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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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57 | #include <string.h> |
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58 | #include "91x_lib.h" |
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253 | killagreg | 59 | #include "ncmag.h" |
242 | killagreg | 60 | #include "i2c.h" |
61 | #include "timer1.h" |
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62 | #include "led.h" |
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63 | #include "spi_slave.h" |
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64 | #include "uart1.h" |
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65 | |||
253 | killagreg | 66 | u8 NCMAG_Present = 0; |
242 | killagreg | 67 | |
253 | killagreg | 68 | #define MAG_TYPE_NONE 0 |
69 | #define MAG_TYPE_HMC5843 1 |
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70 | #define MAG_TYPE_LSM303DLH 2 |
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71 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
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242 | killagreg | 72 | |
253 | killagreg | 73 | // i2c MAG interface |
74 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 75 | |
253 | killagreg | 76 | // register mapping |
77 | #define REG_MAG_CRA 0x00 |
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78 | #define REG_MAG_CRB 0x01 |
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79 | #define REG_MAG_MODE 0x02 |
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80 | #define REG_MAG_DATAX_MSB 0x03 |
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81 | #define REG_MAG_DATAX_LSB 0x04 |
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82 | #define REG_MAG_DATAY_MSB 0x05 |
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83 | #define REG_MAG_DATAY_LSB 0x06 |
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84 | #define REG_MAG_DATAZ_MSB 0x07 |
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85 | #define REG_MAG_DATAZ_LSB 0x08 |
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86 | #define REG_MAG_STATUS 0x09 |
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87 | #define REG_MAG_IDA 0x0A |
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88 | #define REG_MAG_IDB 0x0B |
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89 | #define REG_MAG_IDC 0x0C |
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242 | killagreg | 90 | |
253 | killagreg | 91 | // bit mask for configuration mode |
92 | #define CRA_MODE_MASK 0x03 |
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93 | #define CRA_MODE_NORMAL 0x00 //default |
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94 | #define CRA_MODE_POSBIAS 0x01 |
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95 | #define CRA_MODE_NEGBIAS 0x02 |
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96 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 97 | |
253 | killagreg | 98 | // bit mask for measurement mode |
99 | #define MODE_MASK 0xFF |
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100 | #define MODE_CONTINUOUS 0x00 |
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101 | #define MODE_SINGLE 0x01 // default |
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102 | #define MODE_IDLE 0x02 |
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103 | #define MODE_SLEEP 0x03 |
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104 | |||
242 | killagreg | 105 | // bit mask for rate |
253 | killagreg | 106 | #define CRA_RATE_MASK 0x1C |
107 | |||
108 | // bit mask for gain |
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109 | #define CRB_GAIN_MASK 0xE0 |
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110 | |||
111 | // ids |
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112 | #define MAG_IDA 0x48 |
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113 | #define MAG_IDB 0x34 |
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114 | #define MAG_IDC 0x33 |
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115 | |||
116 | // the special HMC5843 interface |
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117 | // bit mask for rate |
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242 | killagreg | 118 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
119 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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120 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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121 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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122 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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123 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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124 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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125 | // bit mask for gain |
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126 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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127 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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128 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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129 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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130 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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131 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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132 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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133 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 134 | // self test value |
135 | #define HMC5843_TEST_XSCALE 715 |
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136 | #define HMC5843_TEST_YSCALE 715 |
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137 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 138 | |
139 | |||
253 | killagreg | 140 | // the special LSM302DLH interface |
141 | // bit mask for rate |
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142 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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143 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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144 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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145 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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146 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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147 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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148 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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149 | // bit mask for gain |
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150 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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151 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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152 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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153 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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154 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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155 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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156 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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157 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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158 | // self test value |
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159 | #define LSM303DLH_TEST_XSCALE 655 |
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160 | #define LSM303DLH_TEST_YSCALE 655 |
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161 | #define LSM303DLH_TEST_ZSCALE 630 |
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162 | |||
163 | // the i2c ACC interface |
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164 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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165 | // register mapping |
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166 | #define REG_ACC_CTRL1 0x20 |
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167 | #define REG_ACC_CTRL2 0x21 |
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168 | #define REG_ACC_CTRL3 0x22 |
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169 | #define REG_ACC_CTRL4 0x23 |
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170 | #define REG_ACC_CTRL5 0x24 |
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171 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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172 | #define REG_ACC_REFERENCE 0x26 |
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173 | #define REG_ACC_STATUS 0x27 |
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174 | #define REG_ACC_X_LSB 0x28 |
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175 | #define REG_ACC_X_MSB 0x29 |
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176 | #define REG_ACC_Y_LSB 0x2A |
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177 | #define REG_ACC_Y_MSB 0x2B |
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178 | #define REG_ACC_Z_LSB 0x2C |
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179 | #define REG_ACC_Z_MSB 0x2D |
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180 | |||
181 | |||
182 | |||
242 | killagreg | 183 | typedef struct |
184 | { |
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253 | killagreg | 185 | u8 A; |
186 | u8 B; |
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187 | u8 C; |
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188 | } __attribute__((packed)) Identification_t; |
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242 | killagreg | 189 | |
253 | killagreg | 190 | volatile Identification_t NCMAG_Identification; |
242 | killagreg | 191 | |
253 | killagreg | 192 | typedef struct |
193 | { |
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194 | u8 cra; |
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195 | u8 crb; |
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196 | u8 mode; |
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197 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 198 | |
253 | killagreg | 199 | volatile MagConfig_t MagConfig; |
242 | killagreg | 200 | |
253 | killagreg | 201 | typedef struct |
202 | { |
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203 | u8 ctrl_1; |
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204 | u8 ctrl_2; |
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205 | u8 ctrl_3; |
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206 | u8 ctrl_4; |
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207 | u8 ctrl_5; |
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208 | } __attribute__((packed)) AccConfig_t; |
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209 | |||
210 | volatile AccConfig_t AccConfig; |
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211 | |||
212 | volatile s16vec_t AccVector; |
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213 | |||
214 | |||
242 | killagreg | 215 | // ---------- call back handlers ----------------------------------------- |
216 | |||
217 | // rx data handler for id info request |
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253 | killagreg | 218 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
242 | killagreg | 219 | { // if number of byte are matching |
253 | killagreg | 220 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 221 | { |
253 | killagreg | 222 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
223 | } |
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242 | killagreg | 224 | } |
225 | |||
226 | // rx data handler for mag vector request |
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253 | killagreg | 227 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
242 | killagreg | 228 | { // if number of byte are matching |
229 | if(RxBufferSize == sizeof(MagVector) ) |
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243 | killagreg | 230 | { // byte order from big to little endian |
242 | killagreg | 231 | MagVector.X = pRxBuffer[0]<<8; |
232 | MagVector.X+= pRxBuffer[1]; |
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233 | MagVector.Y = pRxBuffer[2]<<8; |
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234 | MagVector.Y+= pRxBuffer[3]; |
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235 | MagVector.Z = pRxBuffer[4]<<8; |
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253 | killagreg | 236 | MagVector.Z+= pRxBuffer[5]; |
242 | killagreg | 237 | } |
238 | // tbd. calculate heading from mag vector and attitude |
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253 | killagreg | 239 | CompassHeading = 50; // tbd. |
242 | killagreg | 240 | } |
241 | |||
253 | killagreg | 242 | // rx data handler for acc vector request |
243 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
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244 | { // if number of byte are matching |
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245 | if(RxBufferSize == sizeof(AccVector) ) |
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246 | { |
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247 | memcpy((u8*)&AccVector, pRxBuffer,sizeof(AccVector)); |
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248 | } |
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249 | } |
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242 | killagreg | 250 | |
253 | killagreg | 251 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
252 | { // if number of byte are matching |
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253 | if(RxBufferSize == sizeof(MagConfig) ) |
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254 | { |
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255 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
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256 | } |
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257 | } |
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258 | |||
259 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
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260 | { // if number of byte are matching |
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261 | if(RxBufferSize == sizeof(AccConfig) ) |
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262 | { |
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263 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
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264 | } |
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265 | } |
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266 | |||
242 | killagreg | 267 | // ---------------------------------------------------------------------------------------- |
253 | killagreg | 268 | u8 NCMAG_SetMagConfig(void) |
269 | { |
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270 | u8 retval = 0; |
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271 | // try to catch the i2c buffer within 100 ms timeout |
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272 | if(I2C_LockBuffer(100)) |
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273 | { |
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274 | u8 TxBytes = 0; |
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275 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
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276 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
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277 | TxBytes += sizeof(MagConfig); |
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278 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
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279 | { |
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280 | if(I2C_WaitForEndOfTransmission(100)) |
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281 | { |
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282 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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283 | } |
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284 | } |
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285 | } |
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286 | return(retval); |
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287 | } |
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242 | killagreg | 288 | |
253 | killagreg | 289 | // ---------------------------------------------------------------------------------------- |
290 | u8 NCMAG_GetMagConfig(void) |
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242 | killagreg | 291 | { |
253 | killagreg | 292 | u8 retval = 0; |
252 | killagreg | 293 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 294 | if(I2C_LockBuffer(100)) |
242 | killagreg | 295 | { |
253 | killagreg | 296 | u8 TxBytes = 0; |
297 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
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298 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
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248 | killagreg | 299 | { |
252 | killagreg | 300 | if(I2C_WaitForEndOfTransmission(100)) |
301 | { |
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302 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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303 | } |
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248 | killagreg | 304 | } |
242 | killagreg | 305 | } |
253 | killagreg | 306 | return(retval); |
242 | killagreg | 307 | } |
308 | |||
309 | // ---------------------------------------------------------------------------------------- |
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253 | killagreg | 310 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 311 | { |
252 | killagreg | 312 | u8 retval = 0; |
253 | killagreg | 313 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 314 | if(I2C_LockBuffer(100)) |
242 | killagreg | 315 | { |
253 | killagreg | 316 | u8 TxBytes = 0; |
317 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
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318 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
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319 | TxBytes += sizeof(AccConfig); |
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320 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
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321 | { |
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322 | if(I2C_WaitForEndOfTransmission(100)) |
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323 | { |
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324 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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325 | } |
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326 | } |
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327 | } |
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328 | return(retval); |
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329 | } |
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330 | |||
331 | // ---------------------------------------------------------------------------------------- |
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332 | u8 NCMAG_GetAccConfig(void) |
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333 | { |
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334 | u8 retval = 0; |
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335 | // try to catch the i2c buffer within 100 ms timeout |
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336 | if(I2C_LockBuffer(100)) |
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337 | { |
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338 | u8 TxBytes = 0; |
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339 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
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340 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
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341 | { |
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342 | if(I2C_WaitForEndOfTransmission(100)) |
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343 | { |
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344 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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345 | } |
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346 | } |
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347 | } |
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348 | return(retval); |
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349 | } |
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350 | |||
351 | // ---------------------------------------------------------------------------------------- |
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352 | u8 NCMAG_GetIdentification(void) |
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353 | { |
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354 | u8 retval = 0; |
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355 | // try to catch the i2c buffer within 100 ms timeout |
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356 | if(I2C_LockBuffer(100)) |
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357 | { |
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358 | u16 TxBytes = 0; |
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359 | NCMAG_Identification.A = 0xFF; |
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360 | NCMAG_Identification.B = 0xFF; |
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361 | NCMAG_Identification.C = 0xFF; |
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362 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
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248 | killagreg | 363 | // initiate transmission |
253 | killagreg | 364 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 365 | { |
253 | killagreg | 366 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 367 | { |
368 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
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369 | } |
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248 | killagreg | 370 | } |
242 | killagreg | 371 | } |
253 | killagreg | 372 | return(retval); |
242 | killagreg | 373 | } |
374 | |||
253 | killagreg | 375 | // ---------------------------------------------------------------------------------------- |
376 | void NCMAG_GetMagVector(void) |
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377 | { |
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378 | // try to catch the I2C buffer within 0 ms |
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379 | if(I2C_LockBuffer(0)) |
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380 | { |
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381 | u16 TxBytes = 0; |
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382 | // set register pointer |
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383 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
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384 | // initiate transmission |
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385 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
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386 | } |
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387 | } |
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388 | |||
242 | killagreg | 389 | //---------------------------------------------------------------- |
253 | killagreg | 390 | void NCMAG_GetAccVector(void) |
243 | killagreg | 391 | { |
252 | killagreg | 392 | // try to catch the I2C buffer within 0 ms |
393 | if(I2C_LockBuffer(0)) |
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243 | killagreg | 394 | { |
248 | killagreg | 395 | u16 TxBytes = 0; |
243 | killagreg | 396 | // set register pointer |
253 | killagreg | 397 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 398 | // initiate transmission |
253 | killagreg | 399 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccVector)); |
243 | killagreg | 400 | } |
401 | } |
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402 | |||
253 | killagreg | 403 | // -------------------------------------------------------- |
404 | void NCMAG_UpdateCompass(void) |
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243 | killagreg | 405 | { |
406 | static u32 TimerCompassUpdate = 0; |
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407 | |||
253 | killagreg | 408 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) return; |
409 | |||
243 | killagreg | 410 | if(CheckDelay(TimerCompassUpdate)) |
411 | { |
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412 | // check for incomming compass calibration request |
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413 | // update CalByte from spi input queue |
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414 | /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
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415 | // send new calstate |
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416 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
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417 | { |
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418 | do the calibration here |
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419 | } |
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420 | else // request current heading */ |
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421 | { |
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253 | killagreg | 422 | NCMAG_GetMagVector(); |
423 | } |
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243 | killagreg | 424 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
425 | } |
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426 | } |
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427 | |||
253 | killagreg | 428 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 429 | { |
253 | killagreg | 430 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
243 | killagreg | 431 | u32 time; |
253 | killagreg | 432 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
433 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
434 | u8 crb_gain, cra_rate; |
||
435 | u8 i = 0, retval = 1; |
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243 | killagreg | 436 | |
253 | killagreg | 437 | switch(NCMAG_MagType) |
438 | { |
||
439 | case MAG_TYPE_HMC5843: |
||
440 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
441 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
442 | xscale = HMC5843_TEST_XSCALE; |
||
443 | yscale = HMC5843_TEST_YSCALE; |
||
444 | zscale = HMC5843_TEST_ZSCALE; |
||
445 | break; |
||
446 | |||
447 | case MAG_TYPE_LSM303DLH: |
||
448 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
449 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
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450 | xscale = LSM303DLH_TEST_XSCALE; |
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451 | yscale = LSM303DLH_TEST_YSCALE; |
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452 | zscale = LSM303DLH_TEST_ZSCALE; |
||
453 | break; |
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454 | |||
455 | default: |
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456 | return(0); |
||
457 | } |
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458 | |||
459 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
460 | MagConfig.crb = crb_gain; |
||
461 | MagConfig.mode = MODE_CONTINUOUS; |
||
462 | // activate positive bias field |
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463 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 464 | // wait for stable readings |
465 | time = SetDelay(50); |
||
466 | while(!CheckDelay(time)); |
||
243 | killagreg | 467 | // averaging |
253 | killagreg | 468 | #define AVERAGE 20 |
469 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 470 | { |
253 | killagreg | 471 | NCMAG_GetMagVector(); |
243 | killagreg | 472 | time = SetDelay(20); |
473 | while(!CheckDelay(time)); |
||
474 | XMax += MagVector.X; |
||
475 | YMax += MagVector.Y; |
||
253 | killagreg | 476 | ZMax += MagVector.Z; |
243 | killagreg | 477 | } |
253 | killagreg | 478 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
479 | // activate positive bias field |
||
480 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 481 | // wait for stable readings |
482 | time = SetDelay(50); |
||
483 | while(!CheckDelay(time)); |
||
243 | killagreg | 484 | // averaging |
253 | killagreg | 485 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 486 | { |
253 | killagreg | 487 | NCMAG_GetMagVector(); |
243 | killagreg | 488 | time = SetDelay(20); |
489 | while(!CheckDelay(time)); |
||
490 | XMin += MagVector.X; |
||
491 | YMin += MagVector.Y; |
||
253 | killagreg | 492 | ZMin += MagVector.Z; |
243 | killagreg | 493 | } |
494 | // setup final configuration |
||
253 | killagreg | 495 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
496 | // activate positive bias field |
||
497 | NCMAG_SetMagConfig(); |
||
243 | killagreg | 498 | // prepare scale limits |
253 | killagreg | 499 | LIMITS(xscale, scale_min, scale_max); |
243 | killagreg | 500 | // check scale for all axes |
253 | killagreg | 501 | xscale = (XMax - XMin)/(2*AVERAGE); |
502 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
||
503 | LIMITS(yscale, scale_min, scale_max); |
||
504 | yscale = (YMax - YMin)/(2*AVERAGE); |
||
505 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
||
506 | LIMITS(zscale, scale_min, scale_max); |
||
507 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
||
508 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
||
509 | return(retval); |
||
243 | killagreg | 510 | } |
511 | |||
512 | |||
513 | //---------------------------------------------------------------- |
||
253 | killagreg | 514 | u8 NCMAG_Init(void) |
242 | killagreg | 515 | { |
516 | u8 msg[64]; |
||
252 | killagreg | 517 | u8 retval = 0; |
242 | killagreg | 518 | u8 repeat; |
519 | |||
253 | killagreg | 520 | NCMAG_Present = 0; |
521 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
522 | // polling for LSM302DLH option |
||
523 | repeat = 0; |
||
524 | do |
||
525 | { |
||
526 | retval = NCMAG_GetAccConfig(); |
||
527 | if(retval) break; // break loop on success |
||
528 | UART1_PutString("."); |
||
529 | repeat++; |
||
530 | }while(repeat < 3); |
||
531 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 532 | // polling of identification |
533 | repeat = 0; |
||
534 | do |
||
535 | { |
||
253 | killagreg | 536 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 537 | if(retval) break; // break loop on success |
242 | killagreg | 538 | UART1_PutString("."); |
539 | repeat++; |
||
252 | killagreg | 540 | }while(repeat < 12); |
253 | killagreg | 541 | // if we got an answer to id request |
252 | killagreg | 542 | if(retval) |
242 | killagreg | 543 | { |
253 | killagreg | 544 | u8 n1[] = "HMC5843"; |
545 | u8 n2[] = "LSM303DLH"; |
||
546 | u8* pn; |
||
547 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
||
548 | else pn = n1; |
||
549 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
||
242 | killagreg | 550 | UART1_PutString(msg); |
253 | killagreg | 551 | if ( (NCMAG_Identification.A == MAG_IDA) |
552 | && (NCMAG_Identification.B == MAG_IDB) |
||
553 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 554 | { |
253 | killagreg | 555 | if(!NCMAG_SelfTest()) |
243 | killagreg | 556 | { |
253 | killagreg | 557 | UART1_PutString(" Selftest failed!"); |
243 | killagreg | 558 | LED_RED_ON; |
559 | } |
||
253 | killagreg | 560 | else NCMAG_Present = 1; |
242 | killagreg | 561 | } |
562 | else |
||
563 | { |
||
253 | killagreg | 564 | UART1_PutString("\n\r not compatible!"); |
242 | killagreg | 565 | LED_RED_ON; |
566 | } |
||
567 | } |
||
253 | killagreg | 568 | else // nothing found |
569 | { |
||
570 | NCMAG_MagType = MAG_TYPE_NONE; |
||
571 | UART1_PutString("not found!"); |
||
572 | } |
||
573 | return(NCMAG_Present); |
||
242 | killagreg | 574 | } |
575 |