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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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242 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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242 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
242 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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242 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
254 | killagreg | 56 | #include <math.h> |
292 | killagreg | 57 | #include <stdio.h> |
242 | killagreg | 58 | #include <string.h> |
59 | #include "91x_lib.h" |
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253 | killagreg | 60 | #include "ncmag.h" |
242 | killagreg | 61 | #include "i2c.h" |
62 | #include "timer1.h" |
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63 | #include "led.h" |
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64 | #include "uart1.h" |
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254 | killagreg | 65 | #include "eeprom.h" |
256 | killagreg | 66 | #include "mymath.h" |
292 | killagreg | 67 | #include "main.h" |
242 | killagreg | 68 | |
253 | killagreg | 69 | u8 NCMAG_Present = 0; |
254 | killagreg | 70 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 71 | |
253 | killagreg | 72 | #define MAG_TYPE_NONE 0 |
73 | #define MAG_TYPE_HMC5843 1 |
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74 | #define MAG_TYPE_LSM303DLH 2 |
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254 | killagreg | 75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
242 | killagreg | 76 | |
338 | holgerb | 77 | #define CALIBRATION_VERSION 1 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
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339 | holgerb | 79 | #define MAG_CALIBRATION_COMPATIBEL 0xA2 |
254 | killagreg | 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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339 | holgerb | 101 | volatile s16vec_t AccRawVector; |
102 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 103 | |
253 | killagreg | 104 | // i2c MAG interface |
105 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 106 | |
253 | killagreg | 107 | // register mapping |
108 | #define REG_MAG_CRA 0x00 |
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109 | #define REG_MAG_CRB 0x01 |
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110 | #define REG_MAG_MODE 0x02 |
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111 | #define REG_MAG_DATAX_MSB 0x03 |
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112 | #define REG_MAG_DATAX_LSB 0x04 |
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113 | #define REG_MAG_DATAY_MSB 0x05 |
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114 | #define REG_MAG_DATAY_LSB 0x06 |
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115 | #define REG_MAG_DATAZ_MSB 0x07 |
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116 | #define REG_MAG_DATAZ_LSB 0x08 |
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117 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 118 | |
253 | killagreg | 119 | #define REG_MAG_IDA 0x0A |
120 | #define REG_MAG_IDB 0x0B |
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121 | #define REG_MAG_IDC 0x0C |
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329 | holgerb | 122 | #define REG_MAG_IDF 0x0F |
242 | killagreg | 123 | |
253 | killagreg | 124 | // bit mask for configuration mode |
125 | #define CRA_MODE_MASK 0x03 |
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126 | #define CRA_MODE_NORMAL 0x00 //default |
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127 | #define CRA_MODE_POSBIAS 0x01 |
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128 | #define CRA_MODE_NEGBIAS 0x02 |
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129 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 130 | |
253 | killagreg | 131 | // bit mask for measurement mode |
132 | #define MODE_MASK 0xFF |
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133 | #define MODE_CONTINUOUS 0x00 |
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134 | #define MODE_SINGLE 0x01 // default |
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135 | #define MODE_IDLE 0x02 |
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136 | #define MODE_SLEEP 0x03 |
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137 | |||
242 | killagreg | 138 | // bit mask for rate |
253 | killagreg | 139 | #define CRA_RATE_MASK 0x1C |
140 | |||
141 | // bit mask for gain |
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142 | #define CRB_GAIN_MASK 0xE0 |
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143 | |||
144 | // ids |
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145 | #define MAG_IDA 0x48 |
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146 | #define MAG_IDB 0x34 |
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147 | #define MAG_IDC 0x33 |
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148 | |||
149 | // the special HMC5843 interface |
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150 | // bit mask for rate |
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242 | killagreg | 151 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
152 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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153 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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154 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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155 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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156 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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157 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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158 | // bit mask for gain |
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159 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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160 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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339 | holgerb | 161 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 162 | #define HMC5843_CRB_GAIN_20GA 0x60 |
163 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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164 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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165 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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166 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 167 | // self test value |
339 | holgerb | 168 | #define HMC5843_TEST_XSCALE 555 |
169 | #define HMC5843_TEST_YSCALE 555 |
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170 | #define HMC5843_TEST_ZSCALE 555 |
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171 | // clibration range |
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342 | holgerb | 172 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 173 | |
253 | killagreg | 174 | // the special LSM302DLH interface |
175 | // bit mask for rate |
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176 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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177 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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178 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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179 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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180 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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181 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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182 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 183 | |
253 | killagreg | 184 | // bit mask for gain |
185 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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186 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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339 | holgerb | 187 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 188 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
189 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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190 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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191 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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192 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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193 | // self test value |
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338 | holgerb | 194 | #define LSM303DLH_TEST_XSCALE 495 |
195 | #define LSM303DLH_TEST_YSCALE 495 |
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196 | #define LSM303DLH_TEST_ZSCALE 470 |
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339 | holgerb | 197 | // clibration range |
342 | holgerb | 198 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 199 | |
200 | // the i2c ACC interface |
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201 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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202 | // register mapping |
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203 | #define REG_ACC_CTRL1 0x20 |
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204 | #define REG_ACC_CTRL2 0x21 |
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205 | #define REG_ACC_CTRL3 0x22 |
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206 | #define REG_ACC_CTRL4 0x23 |
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207 | #define REG_ACC_CTRL5 0x24 |
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208 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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209 | #define REG_ACC_REFERENCE 0x26 |
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210 | #define REG_ACC_STATUS 0x27 |
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211 | #define REG_ACC_X_LSB 0x28 |
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212 | #define REG_ACC_X_MSB 0x29 |
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213 | #define REG_ACC_Y_LSB 0x2A |
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214 | #define REG_ACC_Y_MSB 0x2B |
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215 | #define REG_ACC_Z_LSB 0x2C |
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216 | #define REG_ACC_Z_MSB 0x2D |
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217 | |||
218 | |||
219 | |||
242 | killagreg | 220 | typedef struct |
221 | { |
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253 | killagreg | 222 | u8 A; |
223 | u8 B; |
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224 | u8 C; |
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225 | } __attribute__((packed)) Identification_t; |
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226 | volatile Identification_t NCMAG_Identification; |
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242 | killagreg | 227 | |
253 | killagreg | 228 | typedef struct |
229 | { |
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329 | holgerb | 230 | u8 Sub; |
231 | } __attribute__((packed)) Identification2_t; |
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232 | volatile Identification2_t NCMAG_Identification2; |
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233 | |||
234 | typedef struct |
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235 | { |
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253 | killagreg | 236 | u8 cra; |
237 | u8 crb; |
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238 | u8 mode; |
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239 | } __attribute__((packed)) MagConfig_t; |
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242 | killagreg | 240 | |
253 | killagreg | 241 | volatile MagConfig_t MagConfig; |
242 | killagreg | 242 | |
253 | killagreg | 243 | typedef struct |
244 | { |
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245 | u8 ctrl_1; |
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246 | u8 ctrl_2; |
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247 | u8 ctrl_3; |
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248 | u8 ctrl_4; |
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249 | u8 ctrl_5; |
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250 | } __attribute__((packed)) AccConfig_t; |
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251 | |||
252 | volatile AccConfig_t AccConfig; |
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253 | |||
254 | killagreg | 254 | u8 NCMag_CalibrationWrite(void) |
255 | { |
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338 | holgerb | 256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 257 | EEPROM_Result_t eres; |
258 | u8 *pBuff = (u8*)&Calibration; |
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259 | |||
260 | Calibration.Version = CALIBRATION_VERSION; |
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256 | killagreg | 261 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 262 | { |
263 | crc += pBuff[i]; |
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264 | } |
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265 | Calibration.crc = ~crc; |
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266 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
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267 | if(EEPROM_SUCCESS == eres) i = 1; |
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268 | else i = 0; |
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269 | return(i); |
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270 | } |
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271 | |||
272 | u8 NCMag_CalibrationRead(void) |
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273 | { |
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338 | holgerb | 274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
254 | killagreg | 275 | u8 *pBuff = (u8*)&Calibration; |
276 | |||
277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
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278 | { |
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256 | killagreg | 279 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 280 | { |
281 | crc += pBuff[i]; |
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282 | } |
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283 | crc = ~crc; |
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284 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 285 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 286 | } |
287 | return(0); |
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288 | } |
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289 | |||
290 | |||
291 | void NCMAG_Calibrate(void) |
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292 | { |
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330 | holgerb | 293 | u8 msg[64]; |
254 | killagreg | 294 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 295 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 296 | static u8 OldCalState = 0; |
339 | holgerb | 297 | s16 MinCaclibration = 450; |
254 | killagreg | 298 | |
256 | killagreg | 299 | X = (4*X + MagRawVector.X + 3)/5; |
300 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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301 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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302 | |||
254 | killagreg | 303 | switch(Compass_CalState) |
304 | { |
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305 | case 1: |
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306 | // 1st step of calibration |
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307 | // initialize ranges |
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308 | // used to change the orientation of the NC in the horizontal plane |
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309 | Xmin = 10000; |
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310 | Xmax = -10000; |
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311 | Ymin = 10000; |
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312 | Ymax = -10000; |
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313 | Zmin = 10000; |
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314 | Zmax = -10000; |
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315 | break; |
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316 | |||
317 | case 2: // 2nd step of calibration |
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318 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 319 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
320 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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321 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
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322 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
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254 | killagreg | 323 | break; |
324 | |||
325 | case 3: // 3rd step of calibration |
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326 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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327 | break; |
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328 | |||
329 | case 4: |
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330 | // find Min and Max of the Z-Sensor |
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275 | killagreg | 331 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
332 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
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254 | killagreg | 333 | break; |
334 | |||
335 | case 5: |
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336 | // Save values |
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337 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
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338 | { |
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338 | holgerb | 339 | // #define MIN_CALIBRATION 256 |
339 | holgerb | 340 | if(NCMAG_MagType == MAG_TYPE_HMC5843) |
341 | { |
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342 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
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343 | MinCaclibration = HMC5843_CALIBRATION_RANGE; |
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344 | } |
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345 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
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346 | { |
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347 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
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348 | MinCaclibration =LSM303_CALIBRATION_RANGE; |
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349 | } |
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342 | holgerb | 350 | if(EarthMagneticStrengthTheoretic) |
351 | { |
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352 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
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353 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
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354 | UART1_PutString(msg); |
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355 | } |
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356 | else UART1_PutString("without GPS\n\r"); |
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339 | holgerb | 357 | |
254 | killagreg | 358 | Calibration.MagX.Range = Xmax - Xmin; |
359 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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360 | Calibration.MagY.Range = Ymax - Ymin; |
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361 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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362 | Calibration.MagZ.Range = Zmax - Zmin; |
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363 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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339 | holgerb | 364 | if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
254 | killagreg | 365 | { |
366 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
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270 | killagreg | 367 | BeepTime = 2500; |
342 | holgerb | 368 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
254 | killagreg | 369 | } |
370 | else |
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371 | { |
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339 | holgerb | 372 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
373 | if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
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342 | holgerb | 374 | if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("Y! "); |
339 | holgerb | 375 | if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
330 | holgerb | 376 | UART1_PutString("\r\n"); |
339 | holgerb | 377 | |
254 | killagreg | 378 | // restore old calibration data from eeprom |
379 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
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380 | } |
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330 | holgerb | 381 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
382 | UART1_PutString(msg); |
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383 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
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384 | UART1_PutString(msg); |
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385 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
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386 | UART1_PutString(msg); |
||
342 | holgerb | 387 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
388 | UART1_PutString(msg); |
||
254 | killagreg | 389 | } |
390 | break; |
||
391 | |||
392 | default: |
||
393 | break; |
||
394 | } |
||
395 | OldCalState = Compass_CalState; |
||
396 | } |
||
397 | |||
242 | killagreg | 398 | // ---------- call back handlers ----------------------------------------- |
399 | |||
400 | // rx data handler for id info request |
||
253 | killagreg | 401 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 402 | { // if number of bytes are matching |
253 | killagreg | 403 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 404 | { |
253 | killagreg | 405 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
406 | } |
||
242 | killagreg | 407 | } |
329 | holgerb | 408 | |
409 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
410 | { // if number of bytes are matching |
||
411 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
412 | { |
||
413 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
414 | } |
||
415 | } |
||
416 | |||
254 | killagreg | 417 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 418 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 419 | { // if number of bytes are matching |
420 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 421 | { // byte order from big to little endian |
256 | killagreg | 422 | s16 raw; |
423 | raw = pRxBuffer[0]<<8; |
||
424 | raw+= pRxBuffer[1]; |
||
425 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
||
426 | raw = pRxBuffer[2]<<8; |
||
427 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 428 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
429 | { |
||
430 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
||
431 | else MagRawVector.Y = raw; |
||
432 | } |
||
256 | killagreg | 433 | raw = pRxBuffer[4]<<8; |
434 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 435 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
436 | { |
||
437 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
||
438 | else MagRawVector.Z = raw; |
||
439 | } |
||
342 | holgerb | 440 | //MagRawVector.X += 2 * ((s32) FC.Poti[7] - 128); |
242 | killagreg | 441 | } |
254 | killagreg | 442 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 443 | { // mark out data invalid |
289 | killagreg | 444 | MagVector.X = MagRawVector.X; |
445 | MagVector.Y = MagRawVector.Y; |
||
446 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 447 | Compass_Heading = -1; |
448 | } |
||
449 | else |
||
450 | { |
||
451 | // update MagVector from MagRaw Vector by Scaling |
||
452 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
453 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
454 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 455 | Compass_CalcHeading(); |
254 | killagreg | 456 | } |
242 | killagreg | 457 | } |
254 | killagreg | 458 | // rx data handler for acceleration raw data |
253 | killagreg | 459 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
460 | { // if number of byte are matching |
||
254 | killagreg | 461 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 462 | { |
254 | killagreg | 463 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 464 | } |
465 | } |
||
254 | killagreg | 466 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 467 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
468 | { // if number of byte are matching |
||
469 | if(RxBufferSize == sizeof(MagConfig) ) |
||
470 | { |
||
471 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
472 | } |
||
473 | } |
||
254 | killagreg | 474 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 475 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
476 | { // if number of byte are matching |
||
477 | if(RxBufferSize == sizeof(AccConfig) ) |
||
478 | { |
||
479 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
480 | } |
||
481 | } |
||
254 | killagreg | 482 | //---------------------------------------------------------------------- |
253 | killagreg | 483 | |
254 | killagreg | 484 | |
485 | // --------------------------------------------------------------------- |
||
253 | killagreg | 486 | u8 NCMAG_SetMagConfig(void) |
487 | { |
||
488 | u8 retval = 0; |
||
489 | // try to catch the i2c buffer within 100 ms timeout |
||
490 | if(I2C_LockBuffer(100)) |
||
491 | { |
||
492 | u8 TxBytes = 0; |
||
493 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
494 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
495 | TxBytes += sizeof(MagConfig); |
||
496 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
497 | { |
||
498 | if(I2C_WaitForEndOfTransmission(100)) |
||
499 | { |
||
500 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
501 | } |
||
502 | } |
||
503 | } |
||
504 | return(retval); |
||
505 | } |
||
242 | killagreg | 506 | |
253 | killagreg | 507 | // ---------------------------------------------------------------------------------------- |
508 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 509 | { |
253 | killagreg | 510 | u8 retval = 0; |
252 | killagreg | 511 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 512 | if(I2C_LockBuffer(100)) |
242 | killagreg | 513 | { |
253 | killagreg | 514 | u8 TxBytes = 0; |
515 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
||
516 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 517 | { |
252 | killagreg | 518 | if(I2C_WaitForEndOfTransmission(100)) |
519 | { |
||
520 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
521 | } |
||
248 | killagreg | 522 | } |
242 | killagreg | 523 | } |
253 | killagreg | 524 | return(retval); |
242 | killagreg | 525 | } |
526 | |||
527 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 528 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 529 | { |
252 | killagreg | 530 | u8 retval = 0; |
253 | killagreg | 531 | // try to catch the i2c buffer within 100 ms timeout |
248 | killagreg | 532 | if(I2C_LockBuffer(100)) |
242 | killagreg | 533 | { |
253 | killagreg | 534 | u8 TxBytes = 0; |
535 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
536 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
537 | TxBytes += sizeof(AccConfig); |
||
538 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
||
539 | { |
||
540 | if(I2C_WaitForEndOfTransmission(100)) |
||
541 | { |
||
542 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
543 | } |
||
544 | } |
||
545 | } |
||
546 | return(retval); |
||
547 | } |
||
548 | |||
549 | // ---------------------------------------------------------------------------------------- |
||
550 | u8 NCMAG_GetAccConfig(void) |
||
551 | { |
||
552 | u8 retval = 0; |
||
553 | // try to catch the i2c buffer within 100 ms timeout |
||
554 | if(I2C_LockBuffer(100)) |
||
555 | { |
||
556 | u8 TxBytes = 0; |
||
557 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
||
558 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
559 | { |
||
560 | if(I2C_WaitForEndOfTransmission(100)) |
||
561 | { |
||
562 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
563 | } |
||
564 | } |
||
565 | } |
||
566 | return(retval); |
||
567 | } |
||
568 | |||
569 | // ---------------------------------------------------------------------------------------- |
||
570 | u8 NCMAG_GetIdentification(void) |
||
571 | { |
||
572 | u8 retval = 0; |
||
573 | // try to catch the i2c buffer within 100 ms timeout |
||
574 | if(I2C_LockBuffer(100)) |
||
575 | { |
||
576 | u16 TxBytes = 0; |
||
577 | NCMAG_Identification.A = 0xFF; |
||
578 | NCMAG_Identification.B = 0xFF; |
||
579 | NCMAG_Identification.C = 0xFF; |
||
580 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
||
248 | killagreg | 581 | // initiate transmission |
253 | killagreg | 582 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 583 | { |
253 | killagreg | 584 | if(I2C_WaitForEndOfTransmission(100)) |
252 | killagreg | 585 | { |
586 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
587 | } |
||
248 | killagreg | 588 | } |
242 | killagreg | 589 | } |
253 | killagreg | 590 | return(retval); |
242 | killagreg | 591 | } |
592 | |||
329 | holgerb | 593 | u8 NCMAG_GetIdentification_Sub(void) |
594 | { |
||
595 | u8 retval = 0; |
||
596 | // try to catch the i2c buffer within 100 ms timeout |
||
597 | if(I2C_LockBuffer(100)) |
||
598 | { |
||
599 | u16 TxBytes = 0; |
||
600 | NCMAG_Identification2.Sub = 0xFF; |
||
601 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
||
602 | // initiate transmission |
||
603 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
||
604 | { |
||
605 | if(I2C_WaitForEndOfTransmission(100)) |
||
606 | { |
||
607 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
||
608 | } |
||
609 | } |
||
610 | } |
||
611 | return(retval); |
||
612 | } |
||
613 | |||
614 | |||
253 | killagreg | 615 | // ---------------------------------------------------------------------------------------- |
616 | void NCMAG_GetMagVector(void) |
||
617 | { |
||
618 | // try to catch the I2C buffer within 0 ms |
||
619 | if(I2C_LockBuffer(0)) |
||
620 | { |
||
330 | holgerb | 621 | // s16 tmp; |
253 | killagreg | 622 | u16 TxBytes = 0; |
623 | // set register pointer |
||
624 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
||
625 | // initiate transmission |
||
626 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
||
627 | } |
||
628 | } |
||
629 | |||
242 | killagreg | 630 | //---------------------------------------------------------------- |
253 | killagreg | 631 | void NCMAG_GetAccVector(void) |
243 | killagreg | 632 | { |
252 | killagreg | 633 | // try to catch the I2C buffer within 0 ms |
634 | if(I2C_LockBuffer(0)) |
||
243 | killagreg | 635 | { |
248 | killagreg | 636 | u16 TxBytes = 0; |
243 | killagreg | 637 | // set register pointer |
253 | killagreg | 638 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
243 | killagreg | 639 | // initiate transmission |
254 | killagreg | 640 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 641 | } |
642 | } |
||
643 | |||
330 | holgerb | 644 | //---------------------------------------------------------------- |
645 | void InitNC_MagnetSensor(void) |
||
646 | { |
||
647 | s16 xscale, yscale, zscale; |
||
648 | u8 crb_gain, cra_rate; |
||
338 | holgerb | 649 | // u8 retval = 1; |
330 | holgerb | 650 | |
651 | switch(NCMAG_MagType) |
||
652 | { |
||
653 | case MAG_TYPE_HMC5843: |
||
339 | holgerb | 654 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 655 | cra_rate = HMC5843_CRA_RATE_50HZ; |
656 | xscale = HMC5843_TEST_XSCALE; |
||
657 | yscale = HMC5843_TEST_YSCALE; |
||
658 | zscale = HMC5843_TEST_ZSCALE; |
||
659 | break; |
||
660 | |||
661 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 662 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 663 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
664 | xscale = LSM303DLH_TEST_XSCALE; |
||
665 | yscale = LSM303DLH_TEST_YSCALE; |
||
666 | zscale = LSM303DLH_TEST_ZSCALE; |
||
667 | break; |
||
668 | |||
669 | default: |
||
338 | holgerb | 670 | return; |
330 | holgerb | 671 | } |
672 | |||
673 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
674 | MagConfig.crb = crb_gain; |
||
675 | MagConfig.mode = MODE_CONTINUOUS; |
||
676 | NCMAG_SetMagConfig(); |
||
677 | } |
||
678 | |||
679 | |||
253 | killagreg | 680 | // -------------------------------------------------------- |
292 | killagreg | 681 | void NCMAG_Update(void) |
243 | killagreg | 682 | { |
292 | killagreg | 683 | static u32 TimerUpdate = 0; |
321 | holgerb | 684 | static u8 send_config = 0; |
243 | killagreg | 685 | |
254 | killagreg | 686 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
687 | { |
||
688 | Compass_Heading = -1; |
||
326 | holgerb | 689 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 690 | return; |
691 | } |
||
292 | killagreg | 692 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 693 | { |
326 | holgerb | 694 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
695 | if(++send_config == 25) // 500ms |
||
321 | holgerb | 696 | { |
697 | send_config = 0; |
||
330 | holgerb | 698 | InitNC_MagnetSensor(); |
321 | holgerb | 699 | TimerUpdate = SetDelay(15); // back into the old time-slot |
700 | } |
||
701 | else |
||
702 | { |
||
254 | killagreg | 703 | // check for new calibration state |
704 | Compass_UpdateCalState(); |
||
705 | if(Compass_CalState) NCMAG_Calibrate(); |
||
706 | NCMAG_GetMagVector(); //Get new data; |
||
326 | holgerb | 707 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
321 | holgerb | 708 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
709 | } |
||
243 | killagreg | 710 | } |
711 | } |
||
712 | |||
330 | holgerb | 713 | |
254 | killagreg | 714 | // -------------------------------------------------------- |
253 | killagreg | 715 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 716 | { |
266 | holgerb | 717 | u8 msg[64]; |
275 | killagreg | 718 | static u8 done = 0; |
266 | holgerb | 719 | |
287 | holgerb | 720 | if(done) return(1); // just make it once |
275 | killagreg | 721 | |
271 | holgerb | 722 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 723 | u32 time; |
253 | killagreg | 724 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
725 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
726 | u8 crb_gain, cra_rate; |
||
727 | u8 i = 0, retval = 1; |
||
243 | killagreg | 728 | |
253 | killagreg | 729 | switch(NCMAG_MagType) |
730 | { |
||
731 | case MAG_TYPE_HMC5843: |
||
339 | holgerb | 732 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 733 | cra_rate = HMC5843_CRA_RATE_50HZ; |
734 | xscale = HMC5843_TEST_XSCALE; |
||
735 | yscale = HMC5843_TEST_YSCALE; |
||
736 | zscale = HMC5843_TEST_ZSCALE; |
||
737 | break; |
||
738 | |||
739 | case MAG_TYPE_LSM303DLH: |
||
338 | holgerb | 740 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 741 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
742 | xscale = LSM303DLH_TEST_XSCALE; |
||
743 | yscale = LSM303DLH_TEST_YSCALE; |
||
744 | zscale = LSM303DLH_TEST_ZSCALE; |
||
745 | break; |
||
746 | |||
747 | default: |
||
748 | return(0); |
||
749 | } |
||
750 | |||
751 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
752 | MagConfig.crb = crb_gain; |
||
753 | MagConfig.mode = MODE_CONTINUOUS; |
||
754 | // activate positive bias field |
||
755 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 756 | // wait for stable readings |
757 | time = SetDelay(50); |
||
758 | while(!CheckDelay(time)); |
||
243 | killagreg | 759 | // averaging |
253 | killagreg | 760 | #define AVERAGE 20 |
761 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 762 | { |
253 | killagreg | 763 | NCMAG_GetMagVector(); |
243 | killagreg | 764 | time = SetDelay(20); |
765 | while(!CheckDelay(time)); |
||
254 | killagreg | 766 | XMax += MagRawVector.X; |
767 | YMax += MagRawVector.Y; |
||
768 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 769 | } |
253 | killagreg | 770 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
771 | // activate positive bias field |
||
772 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 773 | // wait for stable readings |
774 | time = SetDelay(50); |
||
775 | while(!CheckDelay(time)); |
||
243 | killagreg | 776 | // averaging |
253 | killagreg | 777 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 778 | { |
253 | killagreg | 779 | NCMAG_GetMagVector(); |
243 | killagreg | 780 | time = SetDelay(20); |
781 | while(!CheckDelay(time)); |
||
254 | killagreg | 782 | XMin += MagRawVector.X; |
783 | YMin += MagRawVector.Y; |
||
784 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 785 | } |
786 | // setup final configuration |
||
253 | killagreg | 787 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
788 | // activate positive bias field |
||
789 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 790 | // check scale for all axes |
243 | killagreg | 791 | // prepare scale limits |
253 | killagreg | 792 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 793 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 794 | if((xscale > scale_max) || (xscale < scale_min)) |
795 | { |
||
796 | retval = 0; |
||
797 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
798 | UART1_PutString(msg); |
||
799 | } |
||
267 | holgerb | 800 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 801 | yscale = (YMax - YMin)/(2*AVERAGE); |
802 | if((yscale > scale_max) || (yscale < scale_min)) |
||
803 | { |
||
804 | retval = 0; |
||
805 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
806 | UART1_PutString(msg); |
||
807 | } |
||
267 | holgerb | 808 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 809 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
810 | if((zscale > scale_max) || (zscale < scale_min)) |
||
811 | { |
||
812 | retval = 0; |
||
813 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
814 | UART1_PutString(msg); |
||
815 | } |
||
275 | killagreg | 816 | done = retval; |
253 | killagreg | 817 | return(retval); |
243 | killagreg | 818 | } |
819 | |||
820 | |||
821 | //---------------------------------------------------------------- |
||
253 | killagreg | 822 | u8 NCMAG_Init(void) |
242 | killagreg | 823 | { |
824 | u8 msg[64]; |
||
252 | killagreg | 825 | u8 retval = 0; |
242 | killagreg | 826 | u8 repeat; |
827 | |||
253 | killagreg | 828 | NCMAG_Present = 0; |
829 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
||
830 | // polling for LSM302DLH option |
||
831 | repeat = 0; |
||
832 | do |
||
833 | { |
||
834 | retval = NCMAG_GetAccConfig(); |
||
835 | if(retval) break; // break loop on success |
||
836 | UART1_PutString("."); |
||
837 | repeat++; |
||
838 | }while(repeat < 3); |
||
839 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
||
242 | killagreg | 840 | // polling of identification |
841 | repeat = 0; |
||
842 | do |
||
843 | { |
||
329 | holgerb | 844 | retval = NCMAG_GetIdentification_Sub(); |
845 | if(retval) break; // break loop on success |
||
846 | UART1_PutString("."); |
||
847 | repeat++; |
||
848 | }while(repeat < 12); |
||
849 | retval = 0; |
||
850 | do |
||
851 | { |
||
253 | killagreg | 852 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 853 | if(retval) break; // break loop on success |
242 | killagreg | 854 | UART1_PutString("."); |
855 | repeat++; |
||
252 | killagreg | 856 | }while(repeat < 12); |
329 | holgerb | 857 | |
253 | killagreg | 858 | // if we got an answer to id request |
252 | killagreg | 859 | if(retval) |
242 | killagreg | 860 | { |
329 | holgerb | 861 | u8 n1[] = "\n\r HMC5843"; |
862 | u8 n2[] = "\n\r LSM303DLH"; |
||
863 | u8 n3[] = "\n\r LSM303DLM"; |
||
253 | killagreg | 864 | u8* pn; |
329 | holgerb | 865 | |
866 | pn = n1; |
||
867 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
||
868 | { |
||
869 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
||
870 | else pn = n2; |
||
871 | } |
||
872 | |||
873 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 874 | UART1_PutString(msg); |
253 | killagreg | 875 | if ( (NCMAG_Identification.A == MAG_IDA) |
876 | && (NCMAG_Identification.B == MAG_IDB) |
||
877 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 878 | { |
268 | killagreg | 879 | NCMAG_Present = 1; |
329 | holgerb | 880 | |
881 | if(EEPROM_Init()) |
||
264 | killagreg | 882 | { |
883 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
||
884 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
885 | } |
||
329 | holgerb | 886 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
887 | |||
888 | if(NCMAG_Identification2.Sub == 0x00) |
||
889 | { |
||
890 | if(!NCMAG_SelfTest()) |
||
891 | { |
||
892 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
893 | LED_RED_ON; |
||
894 | NCMAG_IsCalibrated = 0; |
||
895 | } else UART1_PutString("\r\n Selftest ok"); |
||
254 | killagreg | 896 | } |
330 | holgerb | 897 | else InitNC_MagnetSensor(); |
242 | killagreg | 898 | } |
899 | else |
||
900 | { |
||
254 | killagreg | 901 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 902 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 903 | LED_RED_ON; |
904 | } |
||
905 | } |
||
253 | killagreg | 906 | else // nothing found |
907 | { |
||
908 | NCMAG_MagType = MAG_TYPE_NONE; |
||
909 | UART1_PutString("not found!"); |
||
910 | } |
||
911 | return(NCMAG_Present); |
||
242 | killagreg | 912 | } |
913 |