Vector by Scaling |
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398 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
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399 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
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400 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
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256 | killagreg | 401 | |
402 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
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403 | { |
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404 | Compass_Heading = -1; |
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405 | } |
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406 | else // fc attitude is avialable |
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407 | { |
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408 | // calculate attitude correction |
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409 | // a float implementation takes too long for an ISR call! |
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410 | s16 tmp, Hx, Hy; |
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411 | s32 sinnick, cosnick, sinroll, cosroll; |
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412 | |||
413 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
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414 | sinnick = (s32)c_sin_8192(tmp); |
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415 | cosnick = (s32)c_cos_8192(tmp); |
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416 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
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417 | sinroll = (s32)c_sin_8192(tmp); |
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418 | cosroll = (s32)c_cos_8192(tmp); |
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419 | // tbd. compensation signs and oriantation has to be fixed |
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420 | Hx = (s16)((MagVector.X * cosnick - MagVector.Z * sinnick)/8192L); |
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421 | Hy = (s16)((MagVector.Y * cosroll + MagVector.Z * sinroll)/8192L); |
||
422 | |||
423 | DebugOut.Analog[23] = (s16)Hx; |
||
424 | DebugOut.Analog[24] = (s16)Hy; |
||
425 | |||
426 | // calculate heading |
||
427 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
||
428 | if (tmp <= 0) tmp = -tmp; |
||
429 | else tmp = 360 - tmp; |
||
430 | Compass_Heading = tmp; |
||
431 | } |
||
254 | killagreg | 432 | } |
242 | killagreg | 433 | } |
254 | killagreg | 434 | // rx data handler for acceleration raw data |
253 | killagreg | 435 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
436 | { // if number of byte are matching |
||
254 | killagreg | 437 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 438 | { |
254 | killagreg | 439 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 440 | } |
441 | } |
||
254 | killagreg | 442 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 443 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
444 | { // if number of byte are matching |
||
445 | if(RxBufferSize == sizeof(MagConfig) ) |
||
446 | { |
||
447 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
448 | } |
||
449 | } |
||
254 | killagreg | 450 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 451 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
452 | { // if number of byte are matching |
||
453 | if(RxBufferSize == sizeof(AccConfig) ) |
||
454 | { |
||
455 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
456 | } |
||
457 | } |
||
254 | killagreg | 458 | //---------------------------------------------------------------------- |
253 | killagreg | 459 | |
254 | killagreg | 460 | |
461 | // --------------------------------------------------------------------- |
||
253 | killagreg | 462 | u8 NCMAG_SetMagConfig(void) |
463 | { |
||
464 | u8 retval = 0; |
||
465 | // try to catch the i2c buffer within 100 ms timeout |
||
466 | if(I2C_LockBuffer(100)) |
||
467 | { |
||
468 | u8 TxBytes = 0; |
||
469 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
470 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
471 | TxBytes += sizeof(MagConfig); |
||
472 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
473 | { |
||
474 | if(I2C_WaitForEndOfTransmission(100)) |
||
475 | { |
||
476 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
477 | } |
||
478 | } |
||
479 | } |
||
480 | return(retval); |
||
481 | } |
||
242 | killagreg | 482 | |
253 | killagreg | 483 | // ---------------------------------------------------------------------------------------- |
484 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 485 | { |
253 | killagreg | 486 | u8 retval = 0; |
252 | killagreg | 487 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 488 | if(I2C_LockBuffer(100)) |
242 | killagreg | 489 | { |
253 | killagreg | 490 | u8 TxBytes = 0; |
491 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
492 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 493 | { |
252 | killagreg | 494 | if(I2C_WaitForEndOfTransmission(100)) |
495 | { |
||
496 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
497 | } |
||
248 | killagreg | 498 | } |
242 | killagreg | 499 | } |
253 | killagreg | 500 | return(retval); |
242 | killagreg | 501 | } |
502 | |||
503 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 504 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 505 | { |
252 | killagreg | 506 | u8 retval = 0; |
253 | killagreg | 507 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 508 | if(I2C_LockBuffer(100)) |
242 | killagreg | 509 | { |
253 | killagreg | 510 | u8 TxBytes = 0; |
511 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
512 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
513 | TxBytes += sizeof(AccConfig); |
||
514 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
515 | { |
||
516 | if(I2C_WaitForEndOfTransmission(100)) |
||
517 | { |
||
518 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
519 | } |
||
520 | } |
||
521 | } |
||
522 | return(retval); |
||
523 | } |
||
524 | |||
525 | // ---------------------------------------------------------------------------------------- |
||
526 | u8 NCMAG_GetAccConfig(void) |
||
527 | { |
||
528 | u8 retval = 0; |
||
529 | // try to catch the i2c buffer within 100 ms timeout |
||
530 | if(I2C_LockBuffer(100)) |
||
531 | { |
||
532 | u8 TxBytes = 0; |
||
533 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
534 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
535 | { |
||
536 | if(I2C_WaitForEndOfTransmission(100)) |
||
537 | { |
||
538 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
539 | } |
||
540 | } |
||
541 | } |
||
542 | return(retval); |
||
543 | } |
||
544 | |||
545 | // ---------------------------------------------------------------------------------------- |
||
546 | u8 NCMAG_GetIdentification(void) |
||
547 | { |
||
548 | u8 retval = 0; |
||
549 | // try to catch the i2c buffer within 100 ms timeout |
||
550 | if(I2C_LockBuffer(100)) |
||
551 | { |
||
552 | u16 TxBytes = 0; |
||
553 | NCMAG_Identification.A = 0xFF; |
||
554 | NCMAG_Identification.B = 0xFF; |
||
555 | NCMAG_Identification.C = 0xFF; |
||
556 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 557 | // initiate transmission |
253 | killagreg | 558 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 559 | { |
253 | killagreg | 560 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 561 | { |
562 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
563 | } |
||
248 | killagreg | 564 | } |
242 | killagreg | 565 | } |
253 | killagreg | 566 | return(retval); |
242 | killagreg | 567 | } |
568 | |||
253 | killagreg | 569 | // ---------------------------------------------------------------------------------------- |
570 | void NCMAG_GetMagVector(void) |
||
571 | { |
||
572 | // try to catch the I2C buffer within 0 ms |
||
573 | if(I2C_LockBuffer(0)) |
||
574 | { |
||
575 | u16 TxBytes = 0; |
||
576 | // set register pointer |
||
577 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
578 | // initiate transmission |
||
579 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
580 | } |
||
581 | } |
||
582 | |||
242 | killagreg | 583 | //---------------------------------------------------------------- |
253 | killagreg | 584 | void NCMAG_GetAccVector(void) |
243 | killagreg | 585 | { |
252 | killagreg | 586 | // try to catch the I2C buffer within 0 ms |
587 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 588 | { |
248 | killagreg | 589 | u16 TxBytes = 0; |
243 | killagreg | 590 | // set register pointer |
253 | killagreg | 591 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 592 | // initiate transmission |
254 | killagreg | 593 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 594 | } |
595 | } |
||
596 | |||
253 | killagreg | 597 | // -------------------------------------------------------- |
598 | void NCMAG_UpdateCompass(void) |
||
243 | killagreg | 599 | { |
600 | static u32 TimerCompassUpdate = 0; |
||
601 | |||
254 | killagreg | 602 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
603 | { |
||
604 | Compass_Heading = -1; |
||
605 | return; |
||
606 | } |
||
253 | killagreg | 607 | |
243 | killagreg | 608 | if(CheckDelay(TimerCompassUpdate)) |
609 | { |
||
254 | killagreg | 610 | // check for new calibration state |
611 | Compass_UpdateCalState(); |
||
612 | if(Compass_CalState) NCMAG_Calibrate(); |
||
613 | NCMAG_GetMagVector(); //Get new data; |
||
243 | killagreg | 614 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
615 | } |
||
616 | } |
||
617 | |||
254 | killagreg | 618 | // -------------------------------------------------------- |
253 | killagreg | 619 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 620 | { |
253 | killagreg | 621 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
243 | killagreg | 622 | u32 time; |
253 | killagreg | 623 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
624 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
625 | u8 crb_gain, cra_rate; |
||
626 | u8 i = 0, retval = 1; |
||
243 | killagreg | 627 | |
253 | killagreg | 628 | switch(NCMAG_MagType) |
629 | { |
||
630 | case MAG_TYPE_HMC5843: |
||
631 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
632 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
633 | xscale = HMC5843_TEST_XSCALE; |
||
634 | yscale = HMC5843_TEST_YSCALE; |
||
635 | zscale = HMC5843_TEST_ZSCALE; |
||
636 | break; |
||
637 | |||
638 | case MAG_TYPE_LSM303DLH: |
||
639 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
640 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
||
641 | xscale = LSM303DLH_TEST_XSCALE; |
||
642 | yscale = LSM303DLH_TEST_YSCALE; |
||
643 | zscale = LSM303DLH_TEST_ZSCALE; |
||
644 | break; |
||
645 | |||
646 | default: |
||
647 | return(0); |
||
648 | } |
||
649 | |||
650 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
651 | MagConfig.crb = crb_gain; |
||
652 | MagConfig.mode = MODE_CONTINUOUS; |
||
653 | // activate positive bias field |
||
654 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 655 | // wait for stable readings |
656 | time = SetDelay(50); |
||
657 | while(!CheckDelay(time)); |
||
243 | killagreg | 658 | // averaging |
253 | killagreg | 659 | #define AVERAGE 20 |
660 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 661 | { |
253 | killagreg | 662 | NCMAG_GetMagVector(); |
243 | killagreg | 663 | time = SetDelay(20); |
664 | while(!CheckDelay(time)); |
||
254 | killagreg | 665 | XMax += MagRawVector.X; |
666 | YMax += MagRawVector.Y; |
||
667 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 668 | } |
253 | killagreg | 669 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
670 | // activate positive bias field |
||
671 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 672 | // wait for stable readings |
673 | time = SetDelay(50); |
||
674 | while(!CheckDelay(time)); |
||
243 | killagreg | 675 | // averaging |
253 | killagreg | 676 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 677 | { |
253 | killagreg | 678 | NCMAG_GetMagVector(); |
243 | killagreg | 679 | time = SetDelay(20); |
680 | while(!CheckDelay(time)); |
||
254 | killagreg | 681 | XMin += MagRawVector.X; |
682 | YMin += MagRawVector.Y; |
||
683 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 684 | } |
685 | // setup final configuration |
||
253 | killagreg | 686 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
687 | // activate positive bias field |
||
688 | NCMAG_SetMagConfig(); |
||
243 | killagreg | 689 | // prepare scale limits |
253 | killagreg | 690 | LIMITS(xscale, scale_min, scale_max); |
243 | killagreg | 691 | // check scale for all axes |
253 | killagreg | 692 | xscale = (XMax - XMin)/(2*AVERAGE); |
693 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
||
694 | LIMITS(yscale, scale_min, scale_max); |
||
695 | yscale = (YMax - YMin)/(2*AVERAGE); |
||
696 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
||
697 | LIMITS(zscale, scale_min, scale_max); |
||
698 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
||
699 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
||
700 | return(retval); |
||
243 | killagreg | 701 | } |
702 | |||
703 | |||
704 | //---------------------------------------------------------------- |
||
253 | killagreg | 705 | u8 NCMAG_Init(void) |
242 | killagreg | 706 | { |
707 | u8 msg[64]; |
||
252 | killagreg | 708 | u8 retval = 0; |
242 | killagreg | 709 | u8 repeat; |
710 | |||
253 | killagreg | 711 | NCMAG_Present = 0; |
712 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
713 | // polling for LSM302DLH option |
||
714 | repeat = 0; |
||
715 | do |
||
716 | { |
||
717 | retval = NCMAG_GetAccConfig(); |
||
718 | if(retval) break; // break loop on success |
||
719 | UART1_PutString("."); |
||
720 | repeat++; |
||
721 | }while(repeat < 3); |
||
722 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 723 | // polling of identification |
724 | repeat = 0; |
||
725 | do |
||
726 | { |
||
253 | killagreg | 727 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 728 | if(retval) break; // break loop on success |
242 | killagreg | 729 | UART1_PutString("."); |
730 | repeat++; |
||
252 | killagreg | 731 | }while(repeat < 12); |
253 | killagreg | 732 | // if we got an answer to id request |
252 | killagreg | 733 | if(retval) |
242 | killagreg | 734 | { |
253 | killagreg | 735 | u8 n1[] = "HMC5843"; |
736 | u8 n2[] = "LSM303DLH"; |
||
737 | u8* pn; |
||
738 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
||
739 | else pn = n1; |
||
740 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
||
242 | killagreg | 741 | UART1_PutString(msg); |
253 | killagreg | 742 | if ( (NCMAG_Identification.A == MAG_IDA) |
743 | && (NCMAG_Identification.B == MAG_IDB) |
||
744 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 745 | { |
253 | killagreg | 746 | if(!NCMAG_SelfTest()) |
243 | killagreg | 747 | { |
253 | killagreg | 748 | UART1_PutString(" Selftest failed!"); |
243 | killagreg | 749 | LED_RED_ON; |
750 | } |
||
254 | killagreg | 751 | else |
752 | { |
||
753 | NCMAG_Present = 1; |
||
754 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
755 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
756 | } |
||
242 | killagreg | 757 | } |
758 | else |
||
759 | { |
||
254 | killagreg | 760 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 761 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 762 | LED_RED_ON; |
763 | } |
||
764 | } |
||
253 | killagreg | 765 | else // nothing found |
766 | { |
||
767 | NCMAG_MagType = MAG_TYPE_NONE; |
||
768 | UART1_PutString("not found!"); |
||
769 | } |
||
770 | return(NCMAG_Present); |
||
242 | killagreg | 771 | } |
772 |