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