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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" |
242 | killagreg | 67 | |
253 | killagreg | 68 | u8 NCMAG_Present = 0; |
254 | killagreg | 69 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 70 | |
253 | killagreg | 71 | #define MAG_TYPE_NONE 0 |
72 | #define MAG_TYPE_HMC5843 1 |
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73 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 74 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 75 | |
254 | killagreg | 76 | #define CALIBRATION_VERSION 1 |
77 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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78 | |||
79 | typedef struct |
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80 | { |
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81 | s16 Range; |
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82 | s16 Offset; |
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83 | } Scaling_t; |
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84 | |||
85 | typedef struct |
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86 | { |
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87 | Scaling_t MagX; |
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88 | Scaling_t MagY; |
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89 | Scaling_t MagZ; |
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90 | u8 Version; |
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91 | u8 crc; |
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92 | } Calibration_t; |
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93 | |||
94 | Calibration_t Calibration; // calibration data in RAM |
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95 | |||
253 | killagreg | 96 | // i2c MAG interface |
97 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 98 | |
253 | killagreg | 99 | // register mapping |
100 | #define REG_MAG_CRA 0x00 |
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101 | #define REG_MAG_CRB 0x01 |
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102 | #define REG_MAG_MODE 0x02 |
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103 | #define REG_MAG_DATAX_MSB 0x03 |
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104 | #define REG_MAG_DATAX_LSB 0x04 |
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105 | #define REG_MAG_DATAY_MSB 0x05 |
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106 | #define REG_MAG_DATAY_LSB 0x06 |
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107 | #define REG_MAG_DATAZ_MSB 0x07 |
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108 | #define REG_MAG_DATAZ_LSB 0x08 |
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109 | #define REG_MAG_STATUS 0x09 |
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110 | #define REG_MAG_IDA 0x0A |
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111 | #define REG_MAG_IDB 0x0B |
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112 | #define REG_MAG_IDC 0x0C |
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242 | killagreg | 113 | |
253 | killagreg | 114 | // bit mask for configuration mode |
115 | #define CRA_MODE_MASK 0x03 |
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116 | #define CRA_MODE_NORMAL 0x00 //default |
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117 | #define CRA_MODE_POSBIAS 0x01 |
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118 | #define CRA_MODE_NEGBIAS 0x02 |
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119 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 120 | |
253 | killagreg | 121 | // bit mask for measurement mode |
122 | #define MODE_MASK 0xFF |
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123 | #define MODE_CONTINUOUS 0x00 |
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124 | #define MODE_SINGLE 0x01 // default |
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125 | #define MODE_IDLE 0x02 |
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126 | #define MODE_SLEEP 0x03 |
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127 | |||
242 | killagreg | 128 | // bit mask for rate |
253 | killagreg | 129 | #define CRA_RATE_MASK 0x1C |
130 | |||
131 | // bit mask for gain |
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132 | #define CRB_GAIN_MASK 0xE0 |
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133 | |||
134 | // ids |
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135 | #define MAG_IDA 0x48 |
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136 | #define MAG_IDB 0x34 |
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137 | #define MAG_IDC 0x33 |
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138 | |||
139 | // the special HMC5843 interface |
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140 | // bit mask for rate |
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242 | killagreg | 141 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
142 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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143 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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144 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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145 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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146 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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147 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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148 | // bit mask for gain |
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149 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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150 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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151 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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152 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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153 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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154 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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155 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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156 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 157 | // self test value |
158 | #define HMC5843_TEST_XSCALE 715 |
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159 | #define HMC5843_TEST_YSCALE 715 |
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160 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 161 | |
162 | |||
253 | killagreg | 163 | // the special LSM302DLH interface |
164 | // bit mask for rate |
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165 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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166 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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167 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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168 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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169 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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170 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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171 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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172 | // bit mask for gain |
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173 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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174 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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175 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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176 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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177 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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178 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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179 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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180 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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181 | // self test value |
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182 | #define LSM303DLH_TEST_XSCALE 655 |
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183 | #define LSM303DLH_TEST_YSCALE 655 |
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184 | #define LSM303DLH_TEST_ZSCALE 630 |
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185 | |||
186 | // the i2c ACC interface |
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187 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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188 | // register mapping |
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189 | #define REG_ACC_CTRL1 0x20 |
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190 | #define REG_ACC_CTRL2 0x21 |
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191 | #define REG_ACC_CTRL3 0x22 |
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192 | #define REG_ACC_CTRL4 0x23 |
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193 | #define REG_ACC_CTRL5 0x24 |
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194 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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195 | #define REG_ACC_REFERENCE 0x26 |
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196 | #define REG_ACC_STATUS 0x27 |
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197 | #define REG_ACC_X_LSB 0x28 |
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198 | #define REG_ACC_X_MSB 0x29 |
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199 | #define REG_ACC_Y_LSB 0x2A |
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200 | #define REG_ACC_Y_MSB 0x2B |
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201 | #define REG_ACC_Z_LSB 0x2C |
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202 | #define REG_ACC_Z_MSB 0x2D |
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203 | |||
204 | |||
205 | |||
242 | killagreg | 206 | typedef struct |
207 | { |
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253 | killagreg | 208 | u8 A; |
209 | u8 B; |
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210 | u8 C; |
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211 | } __attribute__((packed)) Identification_t; |
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242 | killagreg | 212 | |
253 | killagreg | 213 | volatile Identification_t NCMAG_Identification; |
242 | killagreg | 214 | |
253 | killagreg | 215 | typedef struct |
216 | { |
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217 | u8 cra; |
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218 | u8 crb; |
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219 | u8 mode; |
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220 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 221 | |
253 | killagreg | 222 | volatile MagConfig_t MagConfig; |
242 | killagreg | 223 | |
253 | killagreg | 224 | typedef struct |
225 | { |
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226 | u8 ctrl_1; |
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227 | u8 ctrl_2; |
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228 | u8 ctrl_3; |
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229 | u8 ctrl_4; |
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230 | u8 ctrl_5; |
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231 | } __attribute__((packed)) AccConfig_t; |
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232 | |||
233 | volatile AccConfig_t AccConfig; |
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234 | |||
254 | killagreg | 235 | volatile s16vec_t AccRawVector; |
236 | volatile s16vec_t MagRawVector; |
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253 | killagreg | 237 | |
238 | |||
254 | killagreg | 239 | u8 NCMag_CalibrationWrite(void) |
240 | { |
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241 | u8 i, crc = 0xAA; |
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242 | EEPROM_Result_t eres; |
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243 | u8 *pBuff = (u8*)&Calibration; |
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244 | |||
245 | Calibration.Version = CALIBRATION_VERSION; |
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246 | for(i = 0; i<sizeof(Calibration)-1; i++) |
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247 | { |
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248 | crc += pBuff[i]; |
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249 | } |
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250 | Calibration.crc = ~crc; |
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251 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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252 | DebugOut.Analog[25] = eres; |
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253 | if(EEPROM_SUCCESS == eres) i = 1; |
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254 | else i = 0; |
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255 | return(i); |
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256 | } |
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257 | |||
258 | u8 NCMag_CalibrationRead(void) |
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259 | { |
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260 | u8 i, crc = 0xAA; |
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261 | u8 *pBuff = (u8*)&Calibration; |
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262 | |||
263 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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264 | { |
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265 | for(i = 0; i<sizeof(Calibration)-1; i++) |
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266 | { |
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267 | crc += pBuff[i]; |
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268 | } |
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269 | crc = ~crc; |
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270 | if(Calibration.crc != crc) return(0); // crc mismatch |
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271 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
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272 | } |
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273 | return(0); |
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274 | } |
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275 | |||
276 | |||
277 | void NCMAG_Calibrate(void) |
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278 | { |
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279 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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280 | static u8 OldCalState = 0; |
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281 | |||
282 | switch(Compass_CalState) |
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283 | { |
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284 | case 1: |
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285 | // 1st step of calibration |
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286 | // initialize ranges |
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287 | // used to change the orientation of the NC in the horizontal plane |
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288 | Xmin = 10000; |
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289 | Xmax = -10000; |
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290 | Ymin = 10000; |
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291 | Ymax = -10000; |
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292 | Zmin = 10000; |
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293 | Zmax = -10000; |
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294 | break; |
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295 | |||
296 | case 2: // 2nd step of calibration |
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297 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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298 | if(MagRawVector.X < Xmin) Xmin = MagRawVector.X; |
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299 | if(MagRawVector.X > Xmax) Xmax = MagRawVector.X; |
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300 | if(MagRawVector.Y < Ymin) Ymin = MagRawVector.Y; |
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301 | if(MagRawVector.Y > Ymax) Ymax = MagRawVector.Y; |
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302 | break; |
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303 | |||
304 | case 3: // 3rd step of calibration |
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305 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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306 | break; |
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307 | |||
308 | case 4: |
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309 | // find Min and Max of the Z-Sensor |
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310 | if(MagRawVector.Z < Zmin) Zmin = MagRawVector.Z; |
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311 | if(MagRawVector.Z > Zmax) Zmax = MagRawVector.Z; |
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312 | break; |
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313 | |||
314 | case 5: |
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315 | // Save values |
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316 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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317 | { |
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318 | Calibration.MagX.Range = Xmax - Xmin; |
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319 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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320 | Calibration.MagY.Range = Ymax - Ymin; |
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321 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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322 | Calibration.MagZ.Range = Zmax - Zmin; |
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323 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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324 | if(1)//if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
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325 | { |
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326 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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327 | } |
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328 | else |
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329 | { |
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330 | // restore old calibration data from eeprom |
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331 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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332 | } |
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333 | } |
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334 | break; |
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335 | |||
336 | default: |
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337 | break; |
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338 | } |
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339 | OldCalState = Compass_CalState; |
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340 | } |
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341 | |||
242 | killagreg | 342 | // ---------- call back handlers ----------------------------------------- |
343 | |||
344 | // rx data handler for id info request |
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253 | killagreg | 345 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 346 | { // if number of bytes are matching |
253 | killagreg | 347 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 348 | { |
253 | killagreg | 349 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
350 | } |
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242 | killagreg | 351 | } |
254 | killagreg | 352 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 353 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 354 | { // if number of bytes are matching |
355 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 356 | { // byte order from big to little endian |
254 | killagreg | 357 | MagRawVector.X = pRxBuffer[0]<<8; |
358 | MagRawVector.X+= pRxBuffer[1]; |
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359 | MagRawVector.Y = pRxBuffer[2]<<8; |
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360 | MagRawVector.Y+= pRxBuffer[3]; |
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361 | MagRawVector.Z = pRxBuffer[4]<<8; |
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362 | MagRawVector.Z+= pRxBuffer[5]; |
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242 | killagreg | 363 | } |
254 | killagreg | 364 | if(Compass_CalState || !NCMAG_IsCalibrated) |
365 | { // direct output the raw data |
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366 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
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367 | Compass_Heading = -1; |
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368 | } |
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369 | else |
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370 | { |
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371 | // update MagVector from MagRaw Vector by Scaling |
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372 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
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373 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
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374 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
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375 | // calculate attitude correction |
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376 | double Hx, Hy, Cx, Cy, Cz, nick_rad, roll_rad; |
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377 | Cx = (double)MagVector.X; |
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378 | Cy = (double)MagVector.Y; |
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379 | Cz = (double)MagVector.Z; |
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380 | nick_rad = ((double)FromFlightCtrl.AngleNick * M_PI) / 1800.0; |
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381 | roll_rad = ((double)FromFlightCtrl.AngleRoll * M_PI) / 1800.0; |
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382 | |||
383 | Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
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384 | Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
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385 | |||
386 | //DebugOut.Analog[23] = (s16)Hx; |
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387 | //DebugOut.Analog[24] = (s16)Hy; |
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388 | |||
389 | // calculate heading |
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390 | Compass_Heading = (s16)((180.0 * atan2(Hy, Hx)) / M_PI); |
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391 | } |
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242 | killagreg | 392 | } |
254 | killagreg | 393 | // rx data handler for acceleration raw data |
253 | killagreg | 394 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
395 | { // if number of byte are matching |
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254 | killagreg | 396 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 397 | { |
254 | killagreg | 398 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 399 | } |
400 | } |
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254 | killagreg | 401 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 402 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
403 | { // if number of byte are matching |
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404 | if(RxBufferSize == sizeof(MagConfig) ) |
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405 | { |
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406 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
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407 | } |
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408 | } |
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254 | killagreg | 409 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 410 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
411 | { // if number of byte are matching |
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412 | if(RxBufferSize == sizeof(AccConfig) ) |
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413 | { |
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414 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
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415 | } |
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416 | } |
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254 | killagreg | 417 | //---------------------------------------------------------------------- |
253 | killagreg | 418 | |
254 | killagreg | 419 | |
420 | // --------------------------------------------------------------------- |
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253 | killagreg | 421 | u8 NCMAG_SetMagConfig(void) |
422 | { |
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423 | u8 retval = 0; |
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424 | // try to catch the i2c buffer within 100 ms timeout |
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425 | if(I2C_LockBuffer(100)) |
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426 | { |
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427 | u8 TxBytes = 0; |
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428 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
429 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
430 | TxBytes += sizeof(MagConfig); |
||
431 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
432 | { |
||
433 | if(I2C_WaitForEndOfTransmission(100)) |
||
434 | { |
||
435 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
436 | } |
||
437 | } |
||
438 | } |
||
439 | return(retval); |
||
440 | } |
||
242 | killagreg | 441 | |
253 | killagreg | 442 | // ---------------------------------------------------------------------------------------- |
443 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 444 | { |
253 | killagreg | 445 | u8 retval = 0; |
252 | killagreg | 446 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 447 | if(I2C_LockBuffer(100)) |
242 | killagreg | 448 | { |
253 | killagreg | 449 | u8 TxBytes = 0; |
450 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
451 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 452 | { |
252 | killagreg | 453 | if(I2C_WaitForEndOfTransmission(100)) |
454 | { |
||
455 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
456 | } |
||
248 | killagreg | 457 | } |
242 | killagreg | 458 | } |
253 | killagreg | 459 | return(retval); |
242 | killagreg | 460 | } |
461 | |||
462 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 463 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 464 | { |
252 | killagreg | 465 | u8 retval = 0; |
253 | killagreg | 466 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 467 | if(I2C_LockBuffer(100)) |
242 | killagreg | 468 | { |
253 | killagreg | 469 | u8 TxBytes = 0; |
470 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
471 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
472 | TxBytes += sizeof(AccConfig); |
||
473 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
474 | { |
||
475 | if(I2C_WaitForEndOfTransmission(100)) |
||
476 | { |
||
477 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
478 | } |
||
479 | } |
||
480 | } |
||
481 | return(retval); |
||
482 | } |
||
483 | |||
484 | // ---------------------------------------------------------------------------------------- |
||
485 | u8 NCMAG_GetAccConfig(void) |
||
486 | { |
||
487 | u8 retval = 0; |
||
488 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | if(I2C_LockBuffer(100)) |
||
490 | { |
||
491 | u8 TxBytes = 0; |
||
492 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
493 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
494 | { |
||
495 | if(I2C_WaitForEndOfTransmission(100)) |
||
496 | { |
||
497 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
498 | } |
||
499 | } |
||
500 | } |
||
501 | return(retval); |
||
502 | } |
||
503 | |||
504 | // ---------------------------------------------------------------------------------------- |
||
505 | u8 NCMAG_GetIdentification(void) |
||
506 | { |
||
507 | u8 retval = 0; |
||
508 | // try to catch the i2c buffer within 100 ms timeout |
||
509 | if(I2C_LockBuffer(100)) |
||
510 | { |
||
511 | u16 TxBytes = 0; |
||
512 | NCMAG_Identification.A = 0xFF; |
||
513 | NCMAG_Identification.B = 0xFF; |
||
514 | NCMAG_Identification.C = 0xFF; |
||
515 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 516 | // initiate transmission |
253 | killagreg | 517 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 518 | { |
253 | killagreg | 519 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 520 | { |
521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
522 | } |
||
248 | killagreg | 523 | } |
242 | killagreg | 524 | } |
253 | killagreg | 525 | return(retval); |
242 | killagreg | 526 | } |
527 | |||
253 | killagreg | 528 | // ---------------------------------------------------------------------------------------- |
529 | void NCMAG_GetMagVector(void) |
||
530 | { |
||
531 | // try to catch the I2C buffer within 0 ms |
||
532 | if(I2C_LockBuffer(0)) |
||
533 | { |
||
534 | u16 TxBytes = 0; |
||
535 | // set register pointer |
||
536 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
537 | // initiate transmission |
||
538 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
539 | } |
||
540 | } |
||
541 | |||
242 | killagreg | 542 | //---------------------------------------------------------------- |
253 | killagreg | 543 | void NCMAG_GetAccVector(void) |
243 | killagreg | 544 | { |
252 | killagreg | 545 | // try to catch the I2C buffer within 0 ms |
546 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 547 | { |
248 | killagreg | 548 | u16 TxBytes = 0; |
243 | killagreg | 549 | // set register pointer |
253 | killagreg | 550 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 551 | // initiate transmission |
254 | killagreg | 552 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 553 | } |
554 | } |
||
555 | |||
253 | killagreg | 556 | // -------------------------------------------------------- |
557 | void NCMAG_UpdateCompass(void) |
||
243 | killagreg | 558 | { |
559 | static u32 TimerCompassUpdate = 0; |
||
560 | |||
254 | killagreg | 561 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
562 | { |
||
563 | Compass_Heading = -1; |
||
564 | return; |
||
565 | } |
||
253 | killagreg | 566 | |
243 | killagreg | 567 | if(CheckDelay(TimerCompassUpdate)) |
568 | { |
||
254 | killagreg | 569 | // check for new calibration state |
570 | Compass_UpdateCalState(); |
||
571 | if(Compass_CalState) NCMAG_Calibrate(); |
||
572 | NCMAG_GetMagVector(); //Get new data; |
||
243 | killagreg | 573 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
574 | } |
||
575 | } |
||
576 | |||
254 | killagreg | 577 | // -------------------------------------------------------- |
253 | killagreg | 578 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 579 | { |
253 | killagreg | 580 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
243 | killagreg | 581 | u32 time; |
253 | killagreg | 582 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
583 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
584 | u8 crb_gain, cra_rate; |
||
585 | u8 i = 0, retval = 1; |
||
243 | killagreg | 586 | |
253 | killagreg | 587 | switch(NCMAG_MagType) |
588 | { |
||
589 | case MAG_TYPE_HMC5843: |
||
590 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
591 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
592 | xscale = HMC5843_TEST_XSCALE; |
||
593 | yscale = HMC5843_TEST_YSCALE; |
||
594 | zscale = HMC5843_TEST_ZSCALE; |
||
595 | break; |
||
596 | |||
597 | case MAG_TYPE_LSM303DLH: |
||
598 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
599 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
||
600 | xscale = LSM303DLH_TEST_XSCALE; |
||
601 | yscale = LSM303DLH_TEST_YSCALE; |
||
602 | zscale = LSM303DLH_TEST_ZSCALE; |
||
603 | break; |
||
604 | |||
605 | default: |
||
606 | return(0); |
||
607 | } |
||
608 | |||
609 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
610 | MagConfig.crb = crb_gain; |
||
611 | MagConfig.mode = MODE_CONTINUOUS; |
||
612 | // activate positive bias field |
||
613 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 614 | // wait for stable readings |
615 | time = SetDelay(50); |
||
616 | while(!CheckDelay(time)); |
||
243 | killagreg | 617 | // averaging |
253 | killagreg | 618 | #define AVERAGE 20 |
619 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 620 | { |
253 | killagreg | 621 | NCMAG_GetMagVector(); |
243 | killagreg | 622 | time = SetDelay(20); |
623 | while(!CheckDelay(time)); |
||
254 | killagreg | 624 | XMax += MagRawVector.X; |
625 | YMax += MagRawVector.Y; |
||
626 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 627 | } |
253 | killagreg | 628 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
629 | // activate positive bias field |
||
630 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 631 | // wait for stable readings |
632 | time = SetDelay(50); |
||
633 | while(!CheckDelay(time)); |
||
243 | killagreg | 634 | // averaging |
253 | killagreg | 635 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 636 | { |
253 | killagreg | 637 | NCMAG_GetMagVector(); |
243 | killagreg | 638 | time = SetDelay(20); |
639 | while(!CheckDelay(time)); |
||
254 | killagreg | 640 | XMin += MagRawVector.X; |
641 | YMin += MagRawVector.Y; |
||
642 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 643 | } |
644 | // setup final configuration |
||
253 | killagreg | 645 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
646 | // activate positive bias field |
||
647 | NCMAG_SetMagConfig(); |
||
243 | killagreg | 648 | // prepare scale limits |
253 | killagreg | 649 | LIMITS(xscale, scale_min, scale_max); |
243 | killagreg | 650 | // check scale for all axes |
253 | killagreg | 651 | xscale = (XMax - XMin)/(2*AVERAGE); |
652 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
||
653 | LIMITS(yscale, scale_min, scale_max); |
||
654 | yscale = (YMax - YMin)/(2*AVERAGE); |
||
655 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
||
656 | LIMITS(zscale, scale_min, scale_max); |
||
657 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
||
658 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
||
659 | return(retval); |
||
243 | killagreg | 660 | } |
661 | |||
662 | |||
663 | //---------------------------------------------------------------- |
||
253 | killagreg | 664 | u8 NCMAG_Init(void) |
242 | killagreg | 665 | { |
666 | u8 msg[64]; |
||
252 | killagreg | 667 | u8 retval = 0; |
242 | killagreg | 668 | u8 repeat; |
669 | |||
253 | killagreg | 670 | NCMAG_Present = 0; |
671 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
672 | // polling for LSM302DLH option |
||
673 | repeat = 0; |
||
674 | do |
||
675 | { |
||
676 | retval = NCMAG_GetAccConfig(); |
||
677 | if(retval) break; // break loop on success |
||
678 | UART1_PutString("."); |
||
679 | repeat++; |
||
680 | }while(repeat < 3); |
||
681 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 682 | // polling of identification |
683 | repeat = 0; |
||
684 | do |
||
685 | { |
||
253 | killagreg | 686 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 687 | if(retval) break; // break loop on success |
242 | killagreg | 688 | UART1_PutString("."); |
689 | repeat++; |
||
252 | killagreg | 690 | }while(repeat < 12); |
253 | killagreg | 691 | // if we got an answer to id request |
252 | killagreg | 692 | if(retval) |
242 | killagreg | 693 | { |
253 | killagreg | 694 | u8 n1[] = "HMC5843"; |
695 | u8 n2[] = "LSM303DLH"; |
||
696 | u8* pn; |
||
697 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
||
698 | else pn = n1; |
||
699 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
||
242 | killagreg | 700 | UART1_PutString(msg); |
253 | killagreg | 701 | if ( (NCMAG_Identification.A == MAG_IDA) |
702 | && (NCMAG_Identification.B == MAG_IDB) |
||
703 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 704 | { |
253 | killagreg | 705 | if(!NCMAG_SelfTest()) |
243 | killagreg | 706 | { |
253 | killagreg | 707 | UART1_PutString(" Selftest failed!"); |
243 | killagreg | 708 | LED_RED_ON; |
709 | } |
||
254 | killagreg | 710 | else |
711 | { |
||
712 | NCMAG_Present = 1; |
||
713 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
714 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
715 | } |
||
242 | killagreg | 716 | } |
717 | else |
||
718 | { |
||
254 | killagreg | 719 | UART1_PutString("\n\r Not compatible!"); |
242 | killagreg | 720 | LED_RED_ON; |
721 | } |
||
722 | } |
||
253 | killagreg | 723 | else // nothing found |
724 | { |
||
725 | NCMAG_MagType = MAG_TYPE_NONE; |
||
726 | UART1_PutString("not found!"); |
||
727 | } |
||
728 | return(NCMAG_Present); |
||
242 | killagreg | 729 | } |
730 |