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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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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
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 - |
489 | killagreg | 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 |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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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> |
489 | killagreg | 58 | #include <stdlib.h> |
242 | killagreg | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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253 | killagreg | 61 | #include "ncmag.h" |
489 | killagreg | 62 | #include "i2c.h" |
242 | killagreg | 63 | #include "timer1.h" |
64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
454 | holgerb | 69 | #include "spi_slave.h" |
242 | killagreg | 70 | |
253 | killagreg | 71 | u8 NCMAG_Present = 0; |
254 | killagreg | 72 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 73 | |
472 | holgerb | 74 | |
394 | killagreg | 75 | // supported magnetic sensor types |
76 | #define TYPE_NONE 0 |
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77 | #define TYPE_HMC5843 1 |
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78 | #define TYPE_LSM303DLH 2 |
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79 | #define TYPE_LSM303DLM 3 |
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242 | killagreg | 80 | |
394 | killagreg | 81 | u8 NCMAG_SensorType = TYPE_NONE; |
489 | killagreg | 82 | u8 NCMAG_Orientation = 0; // 0 means unknown! |
394 | killagreg | 83 | |
489 | killagreg | 84 | #define CALIBRATION_VERSION 1 |
500 | holgerb | 85 | #define MAG_CALIBRATION_COMPATIBLE 0xA3 |
489 | killagreg | 86 | |
87 | #define NCMAG_MIN_RAWVALUE -2047 |
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88 | #define NCMAG_MAX_RAWVALUE 2047 |
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89 | #define NCMAG_INVALID_DATA -4096 |
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90 | |||
91 | typedef struct |
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92 | { |
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93 | s16 Range; |
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94 | s16 Offset; |
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95 | } __attribute__((packed)) Scaling_t; |
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96 | |||
97 | typedef struct |
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98 | { |
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99 | Scaling_t MagX; |
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100 | Scaling_t MagY; |
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101 | Scaling_t MagZ; |
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102 | u8 Version; |
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103 | u8 crc; |
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104 | } __attribute__((packed)) Calibration_t; |
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105 | |||
106 | Calibration_t Calibration; // calibration data in RAM |
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339 | holgerb | 107 | volatile s16vec_t AccRawVector; |
108 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 109 | |
253 | killagreg | 110 | // i2c MAG interface |
111 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 112 | |
253 | killagreg | 113 | // register mapping |
114 | #define REG_MAG_CRA 0x00 |
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115 | #define REG_MAG_CRB 0x01 |
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116 | #define REG_MAG_MODE 0x02 |
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117 | #define REG_MAG_DATAX_MSB 0x03 |
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118 | #define REG_MAG_DATAX_LSB 0x04 |
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119 | #define REG_MAG_DATAY_MSB 0x05 |
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120 | #define REG_MAG_DATAY_LSB 0x06 |
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121 | #define REG_MAG_DATAZ_MSB 0x07 |
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122 | #define REG_MAG_DATAZ_LSB 0x08 |
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123 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 124 | |
253 | killagreg | 125 | #define REG_MAG_IDA 0x0A |
126 | #define REG_MAG_IDB 0x0B |
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127 | #define REG_MAG_IDC 0x0C |
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394 | killagreg | 128 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 129 | |
253 | killagreg | 130 | // bit mask for configuration mode |
131 | #define CRA_MODE_MASK 0x03 |
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132 | #define CRA_MODE_NORMAL 0x00 //default |
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133 | #define CRA_MODE_POSBIAS 0x01 |
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134 | #define CRA_MODE_NEGBIAS 0x02 |
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135 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 136 | |
253 | killagreg | 137 | // bit mask for measurement mode |
138 | #define MODE_MASK 0xFF |
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139 | #define MODE_CONTINUOUS 0x00 |
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140 | #define MODE_SINGLE 0x01 // default |
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141 | #define MODE_IDLE 0x02 |
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142 | #define MODE_SLEEP 0x03 |
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143 | |||
242 | killagreg | 144 | // bit mask for rate |
253 | killagreg | 145 | #define CRA_RATE_MASK 0x1C |
146 | |||
147 | // bit mask for gain |
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148 | #define CRB_GAIN_MASK 0xE0 |
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149 | |||
150 | // ids |
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151 | #define MAG_IDA 0x48 |
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152 | #define MAG_IDB 0x34 |
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153 | #define MAG_IDC 0x33 |
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394 | killagreg | 154 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 155 | |
156 | // the special HMC5843 interface |
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157 | // bit mask for rate |
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242 | killagreg | 158 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
159 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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160 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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161 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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162 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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163 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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164 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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165 | // bit mask for gain |
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166 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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167 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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489 | killagreg | 168 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 169 | #define HMC5843_CRB_GAIN_20GA 0x60 |
170 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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171 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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172 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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173 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 174 | // self test value |
339 | holgerb | 175 | #define HMC5843_TEST_XSCALE 555 |
176 | #define HMC5843_TEST_YSCALE 555 |
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177 | #define HMC5843_TEST_ZSCALE 555 |
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394 | killagreg | 178 | // calibration range |
342 | holgerb | 179 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 180 | |
253 | killagreg | 181 | // the special LSM302DLH interface |
182 | // bit mask for rate |
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183 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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184 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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185 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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186 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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187 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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188 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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189 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 190 | |
253 | killagreg | 191 | // bit mask for gain |
192 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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193 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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500 | holgerb | 194 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
253 | killagreg | 195 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
500 | holgerb | 196 | #define LSM303DLH_CRB_GAIN_40GA 0x80 // <--- we use this (Since V2.03) |
253 | killagreg | 197 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
198 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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199 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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394 | killagreg | 200 | |
201 | typedef struct |
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202 | { |
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203 | u8 A; |
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204 | u8 B; |
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205 | u8 C; |
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206 | } __attribute__((packed)) Identification_t; |
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207 | volatile Identification_t NCMAG_Identification; |
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208 | |||
209 | typedef struct |
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210 | { |
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211 | u8 Sub; |
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212 | } __attribute__((packed)) Identification2_t; |
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213 | volatile Identification2_t NCMAG_Identification2; |
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214 | |||
215 | typedef struct |
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216 | { |
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217 | u8 cra; |
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218 | u8 crb; |
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219 | u8 mode; |
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220 | } __attribute__((packed)) MagConfig_t; |
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221 | |||
222 | volatile MagConfig_t MagConfig; |
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223 | |||
253 | killagreg | 224 | // self test value |
500 | holgerb | 225 | #define LSM303DLH_TEST_XSCALE 245 |
226 | #define LSM303DLH_TEST_YSCALE 245 |
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227 | #define LSM303DLH_TEST_ZSCALE 235 |
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339 | holgerb | 228 | // clibration range |
500 | holgerb | 229 | #define LSM303_CALIBRATION_RANGE 300 // War bis V2.02: 550 -> Auflösung von 19Ga auf 40GA reduziert |
253 | killagreg | 230 | |
231 | // the i2c ACC interface |
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232 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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394 | killagreg | 233 | |
234 | // multiple byte read/write mask |
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235 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
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236 | |||
253 | killagreg | 237 | // register mapping |
238 | #define REG_ACC_CTRL1 0x20 |
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239 | #define REG_ACC_CTRL2 0x21 |
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240 | #define REG_ACC_CTRL3 0x22 |
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241 | #define REG_ACC_CTRL4 0x23 |
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242 | #define REG_ACC_CTRL5 0x24 |
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243 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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244 | #define REG_ACC_REFERENCE 0x26 |
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245 | #define REG_ACC_STATUS 0x27 |
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246 | #define REG_ACC_X_LSB 0x28 |
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247 | #define REG_ACC_X_MSB 0x29 |
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248 | #define REG_ACC_Y_LSB 0x2A |
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249 | #define REG_ACC_Y_MSB 0x2B |
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250 | #define REG_ACC_Z_LSB 0x2C |
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251 | #define REG_ACC_Z_MSB 0x2D |
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252 | |||
394 | killagreg | 253 | #define ACC_CRTL1_PM_DOWN 0x00 |
254 | #define ACC_CRTL1_PM_NORMAL 0x20 |
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255 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
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256 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
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257 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
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258 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
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259 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
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260 | // Output data rate in normal power mode |
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261 | #define ACC_CRTL1_DR_50HZ 0x00 |
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262 | #define ACC_CRTL1_DR_100HZ 0x08 |
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263 | #define ACC_CRTL1_DR_400HZ 0x10 |
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264 | #define ACC_CRTL1_DR_1000HZ 0x18 |
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489 | killagreg | 265 | // axis anable flags |
394 | killagreg | 266 | #define ACC_CRTL1_XEN 0x01 |
267 | #define ACC_CRTL1_YEN 0x02 |
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268 | #define ACC_CRTL1_ZEN 0x04 |
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253 | killagreg | 269 | |
397 | holgerb | 270 | #define ACC_CRTL2_FILTER8 0x10 |
271 | #define ACC_CRTL2_FILTER16 0x11 |
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272 | #define ACC_CRTL2_FILTER32 0x12 |
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273 | #define ACC_CRTL2_FILTER64 0x13 |
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395 | holgerb | 274 | |
394 | killagreg | 275 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
276 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
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277 | #define ACC_CTRL4_FS_2G 0x00 |
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278 | #define ACC_CTRL4_FS_4G 0x10 |
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279 | #define ACC_CTRL4_FS_8G 0x30 |
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280 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
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281 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
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282 | #define ACC_CTRL4_ST_ENABLE 0x02 |
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253 | killagreg | 283 | |
394 | killagreg | 284 | #define ACC_CTRL5_STW_ON 0x03 |
285 | #define ACC_CTRL5_STW_OFF 0x00 |
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242 | killagreg | 286 | |
253 | killagreg | 287 | typedef struct |
288 | { |
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289 | u8 ctrl_1; |
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290 | u8 ctrl_2; |
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291 | u8 ctrl_3; |
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292 | u8 ctrl_4; |
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293 | u8 ctrl_5; |
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294 | } __attribute__((packed)) AccConfig_t; |
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295 | |||
296 | volatile AccConfig_t AccConfig; |
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297 | |||
489 | killagreg | 298 | // write calibration data for external and internal sensor seperately |
299 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
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254 | killagreg | 300 | { |
472 | holgerb | 301 | u16 address; |
489 | killagreg | 302 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 303 | EEPROM_Result_t eres; |
304 | u8 *pBuff = (u8*)&Calibration; |
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305 | |||
489 | killagreg | 306 | if (I2Cx == NCMAG_PORT_EXTERN) |
473 | holgerb | 307 | { |
489 | killagreg | 308 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
309 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
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473 | holgerb | 310 | } |
489 | killagreg | 311 | else if (I2Cx == NCMAG_PORT_INTERN) |
312 | { |
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313 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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314 | Calibration.Version = CALIBRATION_VERSION; |
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315 | } |
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316 | else return(i); |
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317 | |||
256 | killagreg | 318 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 319 | { |
489 | killagreg | 320 | crc += pBuff[i]; |
254 | killagreg | 321 | } |
322 | Calibration.crc = ~crc; |
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472 | holgerb | 323 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
254 | killagreg | 324 | if(EEPROM_SUCCESS == eres) i = 1; |
325 | else i = 0; |
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489 | killagreg | 326 | return(i); |
254 | killagreg | 327 | } |
328 | |||
489 | killagreg | 329 | // read calibration data for external and internal sensor seperately |
330 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
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254 | killagreg | 331 | { |
489 | killagreg | 332 | u8 address; |
333 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
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254 | killagreg | 334 | u8 *pBuff = (u8*)&Calibration; |
335 | |||
489 | killagreg | 336 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
337 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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338 | else return(0); |
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472 | holgerb | 339 | |
340 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
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254 | killagreg | 341 | { |
256 | killagreg | 342 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 343 | { |
489 | killagreg | 344 | crc += pBuff[i]; |
254 | killagreg | 345 | } |
346 | crc = ~crc; |
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347 | if(Calibration.crc != crc) return(0); // crc mismatch |
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489 | killagreg | 348 | if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
254 | killagreg | 349 | } |
350 | return(0); |
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351 | } |
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352 | |||
353 | |||
354 | void NCMAG_Calibrate(void) |
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355 | { |
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330 | holgerb | 356 | u8 msg[64]; |
454 | holgerb | 357 | static u8 speak = 0; |
489 | killagreg | 358 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
256 | killagreg | 359 | static s16 X = 0, Y = 0, Z = 0; |
489 | killagreg | 360 | static u8 OldCalState = 0; |
394 | killagreg | 361 | s16 MinCalibration = 450; |
254 | killagreg | 362 | |
488 | holgerb | 363 | X = (X + MagRawVector.X)/2; |
364 | Y = (Y + MagRawVector.Y)/2; |
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365 | Z = (Z + MagRawVector.Z)/2; |
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256 | killagreg | 366 | |
254 | killagreg | 367 | switch(Compass_CalState) |
368 | { |
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369 | case 1: |
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370 | // 1st step of calibration |
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371 | // initialize ranges |
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372 | // used to change the orientation of the NC in the horizontal plane |
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373 | Xmin = 10000; |
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374 | Xmax = -10000; |
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375 | Ymin = 10000; |
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376 | Ymax = -10000; |
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377 | Zmin = 10000; |
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378 | Zmax = -10000; |
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500 | holgerb | 379 | Zmin2 = 10000; |
380 | Zmax2 = -10000; |
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381 | X = 0; Y = 0; Z = 0; |
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489 | killagreg | 382 | speak = 1; |
488 | holgerb | 383 | CompassValueErrorCount = 0; |
489 | killagreg | 384 | if(Compass_CalState != OldCalState) // only once per state |
475 | holgerb | 385 | { |
489 | killagreg | 386 | UART1_PutString("\r\nStarting compass calibration"); |
387 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
388 | { |
||
389 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
390 | UART1_PutString(" - External sensor "); |
||
391 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
||
392 | UART1_PutString(msg); |
||
393 | } |
||
394 | else UART1_PutString(" - Internal sensor "); |
||
483 | holgerb | 395 | } |
254 | killagreg | 396 | break; |
489 | killagreg | 397 | |
254 | killagreg | 398 | case 2: // 2nd step of calibration |
399 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
||
275 | killagreg | 400 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
401 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
402 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
403 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
489 | killagreg | 404 | if(Z < Zmin) { Zmin = Z; } // silent |
475 | holgerb | 405 | else if(Z > Zmax) { Zmax = Z; } |
454 | holgerb | 406 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 407 | break; |
408 | |||
409 | case 3: // 3rd step of calibration |
||
410 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
489 | killagreg | 411 | speak = 1; |
254 | killagreg | 412 | break; |
413 | |||
414 | case 4: |
||
415 | // find Min and Max of the Z-Sensor |
||
489 | killagreg | 416 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
417 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
||
418 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
||
419 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
475 | holgerb | 420 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
421 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 422 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 423 | break; |
489 | killagreg | 424 | |
254 | killagreg | 425 | case 5: |
426 | // Save values |
||
427 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
428 | { |
||
394 | killagreg | 429 | switch(NCMAG_SensorType) |
430 | { |
||
489 | killagreg | 431 | case TYPE_HMC5843: |
432 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
||
433 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
434 | break; |
||
394 | killagreg | 435 | |
436 | case TYPE_LSM303DLH: |
||
489 | killagreg | 437 | case TYPE_LSM303DLM: |
438 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
||
439 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
440 | break; |
||
394 | killagreg | 441 | } |
342 | holgerb | 442 | if(EarthMagneticStrengthTheoretic) |
489 | killagreg | 443 | { |
444 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
||
445 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
||
446 | UART1_PutString(msg); |
||
447 | } |
||
342 | holgerb | 448 | else UART1_PutString("without GPS\n\r"); |
339 | holgerb | 449 | |
489 | killagreg | 450 | if(Zmin2 < Zmin) Zmin = Zmin2; |
451 | if(Zmax2 > Zmax) Zmax = Zmax2; |
||
254 | killagreg | 452 | Calibration.MagX.Range = Xmax - Xmin; |
453 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
454 | Calibration.MagY.Range = Ymax - Ymin; |
||
455 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
456 | Calibration.MagZ.Range = Zmax - Zmin; |
||
457 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
488 | holgerb | 458 | if(CompassValueErrorCount) |
489 | killagreg | 459 | { |
488 | holgerb | 460 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
461 | UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
||
462 | |||
489 | killagreg | 463 | } |
488 | holgerb | 464 | else |
394 | killagreg | 465 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 466 | { |
489 | killagreg | 467 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
270 | killagreg | 468 | BeepTime = 2500; |
342 | holgerb | 469 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
489 | killagreg | 470 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 471 | } |
472 | else |
||
473 | { |
||
489 | killagreg | 474 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 475 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 476 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
477 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
478 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 479 | UART1_PutString("\r\n"); |
339 | holgerb | 480 | |
254 | killagreg | 481 | // restore old calibration data from eeprom |
489 | killagreg | 482 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
254 | killagreg | 483 | } |
330 | holgerb | 484 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
485 | UART1_PutString(msg); |
||
486 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
487 | UART1_PutString(msg); |
||
488 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
489 | UART1_PutString(msg); |
||
394 | killagreg | 490 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 491 | UART1_PutString(msg); |
254 | killagreg | 492 | } |
493 | break; |
||
489 | killagreg | 494 | |
254 | killagreg | 495 | default: |
489 | killagreg | 496 | break; |
254 | killagreg | 497 | } |
498 | OldCalState = Compass_CalState; |
||
499 | } |
||
500 | |||
242 | killagreg | 501 | // ---------- call back handlers ----------------------------------------- |
502 | |||
503 | // rx data handler for id info request |
||
253 | killagreg | 504 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 505 | { // if number of bytes are matching |
253 | killagreg | 506 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 507 | { |
253 | killagreg | 508 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
509 | } |
||
242 | killagreg | 510 | } |
329 | holgerb | 511 | |
512 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
513 | { // if number of bytes are matching |
||
514 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
515 | { |
||
516 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
517 | } |
||
518 | } |
||
519 | |||
254 | killagreg | 520 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 521 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 522 | { // if number of bytes are matching |
523 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 524 | { // byte order from big to little endian |
473 | holgerb | 525 | s16 raw, X = 0, Y = 0, Z = 0; |
256 | killagreg | 526 | raw = pRxBuffer[0]<<8; |
527 | raw+= pRxBuffer[1]; |
||
489 | killagreg | 528 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
487 | holgerb | 529 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
530 | |||
256 | killagreg | 531 | raw = pRxBuffer[2]<<8; |
532 | raw+= pRxBuffer[3]; |
||
489 | killagreg | 533 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 534 | { |
473 | holgerb | 535 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
489 | killagreg | 536 | else Y = raw; |
330 | holgerb | 537 | } |
487 | holgerb | 538 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
539 | |||
256 | killagreg | 540 | raw = pRxBuffer[4]<<8; |
541 | raw+= pRxBuffer[5]; |
||
489 | killagreg | 542 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 543 | { |
473 | holgerb | 544 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
489 | killagreg | 545 | else Z = raw; |
330 | holgerb | 546 | } |
487 | holgerb | 547 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
548 | |||
489 | killagreg | 549 | // correct compass orientation |
550 | switch(NCMAG_Orientation) |
||
473 | holgerb | 551 | { |
489 | killagreg | 552 | case 0: |
553 | case 1: |
||
554 | default: |
||
555 | // 1:1 Mapping |
||
473 | holgerb | 556 | MagRawVector.X = X; |
557 | MagRawVector.Y = Y; |
||
558 | MagRawVector.Z = Z; |
||
559 | break; |
||
489 | killagreg | 560 | case 2: |
473 | holgerb | 561 | MagRawVector.X = -X; |
562 | MagRawVector.Y = Y; |
||
563 | MagRawVector.Z = -Z; |
||
564 | break; |
||
489 | killagreg | 565 | case 3: |
473 | holgerb | 566 | MagRawVector.X = -Z; |
567 | MagRawVector.Y = Y; |
||
568 | MagRawVector.Z = X; |
||
569 | break; |
||
489 | killagreg | 570 | case 4: |
473 | holgerb | 571 | MagRawVector.X = Z; |
572 | MagRawVector.Y = Y; |
||
573 | MagRawVector.Z = -X; |
||
574 | break; |
||
489 | killagreg | 575 | case 5: |
473 | holgerb | 576 | MagRawVector.X = X; |
577 | MagRawVector.Y = -Z; |
||
578 | MagRawVector.Z = Y; |
||
579 | break; |
||
489 | killagreg | 580 | case 6: |
473 | holgerb | 581 | MagRawVector.X = -X; |
582 | MagRawVector.Y = -Z; |
||
583 | MagRawVector.Z = -Y; |
||
584 | break; |
||
585 | } |
||
242 | killagreg | 586 | } |
254 | killagreg | 587 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 588 | { // mark out data invalid |
289 | killagreg | 589 | MagVector.X = MagRawVector.X; |
590 | MagVector.Y = MagRawVector.Y; |
||
591 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 592 | Compass_Heading = -1; |
593 | } |
||
594 | else |
||
595 | { |
||
596 | // update MagVector from MagRaw Vector by Scaling |
||
597 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
598 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
599 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 600 | Compass_CalcHeading(); |
254 | killagreg | 601 | } |
242 | killagreg | 602 | } |
254 | killagreg | 603 | // rx data handler for acceleration raw data |
253 | killagreg | 604 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
489 | killagreg | 605 | { // if number of bytes are matching |
254 | killagreg | 606 | if(RxBufferSize == sizeof(AccRawVector) ) |
489 | killagreg | 607 | { |
608 | // copy from I2C buffer |
||
254 | killagreg | 609 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
489 | killagreg | 610 | // scale and update Acc Vector, at the moment simply 1:1 |
611 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
||
253 | killagreg | 612 | } |
473 | holgerb | 613 | } |
254 | killagreg | 614 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 615 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
616 | { // if number of byte are matching |
||
617 | if(RxBufferSize == sizeof(MagConfig) ) |
||
618 | { |
||
619 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
620 | } |
||
621 | } |
||
254 | killagreg | 622 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 623 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
624 | { // if number of byte are matching |
||
625 | if(RxBufferSize == sizeof(AccConfig) ) |
||
626 | { |
||
627 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
628 | } |
||
629 | } |
||
254 | killagreg | 630 | //---------------------------------------------------------------------- |
253 | killagreg | 631 | |
489 | killagreg | 632 | u8 NCMAG_GetOrientationFromAcc(void) |
633 | { |
||
634 | // only if external compass connected |
||
635 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
||
636 | // MK must not be tilted |
||
637 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
||
638 | { |
||
639 | // UART1_PutString("\r\nTilted"); |
||
640 | return(0); |
||
641 | } |
||
642 | // select orientation |
||
643 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
||
644 | else |
||
645 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
||
646 | else |
||
647 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
||
648 | else |
||
649 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
||
650 | else |
||
651 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
||
652 | else |
||
653 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
||
654 | return(0); |
||
655 | } |
||
254 | killagreg | 656 | |
657 | // --------------------------------------------------------------------- |
||
253 | killagreg | 658 | u8 NCMAG_SetMagConfig(void) |
659 | { |
||
660 | u8 retval = 0; |
||
489 | killagreg | 661 | |
253 | killagreg | 662 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 663 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 664 | { |
665 | u8 TxBytes = 0; |
||
489 | killagreg | 666 | u8 TxData[sizeof(MagConfig) + 3]; |
667 | |||
668 | TxData[TxBytes++] = REG_MAG_CRA; |
||
669 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 670 | TxBytes += sizeof(MagConfig); |
489 | killagreg | 671 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 672 | { |
489 | killagreg | 673 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 674 | { |
489 | killagreg | 675 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 676 | } |
677 | } |
||
678 | } |
||
489 | killagreg | 679 | return(retval); |
253 | killagreg | 680 | } |
242 | killagreg | 681 | |
253 | killagreg | 682 | // ---------------------------------------------------------------------------------------- |
683 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 684 | { |
253 | killagreg | 685 | u8 retval = 0; |
252 | killagreg | 686 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 687 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
242 | killagreg | 688 | { |
253 | killagreg | 689 | u8 TxBytes = 0; |
489 | killagreg | 690 | u8 TxData[3]; |
691 | TxData[TxBytes++] = REG_MAG_CRA; |
||
692 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 693 | { |
489 | killagreg | 694 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 695 | { |
489 | killagreg | 696 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 697 | } |
248 | killagreg | 698 | } |
242 | killagreg | 699 | } |
489 | killagreg | 700 | return(retval); |
242 | killagreg | 701 | } |
702 | |||
703 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 704 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 705 | { |
252 | killagreg | 706 | u8 retval = 0; |
489 | killagreg | 707 | // try to catch the i2c buffer within 50 ms timeout |
708 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
||
242 | killagreg | 709 | { |
253 | killagreg | 710 | u8 TxBytes = 0; |
489 | killagreg | 711 | u8 TxData[sizeof(AccConfig) + 3]; |
712 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
713 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 714 | TxBytes += sizeof(AccConfig); |
489 | killagreg | 715 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 716 | { |
489 | killagreg | 717 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
253 | killagreg | 718 | { |
489 | killagreg | 719 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 720 | } |
721 | } |
||
722 | } |
||
489 | killagreg | 723 | return(retval); |
253 | killagreg | 724 | } |
725 | |||
726 | // ---------------------------------------------------------------------------------------- |
||
727 | u8 NCMAG_GetAccConfig(void) |
||
728 | { |
||
729 | u8 retval = 0; |
||
730 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 731 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 732 | { |
733 | u8 TxBytes = 0; |
||
489 | killagreg | 734 | u8 TxData[3]; |
735 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
736 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 737 | { |
489 | killagreg | 738 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 739 | { |
489 | killagreg | 740 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 741 | } |
742 | } |
||
743 | } |
||
489 | killagreg | 744 | return(retval); |
253 | killagreg | 745 | } |
746 | |||
747 | // ---------------------------------------------------------------------------------------- |
||
748 | u8 NCMAG_GetIdentification(void) |
||
749 | { |
||
750 | u8 retval = 0; |
||
751 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 752 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 753 | { |
489 | killagreg | 754 | u8 TxBytes = 0; |
755 | u8 TxData[3]; |
||
253 | killagreg | 756 | NCMAG_Identification.A = 0xFF; |
757 | NCMAG_Identification.B = 0xFF; |
||
758 | NCMAG_Identification.C = 0xFF; |
||
489 | killagreg | 759 | TxData[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 760 | // initiate transmission |
489 | killagreg | 761 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 762 | { |
489 | killagreg | 763 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 764 | { |
489 | killagreg | 765 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 766 | } |
248 | killagreg | 767 | } |
242 | killagreg | 768 | } |
253 | killagreg | 769 | return(retval); |
242 | killagreg | 770 | } |
771 | |||
329 | holgerb | 772 | u8 NCMAG_GetIdentification_Sub(void) |
773 | { |
||
774 | u8 retval = 0; |
||
775 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 776 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
329 | holgerb | 777 | { |
489 | killagreg | 778 | u8 TxBytes = 0; |
779 | u8 TxData[3]; |
||
329 | holgerb | 780 | NCMAG_Identification2.Sub = 0xFF; |
489 | killagreg | 781 | TxData[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 782 | // initiate transmission |
489 | killagreg | 783 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 784 | { |
489 | killagreg | 785 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
329 | holgerb | 786 | { |
489 | killagreg | 787 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 788 | } |
789 | } |
||
790 | } |
||
791 | return(retval); |
||
792 | } |
||
793 | |||
794 | |||
253 | killagreg | 795 | // ---------------------------------------------------------------------------------------- |
489 | killagreg | 796 | void NCMAG_GetMagVector(u8 timeout) |
253 | killagreg | 797 | { |
489 | killagreg | 798 | // try to catch the I2C buffer within timeout ms |
799 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
253 | killagreg | 800 | { |
489 | killagreg | 801 | u8 TxBytes = 0; |
802 | u8 TxData[3]; |
||
253 | killagreg | 803 | // set register pointer |
489 | killagreg | 804 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 805 | // initiate transmission |
489 | killagreg | 806 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 807 | } |
808 | } |
||
809 | |||
242 | killagreg | 810 | //---------------------------------------------------------------- |
473 | holgerb | 811 | void NCMAG_GetAccVector(u8 timeout) |
243 | killagreg | 812 | { |
489 | killagreg | 813 | // try to catch the I2C buffer within timeout ms |
814 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
243 | killagreg | 815 | { |
489 | killagreg | 816 | u8 TxBytes = 0; |
817 | u8 TxData[3]; |
||
243 | killagreg | 818 | // set register pointer |
489 | killagreg | 819 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 820 | // initiate transmission |
489 | killagreg | 821 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 822 | } |
823 | } |
||
824 | |||
330 | holgerb | 825 | //---------------------------------------------------------------- |
489 | killagreg | 826 | u8 NCMAG_ConfigureSensor(void) |
330 | holgerb | 827 | { |
828 | u8 crb_gain, cra_rate; |
||
394 | killagreg | 829 | switch(NCMAG_SensorType) |
330 | holgerb | 830 | { |
394 | killagreg | 831 | case TYPE_HMC5843: |
339 | holgerb | 832 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 833 | cra_rate = HMC5843_CRA_RATE_50HZ; |
834 | break; |
||
835 | |||
394 | killagreg | 836 | case TYPE_LSM303DLH: |
837 | case TYPE_LSM303DLM: |
||
500 | holgerb | 838 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
839 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
330 | holgerb | 840 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
841 | break; |
||
842 | |||
843 | default: |
||
394 | killagreg | 844 | return(0); |
330 | holgerb | 845 | } |
846 | |||
847 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
848 | MagConfig.crb = crb_gain; |
||
849 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 850 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 851 | } |
852 | |||
395 | holgerb | 853 | |
394 | killagreg | 854 | //---------------------------------------------------------------- |
855 | u8 NCMAG_Init_ACCSensor(void) |
||
856 | { |
||
395 | holgerb | 857 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
473 | holgerb | 858 | AccConfig.ctrl_2 = 0; |
394 | killagreg | 859 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 860 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 861 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
862 | return(NCMAG_SetAccConfig()); |
||
863 | } |
||
253 | killagreg | 864 | // -------------------------------------------------------- |
480 | holgerb | 865 | void NCMAG_Update(u8 init) |
243 | killagreg | 866 | { |
292 | killagreg | 867 | static u32 TimerUpdate = 0; |
419 | holgerb | 868 | static s8 send_config = 0; |
394 | killagreg | 869 | u32 delay = 20; |
489 | killagreg | 870 | |
480 | holgerb | 871 | if(init) TimerUpdate = SetDelay(10); |
872 | |||
489 | killagreg | 873 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
254 | killagreg | 874 | { |
875 | Compass_Heading = -1; |
||
326 | holgerb | 876 | DebugOut.Analog[14]++; // count I2C error |
480 | holgerb | 877 | TimerUpdate = SetDelay(10); |
254 | killagreg | 878 | return; |
879 | } |
||
489 | killagreg | 880 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 881 | { |
394 | killagreg | 882 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
883 | if(++send_config == 25) // 500ms |
||
884 | { |
||
419 | holgerb | 885 | send_config = -25; // next try after 1 second |
489 | killagreg | 886 | NCMAG_ConfigureSensor(); |
419 | holgerb | 887 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 888 | } |
321 | holgerb | 889 | else |
890 | { |
||
473 | holgerb | 891 | static u8 s = 0; |
394 | killagreg | 892 | // check for new calibration state |
893 | Compass_UpdateCalState(); |
||
894 | if(Compass_CalState) NCMAG_Calibrate(); |
||
489 | killagreg | 895 | |
394 | killagreg | 896 | // in case of LSM303 type |
897 | switch(NCMAG_SensorType) |
||
898 | { |
||
489 | killagreg | 899 | case TYPE_HMC5843: |
900 | delay = 20; // next cycle after 20 ms |
||
901 | NCMAG_GetMagVector(5); |
||
394 | killagreg | 902 | break; |
903 | case TYPE_LSM303DLH: |
||
904 | case TYPE_LSM303DLM: |
||
492 | killagreg | 905 | delay = 20; // next cycle after 20 ms |
489 | killagreg | 906 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
907 | { |
||
908 | NCMAG_GetMagVector(5); |
||
909 | } |
||
910 | else // having an external compass, read every 50th cycle the ACC vec |
||
911 | { // try to initialize if no data are there |
||
912 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
||
913 | // get new data |
||
914 | NCMAG_GetAccVector(5); |
||
915 | delay = 10; // next cycle after 10 ms |
||
916 | s = 40; //reset downconter about 0,8 sec |
||
917 | } |
||
918 | break; |
||
394 | killagreg | 919 | } |
419 | holgerb | 920 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 921 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 922 | } |
243 | killagreg | 923 | } |
924 | } |
||
925 | |||
330 | holgerb | 926 | |
254 | killagreg | 927 | // -------------------------------------------------------- |
253 | killagreg | 928 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 929 | { |
266 | holgerb | 930 | u8 msg[64]; |
275 | killagreg | 931 | static u8 done = 0; |
266 | holgerb | 932 | |
287 | holgerb | 933 | if(done) return(1); // just make it once |
489 | killagreg | 934 | |
271 | holgerb | 935 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 936 | u32 time; |
253 | killagreg | 937 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
938 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
939 | u8 crb_gain, cra_rate; |
||
940 | u8 i = 0, retval = 1; |
||
243 | killagreg | 941 | |
394 | killagreg | 942 | switch(NCMAG_SensorType) |
253 | killagreg | 943 | { |
394 | killagreg | 944 | case TYPE_HMC5843: |
339 | holgerb | 945 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 946 | cra_rate = HMC5843_CRA_RATE_50HZ; |
947 | xscale = HMC5843_TEST_XSCALE; |
||
948 | yscale = HMC5843_TEST_YSCALE; |
||
949 | zscale = HMC5843_TEST_ZSCALE; |
||
950 | break; |
||
951 | |||
394 | killagreg | 952 | case TYPE_LSM303DLH: |
500 | holgerb | 953 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
954 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
253 | killagreg | 955 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
956 | xscale = LSM303DLH_TEST_XSCALE; |
||
957 | yscale = LSM303DLH_TEST_YSCALE; |
||
958 | zscale = LSM303DLH_TEST_ZSCALE; |
||
959 | break; |
||
960 | |||
394 | killagreg | 961 | case TYPE_LSM303DLM: |
489 | killagreg | 962 | // does not support self test feature |
963 | done = 1; |
||
964 | return(1); // always return success |
||
394 | killagreg | 965 | break; |
966 | |||
253 | killagreg | 967 | default: |
394 | killagreg | 968 | return(0); |
253 | killagreg | 969 | } |
970 | |||
971 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
972 | MagConfig.crb = crb_gain; |
||
973 | MagConfig.mode = MODE_CONTINUOUS; |
||
974 | // activate positive bias field |
||
975 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 976 | // wait for stable readings |
977 | time = SetDelay(50); |
||
978 | while(!CheckDelay(time)); |
||
243 | killagreg | 979 | // averaging |
253 | killagreg | 980 | #define AVERAGE 20 |
981 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 982 | { |
489 | killagreg | 983 | NCMAG_GetMagVector(5); |
243 | killagreg | 984 | time = SetDelay(20); |
985 | while(!CheckDelay(time)); |
||
254 | killagreg | 986 | XMax += MagRawVector.X; |
987 | YMax += MagRawVector.Y; |
||
988 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 989 | } |
253 | killagreg | 990 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
991 | // activate positive bias field |
||
992 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 993 | // wait for stable readings |
994 | time = SetDelay(50); |
||
995 | while(!CheckDelay(time)); |
||
243 | killagreg | 996 | // averaging |
253 | killagreg | 997 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 998 | { |
489 | killagreg | 999 | NCMAG_GetMagVector(5); |
243 | killagreg | 1000 | time = SetDelay(20); |
1001 | while(!CheckDelay(time)); |
||
254 | killagreg | 1002 | XMin += MagRawVector.X; |
1003 | YMin += MagRawVector.Y; |
||
1004 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 1005 | } |
1006 | // setup final configuration |
||
253 | killagreg | 1007 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
1008 | // activate positive bias field |
||
1009 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 1010 | // check scale for all axes |
243 | killagreg | 1011 | // prepare scale limits |
253 | killagreg | 1012 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 1013 | xscale = (XMax - XMin)/(2*AVERAGE); |
489 | killagreg | 1014 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 1015 | { |
1016 | retval = 0; |
||
1017 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
1018 | UART1_PutString(msg); |
||
1019 | } |
||
267 | holgerb | 1020 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 1021 | yscale = (YMax - YMin)/(2*AVERAGE); |
489 | killagreg | 1022 | if((yscale > scale_max) || (yscale < scale_min)) |
394 | killagreg | 1023 | { |
1024 | retval = 0; |
||
1025 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
1026 | UART1_PutString(msg); |
||
1027 | } |
||
267 | holgerb | 1028 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 1029 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
489 | killagreg | 1030 | if((zscale > scale_max) || (zscale < scale_min)) |
394 | killagreg | 1031 | { |
1032 | retval = 0; |
||
1033 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
1034 | UART1_PutString(msg); |
||
1035 | } |
||
275 | killagreg | 1036 | done = retval; |
253 | killagreg | 1037 | return(retval); |
243 | killagreg | 1038 | } |
1039 | |||
1040 | |||
489 | killagreg | 1041 | void NCMAG_CheckOrientation(void) |
1042 | { // only for external sensor |
||
1043 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1044 | { |
||
1045 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1046 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
||
1047 | else NCMAG_IsCalibrated = 1; |
||
1048 | } |
||
465 | ingob | 1049 | } |
1050 | //---------------------------------------------------------------- |
||
253 | killagreg | 1051 | u8 NCMAG_Init(void) |
242 | killagreg | 1052 | { |
489 | killagreg | 1053 | MagRawVector.X = 0; |
1054 | MagRawVector.Y = 0; |
||
1055 | MagRawVector.Z = 0; |
||
1056 | AccRawVector.X = 0; |
||
1057 | AccRawVector.Y = 0; |
||
1058 | AccRawVector.Z = 0; |
||
483 | holgerb | 1059 | |
489 | killagreg | 1060 | if(NCMAG_Present) // do only short init ! , full init was called before |
472 | holgerb | 1061 | { |
489 | killagreg | 1062 | // reset I2C Bus |
492 | killagreg | 1063 | //I2CBus_Deinit(Compass_I2CPort); |
1064 | //I2CBus_Init(Compass_I2CPort); |
||
489 | killagreg | 1065 | // try to reconfigure senor |
1066 | NCMAG_ConfigureSensor(); |
||
492 | killagreg | 1067 | //NCMAG_Update(1); |
472 | holgerb | 1068 | } |
489 | killagreg | 1069 | else // full init |
472 | holgerb | 1070 | { |
489 | killagreg | 1071 | u8 msg[64]; |
1072 | u8 retval = 0; |
||
1073 | u8 repeat = 0; |
||
473 | holgerb | 1074 | |
489 | killagreg | 1075 | //-------------------------------------------- |
1076 | // search external sensor first |
||
1077 | //-------------------------------------------- |
||
1078 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1079 | // get id bytes |
||
1080 | retval = 0; |
||
1081 | for(repeat = 0; repeat < 5; repeat++) |
||
1082 | { |
||
1083 | //retval = NCMAG_GetIdentification(); |
||
1084 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
||
1085 | if(retval) break; // break loop on success |
||
1086 | UART1_PutString("_"); |
||
1087 | } |
||
1088 | // Extenal sensor not found? |
||
1089 | if(!retval) |
||
1090 | { |
||
1091 | // search internal sensor afterwards |
||
1092 | UART1_PutString(" internal sensor"); |
||
1093 | Compass_I2CPort = NCMAG_PORT_INTERN; |
||
1094 | } |
||
1095 | else |
||
1096 | { |
||
1097 | UART1_PutString(" external sensor"); |
||
1098 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1099 | } |
||
1100 | //------------------------------------------- |
||
483 | holgerb | 1101 | |
489 | killagreg | 1102 | NCMAG_Present = 0; |
1103 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
||
1104 | // polling for LSM302DLH/DLM option by ACC address ack |
||
1105 | repeat = 0; |
||
1106 | for(repeat = 0; repeat < 3; repeat++) |
||
394 | killagreg | 1107 | { |
489 | killagreg | 1108 | retval = NCMAG_GetAccConfig(); |
394 | killagreg | 1109 | if(retval) break; // break loop on success |
480 | holgerb | 1110 | } |
394 | killagreg | 1111 | if(retval) |
1112 | { |
||
489 | killagreg | 1113 | // initialize ACC sensor |
1114 | NCMAG_Init_ACCSensor(); |
||
483 | holgerb | 1115 | |
489 | killagreg | 1116 | NCMAG_SensorType = TYPE_LSM303DLH; |
1117 | // polling of sub identification |
||
1118 | repeat = 0; |
||
1119 | for(repeat = 0; repeat < 12; repeat++) |
||
1120 | { |
||
1121 | retval = NCMAG_GetIdentification_Sub(); |
||
1122 | if(retval) break; // break loop on success |
||
1123 | } |
||
1124 | if(retval) |
||
1125 | { |
||
1126 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
1127 | } |
||
1128 | } |
||
1129 | // get id bytes |
||
1130 | retval = 0; |
||
1131 | for(repeat = 0; repeat < 3; repeat++) |
||
329 | holgerb | 1132 | { |
489 | killagreg | 1133 | retval = NCMAG_GetIdentification(); |
1134 | if(retval) break; // break loop on success |
||
329 | holgerb | 1135 | } |
483 | holgerb | 1136 | |
489 | killagreg | 1137 | // if we got an answer to id request |
1138 | if(retval) |
||
242 | killagreg | 1139 | { |
489 | killagreg | 1140 | u8 n1[] = "\n\r HMC5843"; |
1141 | u8 n2[] = "\n\r LSM303DLH"; |
||
1142 | u8 n3[] = "\n\r LSM303DLM"; |
||
1143 | u8* pn = n1; |
||
483 | holgerb | 1144 | |
489 | killagreg | 1145 | switch(NCMAG_SensorType) |
394 | killagreg | 1146 | { |
489 | killagreg | 1147 | case TYPE_HMC5843: |
1148 | pn = n1; |
||
1149 | break; |
||
1150 | case TYPE_LSM303DLH: |
||
1151 | pn = n2; |
||
1152 | break; |
||
1153 | case TYPE_LSM303DLM: |
||
1154 | pn = n3; |
||
1155 | break; |
||
394 | killagreg | 1156 | } |
489 | killagreg | 1157 | |
1158 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
1159 | UART1_PutString(msg); |
||
1160 | if ( (NCMAG_Identification.A == MAG_IDA) |
||
1161 | && (NCMAG_Identification.B == MAG_IDB) |
||
1162 | && (NCMAG_Identification.C == MAG_IDC)) |
||
1163 | { |
||
1164 | NCMAG_Present = 1; |
||
1165 | |||
1166 | if(EEPROM_Init()) |
||
1167 | { |
||
1168 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
||
1169 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
1170 | } |
||
1171 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
||
1172 | |||
1173 | // in case of an external sensor, try to get the orientation by acc readings |
||
1174 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1175 | { |
||
1176 | // try to get orientation by acc sensor values |
||
1177 | for(repeat = 0; repeat < 100; repeat++) |
||
1178 | { |
||
1179 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
||
1180 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1181 | if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
||
1182 | } |
||
1183 | // check orientation result if available |
||
1184 | sprintf(msg, "\r\n Orientation: "); |
||
1185 | UART1_PutString(msg); |
||
1186 | if(NCMAG_Orientation) |
||
1187 | { |
||
1188 | sprintf(msg, "%d ", NCMAG_Orientation); |
||
1189 | UART1_PutString(msg); |
||
1190 | if(NCMAG_IsCalibrated) // check against calibration data orientation |
||
1191 | { |
||
1192 | if(NCMAG_Orientation != Calibration.Version >> 4) |
||
1193 | { |
||
1194 | sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
||
1195 | UART1_PutString(msg); |
||
1196 | } |
||
1197 | } |
||
1198 | } |
||
1199 | else |
||
1200 | { |
||
1201 | UART1_PutString("unknown!"); |
||
1202 | } |
||
1203 | } |
||
1204 | |||
1205 | |||
1206 | // perform self test |
||
1207 | if(!NCMAG_SelfTest()) |
||
1208 | { |
||
1209 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
1210 | LED_RED_ON; |
||
1211 | //NCMAG_IsCalibrated = 0; |
||
1212 | } |
||
1213 | else UART1_PutString("\r\n Selftest ok"); |
||
1214 | |||
1215 | // initialize magnetic sensor configuration |
||
1216 | NCMAG_ConfigureSensor(); |
||
1217 | } |
||
1218 | else |
||
1219 | { |
||
1220 | UART1_PutString("\n\r Not compatible!"); |
||
1221 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
||
329 | holgerb | 1222 | LED_RED_ON; |
489 | killagreg | 1223 | } |
242 | killagreg | 1224 | } |
489 | killagreg | 1225 | else // nothing found |
242 | killagreg | 1226 | { |
489 | killagreg | 1227 | NCMAG_SensorType = TYPE_NONE; |
508 | holgerb | 1228 | UART1_PutString(" not found!"); |
242 | killagreg | 1229 | } |
1230 | } |
||
253 | killagreg | 1231 | return(NCMAG_Present); |
242 | killagreg | 1232 | } |
1233 |