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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" |
470 | killagreg | 61 | #include "i2c1.h" |
465 | ingob | 62 | #include "i2c0.h" |
63 | |||
242 | killagreg | 64 | #include "timer1.h" |
65 | #include "led.h" |
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66 | #include "uart1.h" |
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254 | killagreg | 67 | #include "eeprom.h" |
256 | killagreg | 68 | #include "mymath.h" |
292 | killagreg | 69 | #include "main.h" |
454 | holgerb | 70 | #include "spi_slave.h" |
242 | killagreg | 71 | |
253 | killagreg | 72 | u8 NCMAG_Present = 0; |
254 | killagreg | 73 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 74 | |
472 | holgerb | 75 | u8 I2C_CompassPort = 1; |
76 | |||
465 | ingob | 77 | u8 *I2C_BufferPnt; |
78 | u8 *I2C_ErrorPnt; |
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79 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
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80 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
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81 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
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82 | |||
83 | |||
394 | killagreg | 84 | // supported magnetic sensor types |
85 | #define TYPE_NONE 0 |
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86 | #define TYPE_HMC5843 1 |
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87 | #define TYPE_LSM303DLH 2 |
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88 | #define TYPE_LSM303DLM 3 |
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242 | killagreg | 89 | |
394 | killagreg | 90 | u8 NCMAG_SensorType = TYPE_NONE; |
91 | |||
472 | holgerb | 92 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 // two calibrtion sets for extern and intern sensor |
93 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
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94 | |||
338 | holgerb | 95 | #define CALIBRATION_VERSION 1 |
394 | killagreg | 96 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
254 | killagreg | 97 | |
256 | killagreg | 98 | #define NCMAG_MIN_RAWVALUE -2047 |
99 | #define NCMAG_MAX_RAWVALUE 2047 |
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100 | #define NCMAG_INVALID_DATA -4096 |
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101 | |||
254 | killagreg | 102 | typedef struct |
103 | { |
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104 | s16 Range; |
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105 | s16 Offset; |
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256 | killagreg | 106 | } __attribute__((packed)) Scaling_t; |
254 | killagreg | 107 | |
108 | typedef struct |
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109 | { |
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110 | Scaling_t MagX; |
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111 | Scaling_t MagY; |
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112 | Scaling_t MagZ; |
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113 | u8 Version; |
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114 | u8 crc; |
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256 | killagreg | 115 | } __attribute__((packed)) Calibration_t; |
254 | killagreg | 116 | |
117 | Calibration_t Calibration; // calibration data in RAM |
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339 | holgerb | 118 | volatile s16vec_t AccRawVector; |
119 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 120 | |
253 | killagreg | 121 | // i2c MAG interface |
122 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 123 | |
253 | killagreg | 124 | // register mapping |
125 | #define REG_MAG_CRA 0x00 |
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126 | #define REG_MAG_CRB 0x01 |
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127 | #define REG_MAG_MODE 0x02 |
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128 | #define REG_MAG_DATAX_MSB 0x03 |
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129 | #define REG_MAG_DATAX_LSB 0x04 |
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130 | #define REG_MAG_DATAY_MSB 0x05 |
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131 | #define REG_MAG_DATAY_LSB 0x06 |
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132 | #define REG_MAG_DATAZ_MSB 0x07 |
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133 | #define REG_MAG_DATAZ_LSB 0x08 |
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134 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 135 | |
253 | killagreg | 136 | #define REG_MAG_IDA 0x0A |
137 | #define REG_MAG_IDB 0x0B |
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138 | #define REG_MAG_IDC 0x0C |
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394 | killagreg | 139 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 140 | |
253 | killagreg | 141 | // bit mask for configuration mode |
142 | #define CRA_MODE_MASK 0x03 |
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143 | #define CRA_MODE_NORMAL 0x00 //default |
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144 | #define CRA_MODE_POSBIAS 0x01 |
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145 | #define CRA_MODE_NEGBIAS 0x02 |
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146 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 147 | |
253 | killagreg | 148 | // bit mask for measurement mode |
149 | #define MODE_MASK 0xFF |
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150 | #define MODE_CONTINUOUS 0x00 |
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151 | #define MODE_SINGLE 0x01 // default |
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152 | #define MODE_IDLE 0x02 |
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153 | #define MODE_SLEEP 0x03 |
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154 | |||
242 | killagreg | 155 | // bit mask for rate |
253 | killagreg | 156 | #define CRA_RATE_MASK 0x1C |
157 | |||
158 | // bit mask for gain |
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159 | #define CRB_GAIN_MASK 0xE0 |
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160 | |||
161 | // ids |
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162 | #define MAG_IDA 0x48 |
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163 | #define MAG_IDB 0x34 |
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164 | #define MAG_IDC 0x33 |
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394 | killagreg | 165 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 166 | |
167 | // the special HMC5843 interface |
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168 | // bit mask for rate |
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242 | killagreg | 169 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
170 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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171 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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172 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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173 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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174 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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175 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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176 | // bit mask for gain |
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177 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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178 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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339 | holgerb | 179 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 180 | #define HMC5843_CRB_GAIN_20GA 0x60 |
181 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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182 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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183 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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184 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 185 | // self test value |
339 | holgerb | 186 | #define HMC5843_TEST_XSCALE 555 |
187 | #define HMC5843_TEST_YSCALE 555 |
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188 | #define HMC5843_TEST_ZSCALE 555 |
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394 | killagreg | 189 | // calibration range |
342 | holgerb | 190 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 191 | |
253 | killagreg | 192 | // the special LSM302DLH interface |
193 | // bit mask for rate |
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194 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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195 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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196 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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197 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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198 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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199 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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200 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 201 | |
253 | killagreg | 202 | // bit mask for gain |
203 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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204 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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339 | holgerb | 205 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 206 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
207 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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208 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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209 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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210 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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394 | killagreg | 211 | |
212 | typedef struct |
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213 | { |
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214 | u8 A; |
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215 | u8 B; |
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216 | u8 C; |
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217 | } __attribute__((packed)) Identification_t; |
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218 | volatile Identification_t NCMAG_Identification; |
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219 | |||
220 | typedef struct |
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221 | { |
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222 | u8 Sub; |
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223 | } __attribute__((packed)) Identification2_t; |
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224 | volatile Identification2_t NCMAG_Identification2; |
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225 | |||
226 | typedef struct |
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227 | { |
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228 | u8 cra; |
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229 | u8 crb; |
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230 | u8 mode; |
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231 | } __attribute__((packed)) MagConfig_t; |
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232 | |||
233 | volatile MagConfig_t MagConfig; |
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234 | |||
235 | |||
465 | ingob | 236 | |
237 | |||
238 | |||
253 | killagreg | 239 | // self test value |
338 | holgerb | 240 | #define LSM303DLH_TEST_XSCALE 495 |
241 | #define LSM303DLH_TEST_YSCALE 495 |
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242 | #define LSM303DLH_TEST_ZSCALE 470 |
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339 | holgerb | 243 | // clibration range |
342 | holgerb | 244 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 245 | |
246 | // the i2c ACC interface |
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247 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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394 | killagreg | 248 | |
249 | // multiple byte read/write mask |
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250 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
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251 | |||
253 | killagreg | 252 | // register mapping |
253 | #define REG_ACC_CTRL1 0x20 |
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254 | #define REG_ACC_CTRL2 0x21 |
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255 | #define REG_ACC_CTRL3 0x22 |
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256 | #define REG_ACC_CTRL4 0x23 |
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257 | #define REG_ACC_CTRL5 0x24 |
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258 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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259 | #define REG_ACC_REFERENCE 0x26 |
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260 | #define REG_ACC_STATUS 0x27 |
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261 | #define REG_ACC_X_LSB 0x28 |
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262 | #define REG_ACC_X_MSB 0x29 |
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263 | #define REG_ACC_Y_LSB 0x2A |
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264 | #define REG_ACC_Y_MSB 0x2B |
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265 | #define REG_ACC_Z_LSB 0x2C |
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266 | #define REG_ACC_Z_MSB 0x2D |
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267 | |||
394 | killagreg | 268 | #define ACC_CRTL1_PM_DOWN 0x00 |
269 | #define ACC_CRTL1_PM_NORMAL 0x20 |
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270 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
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271 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
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272 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
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273 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
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274 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
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275 | // Output data rate in normal power mode |
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276 | #define ACC_CRTL1_DR_50HZ 0x00 |
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277 | #define ACC_CRTL1_DR_100HZ 0x08 |
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278 | #define ACC_CRTL1_DR_400HZ 0x10 |
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279 | #define ACC_CRTL1_DR_1000HZ 0x18 |
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280 | // axis anable flags |
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281 | #define ACC_CRTL1_XEN 0x01 |
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282 | #define ACC_CRTL1_YEN 0x02 |
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283 | #define ACC_CRTL1_ZEN 0x04 |
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253 | killagreg | 284 | |
397 | holgerb | 285 | #define ACC_CRTL2_FILTER8 0x10 |
286 | #define ACC_CRTL2_FILTER16 0x11 |
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287 | #define ACC_CRTL2_FILTER32 0x12 |
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288 | #define ACC_CRTL2_FILTER64 0x13 |
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395 | holgerb | 289 | |
394 | killagreg | 290 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
291 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
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292 | #define ACC_CTRL4_FS_2G 0x00 |
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293 | #define ACC_CTRL4_FS_4G 0x10 |
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294 | #define ACC_CTRL4_FS_8G 0x30 |
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295 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
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296 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
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297 | #define ACC_CTRL4_ST_ENABLE 0x02 |
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253 | killagreg | 298 | |
394 | killagreg | 299 | #define ACC_CTRL5_STW_ON 0x03 |
300 | #define ACC_CTRL5_STW_OFF 0x00 |
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242 | killagreg | 301 | |
253 | killagreg | 302 | typedef struct |
303 | { |
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304 | u8 ctrl_1; |
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305 | u8 ctrl_2; |
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306 | u8 ctrl_3; |
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307 | u8 ctrl_4; |
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308 | u8 ctrl_5; |
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309 | } __attribute__((packed)) AccConfig_t; |
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310 | |||
311 | volatile AccConfig_t AccConfig; |
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312 | |||
472 | holgerb | 313 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
254 | killagreg | 314 | { |
472 | holgerb | 315 | u16 address; |
394 | killagreg | 316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 317 | EEPROM_Result_t eres; |
318 | u8 *pBuff = (u8*)&Calibration; |
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319 | |||
472 | holgerb | 320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
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322 | |||
254 | killagreg | 323 | Calibration.Version = CALIBRATION_VERSION; |
256 | killagreg | 324 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 325 | { |
326 | crc += pBuff[i]; |
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327 | } |
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328 | Calibration.crc = ~crc; |
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472 | holgerb | 329 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
254 | killagreg | 330 | if(EEPROM_SUCCESS == eres) i = 1; |
331 | else i = 0; |
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332 | return(i); |
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333 | } |
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334 | |||
472 | holgerb | 335 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
254 | killagreg | 336 | { |
394 | killagreg | 337 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 338 | u8 *pBuff = (u8*)&Calibration; |
472 | holgerb | 339 | u16 address; |
254 | killagreg | 340 | |
472 | holgerb | 341 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
342 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
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343 | |||
344 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
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254 | killagreg | 345 | { |
256 | killagreg | 346 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 347 | { |
348 | crc += pBuff[i]; |
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349 | } |
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350 | crc = ~crc; |
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351 | if(Calibration.crc != crc) return(0); // crc mismatch |
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257 | killagreg | 352 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
254 | killagreg | 353 | } |
354 | return(0); |
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355 | } |
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356 | |||
357 | |||
358 | void NCMAG_Calibrate(void) |
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359 | { |
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330 | holgerb | 360 | u8 msg[64]; |
454 | holgerb | 361 | static u8 speak = 0; |
254 | killagreg | 362 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
256 | killagreg | 363 | static s16 X = 0, Y = 0, Z = 0; |
254 | killagreg | 364 | static u8 OldCalState = 0; |
394 | killagreg | 365 | s16 MinCalibration = 450; |
254 | killagreg | 366 | |
256 | killagreg | 367 | X = (4*X + MagRawVector.X + 3)/5; |
368 | Y = (4*Y + MagRawVector.Y + 3)/5; |
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369 | Z = (4*Z + MagRawVector.Z + 3)/5; |
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370 | |||
254 | killagreg | 371 | switch(Compass_CalState) |
372 | { |
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373 | case 1: |
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374 | // 1st step of calibration |
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375 | // initialize ranges |
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376 | // used to change the orientation of the NC in the horizontal plane |
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377 | Xmin = 10000; |
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378 | Xmax = -10000; |
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379 | Ymin = 10000; |
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380 | Ymax = -10000; |
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381 | Zmin = 10000; |
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382 | Zmax = -10000; |
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454 | holgerb | 383 | speak = 1; |
254 | killagreg | 384 | break; |
385 | |||
386 | case 2: // 2nd step of calibration |
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387 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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275 | killagreg | 388 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
389 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
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390 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
391 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 392 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 393 | break; |
394 | |||
395 | case 3: // 3rd step of calibration |
||
396 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
454 | holgerb | 397 | speak = 1; |
254 | killagreg | 398 | break; |
399 | |||
400 | case 4: |
||
401 | // find Min and Max of the Z-Sensor |
||
275 | killagreg | 402 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
403 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
||
454 | holgerb | 404 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 405 | break; |
406 | |||
407 | case 5: |
||
408 | // Save values |
||
409 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
410 | { |
||
394 | killagreg | 411 | switch(NCMAG_SensorType) |
412 | { |
||
413 | case TYPE_HMC5843: |
||
414 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
||
415 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
416 | break; |
||
417 | |||
418 | case TYPE_LSM303DLH: |
||
419 | case TYPE_LSM303DLM: |
||
420 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
||
421 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
422 | break; |
||
423 | } |
||
342 | holgerb | 424 | if(EarthMagneticStrengthTheoretic) |
425 | { |
||
394 | killagreg | 426 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
342 | holgerb | 427 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
428 | UART1_PutString(msg); |
||
429 | } |
||
430 | else UART1_PutString("without GPS\n\r"); |
||
339 | holgerb | 431 | |
254 | killagreg | 432 | Calibration.MagX.Range = Xmax - Xmin; |
433 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
434 | Calibration.MagY.Range = Ymax - Ymin; |
||
435 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
436 | Calibration.MagZ.Range = Zmax - Zmin; |
||
437 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
394 | killagreg | 438 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 439 | { |
472 | holgerb | 440 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
270 | killagreg | 441 | BeepTime = 2500; |
342 | holgerb | 442 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
454 | holgerb | 443 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 444 | } |
445 | else |
||
446 | { |
||
454 | holgerb | 447 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 448 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 449 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
450 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
451 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 452 | UART1_PutString("\r\n"); |
339 | holgerb | 453 | |
254 | killagreg | 454 | // restore old calibration data from eeprom |
472 | holgerb | 455 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
254 | killagreg | 456 | } |
330 | holgerb | 457 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
458 | UART1_PutString(msg); |
||
459 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
460 | UART1_PutString(msg); |
||
461 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
462 | UART1_PutString(msg); |
||
394 | killagreg | 463 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 464 | UART1_PutString(msg); |
254 | killagreg | 465 | } |
466 | break; |
||
467 | |||
468 | default: |
||
469 | break; |
||
470 | } |
||
471 | OldCalState = Compass_CalState; |
||
472 | } |
||
473 | |||
242 | killagreg | 474 | // ---------- call back handlers ----------------------------------------- |
475 | |||
476 | // rx data handler for id info request |
||
253 | killagreg | 477 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 478 | { // if number of bytes are matching |
253 | killagreg | 479 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 480 | { |
253 | killagreg | 481 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
482 | } |
||
242 | killagreg | 483 | } |
329 | holgerb | 484 | |
485 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
486 | { // if number of bytes are matching |
||
487 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
488 | { |
||
489 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
490 | } |
||
491 | } |
||
492 | |||
254 | killagreg | 493 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 494 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 495 | { // if number of bytes are matching |
496 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 497 | { // byte order from big to little endian |
256 | killagreg | 498 | s16 raw; |
499 | raw = pRxBuffer[0]<<8; |
||
500 | raw+= pRxBuffer[1]; |
||
501 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
||
502 | raw = pRxBuffer[2]<<8; |
||
503 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 504 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
505 | { |
||
394 | killagreg | 506 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
507 | else MagRawVector.Y = raw; |
||
330 | holgerb | 508 | } |
256 | killagreg | 509 | raw = pRxBuffer[4]<<8; |
510 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 511 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
512 | { |
||
394 | killagreg | 513 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
514 | else MagRawVector.Z = raw; |
||
330 | holgerb | 515 | } |
242 | killagreg | 516 | } |
254 | killagreg | 517 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 518 | { // mark out data invalid |
289 | killagreg | 519 | MagVector.X = MagRawVector.X; |
520 | MagVector.Y = MagRawVector.Y; |
||
521 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 522 | Compass_Heading = -1; |
523 | } |
||
524 | else |
||
525 | { |
||
526 | // update MagVector from MagRaw Vector by Scaling |
||
527 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
528 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
529 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 530 | Compass_CalcHeading(); |
254 | killagreg | 531 | } |
242 | killagreg | 532 | } |
254 | killagreg | 533 | // rx data handler for acceleration raw data |
253 | killagreg | 534 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
535 | { // if number of byte are matching |
||
397 | holgerb | 536 | static s32 filter_z; |
254 | killagreg | 537 | if(RxBufferSize == sizeof(AccRawVector) ) |
253 | killagreg | 538 | { |
254 | killagreg | 539 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
253 | killagreg | 540 | } |
416 | holgerb | 541 | // DebugOut.Analog[16] = AccRawVector.X; |
542 | // DebugOut.Analog[17] = AccRawVector.Y; |
||
543 | filter_z = (filter_z * 7 + AccRawVector.Z) / 8; |
||
397 | holgerb | 544 | |
416 | holgerb | 545 | // DebugOut.Analog[18] = filter_z; |
546 | // DebugOut.Analog[19] = AccRawVector.Z; |
||
253 | killagreg | 547 | } |
254 | killagreg | 548 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 549 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
550 | { // if number of byte are matching |
||
551 | if(RxBufferSize == sizeof(MagConfig) ) |
||
552 | { |
||
553 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
554 | } |
||
555 | } |
||
254 | killagreg | 556 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 557 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
558 | { // if number of byte are matching |
||
559 | if(RxBufferSize == sizeof(AccConfig) ) |
||
560 | { |
||
561 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
562 | } |
||
563 | } |
||
254 | killagreg | 564 | //---------------------------------------------------------------------- |
253 | killagreg | 565 | |
254 | killagreg | 566 | |
567 | // --------------------------------------------------------------------- |
||
253 | killagreg | 568 | u8 NCMAG_SetMagConfig(void) |
569 | { |
||
570 | u8 retval = 0; |
||
571 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 572 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 573 | { |
574 | u8 TxBytes = 0; |
||
465 | ingob | 575 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
576 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 577 | TxBytes += sizeof(MagConfig); |
465 | ingob | 578 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
253 | killagreg | 579 | { |
465 | ingob | 580 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 581 | { |
465 | ingob | 582 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 583 | } |
584 | } |
||
585 | } |
||
586 | return(retval); |
||
587 | } |
||
242 | killagreg | 588 | |
253 | killagreg | 589 | // ---------------------------------------------------------------------------------------- |
590 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 591 | { |
253 | killagreg | 592 | u8 retval = 0; |
252 | killagreg | 593 | // try to catch the i2c buffer within 100 ms timeout |
465 | ingob | 594 | if(I2C_LockBufferFunc(100)) |
242 | killagreg | 595 | { |
253 | killagreg | 596 | u8 TxBytes = 0; |
465 | ingob | 597 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
598 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 599 | { |
465 | ingob | 600 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
252 | killagreg | 601 | { |
465 | ingob | 602 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 603 | } |
248 | killagreg | 604 | } |
242 | killagreg | 605 | } |
253 | killagreg | 606 | return(retval); |
242 | killagreg | 607 | } |
608 | |||
609 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 610 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 611 | { |
252 | killagreg | 612 | u8 retval = 0; |
253 | killagreg | 613 | // try to catch the i2c buffer within 100 ms timeout |
465 | ingob | 614 | if(I2C_LockBufferFunc(100)) |
242 | killagreg | 615 | { |
253 | killagreg | 616 | u8 TxBytes = 0; |
465 | ingob | 617 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
618 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 619 | TxBytes += sizeof(AccConfig); |
465 | ingob | 620 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
253 | killagreg | 621 | { |
465 | ingob | 622 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 623 | { |
465 | ingob | 624 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 625 | } |
626 | } |
||
627 | } |
||
628 | return(retval); |
||
629 | } |
||
630 | |||
631 | // ---------------------------------------------------------------------------------------- |
||
632 | u8 NCMAG_GetAccConfig(void) |
||
633 | { |
||
634 | u8 retval = 0; |
||
635 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 636 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 637 | { |
638 | u8 TxBytes = 0; |
||
465 | ingob | 639 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
640 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 641 | { |
465 | ingob | 642 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
253 | killagreg | 643 | { |
465 | ingob | 644 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 645 | } |
646 | } |
||
647 | } |
||
648 | return(retval); |
||
649 | } |
||
650 | |||
651 | // ---------------------------------------------------------------------------------------- |
||
652 | u8 NCMAG_GetIdentification(void) |
||
653 | { |
||
654 | u8 retval = 0; |
||
655 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 656 | if(I2C_LockBufferFunc(100)) |
253 | killagreg | 657 | { |
658 | u16 TxBytes = 0; |
||
659 | NCMAG_Identification.A = 0xFF; |
||
660 | NCMAG_Identification.B = 0xFF; |
||
661 | NCMAG_Identification.C = 0xFF; |
||
465 | ingob | 662 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 663 | // initiate transmission |
465 | ingob | 664 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 665 | { |
465 | ingob | 666 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
252 | killagreg | 667 | { |
465 | ingob | 668 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 669 | } |
248 | killagreg | 670 | } |
242 | killagreg | 671 | } |
253 | killagreg | 672 | return(retval); |
242 | killagreg | 673 | } |
674 | |||
329 | holgerb | 675 | u8 NCMAG_GetIdentification_Sub(void) |
676 | { |
||
677 | u8 retval = 0; |
||
678 | // try to catch the i2c buffer within 100 ms timeout |
||
465 | ingob | 679 | if(I2C_LockBufferFunc(100)) |
329 | holgerb | 680 | { |
681 | u16 TxBytes = 0; |
||
682 | NCMAG_Identification2.Sub = 0xFF; |
||
465 | ingob | 683 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 684 | // initiate transmission |
465 | ingob | 685 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 686 | { |
465 | ingob | 687 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
329 | holgerb | 688 | { |
465 | ingob | 689 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 690 | } |
691 | } |
||
692 | } |
||
693 | return(retval); |
||
694 | } |
||
695 | |||
696 | |||
253 | killagreg | 697 | // ---------------------------------------------------------------------------------------- |
698 | void NCMAG_GetMagVector(void) |
||
699 | { |
||
700 | // try to catch the I2C buffer within 0 ms |
||
465 | ingob | 701 | if(I2C_LockBufferFunc(0)) |
253 | killagreg | 702 | { |
703 | u16 TxBytes = 0; |
||
704 | // set register pointer |
||
465 | ingob | 705 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 706 | // initiate transmission |
465 | ingob | 707 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 708 | } |
709 | } |
||
710 | |||
242 | killagreg | 711 | //---------------------------------------------------------------- |
253 | killagreg | 712 | void NCMAG_GetAccVector(void) |
243 | killagreg | 713 | { |
252 | killagreg | 714 | // try to catch the I2C buffer within 0 ms |
465 | ingob | 715 | if(I2C_LockBufferFunc(0)) |
243 | killagreg | 716 | { |
248 | killagreg | 717 | u16 TxBytes = 0; |
243 | killagreg | 718 | // set register pointer |
465 | ingob | 719 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 720 | // initiate transmission |
465 | ingob | 721 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 722 | } |
723 | } |
||
724 | |||
330 | holgerb | 725 | //---------------------------------------------------------------- |
394 | killagreg | 726 | u8 InitNC_MagnetSensor(void) |
330 | holgerb | 727 | { |
728 | u8 crb_gain, cra_rate; |
||
729 | |||
394 | killagreg | 730 | switch(NCMAG_SensorType) |
330 | holgerb | 731 | { |
394 | killagreg | 732 | case TYPE_HMC5843: |
339 | holgerb | 733 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 734 | cra_rate = HMC5843_CRA_RATE_50HZ; |
735 | break; |
||
736 | |||
394 | killagreg | 737 | case TYPE_LSM303DLH: |
738 | case TYPE_LSM303DLM: |
||
338 | holgerb | 739 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 740 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
741 | break; |
||
742 | |||
743 | default: |
||
394 | killagreg | 744 | return(0); |
330 | holgerb | 745 | } |
746 | |||
747 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
748 | MagConfig.crb = crb_gain; |
||
749 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 750 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 751 | } |
752 | |||
395 | holgerb | 753 | |
394 | killagreg | 754 | //---------------------------------------------------------------- |
755 | u8 NCMAG_Init_ACCSensor(void) |
||
756 | { |
||
395 | holgerb | 757 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
397 | holgerb | 758 | AccConfig.ctrl_2 = 0;//ACC_CRTL2_FILTER32; |
394 | killagreg | 759 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 760 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 761 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
762 | return(NCMAG_SetAccConfig()); |
||
763 | } |
||
253 | killagreg | 764 | // -------------------------------------------------------- |
292 | killagreg | 765 | void NCMAG_Update(void) |
243 | killagreg | 766 | { |
292 | killagreg | 767 | static u32 TimerUpdate = 0; |
419 | holgerb | 768 | static s8 send_config = 0; |
394 | killagreg | 769 | u32 delay = 20; |
470 | killagreg | 770 | // todo State Handling for both busses !! |
472 | holgerb | 771 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF) || !NCMAG_Present ) |
254 | killagreg | 772 | { |
773 | Compass_Heading = -1; |
||
326 | holgerb | 774 | DebugOut.Analog[14]++; // count I2C error |
254 | killagreg | 775 | return; |
776 | } |
||
292 | killagreg | 777 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 778 | { |
394 | killagreg | 779 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
780 | if(++send_config == 25) // 500ms |
||
781 | { |
||
419 | holgerb | 782 | send_config = -25; // next try after 1 second |
394 | killagreg | 783 | InitNC_MagnetSensor(); |
419 | holgerb | 784 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 785 | } |
321 | holgerb | 786 | else |
787 | { |
||
398 | holgerb | 788 | // static u8 s = 0; |
394 | killagreg | 789 | // check for new calibration state |
790 | Compass_UpdateCalState(); |
||
791 | if(Compass_CalState) NCMAG_Calibrate(); |
||
792 | |||
793 | // in case of LSM303 type |
||
794 | switch(NCMAG_SensorType) |
||
795 | { |
||
796 | case TYPE_HMC5843: |
||
797 | NCMAG_GetMagVector(); |
||
798 | delay = 20; |
||
799 | break; |
||
800 | case TYPE_LSM303DLH: |
||
801 | case TYPE_LSM303DLM: |
||
397 | holgerb | 802 | NCMAG_GetMagVector(); |
803 | delay = 20; |
||
804 | /* if(s){ NCMAG_GetMagVector(); s = 0;} |
||
394 | killagreg | 805 | else { NCMAG_GetAccVector(); s = 1;} |
806 | delay = 10; |
||
397 | holgerb | 807 | */ |
394 | killagreg | 808 | break; |
809 | } |
||
419 | holgerb | 810 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 811 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 812 | } |
243 | killagreg | 813 | } |
814 | } |
||
815 | |||
330 | holgerb | 816 | |
254 | killagreg | 817 | // -------------------------------------------------------- |
253 | killagreg | 818 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 819 | { |
266 | holgerb | 820 | u8 msg[64]; |
275 | killagreg | 821 | static u8 done = 0; |
266 | holgerb | 822 | |
287 | holgerb | 823 | if(done) return(1); // just make it once |
275 | killagreg | 824 | |
271 | holgerb | 825 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 826 | u32 time; |
253 | killagreg | 827 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
828 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
829 | u8 crb_gain, cra_rate; |
||
830 | u8 i = 0, retval = 1; |
||
243 | killagreg | 831 | |
394 | killagreg | 832 | switch(NCMAG_SensorType) |
253 | killagreg | 833 | { |
394 | killagreg | 834 | case TYPE_HMC5843: |
339 | holgerb | 835 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 836 | cra_rate = HMC5843_CRA_RATE_50HZ; |
837 | xscale = HMC5843_TEST_XSCALE; |
||
838 | yscale = HMC5843_TEST_YSCALE; |
||
839 | zscale = HMC5843_TEST_ZSCALE; |
||
840 | break; |
||
841 | |||
394 | killagreg | 842 | case TYPE_LSM303DLH: |
338 | holgerb | 843 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 844 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
845 | xscale = LSM303DLH_TEST_XSCALE; |
||
846 | yscale = LSM303DLH_TEST_YSCALE; |
||
847 | zscale = LSM303DLH_TEST_ZSCALE; |
||
848 | break; |
||
849 | |||
394 | killagreg | 850 | case TYPE_LSM303DLM: |
851 | // does not support self test feature |
||
852 | done = retval; |
||
853 | return(retval); |
||
854 | break; |
||
855 | |||
253 | killagreg | 856 | default: |
394 | killagreg | 857 | return(0); |
253 | killagreg | 858 | } |
859 | |||
860 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
861 | MagConfig.crb = crb_gain; |
||
862 | MagConfig.mode = MODE_CONTINUOUS; |
||
863 | // activate positive bias field |
||
864 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 865 | // wait for stable readings |
866 | time = SetDelay(50); |
||
867 | while(!CheckDelay(time)); |
||
243 | killagreg | 868 | // averaging |
253 | killagreg | 869 | #define AVERAGE 20 |
870 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 871 | { |
253 | killagreg | 872 | NCMAG_GetMagVector(); |
243 | killagreg | 873 | time = SetDelay(20); |
874 | while(!CheckDelay(time)); |
||
254 | killagreg | 875 | XMax += MagRawVector.X; |
876 | YMax += MagRawVector.Y; |
||
877 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 878 | } |
253 | killagreg | 879 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
880 | // activate positive bias field |
||
881 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 882 | // wait for stable readings |
883 | time = SetDelay(50); |
||
884 | while(!CheckDelay(time)); |
||
243 | killagreg | 885 | // averaging |
253 | killagreg | 886 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 887 | { |
253 | killagreg | 888 | NCMAG_GetMagVector(); |
243 | killagreg | 889 | time = SetDelay(20); |
890 | while(!CheckDelay(time)); |
||
254 | killagreg | 891 | XMin += MagRawVector.X; |
892 | YMin += MagRawVector.Y; |
||
893 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 894 | } |
895 | // setup final configuration |
||
253 | killagreg | 896 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
897 | // activate positive bias field |
||
898 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 899 | // check scale for all axes |
243 | killagreg | 900 | // prepare scale limits |
253 | killagreg | 901 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 902 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 903 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 904 | { |
905 | retval = 0; |
||
906 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
907 | UART1_PutString(msg); |
||
908 | } |
||
267 | holgerb | 909 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 910 | yscale = (YMax - YMin)/(2*AVERAGE); |
911 | if((yscale > scale_max) || (yscale < scale_min)) |
||
394 | killagreg | 912 | { |
913 | retval = 0; |
||
914 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
915 | UART1_PutString(msg); |
||
916 | } |
||
267 | holgerb | 917 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 918 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
919 | if((zscale > scale_max) || (zscale < scale_min)) |
||
394 | killagreg | 920 | { |
921 | retval = 0; |
||
922 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
923 | UART1_PutString(msg); |
||
924 | } |
||
275 | killagreg | 925 | done = retval; |
253 | killagreg | 926 | return(retval); |
243 | killagreg | 927 | } |
928 | |||
929 | |||
930 | //---------------------------------------------------------------- |
||
465 | ingob | 931 | void NCMAG_SelectI2CBus(u8 busno) |
932 | { |
||
933 | if (busno == 0) |
||
934 | { |
||
935 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
||
936 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
||
937 | I2C_TransmissionFunc = &I2C0_Transmission; |
||
938 | I2C_BufferPnt = I2C0_Buffer; |
||
939 | I2C_ErrorPnt = &I2C0_Error; |
||
940 | } |
||
941 | else |
||
942 | { |
||
470 | killagreg | 943 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
944 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
||
945 | I2C_TransmissionFunc = &I2C1_Transmission; |
||
946 | I2C_BufferPnt = I2C1_Buffer; |
||
947 | I2C_ErrorPnt = &I2C1_Error; |
||
465 | ingob | 948 | } |
949 | } |
||
950 | |||
951 | //---------------------------------------------------------------- |
||
253 | killagreg | 952 | u8 NCMAG_Init(void) |
242 | killagreg | 953 | { |
954 | u8 msg[64]; |
||
252 | killagreg | 955 | u8 retval = 0; |
242 | killagreg | 956 | u8 repeat; |
957 | |||
472 | holgerb | 958 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
959 | // Search external sensor |
||
960 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
961 | I2C_CompassPort = I2C_EXTERN_0; |
||
962 | NCMAG_SelectI2CBus(I2C_CompassPort); |
||
465 | ingob | 963 | |
472 | holgerb | 964 | // get id bytes |
965 | retval = 0; |
||
966 | do |
||
967 | { |
||
968 | retval = NCMAG_GetIdentification(); |
||
969 | if(retval) break; // break loop on success |
||
970 | // UART1_PutString("+"); |
||
971 | repeat++; |
||
972 | } while(repeat < 5); |
||
973 | |||
974 | if(!retval) |
||
975 | { |
||
976 | UART1_PutString(" internal sensor"); |
||
977 | I2C_CompassPort = I2C_INTERN_1; |
||
978 | NCMAG_SelectI2CBus(I2C_CompassPort); |
||
979 | } |
||
980 | else |
||
981 | { |
||
982 | UART1_PutString(" external sensor "); |
||
983 | } |
||
984 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
985 | |||
253 | killagreg | 986 | NCMAG_Present = 0; |
394 | killagreg | 987 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
988 | // polling for LSM302DLH/DLM option by ACC address ack |
||
253 | killagreg | 989 | repeat = 0; |
990 | do |
||
991 | { |
||
992 | retval = NCMAG_GetAccConfig(); |
||
993 | if(retval) break; // break loop on success |
||
472 | holgerb | 994 | // UART1_PutString("*"); |
253 | killagreg | 995 | repeat++; |
472 | holgerb | 996 | } while(repeat < 3); |
394 | killagreg | 997 | if(retval) |
242 | killagreg | 998 | { |
394 | killagreg | 999 | // initialize ACC sensor |
1000 | NCMAG_Init_ACCSensor(); |
||
1001 | |||
1002 | NCMAG_SensorType = TYPE_LSM303DLH; |
||
1003 | // polling of sub identification |
||
1004 | repeat = 0; |
||
1005 | do |
||
1006 | { |
||
1007 | retval = NCMAG_GetIdentification_Sub(); |
||
1008 | if(retval) break; // break loop on success |
||
472 | holgerb | 1009 | // UART1_PutString("."); |
394 | killagreg | 1010 | repeat++; |
1011 | }while(repeat < 12); |
||
1012 | if(retval) |
||
1013 | { |
||
1014 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
1015 | } |
||
1016 | } |
||
1017 | // get id bytes |
||
329 | holgerb | 1018 | retval = 0; |
1019 | do |
||
1020 | { |
||
253 | killagreg | 1021 | retval = NCMAG_GetIdentification(); |
252 | killagreg | 1022 | if(retval) break; // break loop on success |
472 | holgerb | 1023 | // UART1_PutString("#"); |
242 | killagreg | 1024 | repeat++; |
472 | holgerb | 1025 | } while(repeat < 12); |
329 | holgerb | 1026 | |
253 | killagreg | 1027 | // if we got an answer to id request |
252 | killagreg | 1028 | if(retval) |
242 | killagreg | 1029 | { |
329 | holgerb | 1030 | u8 n1[] = "\n\r HMC5843"; |
1031 | u8 n2[] = "\n\r LSM303DLH"; |
||
1032 | u8 n3[] = "\n\r LSM303DLM"; |
||
394 | killagreg | 1033 | u8* pn = n1; |
329 | holgerb | 1034 | |
394 | killagreg | 1035 | switch(NCMAG_SensorType) |
329 | holgerb | 1036 | { |
394 | killagreg | 1037 | case TYPE_HMC5843: |
1038 | pn = n1; |
||
1039 | break; |
||
1040 | case TYPE_LSM303DLH: |
||
1041 | pn = n2; |
||
1042 | break; |
||
1043 | case TYPE_LSM303DLM: |
||
1044 | pn = n3; |
||
1045 | break; |
||
329 | holgerb | 1046 | } |
1047 | |||
1048 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
242 | killagreg | 1049 | UART1_PutString(msg); |
253 | killagreg | 1050 | if ( (NCMAG_Identification.A == MAG_IDA) |
1051 | && (NCMAG_Identification.B == MAG_IDB) |
||
1052 | && (NCMAG_Identification.C == MAG_IDC)) |
||
242 | killagreg | 1053 | { |
268 | killagreg | 1054 | NCMAG_Present = 1; |
329 | holgerb | 1055 | |
1056 | if(EEPROM_Init()) |
||
394 | killagreg | 1057 | { |
472 | holgerb | 1058 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
394 | killagreg | 1059 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1060 | } |
||
329 | holgerb | 1061 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
394 | killagreg | 1062 | // perform self test |
1063 | if(!NCMAG_SelfTest()) |
||
1064 | { |
||
329 | holgerb | 1065 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1066 | LED_RED_ON; |
||
472 | holgerb | 1067 | // NCMAG_IsCalibrated = 0; |
394 | killagreg | 1068 | } |
1069 | else UART1_PutString("\r\n Selftest ok"); |
||
1070 | |||
1071 | // initialize magnetic sensor configuration |
||
1072 | InitNC_MagnetSensor(); |
||
242 | killagreg | 1073 | } |
1074 | else |
||
1075 | { |
||
254 | killagreg | 1076 | UART1_PutString("\n\r Not compatible!"); |
256 | killagreg | 1077 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
242 | killagreg | 1078 | LED_RED_ON; |
1079 | } |
||
1080 | } |
||
253 | killagreg | 1081 | else // nothing found |
1082 | { |
||
394 | killagreg | 1083 | NCMAG_SensorType = TYPE_NONE; |
253 | killagreg | 1084 | UART1_PutString("not found!"); |
1085 | } |
||
1086 | return(NCMAG_Present); |
||
242 | killagreg | 1087 | } |
1088 |