Rev 454 | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
||
3 | /*#######################################################################################*/ |
||
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
5 | // + www.MikroKopter.com |
||
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
||
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
||
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
||
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
||
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
||
242 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
||
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
||
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
||
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
||
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
||
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
||
22 | // + des Mitverschuldens offen. |
||
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
||
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
||
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
||
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
||
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
||
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
||
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
||
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
||
242 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
242 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
||
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
||
37 | // + The Software may only be used with the Licensor's products. |
||
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
||
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
||
40 | // + agreement shall be the property of the Licensor. |
||
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
||
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
||
43 | // + The customer shall be responsible for taking reasonable precautions |
||
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
||
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
||
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
||
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
||
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
||
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
||
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
||
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
||
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
||
53 | // + #### END OF LICENSING TERMS #### |
||
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
||
242 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
254 | killagreg | 56 | #include <math.h> |
292 | killagreg | 57 | #include <stdio.h> |
242 | killagreg | 58 | #include <string.h> |
59 | #include "91x_lib.h" |
||
253 | killagreg | 60 | #include "ncmag.h" |
242 | killagreg | 61 | #include "i2c.h" |
62 | #include "timer1.h" |
||
63 | #include "led.h" |
||
64 | #include "uart1.h" |
||
254 | killagreg | 65 | #include "eeprom.h" |
256 | killagreg | 66 | #include "mymath.h" |
292 | killagreg | 67 | #include "main.h" |
454 | holgerb | 68 | #include "spi_slave.h" |
242 | killagreg | 69 | |
253 | killagreg | 70 | u8 NCMAG_Present = 0; |
254 | killagreg | 71 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 72 | |
394 | killagreg | 73 | // supported magnetic sensor types |
74 | #define TYPE_NONE 0 |
||
75 | #define TYPE_HMC5843 1 |
||
76 | #define TYPE_LSM303DLH 2 |
||
77 | #define TYPE_LSM303DLM 3 |
||
242 | killagreg | 78 | |
394 | killagreg | 79 | u8 NCMAG_SensorType = TYPE_NONE; |
80 | |||
81 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
||
338 | holgerb | 82 | #define CALIBRATION_VERSION 1 |
394 | killagreg | 83 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
254 | killagreg | 84 | |
256 | killagreg | 85 | #define NCMAG_MIN_RAWVALUE -2047 |
86 | #define NCMAG_MAX_RAWVALUE 2047 |
||
87 | #define NCMAG_INVALID_DATA -4096 |
||
88 | |||
254 | killagreg | 89 | typedef struct |
90 | { |
||
91 | s16 Range; |
||
92 | s16 Offset; |
||
256 | killagreg | 93 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 94 | |
95 | typedef struct |
||
96 | { |
||
97 | Scaling_t MagX; |
||
98 | Scaling_t MagY; |
||
99 | Scaling_t MagZ; |
||
100 | u8 Version; |
||
101 | u8 crc; |
||
256 | killagreg | 102 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 103 | |
104 | Calibration_t Calibration; // calibration data in RAM |
||
339 | holgerb | 105 | volatile s16vec_t AccRawVector; |
106 | volatile s16vec_t MagRawVector; |
||
254 | killagreg | 107 | |
253 | killagreg | 108 | // i2c MAG interface |
109 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
||
242 | killagreg | 110 | |
253 | killagreg | 111 | // register mapping |
112 | #define REG_MAG_CRA 0x00 |
||
113 | #define REG_MAG_CRB 0x01 |
||
114 | #define REG_MAG_MODE 0x02 |
||
115 | #define REG_MAG_DATAX_MSB 0x03 |
||
116 | #define REG_MAG_DATAX_LSB 0x04 |
||
117 | #define REG_MAG_DATAY_MSB 0x05 |
||
118 | #define REG_MAG_DATAY_LSB 0x06 |
||
119 | #define REG_MAG_DATAZ_MSB 0x07 |
||
120 | #define REG_MAG_DATAZ_LSB 0x08 |
||
121 | #define REG_MAG_STATUS 0x09 |
||
329 | holgerb | 122 | |
253 | killagreg | 123 | #define REG_MAG_IDA 0x0A |
124 | #define REG_MAG_IDB 0x0B |
||
125 | #define REG_MAG_IDC 0x0C |
||
394 | killagreg | 126 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 127 | |
253 | killagreg | 128 | // bit mask for configuration mode |
129 | #define CRA_MODE_MASK 0x03 |
||
130 | #define CRA_MODE_NORMAL 0x00 //default |
||
131 | #define CRA_MODE_POSBIAS 0x01 |
||
132 | #define CRA_MODE_NEGBIAS 0x02 |
||
133 | #define CRA_MODE_SELFTEST 0x03 |
||
242 | killagreg | 134 | |
253 | killagreg | 135 | // bit mask for measurement mode |
136 | #define MODE_MASK 0xFF |
||
137 | #define MODE_CONTINUOUS 0x00 |
||
138 | #define MODE_SINGLE 0x01 // default |
||
139 | #define MODE_IDLE 0x02 |
||
140 | #define MODE_SLEEP 0x03 |
||
141 | |||
242 | killagreg | 142 | // bit mask for rate |
253 | killagreg | 143 | #define CRA_RATE_MASK 0x1C |
144 | |||
145 | // bit mask for gain |
||
146 | #define CRB_GAIN_MASK 0xE0 |
||
147 | |||
148 | // ids |
||
149 | #define MAG_IDA 0x48 |
||
150 | #define MAG_IDB 0x34 |
||
151 | #define MAG_IDC 0x33 |
||
394 | killagreg | 152 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 153 | |
154 | // the special HMC5843 interface |
||
155 | // bit mask for rate |
||
242 | killagreg | 156 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
157 | #define HMC5843_CRA_RATE_1HZ 0x04 |
||
158 | #define HMC5843_CRA_RATE_2HZ 0x08 |
||
159 | #define HMC5843_CRA_RATE_5HZ 0x0C |
||
160 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
||
161 | #define HMC5843_CRA_RATE_20HZ 0x14 |
||
162 | #define HMC5843_CRA_RATE_50HZ 0x18 |
||
163 | // bit mask for gain |
||
164 | #define HMC5843_CRB_GAIN_07GA 0x00 |
||
165 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
||
339 | holgerb | 166 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 167 | #define HMC5843_CRB_GAIN_20GA 0x60 |
168 | #define HMC5843_CRB_GAIN_32GA 0x80 |
||
169 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
||
170 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
||
171 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
||
253 | killagreg | 172 | // self test value |
339 | holgerb | 173 | #define HMC5843_TEST_XSCALE 555 |
174 | #define HMC5843_TEST_YSCALE 555 |
||
175 | #define HMC5843_TEST_ZSCALE 555 |
||
394 | killagreg | 176 | // calibration range |
342 | holgerb | 177 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 178 | |
253 | killagreg | 179 | // the special LSM302DLH interface |
180 | // bit mask for rate |
||
181 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
||
182 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
||
183 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
||
184 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
||
185 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
||
186 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
||
187 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
||
338 | holgerb | 188 | |
253 | killagreg | 189 | // bit mask for gain |
190 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
||
191 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
||
339 | holgerb | 192 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 193 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
194 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
||
195 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
||
196 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
||
197 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
||
394 | killagreg | 198 | |
199 | typedef struct |
||
200 | { |
||
201 | u8 A; |
||
202 | u8 B; |
||
203 | u8 C; |
||
204 | } __attribute__((packed)) Identification_t; |
||
205 | volatile Identification_t NCMAG_Identification; |
||
206 | |||
207 | typedef struct |
||
208 | { |
||
209 | u8 Sub; |
||
210 | } __attribute__((packed)) Identification2_t; |
||
211 | volatile Identification2_t NCMAG_Identification2; |
||
212 | |||
213 | typedef struct |
||
214 | { |
||
215 | u8 cra; |
||
216 | u8 crb; |
||
217 | u8 mode; |
||
218 | } __attribute__((packed)) MagConfig_t; |
||
219 | |||
220 | volatile MagConfig_t MagConfig; |
||
221 | |||
222 | |||
253 | killagreg | 223 | // self test value |
338 | holgerb | 224 | #define LSM303DLH_TEST_XSCALE 495 |
225 | #define LSM303DLH_TEST_YSCALE 495 |
||
226 | #define LSM303DLH_TEST_ZSCALE 470 |
||
339 | holgerb | 227 | // clibration range |
342 | holgerb | 228 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 229 | |
230 | // the i2c ACC interface |
||
231 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
||
394 | killagreg | 232 | |
233 | // multiple byte read/write mask |
||
234 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
||
235 | |||
253 | killagreg | 236 | // register mapping |
237 | #define REG_ACC_CTRL1 0x20 |
||
238 | #define REG_ACC_CTRL2 0x21 |
||
239 | #define REG_ACC_CTRL3 0x22 |
||
240 | #define REG_ACC_CTRL4 0x23 |
||
241 | #define REG_ACC_CTRL5 0x24 |
||
242 | #define REG_ACC_HP_FILTER_RESET 0x25 |
||
243 | #define REG_ACC_REFERENCE 0x26 |
||
244 | #define REG_ACC_STATUS 0x27 |
||
245 | #define REG_ACC_X_LSB 0x28 |
||
246 | #define REG_ACC_X_MSB 0x29 |
||
247 | #define REG_ACC_Y_LSB 0x2A |
||
248 | #define REG_ACC_Y_MSB 0x2B |
||
249 | #define REG_ACC_Z_LSB 0x2C |
||
250 | #define REG_ACC_Z_MSB 0x2D |
||
251 | |||
394 | killagreg | 252 | #define ACC_CRTL1_PM_DOWN 0x00 |
253 | #define ACC_CRTL1_PM_NORMAL 0x20 |
||
254 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
||
255 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
||
256 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
||
257 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
||
258 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
||
259 | // Output data rate in normal power mode |
||
260 | #define ACC_CRTL1_DR_50HZ 0x00 |
||
261 | #define ACC_CRTL1_DR_100HZ 0x08 |
||
262 | #define ACC_CRTL1_DR_400HZ 0x10 |
||
263 | #define ACC_CRTL1_DR_1000HZ 0x18 |
||
264 | // axis anable flags |
||
265 | #define ACC_CRTL1_XEN 0x01 |
||
266 | #define ACC_CRTL1_YEN 0x02 |
||
267 | #define ACC_CRTL1_ZEN 0x04 |
||
253 | killagreg | 268 | |
397 | holgerb | 269 | #define ACC_CRTL2_FILTER8 0x10 |
270 | #define ACC_CRTL2_FILTER16 0x11 |
||
271 | #define ACC_CRTL2_FILTER32 0x12 |
||
272 | #define ACC_CRTL2_FILTER64 0x13 |
||
395 | holgerb | 273 | |
394 | killagreg | 274 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
275 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
||
276 | #define ACC_CTRL4_FS_2G 0x00 |
||
277 | #define ACC_CTRL4_FS_4G 0x10 |
||
278 | #define ACC_CTRL4_FS_8G 0x30 |
||
279 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
||
280 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
||
281 | #define ACC_CTRL4_ST_ENABLE 0x02 |
||
253 | killagreg | 282 | |
394 | killagreg | 283 | #define ACC_CTRL5_STW_ON 0x03 |
284 | #define ACC_CTRL5_STW_OFF 0x00 |
||
242 | killagreg | 285 | |
253 | killagreg | 286 | typedef struct |
287 | { |
||
288 | u8 ctrl_1; |
||
289 | u8 ctrl_2; |
||
290 | u8 ctrl_3; |
||
291 | u8 ctrl_4; |
||
292 | u8 ctrl_5; |
||
293 | } __attribute__((packed)) AccConfig_t; |
||
294 | |||
295 | volatile AccConfig_t AccConfig; |
||
296 | |||
254 | killagreg | 297 | u8 NCMag_CalibrationWrite(void) |
298 | { |
||
394 | killagreg | 299 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 300 | EEPROM_Result_t eres; |
301 | u8 *pBuff = (u8*)&Calibration; |
||
302 | |||
303 | Calibration.Version = CALIBRATION_VERSION; |
||
256 | killagreg | 304 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 305 | { |
306 | crc += pBuff[i]; |
||
307 | } |
||
308 | Calibration.crc = ~crc; |
||
309 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
||
310 | if(EEPROM_SUCCESS == eres) i = 1; |
||
311 | else i = 0; |
||
312 | return(i); |
||
313 | } |
||
314 | |||
315 | u8 NCMag_CalibrationRead(void) |
||
316 | { |
||
394 | killagreg | 317 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 318 | u8 *pBuff = (u8*)&Calibration; |
319 | |||
320 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
||
321 | { |
||
256 | killagreg | 322 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 323 | { |
324 | crc += pBuff[i]; |
||
325 | } |
||
326 | crc = ~crc; |
||
327 | if(Calibration.crc != crc) return(0); // crc mismatch |
||
257 | killagreg | 328 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 329 | } |
330 | return(0); |
||
331 | } |
||
332 | |||
333 | |||
334 | void NCMAG_Calibrate(void) |
||
335 | { |
||
330 | holgerb | 336 | u8 msg[64]; |
454 | holgerb | 337 | static u8 speak = 0; |
254 | killagreg | 338 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 339 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 340 | static u8 OldCalState = 0; |
394 | killagreg | 341 | s16 MinCalibration = 450; |
254 | killagreg | 342 | |
256 | killagreg | 343 | X = (4*X + MagRawVector.X + 3)/5; |
344 | Y = (4*Y + MagRawVector.Y + 3)/5; |
||
345 | Z = (4*Z + MagRawVector.Z + 3)/5; |
||
346 | |||
254 | killagreg | 347 | switch(Compass_CalState) |
348 | { |
||
349 | case 1: |
||
350 | // 1st step of calibration |
||
351 | // initialize ranges |
||
352 | // used to change the orientation of the NC in the horizontal plane |
||
353 | Xmin = 10000; |
||
354 | Xmax = -10000; |
||
355 | Ymin = 10000; |
||
356 | Ymax = -10000; |
||
357 | Zmin = 10000; |
||
358 | Zmax = -10000; |
||
454 | holgerb | 359 | speak = 1; |
254 | killagreg | 360 | break; |
361 | |||
362 | case 2: // 2nd step of calibration |
||
363 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
||
275 | killagreg | 364 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
365 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
366 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
367 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 368 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 369 | break; |
370 | |||
371 | case 3: // 3rd step of calibration |
||
372 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
454 | holgerb | 373 | speak = 1; |
254 | killagreg | 374 | break; |
375 | |||
376 | case 4: |
||
377 | // find Min and Max of the Z-Sensor |
||
275 | killagreg | 378 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
379 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
||
454 | holgerb | 380 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 381 | break; |
382 | |||
383 | case 5: |
||
384 | // Save values |
||
385 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
386 | { |
||
394 | killagreg | 387 | switch(NCMAG_SensorType) |
388 | { |
||
389 | case TYPE_HMC5843: |
||
390 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
||
391 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
392 | break; |
||
393 | |||
394 | case TYPE_LSM303DLH: |
||
395 | case TYPE_LSM303DLM: |
||
396 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
||
397 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
398 | break; |
||
399 | } |
||
342 | holgerb | 400 | if(EarthMagneticStrengthTheoretic) |
401 | { |
||
394 | killagreg | 402 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
342 | holgerb | 403 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
404 | UART1_PutString(msg); |
||
405 | } |
||
406 | else UART1_PutString("without GPS\n\r"); |
||
339 | holgerb | 407 | |
254 | killagreg | 408 | Calibration.MagX.Range = Xmax - Xmin; |
409 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
410 | Calibration.MagY.Range = Ymax - Ymin; |
||
411 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
412 | Calibration.MagZ.Range = Zmax - Zmin; |
||
413 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
394 | killagreg | 414 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 415 | { |
416 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
||
270 | killagreg | 417 | BeepTime = 2500; |
342 | holgerb | 418 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
454 | holgerb | 419 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 420 | } |
421 | else |
||
422 | { |
||
454 | holgerb | 423 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 424 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 425 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
426 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
427 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 428 | UART1_PutString("\r\n"); |
339 | holgerb | 429 | |
254 | killagreg | 430 | // restore old calibration data from eeprom |
431 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
432 | } |
||
330 | holgerb | 433 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
434 | UART1_PutString(msg); |
||
435 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
436 | UART1_PutString(msg); |
||
437 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
438 | UART1_PutString(msg); |
||
394 | killagreg | 439 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 440 | UART1_PutString(msg); |
254 | killagreg | 441 | } |
442 | break; |
||
443 | |||
444 | default: |
||
445 | break; |
||
446 | } |
||
447 | OldCalState = Compass_CalState; |
||
448 | } |
||
449 | |||
242 | killagreg | 450 | // ---------- call back handlers ----------------------------------------- |
451 | |||
452 | // rx data handler for id info request |
||
253 | killagreg | 453 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 454 | { // if number of bytes are matching |
253 | killagreg | 455 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 456 | { |
253 | killagreg | 457 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
458 | } |
||
242 | killagreg | 459 | } |
329 | holgerb | 460 | |
461 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
462 | { // if number of bytes are matching |
||
463 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
464 | { |
||
465 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
466 | } |
||
467 | } |
||
468 | |||
254 | killagreg | 469 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 470 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 471 | { // if number of bytes are matching |
472 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 473 | { // byte order from big to little endian |
256 | killagreg | 474 | s16 raw; |
475 | raw = pRxBuffer[0]<<8; |
||
476 | raw+= pRxBuffer[1]; |
||
477 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
||
478 | raw = pRxBuffer[2]<<8; |
||
479 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 480 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
481 | { |
||
394 | killagreg | 482 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
483 | else MagRawVector.Y = raw; |
||
330 | holgerb | 484 | } |
256 | killagreg | 485 | raw = pRxBuffer[4]<<8; |
486 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 487 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
488 | { |
||
394 | killagreg | 489 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
490 | else MagRawVector.Z = raw; |
||
330 | holgerb | 491 | } |
242 | killagreg | 492 | } |
254 | killagreg | 493 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 494 | { // mark out data invalid |
289 | killagreg | 495 | MagVector.X = MagRawVector.X; |
496 | MagVector.Y = MagRawVector.Y; |
||
497 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 498 | Compass_Heading = -1; |
499 | } |
||
500 | else |
||
501 | { |
||
502 | // update MagVector from MagRaw Vector by Scaling |
||
503 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
504 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
505 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 506 | Compass_CalcHeading(); |
254 | killagreg | 507 | } |
242 | killagreg | 508 | } |
254 | killagreg | 509 | // rx data handler for acceleration raw data |
253 | killagreg | 510 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
511 | { // if number of byte are matching |
||
397 | holgerb | 512 | static s32 filter_z; |
254 | killagreg | 513 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 514 | { |
254 | killagreg | 515 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 516 | } |
416 | holgerb | 517 | // DebugOut.Analog[16] = AccRawVector.X; |
518 | // DebugOut.Analog[17] = AccRawVector.Y; |
||
519 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
||
397 | holgerb | 520 | |
416 | holgerb | 521 | // DebugOut.Analog[18] = filter_z; |
522 | // DebugOut.Analog[19] = AccRawVector.Z; |
||
253 | killagreg | 523 | } |
254 | killagreg | 524 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 525 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
526 | { // if number of byte are matching |
||
527 | if(RxBufferSize == sizeof(MagConfig) ) |
||
528 | { |
||
529 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
530 | } |
||
531 | } |
||
254 | killagreg | 532 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 533 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
534 | { // if number of byte are matching |
||
535 | if(RxBufferSize == sizeof(AccConfig) ) |
||
536 | { |
||
537 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
538 | } |
||
539 | } |
||
254 | killagreg | 540 | //---------------------------------------------------------------------- |
253 | killagreg | 541 | |
254 | killagreg | 542 | |
543 | // --------------------------------------------------------------------- |
||
253 | killagreg | 544 | u8 NCMAG_SetMagConfig(void) |
545 | { |
||
546 | u8 retval = 0; |
||
547 | // try to catch the i2c buffer within 100 ms timeout |
||
548 | if(I2C_LockBuffer(100)) |
||
549 | { |
||
550 | u8 TxBytes = 0; |
||
551 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
552 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
553 | TxBytes += sizeof(MagConfig); |
||
554 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
555 | { |
||
556 | if(I2C_WaitForEndOfTransmission(100)) |
||
557 | { |
||
558 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
559 | } |
||
560 | } |
||
561 | } |
||
562 | return(retval); |
||
563 | } |
||
242 | killagreg | 564 | |
253 | killagreg | 565 | // ---------------------------------------------------------------------------------------- |
566 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 567 | { |
253 | killagreg | 568 | u8 retval = 0; |
252 | killagreg | 569 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 570 | if(I2C_LockBuffer(100)) |
242 | killagreg | 571 | { |
253 | killagreg | 572 | u8 TxBytes = 0; |
573 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
574 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 575 | { |
252 | killagreg | 576 | if(I2C_WaitForEndOfTransmission(100)) |
577 | { |
||
578 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
579 | } |
||
248 | killagreg | 580 | } |
242 | killagreg | 581 | } |
253 | killagreg | 582 | return(retval); |
242 | killagreg | 583 | } |
584 | |||
585 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 586 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 587 | { |
252 | killagreg | 588 | u8 retval = 0; |
253 | killagreg | 589 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 590 | if(I2C_LockBuffer(100)) |
242 | killagreg | 591 | { |
253 | killagreg | 592 | u8 TxBytes = 0; |
394 | killagreg | 593 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
253 | killagreg | 594 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
595 | TxBytes += sizeof(AccConfig); |
||
596 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
597 | { |
||
598 | if(I2C_WaitForEndOfTransmission(100)) |
||
599 | { |
||
600 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
601 | } |
||
602 | } |
||
603 | } |
||
604 | return(retval); |
||
605 | } |
||
606 | |||
607 | // ---------------------------------------------------------------------------------------- |
||
608 | u8 NCMAG_GetAccConfig(void) |
||
609 | { |
||
610 | u8 retval = 0; |
||
611 | // try to catch the i2c buffer within 100 ms timeout |
||
612 | if(I2C_LockBuffer(100)) |
||
613 | { |
||
614 | u8 TxBytes = 0; |
||
394 | killagreg | 615 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
253 | killagreg | 616 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
617 | { |
||
618 | if(I2C_WaitForEndOfTransmission(100)) |
||
619 | { |
||
620 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
621 | } |
||
622 | } |
||
623 | } |
||
624 | return(retval); |
||
625 | } |
||
626 | |||
627 | // ---------------------------------------------------------------------------------------- |
||
628 | u8 NCMAG_GetIdentification(void) |
||
629 | { |
||
630 | u8 retval = 0; |
||
631 | // try to catch the i2c buffer within 100 ms timeout |
||
632 | if(I2C_LockBuffer(100)) |
||
633 | { |
||
634 | u16 TxBytes = 0; |
||
635 | NCMAG_Identification.A = 0xFF; |
||
636 | NCMAG_Identification.B = 0xFF; |
||
637 | NCMAG_Identification.C = 0xFF; |
||
638 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 639 | // initiate transmission |
253 | killagreg | 640 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 641 | { |
253 | killagreg | 642 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 643 | { |
644 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
645 | } |
||
248 | killagreg | 646 | } |
242 | killagreg | 647 | } |
253 | killagreg | 648 | return(retval); |
242 | killagreg | 649 | } |
650 | |||
329 | holgerb | 651 | u8 NCMAG_GetIdentification_Sub(void) |
652 | { |
||
653 | u8 retval = 0; |
||
654 | // try to catch the i2c buffer within 100 ms timeout |
||
655 | if(I2C_LockBuffer(100)) |
||
656 | { |
||
657 | u16 TxBytes = 0; |
||
658 | NCMAG_Identification2.Sub = 0xFF; |
||
659 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
||
660 | // initiate transmission |
||
661 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
||
662 | { |
||
663 | if(I2C_WaitForEndOfTransmission(100)) |
||
664 | { |
||
665 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
666 | } |
||
667 | } |
||
668 | } |
||
669 | return(retval); |
||
670 | } |
||
671 | |||
672 | |||
253 | killagreg | 673 | // ---------------------------------------------------------------------------------------- |
674 | void NCMAG_GetMagVector(void) |
||
675 | { |
||
676 | // try to catch the I2C buffer within 0 ms |
||
677 | if(I2C_LockBuffer(0)) |
||
678 | { |
||
679 | u16 TxBytes = 0; |
||
680 | // set register pointer |
||
681 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
682 | // initiate transmission |
||
683 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
684 | } |
||
685 | } |
||
686 | |||
242 | killagreg | 687 | //---------------------------------------------------------------- |
253 | killagreg | 688 | void NCMAG_GetAccVector(void) |
243 | killagreg | 689 | { |
252 | killagreg | 690 | // try to catch the I2C buffer within 0 ms |
691 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 692 | { |
248 | killagreg | 693 | u16 TxBytes = 0; |
243 | killagreg | 694 | // set register pointer |
394 | killagreg | 695 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 696 | // initiate transmission |
254 | killagreg | 697 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 698 | } |
699 | } |
||
700 | |||
330 | holgerb | 701 | //---------------------------------------------------------------- |
394 | killagreg | 702 | u8 InitNC_MagnetSensor(void) |
330 | holgerb | 703 | { |
704 | u8 crb_gain, cra_rate; |
||
705 | |||
394 | killagreg | 706 | switch(NCMAG_SensorType) |
330 | holgerb | 707 | { |
394 | killagreg | 708 | case TYPE_HMC5843: |
339 | holgerb | 709 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 710 | cra_rate = HMC5843_CRA_RATE_50HZ; |
711 | break; |
||
712 | |||
394 | killagreg | 713 | case TYPE_LSM303DLH: |
714 | case TYPE_LSM303DLM: |
||
338 | holgerb | 715 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 716 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
717 | break; |
||
718 | |||
719 | default: |
||
394 | killagreg | 720 | return(0); |
330 | holgerb | 721 | } |
722 | |||
723 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
724 | MagConfig.crb = crb_gain; |
||
725 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 726 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 727 | } |
728 | |||
395 | holgerb | 729 | |
394 | killagreg | 730 | //---------------------------------------------------------------- |
731 | u8 NCMAG_Init_ACCSensor(void) |
||
732 | { |
||
395 | holgerb | 733 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
397 | holgerb | 734 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
394 | killagreg | 735 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 736 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 737 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
738 | return(NCMAG_SetAccConfig()); |
||
739 | } |
||
253 | killagreg | 740 | // -------------------------------------------------------- |
292 | killagreg | 741 | void NCMAG_Update(void) |
243 | killagreg | 742 | { |
292 | killagreg | 743 | static u32 TimerUpdate = 0; |
419 | holgerb | 744 | static s8 send_config = 0; |
394 | killagreg | 745 | u32 delay = 20; |
243 | killagreg | 746 | |
254 | killagreg | 747 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
748 | { |
||
749 | Compass_Heading = -1; |
||
326 | holgerb | 750 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 751 | return; |
752 | } |
||
292 | killagreg | 753 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 754 | { |
394 | killagreg | 755 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
756 | if(++send_config == 25) // 500ms |
||
757 | { |
||
419 | holgerb | 758 | send_config = -25; // next try after 1 second |
394 | killagreg | 759 | InitNC_MagnetSensor(); |
419 | holgerb | 760 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 761 | } |
321 | holgerb | 762 | else |
763 | { |
||
398 | holgerb | 764 | // static u8 s = 0; |
394 | killagreg | 765 | // check for new calibration state |
766 | Compass_UpdateCalState(); |
||
767 | if(Compass_CalState) NCMAG_Calibrate(); |
||
768 | |||
769 | // in case of LSM303 type |
||
770 | switch(NCMAG_SensorType) |
||
771 | { |
||
772 | case TYPE_HMC5843: |
||
773 | NCMAG_GetMagVector(); |
||
774 | delay = 20; |
||
775 | break; |
||
776 | case TYPE_LSM303DLH: |
||
777 | case TYPE_LSM303DLM: |
||
397 | holgerb | 778 | NCMAG_GetMagVector(); |
779 | delay = 20; |
||
780 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
||
394 | killagreg | 781 | else { NCMAG_GetAccVector(); s = 1;} |
782 | delay = 10; |
||
397 | holgerb | 783 | */ |
394 | killagreg | 784 | break; |
785 | } |
||
419 | holgerb | 786 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 787 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 788 | } |
243 | killagreg | 789 | } |
790 | } |
||
791 | |||
330 | holgerb | 792 | |
254 | killagreg | 793 | // -------------------------------------------------------- |
253 | killagreg | 794 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 795 | { |
266 | holgerb | 796 | u8 msg[64]; |
275 | killagreg | 797 | static u8 done = 0; |
266 | holgerb | 798 | |
287 | holgerb | 799 | if(done) return(1); // just make it once |
275 | killagreg | 800 | |
271 | holgerb | 801 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 802 | u32 time; |
253 | killagreg | 803 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
804 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
805 | u8 crb_gain, cra_rate; |
||
806 | u8 i = 0, retval = 1; |
||
243 | killagreg | 807 | |
394 | killagreg | 808 | switch(NCMAG_SensorType) |
253 | killagreg | 809 | { |
394 | killagreg | 810 | case TYPE_HMC5843: |
339 | holgerb | 811 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 812 | cra_rate = HMC5843_CRA_RATE_50HZ; |
813 | xscale = HMC5843_TEST_XSCALE; |
||
814 | yscale = HMC5843_TEST_YSCALE; |
||
815 | zscale = HMC5843_TEST_ZSCALE; |
||
816 | break; |
||
817 | |||
394 | killagreg | 818 | case TYPE_LSM303DLH: |
338 | holgerb | 819 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 820 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
821 | xscale = LSM303DLH_TEST_XSCALE; |
||
822 | yscale = LSM303DLH_TEST_YSCALE; |
||
823 | zscale = LSM303DLH_TEST_ZSCALE; |
||
824 | break; |
||
825 | |||
394 | killagreg | 826 | case TYPE_LSM303DLM: |
827 | // does not support self test feature |
||
828 | done = retval; |
||
829 | return(retval); |
||
830 | break; |
||
831 | |||
253 | killagreg | 832 | default: |
394 | killagreg | 833 | return(0); |
253 | killagreg | 834 | } |
835 | |||
836 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
837 | MagConfig.crb = crb_gain; |
||
838 | MagConfig.mode = MODE_CONTINUOUS; |
||
839 | // activate positive bias field |
||
840 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 841 | // wait for stable readings |
842 | time = SetDelay(50); |
||
843 | while(!CheckDelay(time)); |
||
243 | killagreg | 844 | // averaging |
253 | killagreg | 845 | #define AVERAGE 20 |
846 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 847 | { |
253 | killagreg | 848 | NCMAG_GetMagVector(); |
243 | killagreg | 849 | time = SetDelay(20); |
850 | while(!CheckDelay(time)); |
||
254 | killagreg | 851 | XMax += MagRawVector.X; |
852 | YMax += MagRawVector.Y; |
||
853 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 854 | } |
253 | killagreg | 855 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
856 | // activate positive bias field |
||
857 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 858 | // wait for stable readings |
859 | time = SetDelay(50); |
||
860 | while(!CheckDelay(time)); |
||
243 | killagreg | 861 | // averaging |
253 | killagreg | 862 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 863 | { |
253 | killagreg | 864 | NCMAG_GetMagVector(); |
243 | killagreg | 865 | time = SetDelay(20); |
866 | while(!CheckDelay(time)); |
||
254 | killagreg | 867 | XMin += MagRawVector.X; |
868 | YMin += MagRawVector.Y; |
||
869 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 870 | } |
871 | // setup final configuration |
||
253 | killagreg | 872 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
873 | // activate positive bias field |
||
874 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 875 | // check scale for all axes |
243 | killagreg | 876 | // prepare scale limits |
253 | killagreg | 877 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 878 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 879 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 880 | { |
881 | retval = 0; |
||
882 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
883 | UART1_PutString(msg); |
||
884 | } |
||
267 | holgerb | 885 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 886 | yscale = (YMax - YMin)/(2*AVERAGE); |
887 | if((yscale > scale_max) || (yscale < scale_min)) |
||
394 | killagreg | 888 | { |
889 | retval = 0; |
||
890 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
891 | UART1_PutString(msg); |
||
892 | } |
||
267 | holgerb | 893 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 894 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
895 | if((zscale > scale_max) || (zscale < scale_min)) |
||
394 | killagreg | 896 | { |
897 | retval = 0; |
||
898 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
899 | UART1_PutString(msg); |
||
900 | } |
||
275 | killagreg | 901 | done = retval; |
253 | killagreg | 902 | return(retval); |
243 | killagreg | 903 | } |
904 | |||
905 | |||
906 | //---------------------------------------------------------------- |
||
253 | killagreg | 907 | u8 NCMAG_Init(void) |
242 | killagreg | 908 | { |
909 | u8 msg[64]; |
||
252 | killagreg | 910 | u8 retval = 0; |
242 | killagreg | 911 | u8 repeat; |
912 | |||
253 | killagreg | 913 | NCMAG_Present = 0; |
394 | killagreg | 914 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
915 | // polling for LSM302DLH/DLM option by ACC address ack |
||
253 | killagreg | 916 | repeat = 0; |
917 | do |
||
918 | { |
||
919 | retval = NCMAG_GetAccConfig(); |
||
920 | if(retval) break; // break loop on success |
||
921 | UART1_PutString("."); |
||
922 | repeat++; |
||
923 | }while(repeat < 3); |
||
394 | killagreg | 924 | if(retval) |
242 | killagreg | 925 | { |
394 | killagreg | 926 | // initialize ACC sensor |
927 | NCMAG_Init_ACCSensor(); |
||
928 | |||
929 | NCMAG_SensorType = TYPE_LSM303DLH; |
||
930 | // polling of sub identification |
||
931 | repeat = 0; |
||
932 | do |
||
933 | { |
||
934 | retval = NCMAG_GetIdentification_Sub(); |
||
935 | if(retval) break; // break loop on success |
||
936 | UART1_PutString("."); |
||
937 | repeat++; |
||
938 | }while(repeat < 12); |
||
939 | if(retval) |
||
940 | { |
||
941 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
942 | } |
||
943 | } |
||
944 | // get id bytes |
||
329 | holgerb | 945 | retval = 0; |
946 | do |
||
947 | { |
||
253 | killagreg | 948 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 949 | if(retval) break; // break loop on success |
242 | killagreg | 950 | UART1_PutString("."); |
951 | repeat++; |
||
252 | killagreg | 952 | }while(repeat < 12); |
329 | holgerb | 953 | |
253 | killagreg | 954 | // if we got an answer to id request |
252 | killagreg | 955 | if(retval) |
242 | killagreg | 956 | { |
329 | holgerb | 957 | u8 n1[] = "\n\r HMC5843"; |
958 | u8 n2[] = "\n\r LSM303DLH"; |
||
959 | u8 n3[] = "\n\r LSM303DLM"; |
||
394 | killagreg | 960 | u8* pn = n1; |
329 | holgerb | 961 | |
394 | killagreg | 962 | switch(NCMAG_SensorType) |
329 | holgerb | 963 | { |
394 | killagreg | 964 | case TYPE_HMC5843: |
965 | pn = n1; |
||
966 | break; |
||
967 | case TYPE_LSM303DLH: |
||
968 | pn = n2; |
||
969 | break; |
||
970 | case TYPE_LSM303DLM: |
||
971 | pn = n3; |
||
972 | break; |
||
329 | holgerb | 973 | } |
974 | |||
975 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 976 | UART1_PutString(msg); |
253 | killagreg | 977 | if ( (NCMAG_Identification.A == MAG_IDA) |
978 | && (NCMAG_Identification.B == MAG_IDB) |
||
979 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 980 | { |
268 | killagreg | 981 | NCMAG_Present = 1; |
329 | holgerb | 982 | |
983 | if(EEPROM_Init()) |
||
394 | killagreg | 984 | { |
985 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
986 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
987 | } |
||
329 | holgerb | 988 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
394 | killagreg | 989 | // perform self test |
990 | if(!NCMAG_SelfTest()) |
||
991 | { |
||
329 | holgerb | 992 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
993 | LED_RED_ON; |
||
994 | NCMAG_IsCalibrated = 0; |
||
394 | killagreg | 995 | } |
996 | else UART1_PutString("\r\n Selftest ok"); |
||
997 | |||
998 | // initialize magnetic sensor configuration |
||
999 | InitNC_MagnetSensor(); |
||
242 | killagreg | 1000 | } |
1001 | else |
||
1002 | { |
||
254 | killagreg | 1003 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 1004 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 1005 | LED_RED_ON; |
1006 | } |
||
1007 | } |
||
253 | killagreg | 1008 | else // nothing found |
1009 | { |
||
394 | killagreg | 1010 | NCMAG_SensorType = TYPE_NONE; |
253 | killagreg | 1011 | UART1_PutString("not found!"); |
1012 | } |
||
1013 | return(NCMAG_Present); |
||
242 | killagreg | 1014 | } |
1015 |