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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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242 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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242 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
242 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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242 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
254 | killagreg | 56 | #include <math.h> |
292 | killagreg | 57 | #include <stdio.h> |
489 | killagreg | 58 | #include <stdlib.h> |
242 | killagreg | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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253 | killagreg | 61 | #include "ncmag.h" |
489 | killagreg | 62 | #include "i2c.h" |
242 | killagreg | 63 | #include "timer1.h" |
64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
454 | holgerb | 69 | #include "spi_slave.h" |
242 | killagreg | 70 | |
253 | killagreg | 71 | u8 NCMAG_Present = 0; |
254 | killagreg | 72 | u8 NCMAG_IsCalibrated = 0; |
394 | killagreg | 73 | u8 NCMAG_SensorType = TYPE_NONE; |
489 | killagreg | 74 | u8 NCMAG_Orientation = 0; // 0 means unknown! |
394 | killagreg | 75 | |
489 | killagreg | 76 | #define CALIBRATION_VERSION 1 |
500 | holgerb | 77 | #define MAG_CALIBRATION_COMPATIBLE 0xA3 |
489 | killagreg | 78 | |
79 | #define NCMAG_MIN_RAWVALUE -2047 |
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80 | #define NCMAG_MAX_RAWVALUE 2047 |
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81 | #define NCMAG_INVALID_DATA -4096 |
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82 | |||
83 | typedef struct |
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84 | { |
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85 | s16 Range; |
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86 | s16 Offset; |
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87 | } __attribute__((packed)) Scaling_t; |
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88 | |||
89 | typedef struct |
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90 | { |
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91 | Scaling_t MagX; |
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92 | Scaling_t MagY; |
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93 | Scaling_t MagZ; |
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94 | u8 Version; |
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95 | u8 crc; |
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96 | } __attribute__((packed)) Calibration_t; |
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97 | |||
98 | Calibration_t Calibration; // calibration data in RAM |
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339 | holgerb | 99 | volatile s16vec_t AccRawVector; |
100 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 101 | |
253 | killagreg | 102 | // i2c MAG interface |
103 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 104 | |
253 | killagreg | 105 | // register mapping |
106 | #define REG_MAG_CRA 0x00 |
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107 | #define REG_MAG_CRB 0x01 |
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108 | #define REG_MAG_MODE 0x02 |
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109 | #define REG_MAG_DATAX_MSB 0x03 |
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110 | #define REG_MAG_DATAX_LSB 0x04 |
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111 | #define REG_MAG_DATAY_MSB 0x05 |
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112 | #define REG_MAG_DATAY_LSB 0x06 |
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113 | #define REG_MAG_DATAZ_MSB 0x07 |
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114 | #define REG_MAG_DATAZ_LSB 0x08 |
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115 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 116 | |
253 | killagreg | 117 | #define REG_MAG_IDA 0x0A |
118 | #define REG_MAG_IDB 0x0B |
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119 | #define REG_MAG_IDC 0x0C |
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394 | killagreg | 120 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 121 | |
253 | killagreg | 122 | // bit mask for configuration mode |
123 | #define CRA_MODE_MASK 0x03 |
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124 | #define CRA_MODE_NORMAL 0x00 //default |
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125 | #define CRA_MODE_POSBIAS 0x01 |
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126 | #define CRA_MODE_NEGBIAS 0x02 |
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127 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 128 | |
253 | killagreg | 129 | // bit mask for measurement mode |
130 | #define MODE_MASK 0xFF |
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131 | #define MODE_CONTINUOUS 0x00 |
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132 | #define MODE_SINGLE 0x01 // default |
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133 | #define MODE_IDLE 0x02 |
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134 | #define MODE_SLEEP 0x03 |
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135 | |||
242 | killagreg | 136 | // bit mask for rate |
253 | killagreg | 137 | #define CRA_RATE_MASK 0x1C |
138 | |||
139 | // bit mask for gain |
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140 | #define CRB_GAIN_MASK 0xE0 |
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141 | |||
142 | // ids |
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143 | #define MAG_IDA 0x48 |
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144 | #define MAG_IDB 0x34 |
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145 | #define MAG_IDC 0x33 |
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394 | killagreg | 146 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 147 | |
148 | // the special HMC5843 interface |
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149 | // bit mask for rate |
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242 | killagreg | 150 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
151 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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152 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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153 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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154 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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155 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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156 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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157 | // bit mask for gain |
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158 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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159 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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489 | killagreg | 160 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 161 | #define HMC5843_CRB_GAIN_20GA 0x60 |
162 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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163 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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164 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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165 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 166 | // self test value |
339 | holgerb | 167 | #define HMC5843_TEST_XSCALE 555 |
168 | #define HMC5843_TEST_YSCALE 555 |
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169 | #define HMC5843_TEST_ZSCALE 555 |
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394 | killagreg | 170 | // calibration range |
342 | holgerb | 171 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 172 | |
253 | killagreg | 173 | // the special LSM302DLH interface |
174 | // bit mask for rate |
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175 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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176 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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177 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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178 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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179 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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180 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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181 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 182 | |
253 | killagreg | 183 | // bit mask for gain |
184 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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185 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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500 | holgerb | 186 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
253 | killagreg | 187 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
500 | holgerb | 188 | #define LSM303DLH_CRB_GAIN_40GA 0x80 // <--- we use this (Since V2.03) |
253 | killagreg | 189 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
190 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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191 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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394 | killagreg | 192 | |
193 | typedef struct |
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194 | { |
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195 | u8 A; |
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196 | u8 B; |
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197 | u8 C; |
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198 | } __attribute__((packed)) Identification_t; |
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199 | volatile Identification_t NCMAG_Identification; |
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200 | |||
201 | typedef struct |
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202 | { |
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203 | u8 Sub; |
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204 | } __attribute__((packed)) Identification2_t; |
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205 | volatile Identification2_t NCMAG_Identification2; |
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206 | |||
207 | typedef struct |
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208 | { |
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209 | u8 cra; |
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210 | u8 crb; |
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211 | u8 mode; |
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212 | } __attribute__((packed)) MagConfig_t; |
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213 | |||
214 | volatile MagConfig_t MagConfig; |
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215 | |||
253 | killagreg | 216 | // self test value |
500 | holgerb | 217 | #define LSM303DLH_TEST_XSCALE 245 |
218 | #define LSM303DLH_TEST_YSCALE 245 |
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219 | #define LSM303DLH_TEST_ZSCALE 235 |
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339 | holgerb | 220 | // clibration range |
500 | holgerb | 221 | #define LSM303_CALIBRATION_RANGE 300 // War bis V2.02: 550 -> Auflösung von 19Ga auf 40GA reduziert |
253 | killagreg | 222 | |
223 | // the i2c ACC interface |
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224 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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394 | killagreg | 225 | |
226 | // multiple byte read/write mask |
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227 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
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228 | |||
253 | killagreg | 229 | // register mapping |
230 | #define REG_ACC_CTRL1 0x20 |
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231 | #define REG_ACC_CTRL2 0x21 |
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232 | #define REG_ACC_CTRL3 0x22 |
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233 | #define REG_ACC_CTRL4 0x23 |
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234 | #define REG_ACC_CTRL5 0x24 |
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235 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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236 | #define REG_ACC_REFERENCE 0x26 |
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237 | #define REG_ACC_STATUS 0x27 |
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238 | #define REG_ACC_X_LSB 0x28 |
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239 | #define REG_ACC_X_MSB 0x29 |
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240 | #define REG_ACC_Y_LSB 0x2A |
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241 | #define REG_ACC_Y_MSB 0x2B |
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242 | #define REG_ACC_Z_LSB 0x2C |
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243 | #define REG_ACC_Z_MSB 0x2D |
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244 | |||
394 | killagreg | 245 | #define ACC_CRTL1_PM_DOWN 0x00 |
246 | #define ACC_CRTL1_PM_NORMAL 0x20 |
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247 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
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248 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
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249 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
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250 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
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251 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
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252 | // Output data rate in normal power mode |
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253 | #define ACC_CRTL1_DR_50HZ 0x00 |
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254 | #define ACC_CRTL1_DR_100HZ 0x08 |
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255 | #define ACC_CRTL1_DR_400HZ 0x10 |
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256 | #define ACC_CRTL1_DR_1000HZ 0x18 |
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489 | killagreg | 257 | // axis anable flags |
394 | killagreg | 258 | #define ACC_CRTL1_XEN 0x01 |
259 | #define ACC_CRTL1_YEN 0x02 |
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260 | #define ACC_CRTL1_ZEN 0x04 |
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253 | killagreg | 261 | |
397 | holgerb | 262 | #define ACC_CRTL2_FILTER8 0x10 |
263 | #define ACC_CRTL2_FILTER16 0x11 |
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264 | #define ACC_CRTL2_FILTER32 0x12 |
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265 | #define ACC_CRTL2_FILTER64 0x13 |
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395 | holgerb | 266 | |
394 | killagreg | 267 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
268 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
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269 | #define ACC_CTRL4_FS_2G 0x00 |
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270 | #define ACC_CTRL4_FS_4G 0x10 |
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271 | #define ACC_CTRL4_FS_8G 0x30 |
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272 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
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273 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
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274 | #define ACC_CTRL4_ST_ENABLE 0x02 |
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253 | killagreg | 275 | |
394 | killagreg | 276 | #define ACC_CTRL5_STW_ON 0x03 |
277 | #define ACC_CTRL5_STW_OFF 0x00 |
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242 | killagreg | 278 | |
253 | killagreg | 279 | typedef struct |
280 | { |
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281 | u8 ctrl_1; |
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282 | u8 ctrl_2; |
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283 | u8 ctrl_3; |
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284 | u8 ctrl_4; |
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285 | u8 ctrl_5; |
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286 | } __attribute__((packed)) AccConfig_t; |
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287 | |||
288 | volatile AccConfig_t AccConfig; |
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289 | |||
489 | killagreg | 290 | // write calibration data for external and internal sensor seperately |
291 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
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254 | killagreg | 292 | { |
472 | holgerb | 293 | u16 address; |
489 | killagreg | 294 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 295 | EEPROM_Result_t eres; |
296 | u8 *pBuff = (u8*)&Calibration; |
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297 | |||
489 | killagreg | 298 | if (I2Cx == NCMAG_PORT_EXTERN) |
473 | holgerb | 299 | { |
489 | killagreg | 300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
301 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
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473 | holgerb | 302 | } |
489 | killagreg | 303 | else if (I2Cx == NCMAG_PORT_INTERN) |
304 | { |
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305 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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306 | Calibration.Version = CALIBRATION_VERSION; |
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307 | } |
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308 | else return(i); |
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309 | |||
256 | killagreg | 310 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 311 | { |
489 | killagreg | 312 | crc += pBuff[i]; |
254 | killagreg | 313 | } |
314 | Calibration.crc = ~crc; |
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472 | holgerb | 315 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
254 | killagreg | 316 | if(EEPROM_SUCCESS == eres) i = 1; |
317 | else i = 0; |
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489 | killagreg | 318 | return(i); |
254 | killagreg | 319 | } |
320 | |||
489 | killagreg | 321 | // read calibration data for external and internal sensor seperately |
322 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
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254 | killagreg | 323 | { |
489 | killagreg | 324 | u8 address; |
325 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
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254 | killagreg | 326 | u8 *pBuff = (u8*)&Calibration; |
327 | |||
489 | killagreg | 328 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
329 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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330 | else return(0); |
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472 | holgerb | 331 | |
332 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
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254 | killagreg | 333 | { |
256 | killagreg | 334 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 335 | { |
489 | killagreg | 336 | crc += pBuff[i]; |
254 | killagreg | 337 | } |
338 | crc = ~crc; |
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339 | if(Calibration.crc != crc) return(0); // crc mismatch |
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489 | killagreg | 340 | if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
254 | killagreg | 341 | } |
342 | return(0); |
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343 | } |
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344 | |||
345 | |||
346 | void NCMAG_Calibrate(void) |
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347 | { |
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330 | holgerb | 348 | u8 msg[64]; |
454 | holgerb | 349 | static u8 speak = 0; |
489 | killagreg | 350 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
256 | killagreg | 351 | static s16 X = 0, Y = 0, Z = 0; |
489 | killagreg | 352 | static u8 OldCalState = 0; |
394 | killagreg | 353 | s16 MinCalibration = 450; |
254 | killagreg | 354 | |
488 | holgerb | 355 | X = (X + MagRawVector.X)/2; |
356 | Y = (Y + MagRawVector.Y)/2; |
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357 | Z = (Z + MagRawVector.Z)/2; |
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256 | killagreg | 358 | |
254 | killagreg | 359 | switch(Compass_CalState) |
360 | { |
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361 | case 1: |
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362 | // 1st step of calibration |
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363 | // initialize ranges |
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364 | // used to change the orientation of the NC in the horizontal plane |
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365 | Xmin = 10000; |
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366 | Xmax = -10000; |
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367 | Ymin = 10000; |
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368 | Ymax = -10000; |
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369 | Zmin = 10000; |
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370 | Zmax = -10000; |
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500 | holgerb | 371 | Zmin2 = 10000; |
372 | Zmax2 = -10000; |
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373 | X = 0; Y = 0; Z = 0; |
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489 | killagreg | 374 | speak = 1; |
488 | holgerb | 375 | CompassValueErrorCount = 0; |
489 | killagreg | 376 | if(Compass_CalState != OldCalState) // only once per state |
475 | holgerb | 377 | { |
489 | killagreg | 378 | UART1_PutString("\r\nStarting compass calibration"); |
379 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
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380 | { |
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381 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
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382 | UART1_PutString(" - External sensor "); |
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383 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
||
384 | UART1_PutString(msg); |
||
385 | } |
||
386 | else UART1_PutString(" - Internal sensor "); |
||
483 | holgerb | 387 | } |
254 | killagreg | 388 | break; |
489 | killagreg | 389 | |
254 | killagreg | 390 | case 2: // 2nd step of calibration |
391 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
||
275 | killagreg | 392 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
393 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
394 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
395 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
489 | killagreg | 396 | if(Z < Zmin) { Zmin = Z; } // silent |
475 | holgerb | 397 | else if(Z > Zmax) { Zmax = Z; } |
454 | holgerb | 398 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 399 | break; |
400 | |||
401 | case 3: // 3rd step of calibration |
||
402 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
489 | killagreg | 403 | speak = 1; |
254 | killagreg | 404 | break; |
405 | |||
406 | case 4: |
||
407 | // find Min and Max of the Z-Sensor |
||
489 | killagreg | 408 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
409 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
||
410 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
||
411 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
475 | holgerb | 412 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
413 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 414 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 415 | break; |
489 | killagreg | 416 | |
254 | killagreg | 417 | case 5: |
418 | // Save values |
||
419 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
420 | { |
||
394 | killagreg | 421 | switch(NCMAG_SensorType) |
422 | { |
||
489 | killagreg | 423 | case TYPE_HMC5843: |
424 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
||
425 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
426 | break; |
||
394 | killagreg | 427 | |
428 | case TYPE_LSM303DLH: |
||
489 | killagreg | 429 | case TYPE_LSM303DLM: |
430 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
||
431 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
432 | break; |
||
394 | killagreg | 433 | } |
342 | holgerb | 434 | if(EarthMagneticStrengthTheoretic) |
489 | killagreg | 435 | { |
436 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
||
437 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
||
438 | UART1_PutString(msg); |
||
439 | } |
||
342 | holgerb | 440 | else UART1_PutString("without GPS\n\r"); |
339 | holgerb | 441 | |
489 | killagreg | 442 | if(Zmin2 < Zmin) Zmin = Zmin2; |
443 | if(Zmax2 > Zmax) Zmax = Zmax2; |
||
254 | killagreg | 444 | Calibration.MagX.Range = Xmax - Xmin; |
445 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
446 | Calibration.MagY.Range = Ymax - Ymin; |
||
447 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
448 | Calibration.MagZ.Range = Zmax - Zmin; |
||
449 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
488 | holgerb | 450 | if(CompassValueErrorCount) |
489 | killagreg | 451 | { |
488 | holgerb | 452 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
453 | UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
||
454 | |||
489 | killagreg | 455 | } |
488 | holgerb | 456 | else |
394 | killagreg | 457 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 458 | { |
489 | killagreg | 459 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
270 | killagreg | 460 | BeepTime = 2500; |
342 | holgerb | 461 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
489 | killagreg | 462 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 463 | } |
464 | else |
||
465 | { |
||
489 | killagreg | 466 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 467 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 468 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
469 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
470 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 471 | UART1_PutString("\r\n"); |
339 | holgerb | 472 | |
254 | killagreg | 473 | // restore old calibration data from eeprom |
489 | killagreg | 474 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
254 | killagreg | 475 | } |
330 | holgerb | 476 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
477 | UART1_PutString(msg); |
||
478 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
479 | UART1_PutString(msg); |
||
480 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
481 | UART1_PutString(msg); |
||
394 | killagreg | 482 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 483 | UART1_PutString(msg); |
254 | killagreg | 484 | } |
485 | break; |
||
489 | killagreg | 486 | |
254 | killagreg | 487 | default: |
489 | killagreg | 488 | break; |
254 | killagreg | 489 | } |
490 | OldCalState = Compass_CalState; |
||
491 | } |
||
492 | |||
242 | killagreg | 493 | // ---------- call back handlers ----------------------------------------- |
494 | |||
495 | // rx data handler for id info request |
||
253 | killagreg | 496 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 497 | { // if number of bytes are matching |
253 | killagreg | 498 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 499 | { |
253 | killagreg | 500 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
501 | } |
||
242 | killagreg | 502 | } |
329 | holgerb | 503 | |
504 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
505 | { // if number of bytes are matching |
||
506 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
507 | { |
||
508 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
509 | } |
||
510 | } |
||
511 | |||
254 | killagreg | 512 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 513 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 514 | { // if number of bytes are matching |
515 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 516 | { // byte order from big to little endian |
473 | holgerb | 517 | s16 raw, X = 0, Y = 0, Z = 0; |
256 | killagreg | 518 | raw = pRxBuffer[0]<<8; |
519 | raw+= pRxBuffer[1]; |
||
489 | killagreg | 520 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
487 | holgerb | 521 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
522 | |||
256 | killagreg | 523 | raw = pRxBuffer[2]<<8; |
524 | raw+= pRxBuffer[3]; |
||
489 | killagreg | 525 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 526 | { |
473 | holgerb | 527 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
489 | killagreg | 528 | else Y = raw; |
330 | holgerb | 529 | } |
487 | holgerb | 530 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
531 | |||
256 | killagreg | 532 | raw = pRxBuffer[4]<<8; |
533 | raw+= pRxBuffer[5]; |
||
489 | killagreg | 534 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 535 | { |
473 | holgerb | 536 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
489 | killagreg | 537 | else Z = raw; |
330 | holgerb | 538 | } |
487 | holgerb | 539 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
540 | |||
489 | killagreg | 541 | // correct compass orientation |
542 | switch(NCMAG_Orientation) |
||
473 | holgerb | 543 | { |
489 | killagreg | 544 | case 0: |
545 | case 1: |
||
546 | default: |
||
547 | // 1:1 Mapping |
||
473 | holgerb | 548 | MagRawVector.X = X; |
549 | MagRawVector.Y = Y; |
||
550 | MagRawVector.Z = Z; |
||
551 | break; |
||
489 | killagreg | 552 | case 2: |
473 | holgerb | 553 | MagRawVector.X = -X; |
554 | MagRawVector.Y = Y; |
||
555 | MagRawVector.Z = -Z; |
||
556 | break; |
||
489 | killagreg | 557 | case 3: |
473 | holgerb | 558 | MagRawVector.X = -Z; |
559 | MagRawVector.Y = Y; |
||
560 | MagRawVector.Z = X; |
||
561 | break; |
||
489 | killagreg | 562 | case 4: |
473 | holgerb | 563 | MagRawVector.X = Z; |
564 | MagRawVector.Y = Y; |
||
565 | MagRawVector.Z = -X; |
||
566 | break; |
||
489 | killagreg | 567 | case 5: |
473 | holgerb | 568 | MagRawVector.X = X; |
569 | MagRawVector.Y = -Z; |
||
570 | MagRawVector.Z = Y; |
||
571 | break; |
||
489 | killagreg | 572 | case 6: |
473 | holgerb | 573 | MagRawVector.X = -X; |
574 | MagRawVector.Y = -Z; |
||
575 | MagRawVector.Z = -Y; |
||
576 | break; |
||
577 | } |
||
242 | killagreg | 578 | } |
254 | killagreg | 579 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 580 | { // mark out data invalid |
289 | killagreg | 581 | MagVector.X = MagRawVector.X; |
582 | MagVector.Y = MagRawVector.Y; |
||
583 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 584 | Compass_Heading = -1; |
585 | } |
||
586 | else |
||
587 | { |
||
588 | // update MagVector from MagRaw Vector by Scaling |
||
589 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
590 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
591 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 592 | Compass_CalcHeading(); |
254 | killagreg | 593 | } |
242 | killagreg | 594 | } |
254 | killagreg | 595 | // rx data handler for acceleration raw data |
253 | killagreg | 596 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
489 | killagreg | 597 | { // if number of bytes are matching |
254 | killagreg | 598 | if(RxBufferSize == sizeof(AccRawVector) ) |
489 | killagreg | 599 | { |
600 | // copy from I2C buffer |
||
254 | killagreg | 601 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
489 | killagreg | 602 | // scale and update Acc Vector, at the moment simply 1:1 |
603 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
||
253 | killagreg | 604 | } |
473 | holgerb | 605 | } |
254 | killagreg | 606 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 607 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
608 | { // if number of byte are matching |
||
609 | if(RxBufferSize == sizeof(MagConfig) ) |
||
610 | { |
||
611 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
612 | } |
||
613 | } |
||
254 | killagreg | 614 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 615 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
616 | { // if number of byte are matching |
||
617 | if(RxBufferSize == sizeof(AccConfig) ) |
||
618 | { |
||
619 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
620 | } |
||
621 | } |
||
254 | killagreg | 622 | //---------------------------------------------------------------------- |
253 | killagreg | 623 | |
489 | killagreg | 624 | u8 NCMAG_GetOrientationFromAcc(void) |
625 | { |
||
626 | // only if external compass connected |
||
627 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
||
628 | // MK must not be tilted |
||
629 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
||
630 | { |
||
631 | // UART1_PutString("\r\nTilted"); |
||
632 | return(0); |
||
633 | } |
||
634 | // select orientation |
||
635 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
||
636 | else |
||
637 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
||
638 | else |
||
639 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
||
640 | else |
||
641 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
||
642 | else |
||
643 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
||
644 | else |
||
645 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
||
646 | return(0); |
||
647 | } |
||
254 | killagreg | 648 | |
649 | // --------------------------------------------------------------------- |
||
253 | killagreg | 650 | u8 NCMAG_SetMagConfig(void) |
651 | { |
||
652 | u8 retval = 0; |
||
489 | killagreg | 653 | |
253 | killagreg | 654 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 655 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 656 | { |
657 | u8 TxBytes = 0; |
||
489 | killagreg | 658 | u8 TxData[sizeof(MagConfig) + 3]; |
659 | |||
660 | TxData[TxBytes++] = REG_MAG_CRA; |
||
661 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 662 | TxBytes += sizeof(MagConfig); |
489 | killagreg | 663 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 664 | { |
489 | killagreg | 665 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 666 | { |
489 | killagreg | 667 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 668 | } |
669 | } |
||
670 | } |
||
489 | killagreg | 671 | return(retval); |
253 | killagreg | 672 | } |
242 | killagreg | 673 | |
253 | killagreg | 674 | // ---------------------------------------------------------------------------------------- |
675 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 676 | { |
253 | killagreg | 677 | u8 retval = 0; |
252 | killagreg | 678 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 679 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
242 | killagreg | 680 | { |
253 | killagreg | 681 | u8 TxBytes = 0; |
489 | killagreg | 682 | u8 TxData[3]; |
683 | TxData[TxBytes++] = REG_MAG_CRA; |
||
684 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 685 | { |
489 | killagreg | 686 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 687 | { |
489 | killagreg | 688 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 689 | } |
248 | killagreg | 690 | } |
242 | killagreg | 691 | } |
489 | killagreg | 692 | return(retval); |
242 | killagreg | 693 | } |
694 | |||
695 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 696 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 697 | { |
252 | killagreg | 698 | u8 retval = 0; |
489 | killagreg | 699 | // try to catch the i2c buffer within 50 ms timeout |
700 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
||
242 | killagreg | 701 | { |
253 | killagreg | 702 | u8 TxBytes = 0; |
489 | killagreg | 703 | u8 TxData[sizeof(AccConfig) + 3]; |
704 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
705 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 706 | TxBytes += sizeof(AccConfig); |
489 | killagreg | 707 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 708 | { |
489 | killagreg | 709 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
253 | killagreg | 710 | { |
489 | killagreg | 711 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 712 | } |
713 | } |
||
714 | } |
||
489 | killagreg | 715 | return(retval); |
253 | killagreg | 716 | } |
717 | |||
718 | // ---------------------------------------------------------------------------------------- |
||
719 | u8 NCMAG_GetAccConfig(void) |
||
720 | { |
||
721 | u8 retval = 0; |
||
722 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 723 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 724 | { |
725 | u8 TxBytes = 0; |
||
489 | killagreg | 726 | u8 TxData[3]; |
727 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
728 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 729 | { |
489 | killagreg | 730 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 731 | { |
489 | killagreg | 732 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 733 | } |
734 | } |
||
735 | } |
||
489 | killagreg | 736 | return(retval); |
253 | killagreg | 737 | } |
738 | |||
739 | // ---------------------------------------------------------------------------------------- |
||
740 | u8 NCMAG_GetIdentification(void) |
||
741 | { |
||
742 | u8 retval = 0; |
||
743 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 744 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 745 | { |
489 | killagreg | 746 | u8 TxBytes = 0; |
747 | u8 TxData[3]; |
||
253 | killagreg | 748 | NCMAG_Identification.A = 0xFF; |
749 | NCMAG_Identification.B = 0xFF; |
||
750 | NCMAG_Identification.C = 0xFF; |
||
489 | killagreg | 751 | TxData[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 752 | // initiate transmission |
489 | killagreg | 753 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 754 | { |
489 | killagreg | 755 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 756 | { |
489 | killagreg | 757 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 758 | } |
248 | killagreg | 759 | } |
242 | killagreg | 760 | } |
253 | killagreg | 761 | return(retval); |
242 | killagreg | 762 | } |
763 | |||
329 | holgerb | 764 | u8 NCMAG_GetIdentification_Sub(void) |
765 | { |
||
766 | u8 retval = 0; |
||
767 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 768 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
329 | holgerb | 769 | { |
489 | killagreg | 770 | u8 TxBytes = 0; |
771 | u8 TxData[3]; |
||
329 | holgerb | 772 | NCMAG_Identification2.Sub = 0xFF; |
489 | killagreg | 773 | TxData[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 774 | // initiate transmission |
489 | killagreg | 775 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 776 | { |
489 | killagreg | 777 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
329 | holgerb | 778 | { |
489 | killagreg | 779 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 780 | } |
781 | } |
||
782 | } |
||
783 | return(retval); |
||
784 | } |
||
785 | |||
786 | |||
253 | killagreg | 787 | // ---------------------------------------------------------------------------------------- |
489 | killagreg | 788 | void NCMAG_GetMagVector(u8 timeout) |
253 | killagreg | 789 | { |
489 | killagreg | 790 | // try to catch the I2C buffer within timeout ms |
791 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
253 | killagreg | 792 | { |
489 | killagreg | 793 | u8 TxBytes = 0; |
794 | u8 TxData[3]; |
||
253 | killagreg | 795 | // set register pointer |
489 | killagreg | 796 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 797 | // initiate transmission |
489 | killagreg | 798 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 799 | } |
800 | } |
||
801 | |||
242 | killagreg | 802 | //---------------------------------------------------------------- |
473 | holgerb | 803 | void NCMAG_GetAccVector(u8 timeout) |
243 | killagreg | 804 | { |
489 | killagreg | 805 | // try to catch the I2C buffer within timeout ms |
806 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
243 | killagreg | 807 | { |
489 | killagreg | 808 | u8 TxBytes = 0; |
809 | u8 TxData[3]; |
||
243 | killagreg | 810 | // set register pointer |
489 | killagreg | 811 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 812 | // initiate transmission |
489 | killagreg | 813 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 814 | } |
815 | } |
||
816 | |||
330 | holgerb | 817 | //---------------------------------------------------------------- |
489 | killagreg | 818 | u8 NCMAG_ConfigureSensor(void) |
330 | holgerb | 819 | { |
820 | u8 crb_gain, cra_rate; |
||
394 | killagreg | 821 | switch(NCMAG_SensorType) |
330 | holgerb | 822 | { |
394 | killagreg | 823 | case TYPE_HMC5843: |
339 | holgerb | 824 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 825 | cra_rate = HMC5843_CRA_RATE_50HZ; |
826 | break; |
||
827 | |||
394 | killagreg | 828 | case TYPE_LSM303DLH: |
829 | case TYPE_LSM303DLM: |
||
500 | holgerb | 830 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
831 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
330 | holgerb | 832 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
833 | break; |
||
834 | |||
835 | default: |
||
394 | killagreg | 836 | return(0); |
330 | holgerb | 837 | } |
838 | |||
839 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
840 | MagConfig.crb = crb_gain; |
||
841 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 842 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 843 | } |
844 | |||
395 | holgerb | 845 | |
394 | killagreg | 846 | //---------------------------------------------------------------- |
847 | u8 NCMAG_Init_ACCSensor(void) |
||
848 | { |
||
395 | holgerb | 849 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
473 | holgerb | 850 | AccConfig.ctrl_2 = 0; |
394 | killagreg | 851 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 852 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 853 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
854 | return(NCMAG_SetAccConfig()); |
||
855 | } |
||
253 | killagreg | 856 | // -------------------------------------------------------- |
480 | holgerb | 857 | void NCMAG_Update(u8 init) |
243 | killagreg | 858 | { |
292 | killagreg | 859 | static u32 TimerUpdate = 0; |
419 | holgerb | 860 | static s8 send_config = 0; |
394 | killagreg | 861 | u32 delay = 20; |
489 | killagreg | 862 | |
480 | holgerb | 863 | if(init) TimerUpdate = SetDelay(10); |
864 | |||
489 | killagreg | 865 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
254 | killagreg | 866 | { |
867 | Compass_Heading = -1; |
||
326 | holgerb | 868 | DebugOut.Analog[14]++; // count I2C error |
480 | holgerb | 869 | TimerUpdate = SetDelay(10); |
254 | killagreg | 870 | return; |
871 | } |
||
489 | killagreg | 872 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 873 | { |
394 | killagreg | 874 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
875 | if(++send_config == 25) // 500ms |
||
876 | { |
||
419 | holgerb | 877 | send_config = -25; // next try after 1 second |
489 | killagreg | 878 | NCMAG_ConfigureSensor(); |
419 | holgerb | 879 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 880 | } |
321 | holgerb | 881 | else |
882 | { |
||
473 | holgerb | 883 | static u8 s = 0; |
394 | killagreg | 884 | // check for new calibration state |
885 | Compass_UpdateCalState(); |
||
886 | if(Compass_CalState) NCMAG_Calibrate(); |
||
489 | killagreg | 887 | |
394 | killagreg | 888 | // in case of LSM303 type |
889 | switch(NCMAG_SensorType) |
||
890 | { |
||
489 | killagreg | 891 | case TYPE_HMC5843: |
892 | delay = 20; // next cycle after 20 ms |
||
893 | NCMAG_GetMagVector(5); |
||
394 | killagreg | 894 | break; |
895 | case TYPE_LSM303DLH: |
||
896 | case TYPE_LSM303DLM: |
||
492 | killagreg | 897 | delay = 20; // next cycle after 20 ms |
489 | killagreg | 898 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
899 | { |
||
900 | NCMAG_GetMagVector(5); |
||
901 | } |
||
902 | else // having an external compass, read every 50th cycle the ACC vec |
||
903 | { // try to initialize if no data are there |
||
904 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
||
905 | // get new data |
||
906 | NCMAG_GetAccVector(5); |
||
907 | delay = 10; // next cycle after 10 ms |
||
908 | s = 40; //reset downconter about 0,8 sec |
||
909 | } |
||
910 | break; |
||
394 | killagreg | 911 | } |
419 | holgerb | 912 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 913 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 914 | } |
243 | killagreg | 915 | } |
916 | } |
||
917 | |||
330 | holgerb | 918 | |
254 | killagreg | 919 | // -------------------------------------------------------- |
253 | killagreg | 920 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 921 | { |
266 | holgerb | 922 | u8 msg[64]; |
275 | killagreg | 923 | static u8 done = 0; |
266 | holgerb | 924 | |
287 | holgerb | 925 | if(done) return(1); // just make it once |
489 | killagreg | 926 | |
271 | holgerb | 927 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 928 | u32 time; |
253 | killagreg | 929 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
930 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
931 | u8 crb_gain, cra_rate; |
||
932 | u8 i = 0, retval = 1; |
||
243 | killagreg | 933 | |
394 | killagreg | 934 | switch(NCMAG_SensorType) |
253 | killagreg | 935 | { |
394 | killagreg | 936 | case TYPE_HMC5843: |
339 | holgerb | 937 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 938 | cra_rate = HMC5843_CRA_RATE_50HZ; |
939 | xscale = HMC5843_TEST_XSCALE; |
||
940 | yscale = HMC5843_TEST_YSCALE; |
||
941 | zscale = HMC5843_TEST_ZSCALE; |
||
942 | break; |
||
943 | |||
394 | killagreg | 944 | case TYPE_LSM303DLH: |
500 | holgerb | 945 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
946 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
253 | killagreg | 947 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
948 | xscale = LSM303DLH_TEST_XSCALE; |
||
949 | yscale = LSM303DLH_TEST_YSCALE; |
||
950 | zscale = LSM303DLH_TEST_ZSCALE; |
||
951 | break; |
||
952 | |||
394 | killagreg | 953 | case TYPE_LSM303DLM: |
489 | killagreg | 954 | // does not support self test feature |
955 | done = 1; |
||
956 | return(1); // always return success |
||
394 | killagreg | 957 | break; |
958 | |||
253 | killagreg | 959 | default: |
394 | killagreg | 960 | return(0); |
253 | killagreg | 961 | } |
962 | |||
963 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
964 | MagConfig.crb = crb_gain; |
||
965 | MagConfig.mode = MODE_CONTINUOUS; |
||
966 | // activate positive bias field |
||
967 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 968 | // wait for stable readings |
969 | time = SetDelay(50); |
||
970 | while(!CheckDelay(time)); |
||
243 | killagreg | 971 | // averaging |
253 | killagreg | 972 | #define AVERAGE 20 |
973 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 974 | { |
489 | killagreg | 975 | NCMAG_GetMagVector(5); |
243 | killagreg | 976 | time = SetDelay(20); |
977 | while(!CheckDelay(time)); |
||
254 | killagreg | 978 | XMax += MagRawVector.X; |
979 | YMax += MagRawVector.Y; |
||
980 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 981 | } |
253 | killagreg | 982 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
983 | // activate positive bias field |
||
984 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 985 | // wait for stable readings |
986 | time = SetDelay(50); |
||
987 | while(!CheckDelay(time)); |
||
243 | killagreg | 988 | // averaging |
253 | killagreg | 989 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 990 | { |
489 | killagreg | 991 | NCMAG_GetMagVector(5); |
243 | killagreg | 992 | time = SetDelay(20); |
993 | while(!CheckDelay(time)); |
||
254 | killagreg | 994 | XMin += MagRawVector.X; |
995 | YMin += MagRawVector.Y; |
||
996 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 997 | } |
998 | // setup final configuration |
||
253 | killagreg | 999 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
1000 | // activate positive bias field |
||
1001 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 1002 | // check scale for all axes |
243 | killagreg | 1003 | // prepare scale limits |
253 | killagreg | 1004 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 1005 | xscale = (XMax - XMin)/(2*AVERAGE); |
489 | killagreg | 1006 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 1007 | { |
1008 | retval = 0; |
||
1009 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
1010 | UART1_PutString(msg); |
||
1011 | } |
||
267 | holgerb | 1012 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 1013 | yscale = (YMax - YMin)/(2*AVERAGE); |
489 | killagreg | 1014 | if((yscale > scale_max) || (yscale < scale_min)) |
394 | killagreg | 1015 | { |
1016 | retval = 0; |
||
1017 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
1018 | UART1_PutString(msg); |
||
1019 | } |
||
267 | holgerb | 1020 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 1021 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
489 | killagreg | 1022 | if((zscale > scale_max) || (zscale < scale_min)) |
394 | killagreg | 1023 | { |
1024 | retval = 0; |
||
1025 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
1026 | UART1_PutString(msg); |
||
1027 | } |
||
275 | killagreg | 1028 | done = retval; |
253 | killagreg | 1029 | return(retval); |
243 | killagreg | 1030 | } |
1031 | |||
1032 | |||
489 | killagreg | 1033 | void NCMAG_CheckOrientation(void) |
1034 | { // only for external sensor |
||
1035 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1036 | { |
||
1037 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1038 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
||
1039 | else NCMAG_IsCalibrated = 1; |
||
1040 | } |
||
465 | ingob | 1041 | } |
1042 | //---------------------------------------------------------------- |
||
253 | killagreg | 1043 | u8 NCMAG_Init(void) |
242 | killagreg | 1044 | { |
489 | killagreg | 1045 | MagRawVector.X = 0; |
1046 | MagRawVector.Y = 0; |
||
1047 | MagRawVector.Z = 0; |
||
1048 | AccRawVector.X = 0; |
||
1049 | AccRawVector.Y = 0; |
||
1050 | AccRawVector.Z = 0; |
||
483 | holgerb | 1051 | |
489 | killagreg | 1052 | if(NCMAG_Present) // do only short init ! , full init was called before |
472 | holgerb | 1053 | { |
489 | killagreg | 1054 | // reset I2C Bus |
492 | killagreg | 1055 | //I2CBus_Deinit(Compass_I2CPort); |
1056 | //I2CBus_Init(Compass_I2CPort); |
||
489 | killagreg | 1057 | // try to reconfigure senor |
1058 | NCMAG_ConfigureSensor(); |
||
492 | killagreg | 1059 | //NCMAG_Update(1); |
472 | holgerb | 1060 | } |
489 | killagreg | 1061 | else // full init |
472 | holgerb | 1062 | { |
489 | killagreg | 1063 | u8 msg[64]; |
1064 | u8 retval = 0; |
||
1065 | u8 repeat = 0; |
||
473 | holgerb | 1066 | |
489 | killagreg | 1067 | //-------------------------------------------- |
1068 | // search external sensor first |
||
1069 | //-------------------------------------------- |
||
1070 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1071 | // get id bytes |
||
1072 | retval = 0; |
||
1073 | for(repeat = 0; repeat < 5; repeat++) |
||
1074 | { |
||
1075 | //retval = NCMAG_GetIdentification(); |
||
1076 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
||
1077 | if(retval) break; // break loop on success |
||
1078 | UART1_PutString("_"); |
||
1079 | } |
||
1080 | // Extenal sensor not found? |
||
1081 | if(!retval) |
||
1082 | { |
||
1083 | // search internal sensor afterwards |
||
1084 | UART1_PutString(" internal sensor"); |
||
1085 | Compass_I2CPort = NCMAG_PORT_INTERN; |
||
1086 | } |
||
1087 | else |
||
1088 | { |
||
1089 | UART1_PutString(" external sensor"); |
||
1090 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1091 | } |
||
1092 | //------------------------------------------- |
||
483 | holgerb | 1093 | |
489 | killagreg | 1094 | NCMAG_Present = 0; |
1095 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
||
1096 | // polling for LSM302DLH/DLM option by ACC address ack |
||
1097 | repeat = 0; |
||
1098 | for(repeat = 0; repeat < 3; repeat++) |
||
394 | killagreg | 1099 | { |
489 | killagreg | 1100 | retval = NCMAG_GetAccConfig(); |
394 | killagreg | 1101 | if(retval) break; // break loop on success |
480 | holgerb | 1102 | } |
394 | killagreg | 1103 | if(retval) |
1104 | { |
||
489 | killagreg | 1105 | // initialize ACC sensor |
1106 | NCMAG_Init_ACCSensor(); |
||
483 | holgerb | 1107 | |
489 | killagreg | 1108 | NCMAG_SensorType = TYPE_LSM303DLH; |
1109 | // polling of sub identification |
||
1110 | repeat = 0; |
||
1111 | for(repeat = 0; repeat < 12; repeat++) |
||
1112 | { |
||
1113 | retval = NCMAG_GetIdentification_Sub(); |
||
1114 | if(retval) break; // break loop on success |
||
1115 | } |
||
1116 | if(retval) |
||
1117 | { |
||
1118 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
1119 | } |
||
1120 | } |
||
1121 | // get id bytes |
||
1122 | retval = 0; |
||
1123 | for(repeat = 0; repeat < 3; repeat++) |
||
329 | holgerb | 1124 | { |
489 | killagreg | 1125 | retval = NCMAG_GetIdentification(); |
1126 | if(retval) break; // break loop on success |
||
329 | holgerb | 1127 | } |
483 | holgerb | 1128 | |
489 | killagreg | 1129 | // if we got an answer to id request |
1130 | if(retval) |
||
242 | killagreg | 1131 | { |
489 | killagreg | 1132 | u8 n1[] = "\n\r HMC5843"; |
1133 | u8 n2[] = "\n\r LSM303DLH"; |
||
1134 | u8 n3[] = "\n\r LSM303DLM"; |
||
1135 | u8* pn = n1; |
||
483 | holgerb | 1136 | |
489 | killagreg | 1137 | switch(NCMAG_SensorType) |
394 | killagreg | 1138 | { |
489 | killagreg | 1139 | case TYPE_HMC5843: |
1140 | pn = n1; |
||
1141 | break; |
||
1142 | case TYPE_LSM303DLH: |
||
1143 | pn = n2; |
||
1144 | break; |
||
1145 | case TYPE_LSM303DLM: |
||
1146 | pn = n3; |
||
1147 | break; |
||
394 | killagreg | 1148 | } |
489 | killagreg | 1149 | |
1150 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
1151 | UART1_PutString(msg); |
||
1152 | if ( (NCMAG_Identification.A == MAG_IDA) |
||
1153 | && (NCMAG_Identification.B == MAG_IDB) |
||
1154 | && (NCMAG_Identification.C == MAG_IDC)) |
||
1155 | { |
||
1156 | NCMAG_Present = 1; |
||
1157 | |||
1158 | if(EEPROM_Init()) |
||
1159 | { |
||
1160 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
||
1161 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
1162 | } |
||
1163 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
||
1164 | |||
1165 | // in case of an external sensor, try to get the orientation by acc readings |
||
1166 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1167 | { |
||
1168 | // try to get orientation by acc sensor values |
||
1169 | for(repeat = 0; repeat < 100; repeat++) |
||
1170 | { |
||
1171 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
||
1172 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1173 | if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
||
1174 | } |
||
1175 | // check orientation result if available |
||
1176 | sprintf(msg, "\r\n Orientation: "); |
||
1177 | UART1_PutString(msg); |
||
1178 | if(NCMAG_Orientation) |
||
1179 | { |
||
1180 | sprintf(msg, "%d ", NCMAG_Orientation); |
||
1181 | UART1_PutString(msg); |
||
1182 | if(NCMAG_IsCalibrated) // check against calibration data orientation |
||
1183 | { |
||
1184 | if(NCMAG_Orientation != Calibration.Version >> 4) |
||
1185 | { |
||
1186 | sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
||
1187 | UART1_PutString(msg); |
||
1188 | } |
||
1189 | } |
||
1190 | } |
||
1191 | else |
||
1192 | { |
||
1193 | UART1_PutString("unknown!"); |
||
1194 | } |
||
1195 | } |
||
1196 | |||
1197 | |||
1198 | // perform self test |
||
1199 | if(!NCMAG_SelfTest()) |
||
1200 | { |
||
1201 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
1202 | LED_RED_ON; |
||
1203 | //NCMAG_IsCalibrated = 0; |
||
1204 | } |
||
1205 | else UART1_PutString("\r\n Selftest ok"); |
||
1206 | |||
1207 | // initialize magnetic sensor configuration |
||
1208 | NCMAG_ConfigureSensor(); |
||
1209 | } |
||
1210 | else |
||
1211 | { |
||
1212 | UART1_PutString("\n\r Not compatible!"); |
||
1213 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
||
329 | holgerb | 1214 | LED_RED_ON; |
489 | killagreg | 1215 | } |
242 | killagreg | 1216 | } |
489 | killagreg | 1217 | else // nothing found |
242 | killagreg | 1218 | { |
489 | killagreg | 1219 | NCMAG_SensorType = TYPE_NONE; |
508 | holgerb | 1220 | UART1_PutString(" not found!"); |
242 | killagreg | 1221 | } |
1222 | } |
||
253 | killagreg | 1223 | return(NCMAG_Present); |
242 | killagreg | 1224 | } |
1225 |