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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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254 | killagreg | 57 | #include <math.h> |
292 | killagreg | 58 | #include <stdio.h> |
242 | killagreg | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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253 | killagreg | 61 | #include "ncmag.h" |
242 | killagreg | 62 | #include "i2c.h" |
63 | #include "timer1.h" |
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64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
242 | killagreg | 69 | |
253 | killagreg | 70 | u8 NCMAG_Present = 0; |
254 | killagreg | 71 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 72 | |
253 | killagreg | 73 | #define MAG_TYPE_NONE 0 |
74 | #define MAG_TYPE_HMC5843 1 |
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75 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 77 | |
254 | killagreg | 78 | #define CALIBRATION_VERSION 1 |
79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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80 | |||
256 | killagreg | 81 | #define NCMAG_MIN_RAWVALUE -2047 |
82 | #define NCMAG_MAX_RAWVALUE 2047 |
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83 | #define NCMAG_INVALID_DATA -4096 |
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84 | |||
254 | killagreg | 85 | typedef struct |
86 | { |
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87 | s16 Range; |
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88 | s16 Offset; |
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256 | killagreg | 89 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 90 | |
91 | typedef struct |
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92 | { |
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93 | Scaling_t MagX; |
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94 | Scaling_t MagY; |
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95 | Scaling_t MagZ; |
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96 | u8 Version; |
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97 | u8 crc; |
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256 | killagreg | 98 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 99 | |
100 | Calibration_t Calibration; // calibration data in RAM |
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101 | |||
253 | killagreg | 102 | // i2c MAG interface |
103 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 104 | |
253 | killagreg | 105 | // register mapping |
106 | #define REG_MAG_CRA 0x00 |
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107 | #define REG_MAG_CRB 0x01 |
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108 | #define REG_MAG_MODE 0x02 |
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109 | #define REG_MAG_DATAX_MSB 0x03 |
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110 | #define REG_MAG_DATAX_LSB 0x04 |
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111 | #define REG_MAG_DATAY_MSB 0x05 |
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112 | #define REG_MAG_DATAY_LSB 0x06 |
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113 | #define REG_MAG_DATAZ_MSB 0x07 |
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114 | #define REG_MAG_DATAZ_LSB 0x08 |
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115 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 116 | |
253 | killagreg | 117 | #define REG_MAG_IDA 0x0A |
118 | #define REG_MAG_IDB 0x0B |
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119 | #define REG_MAG_IDC 0x0C |
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329 | holgerb | 120 | #define REG_MAG_IDF 0x0F |
242 | killagreg | 121 | |
253 | killagreg | 122 | // bit mask for configuration mode |
123 | #define CRA_MODE_MASK 0x03 |
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124 | #define CRA_MODE_NORMAL 0x00 //default |
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125 | #define CRA_MODE_POSBIAS 0x01 |
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126 | #define CRA_MODE_NEGBIAS 0x02 |
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127 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 128 | |
253 | killagreg | 129 | // bit mask for measurement mode |
130 | #define MODE_MASK 0xFF |
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131 | #define MODE_CONTINUOUS 0x00 |
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132 | #define MODE_SINGLE 0x01 // default |
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133 | #define MODE_IDLE 0x02 |
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134 | #define MODE_SLEEP 0x03 |
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135 | |||
242 | killagreg | 136 | // bit mask for rate |
253 | killagreg | 137 | #define CRA_RATE_MASK 0x1C |
138 | |||
139 | // bit mask for gain |
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140 | #define CRB_GAIN_MASK 0xE0 |
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141 | |||
142 | // ids |
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143 | #define MAG_IDA 0x48 |
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144 | #define MAG_IDB 0x34 |
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145 | #define MAG_IDC 0x33 |
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146 | |||
147 | // the special HMC5843 interface |
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148 | // bit mask for rate |
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242 | killagreg | 149 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
150 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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151 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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152 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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153 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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154 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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155 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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156 | // bit mask for gain |
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157 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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158 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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159 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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160 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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161 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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162 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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163 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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164 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 165 | // self test value |
166 | #define HMC5843_TEST_XSCALE 715 |
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167 | #define HMC5843_TEST_YSCALE 715 |
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168 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 169 | |
170 | |||
253 | killagreg | 171 | // the special LSM302DLH interface |
172 | // bit mask for rate |
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173 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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174 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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175 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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176 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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177 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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178 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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179 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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180 | // bit mask for gain |
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181 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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182 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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183 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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184 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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185 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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186 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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187 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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188 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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189 | // self test value |
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190 | #define LSM303DLH_TEST_XSCALE 655 |
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191 | #define LSM303DLH_TEST_YSCALE 655 |
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192 | #define LSM303DLH_TEST_ZSCALE 630 |
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193 | |||
194 | // the i2c ACC interface |
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195 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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196 | // register mapping |
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197 | #define REG_ACC_CTRL1 0x20 |
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198 | #define REG_ACC_CTRL2 0x21 |
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199 | #define REG_ACC_CTRL3 0x22 |
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200 | #define REG_ACC_CTRL4 0x23 |
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201 | #define REG_ACC_CTRL5 0x24 |
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202 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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203 | #define REG_ACC_REFERENCE 0x26 |
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204 | #define REG_ACC_STATUS 0x27 |
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205 | #define REG_ACC_X_LSB 0x28 |
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206 | #define REG_ACC_X_MSB 0x29 |
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207 | #define REG_ACC_Y_LSB 0x2A |
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208 | #define REG_ACC_Y_MSB 0x2B |
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209 | #define REG_ACC_Z_LSB 0x2C |
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210 | #define REG_ACC_Z_MSB 0x2D |
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211 | |||
212 | |||
213 | |||
242 | killagreg | 214 | typedef struct |
215 | { |
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253 | killagreg | 216 | u8 A; |
217 | u8 B; |
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218 | u8 C; |
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219 | } __attribute__((packed)) Identification_t; |
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220 | volatile Identification_t NCMAG_Identification; |
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242 | killagreg | 221 | |
253 | killagreg | 222 | typedef struct |
223 | { |
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329 | holgerb | 224 | u8 Sub; |
225 | } __attribute__((packed)) Identification2_t; |
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226 | volatile Identification2_t NCMAG_Identification2; |
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227 | |||
228 | typedef struct |
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229 | { |
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253 | killagreg | 230 | u8 cra; |
231 | u8 crb; |
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232 | u8 mode; |
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233 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 234 | |
253 | killagreg | 235 | volatile MagConfig_t MagConfig; |
242 | killagreg | 236 | |
253 | killagreg | 237 | typedef struct |
238 | { |
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239 | u8 ctrl_1; |
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240 | u8 ctrl_2; |
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241 | u8 ctrl_3; |
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242 | u8 ctrl_4; |
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243 | u8 ctrl_5; |
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244 | } __attribute__((packed)) AccConfig_t; |
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245 | |||
246 | volatile AccConfig_t AccConfig; |
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247 | |||
254 | killagreg | 248 | volatile s16vec_t AccRawVector; |
249 | volatile s16vec_t MagRawVector; |
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253 | killagreg | 250 | |
251 | |||
254 | killagreg | 252 | u8 NCMag_CalibrationWrite(void) |
253 | { |
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254 | u8 i, crc = 0xAA; |
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255 | EEPROM_Result_t eres; |
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256 | u8 *pBuff = (u8*)&Calibration; |
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257 | |||
258 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 259 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 260 | { |
261 | crc += pBuff[i]; |
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262 | } |
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263 | Calibration.crc = ~crc; |
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264 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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265 | if(EEPROM_SUCCESS == eres) i = 1; |
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266 | else i = 0; |
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267 | return(i); |
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268 | } |
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269 | |||
270 | u8 NCMag_CalibrationRead(void) |
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271 | { |
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272 | u8 i, crc = 0xAA; |
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273 | u8 *pBuff = (u8*)&Calibration; |
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274 | |||
275 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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276 | { |
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256 | killagreg | 277 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 278 | { |
279 | crc += pBuff[i]; |
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280 | } |
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281 | crc = ~crc; |
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282 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 283 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 284 | } |
285 | return(0); |
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286 | } |
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287 | |||
288 | |||
289 | void NCMAG_Calibrate(void) |
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290 | { |
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291 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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256 | killagreg | 292 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 293 | static u8 OldCalState = 0; |
294 | |||
256 | killagreg | 295 | X = (4*X + MagRawVector.X + 3)/5; |
296 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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297 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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298 | |||
254 | killagreg | 299 | switch(Compass_CalState) |
300 | { |
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301 | case 1: |
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302 | // 1st step of calibration |
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303 | // initialize ranges |
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304 | // used to change the orientation of the NC in the horizontal plane |
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305 | Xmin = 10000; |
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306 | Xmax = -10000; |
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307 | Ymin = 10000; |
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308 | Ymax = -10000; |
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309 | Zmin = 10000; |
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310 | Zmax = -10000; |
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311 | break; |
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312 | |||
313 | case 2: // 2nd step of calibration |
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314 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 315 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
316 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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317 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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318 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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254 | killagreg | 319 | break; |
320 | |||
321 | case 3: // 3rd step of calibration |
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322 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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323 | break; |
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324 | |||
325 | case 4: |
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326 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 327 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
328 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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254 | killagreg | 329 | break; |
330 | |||
331 | case 5: |
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332 | // Save values |
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333 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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334 | { |
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292 | killagreg | 335 | #define MIN_CALIBRATION 256 |
254 | killagreg | 336 | Calibration.MagX.Range = Xmax - Xmin; |
337 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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338 | Calibration.MagY.Range = Ymax - Ymin; |
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339 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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340 | Calibration.MagZ.Range = Zmax - Zmin; |
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341 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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265 | holgerb | 342 | if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
254 | killagreg | 343 | { |
344 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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270 | killagreg | 345 | BeepTime = 2500; |
265 | holgerb | 346 | UART1_PutString("\r\n Calibration okay"); |
254 | killagreg | 347 | } |
348 | else |
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349 | { |
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350 | // restore old calibration data from eeprom |
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351 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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265 | holgerb | 352 | UART1_PutString("\r\n Calibration FAILED - Values too low: "); |
353 | if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
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354 | if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("Y! "); |
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355 | if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
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254 | killagreg | 356 | } |
357 | } |
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358 | break; |
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359 | |||
360 | default: |
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361 | break; |
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362 | } |
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363 | OldCalState = Compass_CalState; |
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364 | } |
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365 | |||
242 | killagreg | 366 | // ---------- call back handlers ----------------------------------------- |
367 | |||
368 | // rx data handler for id info request |
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253 | killagreg | 369 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 370 | { // if number of bytes are matching |
253 | killagreg | 371 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 372 | { |
253 | killagreg | 373 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
374 | } |
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242 | killagreg | 375 | } |
329 | holgerb | 376 | |
377 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
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378 | { // if number of bytes are matching |
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379 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
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380 | { |
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381 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
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382 | } |
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383 | } |
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384 | |||
254 | killagreg | 385 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 386 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 387 | { // if number of bytes are matching |
388 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 389 | { // byte order from big to little endian |
256 | killagreg | 390 | s16 raw; |
391 | raw = pRxBuffer[0]<<8; |
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392 | raw+= pRxBuffer[1]; |
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393 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
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394 | raw = pRxBuffer[2]<<8; |
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395 | raw+= pRxBuffer[3]; |
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396 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
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397 | raw = pRxBuffer[4]<<8; |
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398 | raw+= pRxBuffer[5]; |
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399 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
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242 | killagreg | 400 | } |
254 | killagreg | 401 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 402 | { // mark out data invalid |
289 | killagreg | 403 | MagVector.X = MagRawVector.X; |
404 | MagVector.Y = MagRawVector.Y; |
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405 | MagVector.Z = MagRawVector.Z; |
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254 | killagreg | 406 | Compass_Heading = -1; |
407 | } |
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408 | else |
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409 | { |
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410 | // update MagVector from MagRaw Vector by Scaling |
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411 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
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412 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
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413 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
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292 | killagreg | 414 | Compass_CalcHeading(); |
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 |
||
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 | } |
||
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 | |||
329 | holgerb | 552 | u8 NCMAG_GetIdentification_Sub(void) |
553 | { |
||
554 | u8 retval = 0; |
||
555 | // try to catch the i2c buffer within 100 ms timeout |
||
556 | if(I2C_LockBuffer(100)) |
||
557 | { |
||
558 | u16 TxBytes = 0; |
||
559 | NCMAG_Identification2.Sub = 0xFF; |
||
560 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
||
561 | // initiate transmission |
||
562 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
||
563 | { |
||
564 | if(I2C_WaitForEndOfTransmission(100)) |
||
565 | { |
||
566 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
567 | } |
||
568 | } |
||
569 | } |
||
570 | return(retval); |
||
571 | } |
||
572 | |||
573 | |||
253 | killagreg | 574 | // ---------------------------------------------------------------------------------------- |
575 | void NCMAG_GetMagVector(void) |
||
576 | { |
||
577 | // try to catch the I2C buffer within 0 ms |
||
578 | if(I2C_LockBuffer(0)) |
||
579 | { |
||
580 | u16 TxBytes = 0; |
||
581 | // set register pointer |
||
582 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
583 | // initiate transmission |
||
584 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
585 | } |
||
586 | } |
||
587 | |||
242 | killagreg | 588 | //---------------------------------------------------------------- |
253 | killagreg | 589 | void NCMAG_GetAccVector(void) |
243 | killagreg | 590 | { |
252 | killagreg | 591 | // try to catch the I2C buffer within 0 ms |
592 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 593 | { |
248 | killagreg | 594 | u16 TxBytes = 0; |
243 | killagreg | 595 | // set register pointer |
253 | killagreg | 596 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 597 | // initiate transmission |
254 | killagreg | 598 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 599 | } |
600 | } |
||
601 | |||
253 | killagreg | 602 | // -------------------------------------------------------- |
292 | killagreg | 603 | void NCMAG_Update(void) |
243 | killagreg | 604 | { |
292 | killagreg | 605 | static u32 TimerUpdate = 0; |
321 | holgerb | 606 | static u8 send_config = 0; |
243 | killagreg | 607 | |
254 | killagreg | 608 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
609 | { |
||
610 | Compass_Heading = -1; |
||
326 | holgerb | 611 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 612 | return; |
613 | } |
||
292 | killagreg | 614 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 615 | { |
326 | holgerb | 616 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
617 | if(++send_config == 25) // 500ms |
||
321 | holgerb | 618 | { |
619 | send_config = 0; |
||
620 | MagConfig.mode = MODE_CONTINUOUS; |
||
621 | // activate positive bias field |
||
622 | NCMAG_SetMagConfig(); |
||
623 | TimerUpdate = SetDelay(15); // back into the old time-slot |
||
624 | } |
||
625 | else |
||
626 | { |
||
254 | killagreg | 627 | // check for new calibration state |
628 | Compass_UpdateCalState(); |
||
629 | if(Compass_CalState) NCMAG_Calibrate(); |
||
630 | NCMAG_GetMagVector(); //Get new data; |
||
326 | holgerb | 631 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
321 | holgerb | 632 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
633 | } |
||
243 | killagreg | 634 | } |
635 | } |
||
636 | |||
254 | killagreg | 637 | // -------------------------------------------------------- |
253 | killagreg | 638 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 639 | { |
266 | holgerb | 640 | u8 msg[64]; |
275 | killagreg | 641 | static u8 done = 0; |
266 | holgerb | 642 | |
287 | holgerb | 643 | if(done) return(1); // just make it once |
275 | killagreg | 644 | |
271 | holgerb | 645 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 646 | u32 time; |
253 | killagreg | 647 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
648 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
649 | u8 crb_gain, cra_rate; |
||
650 | u8 i = 0, retval = 1; |
||
243 | killagreg | 651 | |
253 | killagreg | 652 | switch(NCMAG_MagType) |
653 | { |
||
654 | case MAG_TYPE_HMC5843: |
||
655 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
656 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
657 | xscale = HMC5843_TEST_XSCALE; |
||
658 | yscale = HMC5843_TEST_YSCALE; |
||
659 | zscale = HMC5843_TEST_ZSCALE; |
||
660 | break; |
||
661 | |||
662 | case MAG_TYPE_LSM303DLH: |
||
663 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
664 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
||
665 | xscale = LSM303DLH_TEST_XSCALE; |
||
666 | yscale = LSM303DLH_TEST_YSCALE; |
||
667 | zscale = LSM303DLH_TEST_ZSCALE; |
||
668 | break; |
||
669 | |||
670 | default: |
||
671 | return(0); |
||
672 | } |
||
673 | |||
674 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
675 | MagConfig.crb = crb_gain; |
||
676 | MagConfig.mode = MODE_CONTINUOUS; |
||
677 | // activate positive bias field |
||
678 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 679 | // wait for stable readings |
680 | time = SetDelay(50); |
||
681 | while(!CheckDelay(time)); |
||
243 | killagreg | 682 | // averaging |
253 | killagreg | 683 | #define AVERAGE 20 |
684 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 685 | { |
253 | killagreg | 686 | NCMAG_GetMagVector(); |
243 | killagreg | 687 | time = SetDelay(20); |
688 | while(!CheckDelay(time)); |
||
254 | killagreg | 689 | XMax += MagRawVector.X; |
690 | YMax += MagRawVector.Y; |
||
691 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 692 | } |
253 | killagreg | 693 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
694 | // activate positive bias field |
||
695 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 696 | // wait for stable readings |
697 | time = SetDelay(50); |
||
698 | while(!CheckDelay(time)); |
||
243 | killagreg | 699 | // averaging |
253 | killagreg | 700 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 701 | { |
253 | killagreg | 702 | NCMAG_GetMagVector(); |
243 | killagreg | 703 | time = SetDelay(20); |
704 | while(!CheckDelay(time)); |
||
254 | killagreg | 705 | XMin += MagRawVector.X; |
706 | YMin += MagRawVector.Y; |
||
707 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 708 | } |
709 | // setup final configuration |
||
253 | killagreg | 710 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
711 | // activate positive bias field |
||
712 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 713 | // check scale for all axes |
243 | killagreg | 714 | // prepare scale limits |
253 | killagreg | 715 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 716 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 717 | if((xscale > scale_max) || (xscale < scale_min)) |
718 | { |
||
719 | retval = 0; |
||
720 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
721 | UART1_PutString(msg); |
||
722 | } |
||
267 | holgerb | 723 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 724 | yscale = (YMax - YMin)/(2*AVERAGE); |
725 | if((yscale > scale_max) || (yscale < scale_min)) |
||
726 | { |
||
727 | retval = 0; |
||
728 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
729 | UART1_PutString(msg); |
||
730 | } |
||
267 | holgerb | 731 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 732 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
733 | if((zscale > scale_max) || (zscale < scale_min)) |
||
734 | { |
||
735 | retval = 0; |
||
736 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
737 | UART1_PutString(msg); |
||
738 | } |
||
275 | killagreg | 739 | done = retval; |
253 | killagreg | 740 | return(retval); |
243 | killagreg | 741 | } |
742 | |||
743 | |||
744 | //---------------------------------------------------------------- |
||
253 | killagreg | 745 | u8 NCMAG_Init(void) |
242 | killagreg | 746 | { |
747 | u8 msg[64]; |
||
252 | killagreg | 748 | u8 retval = 0; |
242 | killagreg | 749 | u8 repeat; |
750 | |||
253 | killagreg | 751 | NCMAG_Present = 0; |
752 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
753 | // polling for LSM302DLH option |
||
754 | repeat = 0; |
||
755 | do |
||
756 | { |
||
757 | retval = NCMAG_GetAccConfig(); |
||
758 | if(retval) break; // break loop on success |
||
759 | UART1_PutString("."); |
||
760 | repeat++; |
||
761 | }while(repeat < 3); |
||
762 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 763 | // polling of identification |
764 | repeat = 0; |
||
765 | do |
||
766 | { |
||
329 | holgerb | 767 | retval = NCMAG_GetIdentification_Sub(); |
768 | if(retval) break; // break loop on success |
||
769 | UART1_PutString("."); |
||
770 | repeat++; |
||
771 | }while(repeat < 12); |
||
772 | retval = 0; |
||
773 | do |
||
774 | { |
||
253 | killagreg | 775 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 776 | if(retval) break; // break loop on success |
242 | killagreg | 777 | UART1_PutString("."); |
778 | repeat++; |
||
252 | killagreg | 779 | }while(repeat < 12); |
329 | holgerb | 780 | |
253 | killagreg | 781 | // if we got an answer to id request |
252 | killagreg | 782 | if(retval) |
242 | killagreg | 783 | { |
329 | holgerb | 784 | u8 n1[] = "\n\r HMC5843"; |
785 | u8 n2[] = "\n\r LSM303DLH"; |
||
786 | u8 n3[] = "\n\r LSM303DLM"; |
||
253 | killagreg | 787 | u8* pn; |
329 | holgerb | 788 | |
789 | pn = n1; |
||
790 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
||
791 | { |
||
792 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
||
793 | else pn = n2; |
||
794 | } |
||
795 | |||
796 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 797 | UART1_PutString(msg); |
253 | killagreg | 798 | if ( (NCMAG_Identification.A == MAG_IDA) |
799 | && (NCMAG_Identification.B == MAG_IDB) |
||
800 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 801 | { |
268 | killagreg | 802 | NCMAG_Present = 1; |
329 | holgerb | 803 | |
804 | if(EEPROM_Init()) |
||
264 | killagreg | 805 | { |
806 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
807 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
808 | } |
||
329 | holgerb | 809 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
810 | |||
811 | if(NCMAG_Identification2.Sub == 0x00) |
||
812 | { |
||
813 | if(!NCMAG_SelfTest()) |
||
814 | { |
||
815 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
816 | LED_RED_ON; |
||
817 | NCMAG_IsCalibrated = 0; |
||
818 | } else UART1_PutString("\r\n Selftest ok"); |
||
254 | killagreg | 819 | } |
329 | holgerb | 820 | |
242 | killagreg | 821 | } |
822 | else |
||
823 | { |
||
254 | killagreg | 824 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 825 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 826 | LED_RED_ON; |
827 | } |
||
828 | } |
||
253 | killagreg | 829 | else // nothing found |
830 | { |
||
831 | NCMAG_MagType = MAG_TYPE_NONE; |
||
832 | UART1_PutString("not found!"); |
||
833 | } |
||
834 | return(NCMAG_Present); |
||
242 | killagreg | 835 | } |
836 |