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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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254 | killagreg | 57 | #include <math.h> |
242 | killagreg | 58 | #include <string.h> |
59 | #include "91x_lib.h" |
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268 | killagreg | 60 | #include "main.h" |
253 | killagreg | 61 | #include "ncmag.h" |
242 | killagreg | 62 | #include "i2c.h" |
63 | #include "timer1.h" |
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64 | #include "led.h" |
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65 | #include "spi_slave.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" |
242 | killagreg | 69 | |
253 | killagreg | 70 | u8 NCMAG_Present = 0; |
254 | killagreg | 71 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 72 | |
253 | killagreg | 73 | #define MAG_TYPE_NONE 0 |
74 | #define MAG_TYPE_HMC5843 1 |
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75 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 77 | |
254 | killagreg | 78 | #define CALIBRATION_VERSION 1 |
79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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80 | |||
256 | killagreg | 81 | #define NCMAG_MIN_RAWVALUE -2047 |
82 | #define NCMAG_MAX_RAWVALUE 2047 |
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83 | #define NCMAG_INVALID_DATA -4096 |
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84 | |||
254 | killagreg | 85 | typedef struct |
86 | { |
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87 | s16 Range; |
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88 | s16 Offset; |
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256 | killagreg | 89 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 90 | |
91 | typedef struct |
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92 | { |
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93 | Scaling_t MagX; |
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94 | Scaling_t MagY; |
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95 | Scaling_t MagZ; |
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96 | u8 Version; |
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97 | u8 crc; |
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256 | killagreg | 98 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 99 | |
100 | Calibration_t Calibration; // calibration data in RAM |
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101 | |||
253 | killagreg | 102 | // i2c MAG interface |
103 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 104 | |
253 | killagreg | 105 | // register mapping |
106 | #define REG_MAG_CRA 0x00 |
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107 | #define REG_MAG_CRB 0x01 |
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108 | #define REG_MAG_MODE 0x02 |
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109 | #define REG_MAG_DATAX_MSB 0x03 |
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110 | #define REG_MAG_DATAX_LSB 0x04 |
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111 | #define REG_MAG_DATAY_MSB 0x05 |
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112 | #define REG_MAG_DATAY_LSB 0x06 |
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113 | #define REG_MAG_DATAZ_MSB 0x07 |
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114 | #define REG_MAG_DATAZ_LSB 0x08 |
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115 | #define REG_MAG_STATUS 0x09 |
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116 | #define REG_MAG_IDA 0x0A |
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117 | #define REG_MAG_IDB 0x0B |
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118 | #define REG_MAG_IDC 0x0C |
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242 | killagreg | 119 | |
253 | killagreg | 120 | // bit mask for configuration mode |
121 | #define CRA_MODE_MASK 0x03 |
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122 | #define CRA_MODE_NORMAL 0x00 //default |
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123 | #define CRA_MODE_POSBIAS 0x01 |
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124 | #define CRA_MODE_NEGBIAS 0x02 |
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125 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 126 | |
253 | killagreg | 127 | // bit mask for measurement mode |
128 | #define MODE_MASK 0xFF |
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129 | #define MODE_CONTINUOUS 0x00 |
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130 | #define MODE_SINGLE 0x01 // default |
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131 | #define MODE_IDLE 0x02 |
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132 | #define MODE_SLEEP 0x03 |
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133 | |||
242 | killagreg | 134 | // bit mask for rate |
253 | killagreg | 135 | #define CRA_RATE_MASK 0x1C |
136 | |||
137 | // bit mask for gain |
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138 | #define CRB_GAIN_MASK 0xE0 |
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139 | |||
140 | // ids |
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141 | #define MAG_IDA 0x48 |
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142 | #define MAG_IDB 0x34 |
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143 | #define MAG_IDC 0x33 |
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144 | |||
145 | // the special HMC5843 interface |
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146 | // bit mask for rate |
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242 | killagreg | 147 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
148 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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149 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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150 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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151 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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152 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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153 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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154 | // bit mask for gain |
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155 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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156 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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157 | #define HMC5843_CRB_GAIN_15GA 0x40 |
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158 | #define HMC5843_CRB_GAIN_20GA 0x60 |
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159 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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160 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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161 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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162 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 163 | // self test value |
164 | #define HMC5843_TEST_XSCALE 715 |
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165 | #define HMC5843_TEST_YSCALE 715 |
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166 | #define HMC5843_TEST_ZSCALE 715 |
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242 | killagreg | 167 | |
168 | |||
253 | killagreg | 169 | // the special LSM302DLH interface |
170 | // bit mask for rate |
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171 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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172 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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173 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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174 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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175 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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176 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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177 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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178 | // bit mask for gain |
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179 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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180 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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181 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
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182 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
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183 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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184 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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185 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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186 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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187 | // self test value |
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188 | #define LSM303DLH_TEST_XSCALE 655 |
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189 | #define LSM303DLH_TEST_YSCALE 655 |
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190 | #define LSM303DLH_TEST_ZSCALE 630 |
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191 | |||
192 | // the i2c ACC interface |
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193 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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194 | // register mapping |
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195 | #define REG_ACC_CTRL1 0x20 |
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196 | #define REG_ACC_CTRL2 0x21 |
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197 | #define REG_ACC_CTRL3 0x22 |
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198 | #define REG_ACC_CTRL4 0x23 |
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199 | #define REG_ACC_CTRL5 0x24 |
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200 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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201 | #define REG_ACC_REFERENCE 0x26 |
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202 | #define REG_ACC_STATUS 0x27 |
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203 | #define REG_ACC_X_LSB 0x28 |
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204 | #define REG_ACC_X_MSB 0x29 |
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205 | #define REG_ACC_Y_LSB 0x2A |
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206 | #define REG_ACC_Y_MSB 0x2B |
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207 | #define REG_ACC_Z_LSB 0x2C |
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208 | #define REG_ACC_Z_MSB 0x2D |
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209 | |||
210 | |||
211 | |||
242 | killagreg | 212 | typedef struct |
213 | { |
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253 | killagreg | 214 | u8 A; |
215 | u8 B; |
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216 | u8 C; |
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217 | } __attribute__((packed)) Identification_t; |
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242 | killagreg | 218 | |
253 | killagreg | 219 | volatile Identification_t NCMAG_Identification; |
242 | killagreg | 220 | |
253 | killagreg | 221 | typedef struct |
222 | { |
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223 | u8 cra; |
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224 | u8 crb; |
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225 | u8 mode; |
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226 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 227 | |
253 | killagreg | 228 | volatile MagConfig_t MagConfig; |
242 | killagreg | 229 | |
253 | killagreg | 230 | typedef struct |
231 | { |
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232 | u8 ctrl_1; |
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233 | u8 ctrl_2; |
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234 | u8 ctrl_3; |
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235 | u8 ctrl_4; |
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236 | u8 ctrl_5; |
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237 | } __attribute__((packed)) AccConfig_t; |
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238 | |||
239 | volatile AccConfig_t AccConfig; |
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240 | |||
254 | killagreg | 241 | volatile s16vec_t AccRawVector; |
242 | volatile s16vec_t MagRawVector; |
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253 | killagreg | 243 | |
244 | |||
254 | killagreg | 245 | u8 NCMag_CalibrationWrite(void) |
246 | { |
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247 | u8 i, crc = 0xAA; |
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248 | EEPROM_Result_t eres; |
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249 | u8 *pBuff = (u8*)&Calibration; |
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250 | |||
251 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 252 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 253 | { |
254 | crc += pBuff[i]; |
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255 | } |
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256 | Calibration.crc = ~crc; |
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257 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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258 | if(EEPROM_SUCCESS == eres) i = 1; |
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259 | else i = 0; |
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260 | return(i); |
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261 | } |
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262 | |||
263 | u8 NCMag_CalibrationRead(void) |
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264 | { |
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265 | u8 i, crc = 0xAA; |
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266 | u8 *pBuff = (u8*)&Calibration; |
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267 | |||
268 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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269 | { |
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256 | killagreg | 270 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 271 | { |
272 | crc += pBuff[i]; |
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273 | } |
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274 | crc = ~crc; |
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275 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 276 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 277 | } |
278 | return(0); |
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279 | } |
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280 | |||
281 | |||
282 | void NCMAG_Calibrate(void) |
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283 | { |
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284 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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256 | killagreg | 285 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 286 | static u8 OldCalState = 0; |
287 | |||
256 | killagreg | 288 | X = (4*X + MagRawVector.X + 3)/5; |
289 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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290 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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291 | |||
254 | killagreg | 292 | switch(Compass_CalState) |
293 | { |
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294 | case 1: |
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295 | // 1st step of calibration |
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296 | // initialize ranges |
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297 | // used to change the orientation of the NC in the horizontal plane |
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298 | Xmin = 10000; |
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299 | Xmax = -10000; |
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300 | Ymin = 10000; |
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301 | Ymax = -10000; |
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302 | Zmin = 10000; |
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303 | Zmax = -10000; |
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304 | break; |
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305 | |||
306 | case 2: // 2nd step of calibration |
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307 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 308 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
309 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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310 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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311 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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254 | killagreg | 312 | break; |
313 | |||
314 | case 3: // 3rd step of calibration |
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315 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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316 | break; |
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317 | |||
318 | case 4: |
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319 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 320 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
321 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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254 | killagreg | 322 | break; |
323 | |||
324 | case 5: |
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325 | // Save values |
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326 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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327 | { |
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267 | holgerb | 328 | #define MIN_CALIBRATION 256 |
254 | killagreg | 329 | Calibration.MagX.Range = Xmax - Xmin; |
330 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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331 | Calibration.MagY.Range = Ymax - Ymin; |
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332 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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333 | Calibration.MagZ.Range = Zmax - Zmin; |
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334 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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265 | holgerb | 335 | if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
254 | killagreg | 336 | { |
337 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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270 | killagreg | 338 | BeepTime = 2500; |
265 | holgerb | 339 | UART1_PutString("\r\n Calibration okay"); |
254 | killagreg | 340 | } |
341 | else |
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342 | { |
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343 | // restore old calibration data from eeprom |
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344 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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265 | holgerb | 345 | UART1_PutString("\r\n Calibration FAILED - Values too low: "); |
346 | if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
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347 | if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("Y! "); |
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348 | if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
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254 | killagreg | 349 | } |
350 | } |
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351 | break; |
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352 | |||
353 | default: |
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354 | break; |
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355 | } |
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356 | OldCalState = Compass_CalState; |
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357 | } |
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358 | |||
242 | killagreg | 359 | // ---------- call back handlers ----------------------------------------- |
360 | |||
361 | // rx data handler for id info request |
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253 | killagreg | 362 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 363 | { // if number of bytes are matching |
253 | killagreg | 364 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 365 | { |
253 | killagreg | 366 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
367 | } |
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242 | killagreg | 368 | } |
254 | killagreg | 369 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 370 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 371 | { // if number of bytes are matching |
372 | if(RxBufferSize == sizeof(MagRawVector) ) |
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243 | killagreg | 373 | { // byte order from big to little endian |
256 | killagreg | 374 | s16 raw; |
375 | raw = pRxBuffer[0]<<8; |
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376 | raw+= pRxBuffer[1]; |
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377 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
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378 | raw = pRxBuffer[2]<<8; |
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379 | raw+= pRxBuffer[3]; |
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380 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
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381 | raw = pRxBuffer[4]<<8; |
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382 | raw+= pRxBuffer[5]; |
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383 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
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242 | killagreg | 384 | } |
254 | killagreg | 385 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 386 | { // mark out data invalid |
387 | MagVector.X = 0; |
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388 | MagVector.Y = 0; |
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389 | MagVector.Z = 0; |
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254 | killagreg | 390 | Compass_Heading = -1; |
391 | } |
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392 | else |
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393 | { |
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394 | // update MagVector from MagRaw Vector by Scaling |
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395 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
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396 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
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397 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
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256 | killagreg | 398 | |
399 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
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400 | { |
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401 | Compass_Heading = -1; |
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402 | } |
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403 | else // fc attitude is avialable |
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404 | { |
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405 | // calculate attitude correction |
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406 | // a float implementation takes too long for an ISR call! |
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407 | s16 tmp, Hx, Hy; |
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408 | s32 sinnick, cosnick, sinroll, cosroll; |
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409 | |||
410 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
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411 | sinnick = (s32)c_sin_8192(tmp); |
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412 | cosnick = (s32)c_cos_8192(tmp); |
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413 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
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414 | sinroll = (s32)c_sin_8192(tmp); |
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415 | cosroll = (s32)c_cos_8192(tmp); |
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416 | // tbd. compensation signs and oriantation has to be fixed |
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257 | killagreg | 417 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
418 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
||
256 | killagreg | 419 | // calculate heading |
420 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
||
257 | killagreg | 421 | if (tmp > 0) tmp = 360 - tmp; |
422 | else tmp = -tmp; |
||
256 | killagreg | 423 | Compass_Heading = tmp; |
424 | } |
||
254 | killagreg | 425 | } |
242 | killagreg | 426 | } |
254 | killagreg | 427 | // rx data handler for acceleration raw data |
253 | killagreg | 428 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
429 | { // if number of byte are matching |
||
254 | killagreg | 430 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 431 | { |
254 | killagreg | 432 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 433 | } |
434 | } |
||
254 | killagreg | 435 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 436 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
437 | { // if number of byte are matching |
||
438 | if(RxBufferSize == sizeof(MagConfig) ) |
||
439 | { |
||
440 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
441 | } |
||
442 | } |
||
254 | killagreg | 443 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 444 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
445 | { // if number of byte are matching |
||
446 | if(RxBufferSize == sizeof(AccConfig) ) |
||
447 | { |
||
448 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
449 | } |
||
450 | } |
||
254 | killagreg | 451 | //---------------------------------------------------------------------- |
253 | killagreg | 452 | |
254 | killagreg | 453 | |
454 | // --------------------------------------------------------------------- |
||
253 | killagreg | 455 | u8 NCMAG_SetMagConfig(void) |
456 | { |
||
457 | u8 retval = 0; |
||
458 | // try to catch the i2c buffer within 100 ms timeout |
||
459 | if(I2C_LockBuffer(100)) |
||
460 | { |
||
461 | u8 TxBytes = 0; |
||
462 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
463 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
464 | TxBytes += sizeof(MagConfig); |
||
465 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
466 | { |
||
467 | if(I2C_WaitForEndOfTransmission(100)) |
||
468 | { |
||
469 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
470 | } |
||
471 | } |
||
472 | } |
||
473 | return(retval); |
||
474 | } |
||
242 | killagreg | 475 | |
253 | killagreg | 476 | // ---------------------------------------------------------------------------------------- |
477 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 478 | { |
253 | killagreg | 479 | u8 retval = 0; |
252 | killagreg | 480 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 481 | if(I2C_LockBuffer(100)) |
242 | killagreg | 482 | { |
253 | killagreg | 483 | u8 TxBytes = 0; |
484 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
485 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 486 | { |
252 | killagreg | 487 | if(I2C_WaitForEndOfTransmission(100)) |
488 | { |
||
489 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
490 | } |
||
248 | killagreg | 491 | } |
242 | killagreg | 492 | } |
253 | killagreg | 493 | return(retval); |
242 | killagreg | 494 | } |
495 | |||
496 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 497 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 498 | { |
252 | killagreg | 499 | u8 retval = 0; |
253 | killagreg | 500 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 501 | if(I2C_LockBuffer(100)) |
242 | killagreg | 502 | { |
253 | killagreg | 503 | u8 TxBytes = 0; |
504 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
505 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
506 | TxBytes += sizeof(AccConfig); |
||
507 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
508 | { |
||
509 | if(I2C_WaitForEndOfTransmission(100)) |
||
510 | { |
||
511 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
512 | } |
||
513 | } |
||
514 | } |
||
515 | return(retval); |
||
516 | } |
||
517 | |||
518 | // ---------------------------------------------------------------------------------------- |
||
519 | u8 NCMAG_GetAccConfig(void) |
||
520 | { |
||
521 | u8 retval = 0; |
||
522 | // try to catch the i2c buffer within 100 ms timeout |
||
523 | if(I2C_LockBuffer(100)) |
||
524 | { |
||
525 | u8 TxBytes = 0; |
||
526 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
527 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
528 | { |
||
529 | if(I2C_WaitForEndOfTransmission(100)) |
||
530 | { |
||
531 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
532 | } |
||
533 | } |
||
534 | } |
||
535 | return(retval); |
||
536 | } |
||
537 | |||
538 | // ---------------------------------------------------------------------------------------- |
||
539 | u8 NCMAG_GetIdentification(void) |
||
540 | { |
||
541 | u8 retval = 0; |
||
542 | // try to catch the i2c buffer within 100 ms timeout |
||
543 | if(I2C_LockBuffer(100)) |
||
544 | { |
||
545 | u16 TxBytes = 0; |
||
546 | NCMAG_Identification.A = 0xFF; |
||
547 | NCMAG_Identification.B = 0xFF; |
||
548 | NCMAG_Identification.C = 0xFF; |
||
549 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 550 | // initiate transmission |
253 | killagreg | 551 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 552 | { |
253 | killagreg | 553 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 554 | { |
555 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
556 | } |
||
248 | killagreg | 557 | } |
242 | killagreg | 558 | } |
253 | killagreg | 559 | return(retval); |
242 | killagreg | 560 | } |
561 | |||
253 | killagreg | 562 | // ---------------------------------------------------------------------------------------- |
563 | void NCMAG_GetMagVector(void) |
||
564 | { |
||
565 | // try to catch the I2C buffer within 0 ms |
||
566 | if(I2C_LockBuffer(0)) |
||
567 | { |
||
568 | u16 TxBytes = 0; |
||
569 | // set register pointer |
||
570 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
571 | // initiate transmission |
||
572 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
573 | } |
||
574 | } |
||
575 | |||
242 | killagreg | 576 | //---------------------------------------------------------------- |
253 | killagreg | 577 | void NCMAG_GetAccVector(void) |
243 | killagreg | 578 | { |
252 | killagreg | 579 | // try to catch the I2C buffer within 0 ms |
580 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 581 | { |
248 | killagreg | 582 | u16 TxBytes = 0; |
243 | killagreg | 583 | // set register pointer |
253 | killagreg | 584 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 585 | // initiate transmission |
254 | killagreg | 586 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 587 | } |
588 | } |
||
589 | |||
253 | killagreg | 590 | // -------------------------------------------------------- |
591 | void NCMAG_UpdateCompass(void) |
||
243 | killagreg | 592 | { |
593 | static u32 TimerCompassUpdate = 0; |
||
594 | |||
254 | killagreg | 595 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
596 | { |
||
597 | Compass_Heading = -1; |
||
598 | return; |
||
599 | } |
||
253 | killagreg | 600 | |
243 | killagreg | 601 | if(CheckDelay(TimerCompassUpdate)) |
602 | { |
||
254 | killagreg | 603 | // check for new calibration state |
604 | Compass_UpdateCalState(); |
||
605 | if(Compass_CalState) NCMAG_Calibrate(); |
||
606 | NCMAG_GetMagVector(); //Get new data; |
||
243 | killagreg | 607 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
608 | } |
||
609 | } |
||
610 | |||
254 | killagreg | 611 | // -------------------------------------------------------- |
253 | killagreg | 612 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 613 | { |
266 | holgerb | 614 | u8 msg[64]; |
275 | killagreg | 615 | static u8 done = 0; |
266 | holgerb | 616 | |
275 | killagreg | 617 | if(done) return(1); |
618 | |||
271 | holgerb | 619 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 620 | u32 time; |
253 | killagreg | 621 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
622 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
623 | u8 crb_gain, cra_rate; |
||
624 | u8 i = 0, retval = 1; |
||
243 | killagreg | 625 | |
253 | killagreg | 626 | switch(NCMAG_MagType) |
627 | { |
||
628 | case MAG_TYPE_HMC5843: |
||
629 | crb_gain = HMC5843_CRB_GAIN_10GA; |
||
630 | cra_rate = HMC5843_CRA_RATE_50HZ; |
||
631 | xscale = HMC5843_TEST_XSCALE; |
||
632 | yscale = HMC5843_TEST_YSCALE; |
||
633 | zscale = HMC5843_TEST_ZSCALE; |
||
634 | break; |
||
635 | |||
636 | case MAG_TYPE_LSM303DLH: |
||
637 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
||
638 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
||
639 | xscale = LSM303DLH_TEST_XSCALE; |
||
640 | yscale = LSM303DLH_TEST_YSCALE; |
||
641 | zscale = LSM303DLH_TEST_ZSCALE; |
||
642 | break; |
||
643 | |||
644 | default: |
||
645 | return(0); |
||
646 | } |
||
647 | |||
648 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
649 | MagConfig.crb = crb_gain; |
||
650 | MagConfig.mode = MODE_CONTINUOUS; |
||
651 | // activate positive bias field |
||
652 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 653 | // wait for stable readings |
654 | time = SetDelay(50); |
||
655 | while(!CheckDelay(time)); |
||
243 | killagreg | 656 | // averaging |
253 | killagreg | 657 | #define AVERAGE 20 |
658 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 659 | { |
253 | killagreg | 660 | NCMAG_GetMagVector(); |
243 | killagreg | 661 | time = SetDelay(20); |
662 | while(!CheckDelay(time)); |
||
254 | killagreg | 663 | XMax += MagRawVector.X; |
664 | YMax += MagRawVector.Y; |
||
665 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 666 | } |
253 | killagreg | 667 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
668 | // activate positive bias field |
||
669 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 670 | // wait for stable readings |
671 | time = SetDelay(50); |
||
672 | while(!CheckDelay(time)); |
||
243 | killagreg | 673 | // averaging |
253 | killagreg | 674 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 675 | { |
253 | killagreg | 676 | NCMAG_GetMagVector(); |
243 | killagreg | 677 | time = SetDelay(20); |
678 | while(!CheckDelay(time)); |
||
254 | killagreg | 679 | XMin += MagRawVector.X; |
680 | YMin += MagRawVector.Y; |
||
681 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 682 | } |
683 | // setup final configuration |
||
253 | killagreg | 684 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
685 | // activate positive bias field |
||
686 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 687 | // check scale for all axes |
243 | killagreg | 688 | // prepare scale limits |
253 | killagreg | 689 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 690 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 691 | if((xscale > scale_max) || (xscale < scale_min)) |
692 | { |
||
693 | retval = 0; |
||
694 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
695 | UART1_PutString(msg); |
||
696 | } |
||
267 | holgerb | 697 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 698 | yscale = (YMax - YMin)/(2*AVERAGE); |
699 | if((yscale > scale_max) || (yscale < scale_min)) |
||
700 | { |
||
701 | retval = 0; |
||
702 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
703 | UART1_PutString(msg); |
||
704 | } |
||
267 | holgerb | 705 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 706 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
707 | if((zscale > scale_max) || (zscale < scale_min)) |
||
708 | { |
||
709 | retval = 0; |
||
710 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
711 | UART1_PutString(msg); |
||
712 | } |
||
275 | killagreg | 713 | done = retval; |
253 | killagreg | 714 | return(retval); |
243 | killagreg | 715 | } |
716 | |||
717 | |||
718 | //---------------------------------------------------------------- |
||
253 | killagreg | 719 | u8 NCMAG_Init(void) |
242 | killagreg | 720 | { |
721 | u8 msg[64]; |
||
252 | killagreg | 722 | u8 retval = 0; |
242 | killagreg | 723 | u8 repeat; |
724 | |||
253 | killagreg | 725 | NCMAG_Present = 0; |
726 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
727 | // polling for LSM302DLH option |
||
728 | repeat = 0; |
||
729 | do |
||
730 | { |
||
731 | retval = NCMAG_GetAccConfig(); |
||
732 | if(retval) break; // break loop on success |
||
733 | UART1_PutString("."); |
||
734 | repeat++; |
||
735 | }while(repeat < 3); |
||
736 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 737 | // polling of identification |
738 | repeat = 0; |
||
739 | do |
||
740 | { |
||
253 | killagreg | 741 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 742 | if(retval) break; // break loop on success |
242 | killagreg | 743 | UART1_PutString("."); |
744 | repeat++; |
||
252 | killagreg | 745 | }while(repeat < 12); |
253 | killagreg | 746 | // if we got an answer to id request |
252 | killagreg | 747 | if(retval) |
242 | killagreg | 748 | { |
253 | killagreg | 749 | u8 n1[] = "HMC5843"; |
750 | u8 n2[] = "LSM303DLH"; |
||
751 | u8* pn; |
||
752 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
||
753 | else pn = n1; |
||
754 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
||
242 | killagreg | 755 | UART1_PutString(msg); |
253 | killagreg | 756 | if ( (NCMAG_Identification.A == MAG_IDA) |
757 | && (NCMAG_Identification.B == MAG_IDB) |
||
758 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 759 | { |
268 | killagreg | 760 | NCMAG_Present = 1; |
253 | killagreg | 761 | if(!NCMAG_SelfTest()) |
243 | killagreg | 762 | { |
253 | killagreg | 763 | UART1_PutString(" Selftest failed!"); |
243 | killagreg | 764 | LED_RED_ON; |
268 | killagreg | 765 | NCMAG_IsCalibrated = 0; |
243 | killagreg | 766 | } |
254 | killagreg | 767 | else |
768 | { |
||
264 | killagreg | 769 | if(EEPROM_Init()) |
770 | { |
||
771 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
772 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
773 | } |
||
774 | else UART1_PutString("\r\n Calibration data not available!"); |
||
254 | killagreg | 775 | } |
242 | killagreg | 776 | } |
777 | else |
||
778 | { |
||
254 | killagreg | 779 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 780 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 781 | LED_RED_ON; |
782 | } |
||
783 | } |
||
253 | killagreg | 784 | else // nothing found |
785 | { |
||
786 | NCMAG_MagType = MAG_TYPE_NONE; |
||
787 | UART1_PutString("not found!"); |
||
788 | } |
||
789 | return(NCMAG_Present); |
||
242 | killagreg | 790 | } |
791 |