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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" |
465 | ingob | 62 | #include "i2c0.h" |
63 | |||
242 | killagreg | 64 | #include "timer1.h" |
65 | #include "led.h" |
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66 | #include "uart1.h" |
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254 | killagreg | 67 | #include "eeprom.h" |
256 | killagreg | 68 | #include "mymath.h" |
292 | killagreg | 69 | #include "main.h" |
454 | holgerb | 70 | #include "spi_slave.h" |
242 | killagreg | 71 | |
253 | killagreg | 72 | u8 NCMAG_Present = 0; |
254 | killagreg | 73 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 74 | |
465 | ingob | 75 | u8 *I2C_BufferPnt; |
76 | u8 *I2C_ErrorPnt; |
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77 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
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78 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
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79 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
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80 | |||
81 | |||
394 | killagreg | 82 | // supported magnetic sensor types |
83 | #define TYPE_NONE 0 |
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84 | #define TYPE_HMC5843 1 |
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85 | #define TYPE_LSM303DLH 2 |
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86 | #define TYPE_LSM303DLM 3 |
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242 | killagreg | 87 | |
394 | killagreg | 88 | u8 NCMAG_SensorType = TYPE_NONE; |
89 | |||
90 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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338 | holgerb | 91 | #define CALIBRATION_VERSION 1 |
394 | killagreg | 92 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
254 | killagreg | 93 | |
256 | killagreg | 94 | #define NCMAG_MIN_RAWVALUE -2047 |
95 | #define NCMAG_MAX_RAWVALUE 2047 |
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96 | #define NCMAG_INVALID_DATA -4096 |
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97 | |||
254 | killagreg | 98 | typedef struct |
99 | { |
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100 | s16 Range; |
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101 | s16 Offset; |
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256 | killagreg | 102 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 103 | |
104 | typedef struct |
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105 | { |
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106 | Scaling_t MagX; |
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107 | Scaling_t MagY; |
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108 | Scaling_t MagZ; |
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109 | u8 Version; |
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110 | u8 crc; |
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256 | killagreg | 111 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 112 | |
113 | Calibration_t Calibration; // calibration data in RAM |
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339 | holgerb | 114 | volatile s16vec_t AccRawVector; |
115 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 116 | |
253 | killagreg | 117 | // i2c MAG interface |
118 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 119 | |
253 | killagreg | 120 | // register mapping |
121 | #define REG_MAG_CRA 0x00 |
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122 | #define REG_MAG_CRB 0x01 |
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123 | #define REG_MAG_MODE 0x02 |
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124 | #define REG_MAG_DATAX_MSB 0x03 |
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125 | #define REG_MAG_DATAX_LSB 0x04 |
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126 | #define REG_MAG_DATAY_MSB 0x05 |
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127 | #define REG_MAG_DATAY_LSB 0x06 |
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128 | #define REG_MAG_DATAZ_MSB 0x07 |
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129 | #define REG_MAG_DATAZ_LSB 0x08 |
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130 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 131 | |
253 | killagreg | 132 | #define REG_MAG_IDA 0x0A |
133 | #define REG_MAG_IDB 0x0B |
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134 | #define REG_MAG_IDC 0x0C |
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394 | killagreg | 135 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 136 | |
253 | killagreg | 137 | // bit mask for configuration mode |
138 | #define CRA_MODE_MASK 0x03 |
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139 | #define CRA_MODE_NORMAL 0x00 //default |
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140 | #define CRA_MODE_POSBIAS 0x01 |
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141 | #define CRA_MODE_NEGBIAS 0x02 |
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142 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 143 | |
253 | killagreg | 144 | // bit mask for measurement mode |
145 | #define MODE_MASK 0xFF |
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146 | #define MODE_CONTINUOUS 0x00 |
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147 | #define MODE_SINGLE 0x01 // default |
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148 | #define MODE_IDLE 0x02 |
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149 | #define MODE_SLEEP 0x03 |
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150 | |||
242 | killagreg | 151 | // bit mask for rate |
253 | killagreg | 152 | #define CRA_RATE_MASK 0x1C |
153 | |||
154 | // bit mask for gain |
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155 | #define CRB_GAIN_MASK 0xE0 |
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156 | |||
157 | // ids |
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158 | #define MAG_IDA 0x48 |
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159 | #define MAG_IDB 0x34 |
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160 | #define MAG_IDC 0x33 |
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394 | killagreg | 161 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 162 | |
163 | // the special HMC5843 interface |
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164 | // bit mask for rate |
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242 | killagreg | 165 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
166 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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167 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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168 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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169 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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170 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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171 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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172 | // bit mask for gain |
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173 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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174 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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339 | holgerb | 175 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 176 | #define HMC5843_CRB_GAIN_20GA 0x60 |
177 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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178 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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179 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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180 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 181 | // self test value |
339 | holgerb | 182 | #define HMC5843_TEST_XSCALE 555 |
183 | #define HMC5843_TEST_YSCALE 555 |
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184 | #define HMC5843_TEST_ZSCALE 555 |
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394 | killagreg | 185 | // calibration range |
342 | holgerb | 186 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 187 | |
253 | killagreg | 188 | // the special LSM302DLH interface |
189 | // bit mask for rate |
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190 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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191 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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192 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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193 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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194 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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195 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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196 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 197 | |
253 | killagreg | 198 | // bit mask for gain |
199 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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200 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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339 | holgerb | 201 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 202 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
203 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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204 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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205 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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206 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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394 | killagreg | 207 | |
208 | typedef struct |
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209 | { |
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210 | u8 A; |
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211 | u8 B; |
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212 | u8 C; |
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213 | } __attribute__((packed)) Identification_t; |
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214 | volatile Identification_t NCMAG_Identification; |
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215 | |||
216 | typedef struct |
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217 | { |
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218 | u8 Sub; |
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219 | } __attribute__((packed)) Identification2_t; |
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220 | volatile Identification2_t NCMAG_Identification2; |
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221 | |||
222 | typedef struct |
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223 | { |
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224 | u8 cra; |
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225 | u8 crb; |
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226 | u8 mode; |
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227 | } __attribute__((packed)) MagConfig_t; |
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228 | |||
229 | volatile MagConfig_t MagConfig; |
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230 | |||
231 | |||
465 | ingob | 232 | |
233 | |||
234 | |||
253 | killagreg | 235 | // self test value |
338 | holgerb | 236 | #define LSM303DLH_TEST_XSCALE 495 |
237 | #define LSM303DLH_TEST_YSCALE 495 |
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238 | #define LSM303DLH_TEST_ZSCALE 470 |
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339 | holgerb | 239 | // clibration range |
342 | holgerb | 240 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 241 | |
242 | // the i2c ACC interface |
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243 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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394 | killagreg | 244 | |
245 | // multiple byte read/write mask |
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246 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
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247 | |||
253 | killagreg | 248 | // register mapping |
249 | #define REG_ACC_CTRL1 0x20 |
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250 | #define REG_ACC_CTRL2 0x21 |
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251 | #define REG_ACC_CTRL3 0x22 |
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252 | #define REG_ACC_CTRL4 0x23 |
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253 | #define REG_ACC_CTRL5 0x24 |
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254 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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255 | #define REG_ACC_REFERENCE 0x26 |
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256 | #define REG_ACC_STATUS 0x27 |
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257 | #define REG_ACC_X_LSB 0x28 |
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258 | #define REG_ACC_X_MSB 0x29 |
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259 | #define REG_ACC_Y_LSB 0x2A |
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260 | #define REG_ACC_Y_MSB 0x2B |
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261 | #define REG_ACC_Z_LSB 0x2C |
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262 | #define REG_ACC_Z_MSB 0x2D |
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263 | |||
394 | killagreg | 264 | #define ACC_CRTL1_PM_DOWN 0x00 |
265 | #define ACC_CRTL1_PM_NORMAL 0x20 |
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266 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
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267 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
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268 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
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269 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
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270 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
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271 | // Output data rate in normal power mode |
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272 | #define ACC_CRTL1_DR_50HZ 0x00 |
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273 | #define ACC_CRTL1_DR_100HZ 0x08 |
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274 | #define ACC_CRTL1_DR_400HZ 0x10 |
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275 | #define ACC_CRTL1_DR_1000HZ 0x18 |
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276 | // axis anable flags |
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277 | #define ACC_CRTL1_XEN 0x01 |
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278 | #define ACC_CRTL1_YEN 0x02 |
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279 | #define ACC_CRTL1_ZEN 0x04 |
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253 | killagreg | 280 | |
397 | holgerb | 281 | #define ACC_CRTL2_FILTER8 0x10 |
282 | #define ACC_CRTL2_FILTER16 0x11 |
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283 | #define ACC_CRTL2_FILTER32 0x12 |
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284 | #define ACC_CRTL2_FILTER64 0x13 |
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395 | holgerb | 285 | |
394 | killagreg | 286 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
287 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
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288 | #define ACC_CTRL4_FS_2G 0x00 |
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289 | #define ACC_CTRL4_FS_4G 0x10 |
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290 | #define ACC_CTRL4_FS_8G 0x30 |
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291 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
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292 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
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293 | #define ACC_CTRL4_ST_ENABLE 0x02 |
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253 | killagreg | 294 | |
394 | killagreg | 295 | #define ACC_CTRL5_STW_ON 0x03 |
296 | #define ACC_CTRL5_STW_OFF 0x00 |
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242 | killagreg | 297 | |
253 | killagreg | 298 | typedef struct |
299 | { |
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300 | u8 ctrl_1; |
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301 | u8 ctrl_2; |
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302 | u8 ctrl_3; |
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303 | u8 ctrl_4; |
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304 | u8 ctrl_5; |
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305 | } __attribute__((packed)) AccConfig_t; |
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306 | |||
307 | volatile AccConfig_t AccConfig; |
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308 | |||
254 | killagreg | 309 | u8 NCMag_CalibrationWrite(void) |
310 | { |
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394 | killagreg | 311 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 312 | EEPROM_Result_t eres; |
313 | u8 *pBuff = (u8*)&Calibration; |
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314 | |||
315 | Calibration.Version = CALIBRATION_VERSION; |
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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 | Calibration.crc = ~crc; |
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321 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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322 | if(EEPROM_SUCCESS == eres) i = 1; |
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323 | else i = 0; |
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324 | return(i); |
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325 | } |
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326 | |||
327 | u8 NCMag_CalibrationRead(void) |
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328 | { |
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394 | killagreg | 329 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 330 | u8 *pBuff = (u8*)&Calibration; |
331 | |||
332 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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333 | { |
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256 | killagreg | 334 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 335 | { |
336 | crc += pBuff[i]; |
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337 | } |
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338 | crc = ~crc; |
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339 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 340 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 341 | } |
342 | return(0); |
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343 | } |
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344 | |||
345 | |||
346 | void NCMAG_Calibrate(void) |
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347 | { |
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330 | holgerb | 348 | u8 msg[64]; |
454 | holgerb | 349 | static u8 speak = 0; |
254 | killagreg | 350 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 351 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 352 | static u8 OldCalState = 0; |
394 | killagreg | 353 | s16 MinCalibration = 450; |
254 | killagreg | 354 | |
256 | killagreg | 355 | X = (4*X + MagRawVector.X + 3)/5; |
356 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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357 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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358 | |||
254 | killagreg | 359 | switch(Compass_CalState) |
360 | { |
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361 | case 1: |
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362 | // 1st step of calibration |
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363 | // initialize ranges |
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364 | // used to change the orientation of the NC in the horizontal plane |
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365 | Xmin = 10000; |
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366 | Xmax = -10000; |
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367 | Ymin = 10000; |
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368 | Ymax = -10000; |
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369 | Zmin = 10000; |
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370 | Zmax = -10000; |
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454 | holgerb | 371 | speak = 1; |
254 | killagreg | 372 | break; |
373 | |||
374 | case 2: // 2nd step of calibration |
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375 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 376 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
377 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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378 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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379 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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454 | holgerb | 380 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 381 | break; |
382 | |||
383 | case 3: // 3rd step of calibration |
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384 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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454 | holgerb | 385 | speak = 1; |
254 | killagreg | 386 | break; |
387 | |||
388 | case 4: |
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389 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 390 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
391 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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454 | holgerb | 392 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 393 | break; |
394 | |||
395 | case 5: |
||
396 | // Save values |
||
397 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
398 | { |
||
394 | killagreg | 399 | switch(NCMAG_SensorType) |
400 | { |
||
401 | case TYPE_HMC5843: |
||
402 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
||
403 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
404 | break; |
||
405 | |||
406 | case TYPE_LSM303DLH: |
||
407 | case TYPE_LSM303DLM: |
||
408 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
||
409 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
410 | break; |
||
411 | } |
||
342 | holgerb | 412 | if(EarthMagneticStrengthTheoretic) |
413 | { |
||
394 | killagreg | 414 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
342 | holgerb | 415 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
416 | UART1_PutString(msg); |
||
417 | } |
||
418 | else UART1_PutString("without GPS\n\r"); |
||
339 | holgerb | 419 | |
254 | killagreg | 420 | Calibration.MagX.Range = Xmax - Xmin; |
421 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
422 | Calibration.MagY.Range = Ymax - Ymin; |
||
423 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
424 | Calibration.MagZ.Range = Zmax - Zmin; |
||
425 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
394 | killagreg | 426 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 427 | { |
428 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
||
270 | killagreg | 429 | BeepTime = 2500; |
342 | holgerb | 430 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
454 | holgerb | 431 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 432 | } |
433 | else |
||
434 | { |
||
454 | holgerb | 435 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 436 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 437 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
438 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
439 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 440 | UART1_PutString("\r\n"); |
339 | holgerb | 441 | |
254 | killagreg | 442 | // restore old calibration data from eeprom |
443 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
444 | } |
||
330 | holgerb | 445 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
446 | UART1_PutString(msg); |
||
447 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
448 | UART1_PutString(msg); |
||
449 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
450 | UART1_PutString(msg); |
||
394 | killagreg | 451 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 452 | UART1_PutString(msg); |
254 | killagreg | 453 | } |
454 | break; |
||
455 | |||
456 | default: |
||
457 | break; |
||
458 | } |
||
459 | OldCalState = Compass_CalState; |
||
460 | } |
||
461 | |||
242 | killagreg | 462 | // ---------- call back handlers ----------------------------------------- |
463 | |||
464 | // rx data handler for id info request |
||
253 | killagreg | 465 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 466 | { // if number of bytes are matching |
253 | killagreg | 467 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 468 | { |
253 | killagreg | 469 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
470 | } |
||
242 | killagreg | 471 | } |
329 | holgerb | 472 | |
473 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
474 | { // if number of bytes are matching |
||
475 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
476 | { |
||
477 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
478 | } |
||
479 | } |
||
480 | |||
254 | killagreg | 481 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 482 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 483 | { // if number of bytes are matching |
484 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 485 | { // byte order from big to little endian |
256 | killagreg | 486 | s16 raw; |
487 | raw = pRxBuffer[0]<<8; |
||
488 | raw+= pRxBuffer[1]; |
||
489 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
||
490 | raw = pRxBuffer[2]<<8; |
||
491 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 492 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
493 | { |
||
394 | killagreg | 494 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
495 | else MagRawVector.Y = raw; |
||
330 | holgerb | 496 | } |
256 | killagreg | 497 | raw = pRxBuffer[4]<<8; |
498 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 499 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
500 | { |
||
394 | killagreg | 501 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
502 | else MagRawVector.Z = raw; |
||
330 | holgerb | 503 | } |
242 | killagreg | 504 | } |
254 | killagreg | 505 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 506 | { // mark out data invalid |
289 | killagreg | 507 | MagVector.X = MagRawVector.X; |
508 | MagVector.Y = MagRawVector.Y; |
||
509 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 510 | Compass_Heading = -1; |
511 | } |
||
512 | else |
||
513 | { |
||
514 | // update MagVector from MagRaw Vector by Scaling |
||
515 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
516 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
517 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 518 | Compass_CalcHeading(); |
254 | killagreg | 519 | } |
242 | killagreg | 520 | } |
254 | killagreg | 521 | // rx data handler for acceleration raw data |
253 | killagreg | 522 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
523 | { // if number of byte are matching |
||
397 | holgerb | 524 | static s32 filter_z; |
254 | killagreg | 525 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 526 | { |
254 | killagreg | 527 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 528 | } |
416 | holgerb | 529 | // DebugOut.Analog[16] = AccRawVector.X; |
530 | // DebugOut.Analog[17] = AccRawVector.Y; |
||
531 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
||
397 | holgerb | 532 | |
416 | holgerb | 533 | // DebugOut.Analog[18] = filter_z; |
534 | // DebugOut.Analog[19] = AccRawVector.Z; |
||
253 | killagreg | 535 | } |
254 | killagreg | 536 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 537 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
538 | { // if number of byte are matching |
||
539 | if(RxBufferSize == sizeof(MagConfig) ) |
||
540 | { |
||
541 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
542 | } |
||
543 | } |
||
254 | killagreg | 544 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 545 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
546 | { // if number of byte are matching |
||
547 | if(RxBufferSize == sizeof(AccConfig) ) |
||
548 | { |
||
549 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
550 | } |
||
551 | } |
||
254 | killagreg | 552 | //---------------------------------------------------------------------- |
253 | killagreg | 553 | |
254 | killagreg | 554 | |
555 | // --------------------------------------------------------------------- |
||
253 | killagreg | 556 | u8 NCMAG_SetMagConfig(void) |
557 | { |
||
558 | u8 retval = 0; |
||
559 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 560 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 561 | { |
562 | u8 TxBytes = 0; |
||
465 | ingob | 563 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
564 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 565 | TxBytes += sizeof(MagConfig); |
465 | ingob | 566 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
253 | killagreg | 567 | { |
465 | ingob | 568 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 569 | { |
465 | ingob | 570 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 571 | } |
572 | } |
||
573 | } |
||
574 | return(retval); |
||
575 | } |
||
242 | killagreg | 576 | |
253 | killagreg | 577 | // ---------------------------------------------------------------------------------------- |
578 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 579 | { |
253 | killagreg | 580 | u8 retval = 0; |
252 | killagreg | 581 | // try to catch the i2c buffer within 100 ms timeout |
465 | ingob | 582 | if(I2C_LockBufferFunc(100)) |
242 | killagreg | 583 | { |
253 | killagreg | 584 | u8 TxBytes = 0; |
465 | ingob | 585 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
586 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 587 | { |
465 | ingob | 588 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
252 | killagreg | 589 | { |
465 | ingob | 590 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 591 | } |
248 | killagreg | 592 | } |
242 | killagreg | 593 | } |
253 | killagreg | 594 | return(retval); |
242 | killagreg | 595 | } |
596 | |||
597 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 598 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 599 | { |
252 | killagreg | 600 | u8 retval = 0; |
253 | killagreg | 601 | // try to catch the i2c buffer within 100 ms timeout |
465 | ingob | 602 | if(I2C_LockBufferFunc(100)) |
242 | killagreg | 603 | { |
253 | killagreg | 604 | u8 TxBytes = 0; |
465 | ingob | 605 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
606 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 607 | TxBytes += sizeof(AccConfig); |
465 | ingob | 608 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
253 | killagreg | 609 | { |
465 | ingob | 610 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 611 | { |
465 | ingob | 612 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 613 | } |
614 | } |
||
615 | } |
||
616 | return(retval); |
||
617 | } |
||
618 | |||
619 | // ---------------------------------------------------------------------------------------- |
||
620 | u8 NCMAG_GetAccConfig(void) |
||
621 | { |
||
622 | u8 retval = 0; |
||
623 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 624 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 625 | { |
626 | u8 TxBytes = 0; |
||
465 | ingob | 627 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
628 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 629 | { |
465 | ingob | 630 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 631 | { |
465 | ingob | 632 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 633 | } |
634 | } |
||
635 | } |
||
636 | return(retval); |
||
637 | } |
||
638 | |||
639 | // ---------------------------------------------------------------------------------------- |
||
640 | u8 NCMAG_GetIdentification(void) |
||
641 | { |
||
642 | u8 retval = 0; |
||
643 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 644 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 645 | { |
646 | u16 TxBytes = 0; |
||
647 | NCMAG_Identification.A = 0xFF; |
||
648 | NCMAG_Identification.B = 0xFF; |
||
649 | NCMAG_Identification.C = 0xFF; |
||
465 | ingob | 650 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 651 | // initiate transmission |
465 | ingob | 652 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 653 | { |
465 | ingob | 654 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
252 | killagreg | 655 | { |
465 | ingob | 656 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 657 | } |
248 | killagreg | 658 | } |
242 | killagreg | 659 | } |
253 | killagreg | 660 | return(retval); |
242 | killagreg | 661 | } |
662 | |||
329 | holgerb | 663 | u8 NCMAG_GetIdentification_Sub(void) |
664 | { |
||
665 | u8 retval = 0; |
||
666 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 667 | if(I2C_LockBufferFunc(100)) |
329 | holgerb | 668 | { |
669 | u16 TxBytes = 0; |
||
670 | NCMAG_Identification2.Sub = 0xFF; |
||
465 | ingob | 671 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 672 | // initiate transmission |
465 | ingob | 673 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 674 | { |
465 | ingob | 675 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
329 | holgerb | 676 | { |
465 | ingob | 677 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 678 | } |
679 | } |
||
680 | } |
||
681 | return(retval); |
||
682 | } |
||
683 | |||
684 | |||
253 | killagreg | 685 | // ---------------------------------------------------------------------------------------- |
686 | void NCMAG_GetMagVector(void) |
||
687 | { |
||
688 | // try to catch the I2C buffer within 0 ms |
||
465 | ingob | 689 | if(I2C_LockBufferFunc(0)) |
253 | killagreg | 690 | { |
691 | u16 TxBytes = 0; |
||
692 | // set register pointer |
||
465 | ingob | 693 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 694 | // initiate transmission |
465 | ingob | 695 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 696 | } |
697 | } |
||
698 | |||
242 | killagreg | 699 | //---------------------------------------------------------------- |
253 | killagreg | 700 | void NCMAG_GetAccVector(void) |
243 | killagreg | 701 | { |
252 | killagreg | 702 | // try to catch the I2C buffer within 0 ms |
465 | ingob | 703 | if(I2C_LockBufferFunc(0)) |
243 | killagreg | 704 | { |
248 | killagreg | 705 | u16 TxBytes = 0; |
243 | killagreg | 706 | // set register pointer |
465 | ingob | 707 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 708 | // initiate transmission |
465 | ingob | 709 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 710 | } |
711 | } |
||
712 | |||
330 | holgerb | 713 | //---------------------------------------------------------------- |
394 | killagreg | 714 | u8 InitNC_MagnetSensor(void) |
330 | holgerb | 715 | { |
716 | u8 crb_gain, cra_rate; |
||
717 | |||
394 | killagreg | 718 | switch(NCMAG_SensorType) |
330 | holgerb | 719 | { |
394 | killagreg | 720 | case TYPE_HMC5843: |
339 | holgerb | 721 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 722 | cra_rate = HMC5843_CRA_RATE_50HZ; |
723 | break; |
||
724 | |||
394 | killagreg | 725 | case TYPE_LSM303DLH: |
726 | case TYPE_LSM303DLM: |
||
338 | holgerb | 727 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 728 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
729 | break; |
||
730 | |||
731 | default: |
||
394 | killagreg | 732 | return(0); |
330 | holgerb | 733 | } |
734 | |||
735 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
736 | MagConfig.crb = crb_gain; |
||
737 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 738 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 739 | } |
740 | |||
395 | holgerb | 741 | |
394 | killagreg | 742 | //---------------------------------------------------------------- |
743 | u8 NCMAG_Init_ACCSensor(void) |
||
744 | { |
||
395 | holgerb | 745 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
397 | holgerb | 746 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
394 | killagreg | 747 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 748 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 749 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
750 | return(NCMAG_SetAccConfig()); |
||
751 | } |
||
253 | killagreg | 752 | // -------------------------------------------------------- |
292 | killagreg | 753 | void NCMAG_Update(void) |
243 | killagreg | 754 | { |
292 | killagreg | 755 | static u32 TimerUpdate = 0; |
419 | holgerb | 756 | static s8 send_config = 0; |
394 | killagreg | 757 | u32 delay = 20; |
243 | killagreg | 758 | |
254 | killagreg | 759 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
760 | { |
||
761 | Compass_Heading = -1; |
||
326 | holgerb | 762 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 763 | return; |
764 | } |
||
292 | killagreg | 765 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 766 | { |
394 | killagreg | 767 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
768 | if(++send_config == 25) // 500ms |
||
769 | { |
||
419 | holgerb | 770 | send_config = -25; // next try after 1 second |
394 | killagreg | 771 | InitNC_MagnetSensor(); |
419 | holgerb | 772 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 773 | } |
321 | holgerb | 774 | else |
775 | { |
||
398 | holgerb | 776 | // static u8 s = 0; |
394 | killagreg | 777 | // check for new calibration state |
778 | Compass_UpdateCalState(); |
||
779 | if(Compass_CalState) NCMAG_Calibrate(); |
||
780 | |||
781 | // in case of LSM303 type |
||
782 | switch(NCMAG_SensorType) |
||
783 | { |
||
784 | case TYPE_HMC5843: |
||
785 | NCMAG_GetMagVector(); |
||
786 | delay = 20; |
||
787 | break; |
||
788 | case TYPE_LSM303DLH: |
||
789 | case TYPE_LSM303DLM: |
||
397 | holgerb | 790 | NCMAG_GetMagVector(); |
791 | delay = 20; |
||
792 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
||
394 | killagreg | 793 | else { NCMAG_GetAccVector(); s = 1;} |
794 | delay = 10; |
||
397 | holgerb | 795 | */ |
394 | killagreg | 796 | break; |
797 | } |
||
419 | holgerb | 798 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 799 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 800 | } |
243 | killagreg | 801 | } |
802 | } |
||
803 | |||
330 | holgerb | 804 | |
254 | killagreg | 805 | // -------------------------------------------------------- |
253 | killagreg | 806 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 807 | { |
266 | holgerb | 808 | u8 msg[64]; |
275 | killagreg | 809 | static u8 done = 0; |
266 | holgerb | 810 | |
287 | holgerb | 811 | if(done) return(1); // just make it once |
275 | killagreg | 812 | |
271 | holgerb | 813 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 814 | u32 time; |
253 | killagreg | 815 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
816 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
817 | u8 crb_gain, cra_rate; |
||
818 | u8 i = 0, retval = 1; |
||
243 | killagreg | 819 | |
394 | killagreg | 820 | switch(NCMAG_SensorType) |
253 | killagreg | 821 | { |
394 | killagreg | 822 | case TYPE_HMC5843: |
339 | holgerb | 823 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 824 | cra_rate = HMC5843_CRA_RATE_50HZ; |
825 | xscale = HMC5843_TEST_XSCALE; |
||
826 | yscale = HMC5843_TEST_YSCALE; |
||
827 | zscale = HMC5843_TEST_ZSCALE; |
||
828 | break; |
||
829 | |||
394 | killagreg | 830 | case TYPE_LSM303DLH: |
338 | holgerb | 831 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 832 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
833 | xscale = LSM303DLH_TEST_XSCALE; |
||
834 | yscale = LSM303DLH_TEST_YSCALE; |
||
835 | zscale = LSM303DLH_TEST_ZSCALE; |
||
836 | break; |
||
837 | |||
394 | killagreg | 838 | case TYPE_LSM303DLM: |
839 | // does not support self test feature |
||
840 | done = retval; |
||
841 | return(retval); |
||
842 | break; |
||
843 | |||
253 | killagreg | 844 | default: |
394 | killagreg | 845 | return(0); |
253 | killagreg | 846 | } |
847 | |||
848 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
849 | MagConfig.crb = crb_gain; |
||
850 | MagConfig.mode = MODE_CONTINUOUS; |
||
851 | // activate positive bias field |
||
852 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 853 | // wait for stable readings |
854 | time = SetDelay(50); |
||
855 | while(!CheckDelay(time)); |
||
243 | killagreg | 856 | // averaging |
253 | killagreg | 857 | #define AVERAGE 20 |
858 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 859 | { |
253 | killagreg | 860 | NCMAG_GetMagVector(); |
243 | killagreg | 861 | time = SetDelay(20); |
862 | while(!CheckDelay(time)); |
||
254 | killagreg | 863 | XMax += MagRawVector.X; |
864 | YMax += MagRawVector.Y; |
||
865 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 866 | } |
253 | killagreg | 867 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
868 | // activate positive bias field |
||
869 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 870 | // wait for stable readings |
871 | time = SetDelay(50); |
||
872 | while(!CheckDelay(time)); |
||
243 | killagreg | 873 | // averaging |
253 | killagreg | 874 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 875 | { |
253 | killagreg | 876 | NCMAG_GetMagVector(); |
243 | killagreg | 877 | time = SetDelay(20); |
878 | while(!CheckDelay(time)); |
||
254 | killagreg | 879 | XMin += MagRawVector.X; |
880 | YMin += MagRawVector.Y; |
||
881 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 882 | } |
883 | // setup final configuration |
||
253 | killagreg | 884 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
885 | // activate positive bias field |
||
886 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 887 | // check scale for all axes |
243 | killagreg | 888 | // prepare scale limits |
253 | killagreg | 889 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 890 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 891 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 892 | { |
893 | retval = 0; |
||
894 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
895 | UART1_PutString(msg); |
||
896 | } |
||
267 | holgerb | 897 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 898 | yscale = (YMax - YMin)/(2*AVERAGE); |
899 | if((yscale > scale_max) || (yscale < scale_min)) |
||
394 | killagreg | 900 | { |
901 | retval = 0; |
||
902 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
903 | UART1_PutString(msg); |
||
904 | } |
||
267 | holgerb | 905 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 906 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
907 | if((zscale > scale_max) || (zscale < scale_min)) |
||
394 | killagreg | 908 | { |
909 | retval = 0; |
||
910 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
911 | UART1_PutString(msg); |
||
912 | } |
||
275 | killagreg | 913 | done = retval; |
253 | killagreg | 914 | return(retval); |
243 | killagreg | 915 | } |
916 | |||
917 | |||
918 | //---------------------------------------------------------------- |
||
465 | ingob | 919 | void NCMAG_SelectI2CBus(u8 busno) |
920 | { |
||
921 | if (busno == 0) |
||
922 | { |
||
923 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
||
924 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
||
925 | I2C_TransmissionFunc = &I2C0_Transmission; |
||
926 | I2C_BufferPnt = I2C0_Buffer; |
||
927 | I2C_ErrorPnt = &I2C0_Error; |
||
928 | } |
||
929 | else |
||
930 | { |
||
931 | I2C_WaitForEndOfTransmissionFunc = &I2C_WaitForEndOfTransmission; |
||
932 | I2C_LockBufferFunc = &I2C_LockBuffer; |
||
933 | I2C_TransmissionFunc = &I2C_Transmission; |
||
934 | I2C_BufferPnt = I2C_Buffer; |
||
935 | I2C_ErrorPnt = &I2C_Error; |
||
936 | } |
||
937 | } |
||
938 | |||
939 | //---------------------------------------------------------------- |
||
253 | killagreg | 940 | u8 NCMAG_Init(void) |
242 | killagreg | 941 | { |
942 | u8 msg[64]; |
||
252 | killagreg | 943 | u8 retval = 0; |
242 | killagreg | 944 | u8 repeat; |
945 | |||
465 | ingob | 946 | NCMAG_SelectI2CBus(0); |
947 | |||
253 | killagreg | 948 | NCMAG_Present = 0; |
394 | killagreg | 949 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
950 | // polling for LSM302DLH/DLM option by ACC address ack |
||
253 | killagreg | 951 | repeat = 0; |
952 | do |
||
953 | { |
||
954 | retval = NCMAG_GetAccConfig(); |
||
955 | if(retval) break; // break loop on success |
||
465 | ingob | 956 | UART1_PutString("*"); |
253 | killagreg | 957 | repeat++; |
958 | }while(repeat < 3); |
||
394 | killagreg | 959 | if(retval) |
242 | killagreg | 960 | { |
394 | killagreg | 961 | // initialize ACC sensor |
962 | NCMAG_Init_ACCSensor(); |
||
963 | |||
964 | NCMAG_SensorType = TYPE_LSM303DLH; |
||
965 | // polling of sub identification |
||
966 | repeat = 0; |
||
967 | do |
||
968 | { |
||
969 | retval = NCMAG_GetIdentification_Sub(); |
||
970 | if(retval) break; // break loop on success |
||
971 | UART1_PutString("."); |
||
972 | repeat++; |
||
973 | }while(repeat < 12); |
||
974 | if(retval) |
||
975 | { |
||
976 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
977 | } |
||
978 | } |
||
979 | // get id bytes |
||
329 | holgerb | 980 | retval = 0; |
981 | do |
||
982 | { |
||
253 | killagreg | 983 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 984 | if(retval) break; // break loop on success |
465 | ingob | 985 | UART1_PutString("#"); |
242 | killagreg | 986 | repeat++; |
252 | killagreg | 987 | }while(repeat < 12); |
329 | holgerb | 988 | |
253 | killagreg | 989 | // if we got an answer to id request |
252 | killagreg | 990 | if(retval) |
242 | killagreg | 991 | { |
329 | holgerb | 992 | u8 n1[] = "\n\r HMC5843"; |
993 | u8 n2[] = "\n\r LSM303DLH"; |
||
994 | u8 n3[] = "\n\r LSM303DLM"; |
||
394 | killagreg | 995 | u8* pn = n1; |
329 | holgerb | 996 | |
394 | killagreg | 997 | switch(NCMAG_SensorType) |
329 | holgerb | 998 | { |
394 | killagreg | 999 | case TYPE_HMC5843: |
1000 | pn = n1; |
||
1001 | break; |
||
1002 | case TYPE_LSM303DLH: |
||
1003 | pn = n2; |
||
1004 | break; |
||
1005 | case TYPE_LSM303DLM: |
||
1006 | pn = n3; |
||
1007 | break; |
||
329 | holgerb | 1008 | } |
1009 | |||
1010 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 1011 | UART1_PutString(msg); |
253 | killagreg | 1012 | if ( (NCMAG_Identification.A == MAG_IDA) |
1013 | && (NCMAG_Identification.B == MAG_IDB) |
||
1014 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 1015 | { |
268 | killagreg | 1016 | NCMAG_Present = 1; |
329 | holgerb | 1017 | |
1018 | if(EEPROM_Init()) |
||
394 | killagreg | 1019 | { |
1020 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
1021 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
1022 | } |
||
329 | holgerb | 1023 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
394 | killagreg | 1024 | // perform self test |
1025 | if(!NCMAG_SelfTest()) |
||
1026 | { |
||
329 | holgerb | 1027 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1028 | LED_RED_ON; |
||
1029 | NCMAG_IsCalibrated = 0; |
||
394 | killagreg | 1030 | } |
1031 | else UART1_PutString("\r\n Selftest ok"); |
||
1032 | |||
1033 | // initialize magnetic sensor configuration |
||
1034 | InitNC_MagnetSensor(); |
||
242 | killagreg | 1035 | } |
1036 | else |
||
1037 | { |
||
254 | killagreg | 1038 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 1039 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 1040 | LED_RED_ON; |
1041 | } |
||
1042 | } |
||
253 | killagreg | 1043 | else // nothing found |
1044 | { |
||
394 | killagreg | 1045 | NCMAG_SensorType = TYPE_NONE; |
253 | killagreg | 1046 | UART1_PutString("not found!"); |
1047 | } |
||
1048 | return(NCMAG_Present); |
||
242 | killagreg | 1049 | } |
1050 |