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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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257 | killagreg | 275 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 276 | } |
277 | return(0); |
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278 | } |
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279 | |||
280 | |||
281 | void NCMAG_Calibrate(void) |
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282 | { |
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283 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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256 | killagreg | 284 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 285 | static u8 OldCalState = 0; |
286 | |||
256 | killagreg | 287 | X = (4*X + MagRawVector.X + 3)/5; |
288 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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289 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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290 | |||
254 | killagreg | 291 | switch(Compass_CalState) |
292 | { |
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293 | case 1: |
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294 | // 1st step of calibration |
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295 | // initialize ranges |
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296 | // used to change the orientation of the NC in the horizontal plane |
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297 | Xmin = 10000; |
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298 | Xmax = -10000; |
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299 | Ymin = 10000; |
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300 | Ymax = -10000; |
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301 | Zmin = 10000; |
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302 | Zmax = -10000; |
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303 | break; |
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304 | |||
305 | case 2: // 2nd step of calibration |
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306 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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256 | killagreg | 307 | if(X < Xmin) Xmin = X; |
308 | else if(X > Xmax) Xmax = X; |
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309 | if(Y < Ymin) Ymin = Y; |
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310 | else if(Y > Ymax) Ymax = Y; |
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254 | killagreg | 311 | break; |
312 | |||
313 | case 3: // 3rd step of calibration |
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314 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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315 | break; |
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316 | |||
317 | case 4: |
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318 | // find Min and Max of the Z-Sensor |
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256 | killagreg | 319 | if(Z < Zmin) Zmin = Z; |
320 | else if(Z > Zmax) Zmax = Z; |
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254 | killagreg | 321 | break; |
322 | |||
323 | case 5: |
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324 | // Save values |
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325 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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326 | { |
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327 | Calibration.MagX.Range = Xmax - Xmin; |
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328 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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329 | Calibration.MagY.Range = Ymax - Ymin; |
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330 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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331 | Calibration.MagZ.Range = Zmax - Zmin; |
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332 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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256 | killagreg | 333 | if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512)) |
254 | killagreg | 334 | { |
335 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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336 | } |
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337 | else |
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338 | { |
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339 | // restore old calibration data from eeprom |
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340 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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341 | } |
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342 | } |
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343 | break; |
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344 | |||
345 | default: |
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346 | break; |
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347 | } |
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348 | OldCalState = Compass_CalState; |
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349 | } |
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350 | |||
242 | killagreg | 351 | // ---------- call back handlers ----------------------------------------- |
352 | |||
353 | // rx data handler for id info request |
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253 | killagreg | 354 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 355 | { // if number of bytes are matching |
253 | killagreg | 356 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 357 | { |
253 | killagreg | 358 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
359 | } |
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242 | killagreg | 360 | } |
254 | killagreg | 361 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 362 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 363 | { // if number of bytes are matching |
364 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 365 | { // byte order from big to little endian |
256 | killagreg | 366 | s16 raw; |
367 | raw = pRxBuffer[0]<<8; |
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368 | raw+= pRxBuffer[1]; |
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369 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
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370 | raw = pRxBuffer[2]<<8; |
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371 | raw+= pRxBuffer[3]; |
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372 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
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373 | raw = pRxBuffer[4]<<8; |
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374 | raw+= pRxBuffer[5]; |
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375 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
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242 | killagreg | 376 | } |
254 | killagreg | 377 | if(Compass_CalState || !NCMAG_IsCalibrated) |
378 | { // direct output the raw data |
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379 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
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380 | Compass_Heading = -1; |
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381 | } |
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382 | else |
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383 | { |
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384 | // update MagVector from MagRaw Vector by Scaling |
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385 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
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386 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
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387 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
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256 | killagreg | 388 | |
389 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
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390 | { |
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391 | Compass_Heading = -1; |
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392 | } |
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393 | else // fc attitude is avialable |
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394 | { |
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395 | // calculate attitude correction |
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396 | // a float implementation takes too long for an ISR call! |
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397 | s16 tmp, Hx, Hy; |
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398 | s32 sinnick, cosnick, sinroll, cosroll; |
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399 | |||
400 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
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401 | sinnick = (s32)c_sin_8192(tmp); |
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402 | cosnick = (s32)c_cos_8192(tmp); |
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403 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
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404 | sinroll = (s32)c_sin_8192(tmp); |
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405 | cosroll = (s32)c_cos_8192(tmp); |
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406 | // tbd. compensation signs and oriantation has to be fixed |
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257 | killagreg | 407 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
408 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
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256 | killagreg | 409 | // calculate heading |
410 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
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257 | killagreg | 411 | if (tmp > 0) tmp = 360 - tmp; |
412 | else tmp = -tmp; |
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256 | killagreg | 413 | Compass_Heading = tmp; |
414 | } |
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254 | killagreg | 415 | } |
242 | killagreg | 416 | } |
254 | killagreg | 417 | // rx data handler for acceleration raw data |
253 | killagreg | 418 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
419 | { // if number of byte are matching |
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254 | killagreg | 420 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 421 | { |
254 | killagreg | 422 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 423 | } |
424 | } |
||
254 | killagreg | 425 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 426 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
427 | { // if number of byte are matching |
||
428 | if(RxBufferSize == sizeof(MagConfig) ) |
||
429 | { |
||
430 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
431 | } |
||
432 | } |
||
254 | killagreg | 433 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 434 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
435 | { // if number of byte are matching |
||
436 | if(RxBufferSize == sizeof(AccConfig) ) |
||
437 | { |
||
438 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
439 | } |
||
440 | } |
||
254 | killagreg | 441 | //---------------------------------------------------------------------- |
253 | killagreg | 442 | |
254 | killagreg | 443 | |
444 | // --------------------------------------------------------------------- |
||
253 | killagreg | 445 | u8 NCMAG_SetMagConfig(void) |
446 | { |
||
447 | u8 retval = 0; |
||
448 | // try to catch the i2c buffer within 100 ms timeout |
||
449 | if(I2C_LockBuffer(100)) |
||
450 | { |
||
451 | u8 TxBytes = 0; |
||
452 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
453 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
454 | TxBytes += sizeof(MagConfig); |
||
455 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
456 | { |
||
457 | if(I2C_WaitForEndOfTransmission(100)) |
||
458 | { |
||
459 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
460 | } |
||
461 | } |
||
462 | } |
||
463 | return(retval); |
||
464 | } |
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242 | killagreg | 465 | |
253 | killagreg | 466 | // ---------------------------------------------------------------------------------------- |
467 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 468 | { |
253 | killagreg | 469 | u8 retval = 0; |
252 | killagreg | 470 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 471 | if(I2C_LockBuffer(100)) |
242 | killagreg | 472 | { |
253 | killagreg | 473 | u8 TxBytes = 0; |
474 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
475 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 476 | { |
252 | killagreg | 477 | if(I2C_WaitForEndOfTransmission(100)) |
478 | { |
||
479 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
480 | } |
||
248 | killagreg | 481 | } |
242 | killagreg | 482 | } |
253 | killagreg | 483 | return(retval); |
242 | killagreg | 484 | } |
485 | |||
486 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 487 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 488 | { |
252 | killagreg | 489 | u8 retval = 0; |
253 | 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_ACC_CTRL1; |
||
495 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
496 | TxBytes += sizeof(AccConfig); |
||
497 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
498 | { |
||
499 | if(I2C_WaitForEndOfTransmission(100)) |
||
500 | { |
||
501 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
502 | } |
||
503 | } |
||
504 | } |
||
505 | return(retval); |
||
506 | } |
||
507 | |||
508 | // ---------------------------------------------------------------------------------------- |
||
509 | u8 NCMAG_GetAccConfig(void) |
||
510 | { |
||
511 | u8 retval = 0; |
||
512 | // try to catch the i2c buffer within 100 ms timeout |
||
513 | if(I2C_LockBuffer(100)) |
||
514 | { |
||
515 | u8 TxBytes = 0; |
||
516 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
517 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
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_GetIdentification(void) |
||
530 | { |
||
531 | u8 retval = 0; |
||
532 | // try to catch the i2c buffer within 100 ms timeout |
||
533 | if(I2C_LockBuffer(100)) |
||
534 | { |
||
535 | u16 TxBytes = 0; |
||
536 | NCMAG_Identification.A = 0xFF; |
||
537 | NCMAG_Identification.B = 0xFF; |
||
538 | NCMAG_Identification.C = 0xFF; |
||
539 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 540 | // initiate transmission |
253 | killagreg | 541 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 542 | { |
253 | killagreg | 543 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 544 | { |
545 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
546 | } |
||
248 | killagreg | 547 | } |
242 | killagreg | 548 | } |
253 | killagreg | 549 | return(retval); |
242 | killagreg | 550 | } |
551 | |||
253 | killagreg | 552 | // ---------------------------------------------------------------------------------------- |
553 | void NCMAG_GetMagVector(void) |
||
554 | { |
||
555 | // try to catch the I2C buffer within 0 ms |
||
556 | if(I2C_LockBuffer(0)) |
||
557 | { |
||
558 | u16 TxBytes = 0; |
||
559 | // set register pointer |
||
560 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
561 | // initiate transmission |
||
562 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
563 | } |
||
564 | } |
||
565 | |||
242 | killagreg | 566 | //---------------------------------------------------------------- |
253 | killagreg | 567 | void NCMAG_GetAccVector(void) |
243 | killagreg | 568 | { |
252 | killagreg | 569 | // try to catch the I2C buffer within 0 ms |
570 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 571 | { |
248 | killagreg | 572 | u16 TxBytes = 0; |
243 | killagreg | 573 | // set register pointer |
253 | killagreg | 574 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 575 | // initiate transmission |
254 | killagreg | 576 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 577 | } |
578 | } |
||
579 | |||
253 | killagreg | 580 | // -------------------------------------------------------- |
581 | void NCMAG_UpdateCompass(void) |
||
243 | killagreg | 582 | { |
583 | static u32 TimerCompassUpdate = 0; |
||
584 | |||
254 | killagreg | 585 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
586 | { |
||
587 | Compass_Heading = -1; |
||
588 | return; |
||
589 | } |
||
253 | killagreg | 590 | |
243 | killagreg | 591 | if(CheckDelay(TimerCompassUpdate)) |
592 | { |
||
254 | killagreg | 593 | // check for new calibration state |
594 | Compass_UpdateCalState(); |
||
595 | if(Compass_CalState) NCMAG_Calibrate(); |
||
596 | NCMAG_GetMagVector(); //Get new data; |
||
243 | killagreg | 597 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
598 | } |
||
599 | } |
||
600 | |||
254 | killagreg | 601 | // -------------------------------------------------------- |
253 | killagreg | 602 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 603 | { |
253 | killagreg | 604 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
243 | killagreg | 605 | u32 time; |
253 | killagreg | 606 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
607 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
608 | u8 crb_gain, cra_rate; |
||
609 | u8 i = 0, retval = 1; |
||
243 | killagreg | 610 | |
253 | killagreg | 611 | switch(NCMAG_MagType) |
612 | { |
||
613 | case MAG_TYPE_HMC5843: |
||
614 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
615 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
616 | xscale = HMC5843_TEST_XSCALE; |
||
617 | yscale = HMC5843_TEST_YSCALE; |
||
618 | zscale = HMC5843_TEST_ZSCALE; |
||
619 | break; |
||
620 | |||
621 | case MAG_TYPE_LSM303DLH: |
||
622 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
623 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
||
624 | xscale = LSM303DLH_TEST_XSCALE; |
||
625 | yscale = LSM303DLH_TEST_YSCALE; |
||
626 | zscale = LSM303DLH_TEST_ZSCALE; |
||
627 | break; |
||
628 | |||
629 | default: |
||
630 | return(0); |
||
631 | } |
||
632 | |||
633 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
634 | MagConfig.crb = crb_gain; |
||
635 | MagConfig.mode = MODE_CONTINUOUS; |
||
636 | // activate positive bias field |
||
637 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 638 | // wait for stable readings |
639 | time = SetDelay(50); |
||
640 | while(!CheckDelay(time)); |
||
243 | killagreg | 641 | // averaging |
253 | killagreg | 642 | #define AVERAGE 20 |
643 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 644 | { |
253 | killagreg | 645 | NCMAG_GetMagVector(); |
243 | killagreg | 646 | time = SetDelay(20); |
647 | while(!CheckDelay(time)); |
||
254 | killagreg | 648 | XMax += MagRawVector.X; |
649 | YMax += MagRawVector.Y; |
||
650 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 651 | } |
253 | killagreg | 652 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
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 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 660 | { |
253 | killagreg | 661 | NCMAG_GetMagVector(); |
243 | killagreg | 662 | time = SetDelay(20); |
663 | while(!CheckDelay(time)); |
||
254 | killagreg | 664 | XMin += MagRawVector.X; |
665 | YMin += MagRawVector.Y; |
||
666 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 667 | } |
668 | // setup final configuration |
||
253 | killagreg | 669 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
670 | // activate positive bias field |
||
671 | NCMAG_SetMagConfig(); |
||
243 | killagreg | 672 | // prepare scale limits |
253 | killagreg | 673 | LIMITS(xscale, scale_min, scale_max); |
243 | killagreg | 674 | // check scale for all axes |
253 | killagreg | 675 | xscale = (XMax - XMin)/(2*AVERAGE); |
676 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
||
677 | LIMITS(yscale, scale_min, scale_max); |
||
678 | yscale = (YMax - YMin)/(2*AVERAGE); |
||
679 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
||
680 | LIMITS(zscale, scale_min, scale_max); |
||
681 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
||
682 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
||
683 | return(retval); |
||
243 | killagreg | 684 | } |
685 | |||
686 | |||
687 | //---------------------------------------------------------------- |
||
253 | killagreg | 688 | u8 NCMAG_Init(void) |
242 | killagreg | 689 | { |
690 | u8 msg[64]; |
||
252 | killagreg | 691 | u8 retval = 0; |
242 | killagreg | 692 | u8 repeat; |
693 | |||
253 | killagreg | 694 | NCMAG_Present = 0; |
695 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
696 | // polling for LSM302DLH option |
||
697 | repeat = 0; |
||
698 | do |
||
699 | { |
||
700 | retval = NCMAG_GetAccConfig(); |
||
701 | if(retval) break; // break loop on success |
||
702 | UART1_PutString("."); |
||
703 | repeat++; |
||
704 | }while(repeat < 3); |
||
705 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 706 | // polling of identification |
707 | repeat = 0; |
||
708 | do |
||
709 | { |
||
253 | killagreg | 710 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 711 | if(retval) break; // break loop on success |
242 | killagreg | 712 | UART1_PutString("."); |
713 | repeat++; |
||
252 | killagreg | 714 | }while(repeat < 12); |
253 | killagreg | 715 | // if we got an answer to id request |
252 | killagreg | 716 | if(retval) |
242 | killagreg | 717 | { |
253 | killagreg | 718 | u8 n1[] = "HMC5843"; |
719 | u8 n2[] = "LSM303DLH"; |
||
720 | u8* pn; |
||
721 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
||
722 | else pn = n1; |
||
723 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
||
242 | killagreg | 724 | UART1_PutString(msg); |
253 | killagreg | 725 | if ( (NCMAG_Identification.A == MAG_IDA) |
726 | && (NCMAG_Identification.B == MAG_IDB) |
||
727 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 728 | { |
253 | killagreg | 729 | if(!NCMAG_SelfTest()) |
243 | killagreg | 730 | { |
253 | killagreg | 731 | UART1_PutString(" Selftest failed!"); |
243 | killagreg | 732 | LED_RED_ON; |
733 | } |
||
254 | killagreg | 734 | else |
735 | { |
||
736 | NCMAG_Present = 1; |
||
737 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
738 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
739 | } |
||
242 | killagreg | 740 | } |
741 | else |
||
742 | { |
||
254 | killagreg | 743 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 744 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 745 | LED_RED_ON; |
746 | } |
||
747 | } |
||
253 | killagreg | 748 | else // nothing found |
749 | { |
||
750 | NCMAG_MagType = MAG_TYPE_NONE; |
||
751 | UART1_PutString("not found!"); |
||
752 | } |
||
753 | return(NCMAG_Present); |
||
242 | killagreg | 754 | } |
755 |