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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> |
482 | 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" |
482 | killagreg | 62 | #include "i2c.h" |
242 | killagreg | 63 | #include "timer1.h" |
64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
454 | holgerb | 69 | #include "spi_slave.h" |
242 | killagreg | 70 | |
253 | killagreg | 71 | u8 NCMAG_Present = 0; |
254 | killagreg | 72 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 73 | |
472 | holgerb | 74 | |
394 | killagreg | 75 | // supported magnetic sensor types |
76 | #define TYPE_NONE 0 |
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77 | #define TYPE_HMC5843 1 |
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78 | #define TYPE_LSM303DLH 2 |
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79 | #define TYPE_LSM303DLM 3 |
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242 | killagreg | 80 | |
394 | killagreg | 81 | u8 NCMAG_SensorType = TYPE_NONE; |
482 | killagreg | 82 | u8 NCMAG_Orientation = 0; |
394 | killagreg | 83 | |
482 | killagreg | 84 | // two calibrtion sets for extern and intern sensor |
85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
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86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
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87 | |||
88 | #define CALIBRATION_VERSION 1 |
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89 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
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90 | |||
91 | #define NCMAG_MIN_RAWVALUE -2047 |
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92 | #define NCMAG_MAX_RAWVALUE 2047 |
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93 | #define NCMAG_INVALID_DATA -4096 |
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94 | |||
95 | typedef struct |
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96 | { |
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97 | s16 Range; |
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98 | s16 Offset; |
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99 | } __attribute__((packed)) Scaling_t; |
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100 | |||
101 | typedef struct |
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102 | { |
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103 | Scaling_t MagX; |
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104 | Scaling_t MagY; |
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105 | Scaling_t MagZ; |
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106 | u8 Version; |
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107 | u8 crc; |
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108 | } __attribute__((packed)) Calibration_t; |
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109 | |||
254 | killagreg | 110 | Calibration_t Calibration; // calibration data in RAM |
339 | holgerb | 111 | volatile s16vec_t AccRawVector; |
112 | volatile s16vec_t MagRawVector; |
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254 | killagreg | 113 | |
253 | killagreg | 114 | // i2c MAG interface |
115 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
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242 | killagreg | 116 | |
253 | killagreg | 117 | // register mapping |
118 | #define REG_MAG_CRA 0x00 |
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119 | #define REG_MAG_CRB 0x01 |
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120 | #define REG_MAG_MODE 0x02 |
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121 | #define REG_MAG_DATAX_MSB 0x03 |
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122 | #define REG_MAG_DATAX_LSB 0x04 |
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123 | #define REG_MAG_DATAY_MSB 0x05 |
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124 | #define REG_MAG_DATAY_LSB 0x06 |
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125 | #define REG_MAG_DATAZ_MSB 0x07 |
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126 | #define REG_MAG_DATAZ_LSB 0x08 |
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127 | #define REG_MAG_STATUS 0x09 |
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329 | holgerb | 128 | |
253 | killagreg | 129 | #define REG_MAG_IDA 0x0A |
130 | #define REG_MAG_IDB 0x0B |
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131 | #define REG_MAG_IDC 0x0C |
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394 | killagreg | 132 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
242 | killagreg | 133 | |
253 | killagreg | 134 | // bit mask for configuration mode |
135 | #define CRA_MODE_MASK 0x03 |
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136 | #define CRA_MODE_NORMAL 0x00 //default |
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137 | #define CRA_MODE_POSBIAS 0x01 |
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138 | #define CRA_MODE_NEGBIAS 0x02 |
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139 | #define CRA_MODE_SELFTEST 0x03 |
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242 | killagreg | 140 | |
253 | killagreg | 141 | // bit mask for measurement mode |
142 | #define MODE_MASK 0xFF |
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143 | #define MODE_CONTINUOUS 0x00 |
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144 | #define MODE_SINGLE 0x01 // default |
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145 | #define MODE_IDLE 0x02 |
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146 | #define MODE_SLEEP 0x03 |
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147 | |||
242 | killagreg | 148 | // bit mask for rate |
253 | killagreg | 149 | #define CRA_RATE_MASK 0x1C |
150 | |||
151 | // bit mask for gain |
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152 | #define CRB_GAIN_MASK 0xE0 |
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153 | |||
154 | // ids |
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155 | #define MAG_IDA 0x48 |
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156 | #define MAG_IDB 0x34 |
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157 | #define MAG_IDC 0x33 |
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394 | killagreg | 158 | #define MAG_IDF_LSM303DLM 0x3C |
253 | killagreg | 159 | |
160 | // the special HMC5843 interface |
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161 | // bit mask for rate |
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242 | killagreg | 162 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
163 | #define HMC5843_CRA_RATE_1HZ 0x04 |
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164 | #define HMC5843_CRA_RATE_2HZ 0x08 |
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165 | #define HMC5843_CRA_RATE_5HZ 0x0C |
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166 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
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167 | #define HMC5843_CRA_RATE_20HZ 0x14 |
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168 | #define HMC5843_CRA_RATE_50HZ 0x18 |
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169 | // bit mask for gain |
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170 | #define HMC5843_CRB_GAIN_07GA 0x00 |
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171 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
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339 | holgerb | 172 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
242 | killagreg | 173 | #define HMC5843_CRB_GAIN_20GA 0x60 |
174 | #define HMC5843_CRB_GAIN_32GA 0x80 |
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175 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
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176 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
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177 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
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253 | killagreg | 178 | // self test value |
339 | holgerb | 179 | #define HMC5843_TEST_XSCALE 555 |
180 | #define HMC5843_TEST_YSCALE 555 |
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181 | #define HMC5843_TEST_ZSCALE 555 |
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394 | killagreg | 182 | // calibration range |
342 | holgerb | 183 | #define HMC5843_CALIBRATION_RANGE 600 |
242 | killagreg | 184 | |
253 | killagreg | 185 | // the special LSM302DLH interface |
186 | // bit mask for rate |
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187 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
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188 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
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189 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
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190 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
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191 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
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192 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
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193 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
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338 | holgerb | 194 | |
253 | killagreg | 195 | // bit mask for gain |
196 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
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197 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
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339 | holgerb | 198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
253 | killagreg | 199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
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201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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202 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
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203 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
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394 | killagreg | 204 | |
205 | typedef struct |
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206 | { |
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207 | u8 A; |
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208 | u8 B; |
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209 | u8 C; |
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210 | } __attribute__((packed)) Identification_t; |
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211 | volatile Identification_t NCMAG_Identification; |
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212 | |||
213 | typedef struct |
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214 | { |
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215 | u8 Sub; |
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216 | } __attribute__((packed)) Identification2_t; |
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217 | volatile Identification2_t NCMAG_Identification2; |
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218 | |||
219 | typedef struct |
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220 | { |
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221 | u8 cra; |
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222 | u8 crb; |
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223 | u8 mode; |
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224 | } __attribute__((packed)) MagConfig_t; |
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225 | |||
226 | volatile MagConfig_t MagConfig; |
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227 | |||
253 | killagreg | 228 | // self test value |
338 | holgerb | 229 | #define LSM303DLH_TEST_XSCALE 495 |
230 | #define LSM303DLH_TEST_YSCALE 495 |
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231 | #define LSM303DLH_TEST_ZSCALE 470 |
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339 | holgerb | 232 | // clibration range |
342 | holgerb | 233 | #define LSM303_CALIBRATION_RANGE 550 |
253 | killagreg | 234 | |
235 | // the i2c ACC interface |
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236 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
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394 | killagreg | 237 | |
238 | // multiple byte read/write mask |
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239 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
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240 | |||
253 | killagreg | 241 | // register mapping |
242 | #define REG_ACC_CTRL1 0x20 |
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243 | #define REG_ACC_CTRL2 0x21 |
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244 | #define REG_ACC_CTRL3 0x22 |
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245 | #define REG_ACC_CTRL4 0x23 |
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246 | #define REG_ACC_CTRL5 0x24 |
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247 | #define REG_ACC_HP_FILTER_RESET 0x25 |
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248 | #define REG_ACC_REFERENCE 0x26 |
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249 | #define REG_ACC_STATUS 0x27 |
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250 | #define REG_ACC_X_LSB 0x28 |
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251 | #define REG_ACC_X_MSB 0x29 |
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252 | #define REG_ACC_Y_LSB 0x2A |
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253 | #define REG_ACC_Y_MSB 0x2B |
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254 | #define REG_ACC_Z_LSB 0x2C |
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255 | #define REG_ACC_Z_MSB 0x2D |
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256 | |||
394 | killagreg | 257 | #define ACC_CRTL1_PM_DOWN 0x00 |
258 | #define ACC_CRTL1_PM_NORMAL 0x20 |
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259 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
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260 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
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261 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
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262 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
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263 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
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264 | // Output data rate in normal power mode |
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265 | #define ACC_CRTL1_DR_50HZ 0x00 |
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266 | #define ACC_CRTL1_DR_100HZ 0x08 |
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267 | #define ACC_CRTL1_DR_400HZ 0x10 |
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268 | #define ACC_CRTL1_DR_1000HZ 0x18 |
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269 | // axis anable flags |
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270 | #define ACC_CRTL1_XEN 0x01 |
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271 | #define ACC_CRTL1_YEN 0x02 |
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272 | #define ACC_CRTL1_ZEN 0x04 |
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253 | killagreg | 273 | |
397 | holgerb | 274 | #define ACC_CRTL2_FILTER8 0x10 |
275 | #define ACC_CRTL2_FILTER16 0x11 |
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276 | #define ACC_CRTL2_FILTER32 0x12 |
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277 | #define ACC_CRTL2_FILTER64 0x13 |
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395 | holgerb | 278 | |
394 | killagreg | 279 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
280 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
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281 | #define ACC_CTRL4_FS_2G 0x00 |
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282 | #define ACC_CTRL4_FS_4G 0x10 |
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283 | #define ACC_CTRL4_FS_8G 0x30 |
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284 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
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285 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
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286 | #define ACC_CTRL4_ST_ENABLE 0x02 |
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253 | killagreg | 287 | |
394 | killagreg | 288 | #define ACC_CTRL5_STW_ON 0x03 |
289 | #define ACC_CTRL5_STW_OFF 0x00 |
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242 | killagreg | 290 | |
253 | killagreg | 291 | typedef struct |
292 | { |
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293 | u8 ctrl_1; |
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294 | u8 ctrl_2; |
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295 | u8 ctrl_3; |
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296 | u8 ctrl_4; |
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297 | u8 ctrl_5; |
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298 | } __attribute__((packed)) AccConfig_t; |
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299 | |||
300 | volatile AccConfig_t AccConfig; |
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301 | |||
482 | killagreg | 302 | // write calibration data for external and internal sensor seperately |
303 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
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254 | killagreg | 304 | { |
472 | holgerb | 305 | u16 address; |
482 | killagreg | 306 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
254 | killagreg | 307 | EEPROM_Result_t eres; |
308 | u8 *pBuff = (u8*)&Calibration; |
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309 | |||
482 | killagreg | 310 | if (I2Cx == NCMAG_PORT_EXTERN) |
473 | holgerb | 311 | { |
482 | killagreg | 312 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
313 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
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473 | holgerb | 314 | } |
482 | killagreg | 315 | else if (I2Cx == NCMAG_PORT_INTERN) |
316 | { |
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317 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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318 | Calibration.Version = CALIBRATION_VERSION; |
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319 | } |
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320 | else return(i); |
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321 | |||
256 | killagreg | 322 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
254 | killagreg | 323 | { |
324 | crc += pBuff[i]; |
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325 | } |
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326 | Calibration.crc = ~crc; |
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472 | holgerb | 327 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
254 | killagreg | 328 | if(EEPROM_SUCCESS == eres) i = 1; |
329 | else i = 0; |
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330 | return(i); |
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331 | } |
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332 | |||
482 | killagreg | 333 | // read calibration data for external and internal sensor seperately |
334 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
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254 | killagreg | 335 | { |
482 | killagreg | 336 | u8 address; |
337 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
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254 | killagreg | 338 | u8 *pBuff = (u8*)&Calibration; |
339 | |||
482 | killagreg | 340 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
341 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
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342 | else return(0); |
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472 | holgerb | 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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482 | killagreg | 352 | if((Calibration.Version & 0x0F) == 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; |
482 | killagreg | 362 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 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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482 | killagreg | 383 | speak = 1; |
384 | if(Compass_CalState != OldCalState) // only once per state |
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475 | holgerb | 385 | { |
482 | killagreg | 386 | UART1_PutString("\r\nStarting compass calibration"); |
387 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
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388 | { |
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389 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
390 | UART1_PutString(" - External sensor "); |
||
391 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
||
392 | UART1_PutString(msg); |
||
393 | } |
||
394 | else UART1_PutString(" - Internal sensor "); |
||
395 | } |
||
254 | killagreg | 396 | break; |
482 | killagreg | 397 | |
254 | killagreg | 398 | case 2: // 2nd step of calibration |
399 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
||
275 | killagreg | 400 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
401 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
402 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
403 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
482 | killagreg | 404 | if(Z < Zmin) { Zmin = Z; } // silent |
475 | holgerb | 405 | else if(Z > Zmax) { Zmax = Z; } |
454 | holgerb | 406 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 407 | break; |
408 | |||
409 | case 3: // 3rd step of calibration |
||
410 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
454 | holgerb | 411 | speak = 1; |
254 | killagreg | 412 | break; |
413 | |||
414 | case 4: |
||
415 | // find Min and Max of the Z-Sensor |
||
482 | killagreg | 416 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
417 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
||
418 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
||
419 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
475 | holgerb | 420 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
421 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 422 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 423 | break; |
424 | |||
425 | case 5: |
||
426 | // Save values |
||
427 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
428 | { |
||
394 | killagreg | 429 | switch(NCMAG_SensorType) |
430 | { |
||
431 | case TYPE_HMC5843: |
||
482 | killagreg | 432 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
433 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
434 | break; |
||
394 | killagreg | 435 | |
436 | case TYPE_LSM303DLH: |
||
437 | case TYPE_LSM303DLM: |
||
482 | killagreg | 438 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
439 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
440 | break; |
||
394 | killagreg | 441 | } |
342 | holgerb | 442 | if(EarthMagneticStrengthTheoretic) |
482 | killagreg | 443 | { |
444 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
||
445 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
||
446 | UART1_PutString(msg); |
||
447 | } |
||
342 | holgerb | 448 | else UART1_PutString("without GPS\n\r"); |
339 | holgerb | 449 | |
482 | killagreg | 450 | if(Zmin2 < Zmin) Zmin = Zmin2; |
451 | if(Zmax2 > Zmax) Zmax = Zmax2; |
||
254 | killagreg | 452 | Calibration.MagX.Range = Xmax - Xmin; |
453 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
454 | Calibration.MagY.Range = Ymax - Ymin; |
||
455 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
456 | Calibration.MagZ.Range = Zmax - Zmin; |
||
457 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
394 | killagreg | 458 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 459 | { |
482 | killagreg | 460 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
270 | killagreg | 461 | BeepTime = 2500; |
342 | holgerb | 462 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
454 | holgerb | 463 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 464 | } |
465 | else |
||
466 | { |
||
454 | holgerb | 467 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 468 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 469 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
470 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
471 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 472 | UART1_PutString("\r\n"); |
339 | holgerb | 473 | |
254 | killagreg | 474 | // restore old calibration data from eeprom |
482 | killagreg | 475 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
254 | killagreg | 476 | } |
330 | holgerb | 477 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
478 | UART1_PutString(msg); |
||
479 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
480 | UART1_PutString(msg); |
||
481 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
482 | UART1_PutString(msg); |
||
394 | killagreg | 483 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 484 | UART1_PutString(msg); |
254 | killagreg | 485 | } |
486 | break; |
||
487 | |||
488 | default: |
||
489 | break; |
||
490 | } |
||
491 | OldCalState = Compass_CalState; |
||
492 | } |
||
493 | |||
242 | killagreg | 494 | // ---------- call back handlers ----------------------------------------- |
495 | |||
496 | // rx data handler for id info request |
||
253 | killagreg | 497 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 498 | { // if number of bytes are matching |
253 | killagreg | 499 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 500 | { |
253 | killagreg | 501 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
502 | } |
||
242 | killagreg | 503 | } |
329 | holgerb | 504 | |
505 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
506 | { // if number of bytes are matching |
||
507 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
508 | { |
||
509 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
510 | } |
||
511 | } |
||
512 | |||
254 | killagreg | 513 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 514 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 515 | { // if number of bytes are matching |
516 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 517 | { // byte order from big to little endian |
473 | holgerb | 518 | s16 raw, X = 0, Y = 0, Z = 0; |
256 | killagreg | 519 | raw = pRxBuffer[0]<<8; |
520 | raw+= pRxBuffer[1]; |
||
473 | holgerb | 521 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
256 | killagreg | 522 | raw = pRxBuffer[2]<<8; |
523 | raw+= pRxBuffer[3]; |
||
330 | holgerb | 524 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
525 | { |
||
473 | holgerb | 526 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
527 | else Y = raw; |
||
330 | holgerb | 528 | } |
256 | killagreg | 529 | raw = pRxBuffer[4]<<8; |
530 | raw+= pRxBuffer[5]; |
||
330 | holgerb | 531 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
532 | { |
||
473 | holgerb | 533 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
534 | else Z = raw; |
||
330 | holgerb | 535 | } |
482 | killagreg | 536 | // correct compass orientation |
537 | switch(NCMAG_Orientation) |
||
473 | holgerb | 538 | { |
482 | killagreg | 539 | case 0: |
540 | case 1: |
||
541 | default: |
||
542 | // 1:1 Mapping |
||
473 | holgerb | 543 | MagRawVector.X = X; |
544 | MagRawVector.Y = Y; |
||
545 | MagRawVector.Z = Z; |
||
546 | break; |
||
482 | killagreg | 547 | case 2: |
473 | holgerb | 548 | MagRawVector.X = -X; |
549 | MagRawVector.Y = Y; |
||
550 | MagRawVector.Z = -Z; |
||
551 | break; |
||
482 | killagreg | 552 | case 3: |
473 | holgerb | 553 | MagRawVector.X = -Z; |
554 | MagRawVector.Y = Y; |
||
555 | MagRawVector.Z = X; |
||
556 | break; |
||
482 | killagreg | 557 | case 4: |
473 | holgerb | 558 | MagRawVector.X = Z; |
559 | MagRawVector.Y = Y; |
||
560 | MagRawVector.Z = -X; |
||
561 | break; |
||
482 | killagreg | 562 | case 5: |
473 | holgerb | 563 | MagRawVector.X = X; |
564 | MagRawVector.Y = -Z; |
||
565 | MagRawVector.Z = Y; |
||
566 | break; |
||
482 | killagreg | 567 | case 6: |
473 | holgerb | 568 | MagRawVector.X = -X; |
569 | MagRawVector.Y = -Z; |
||
570 | MagRawVector.Z = -Y; |
||
571 | break; |
||
572 | } |
||
242 | killagreg | 573 | } |
254 | killagreg | 574 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 575 | { // mark out data invalid |
289 | killagreg | 576 | MagVector.X = MagRawVector.X; |
577 | MagVector.Y = MagRawVector.Y; |
||
578 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 579 | Compass_Heading = -1; |
580 | } |
||
581 | else |
||
582 | { |
||
583 | // update MagVector from MagRaw Vector by Scaling |
||
584 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
585 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
586 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 587 | Compass_CalcHeading(); |
254 | killagreg | 588 | } |
242 | killagreg | 589 | } |
254 | killagreg | 590 | // rx data handler for acceleration raw data |
253 | killagreg | 591 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
482 | killagreg | 592 | { // if number of bytes are matching |
254 | killagreg | 593 | if(RxBufferSize == sizeof(AccRawVector) ) |
482 | killagreg | 594 | { |
595 | // copy from I2C buffer |
||
254 | killagreg | 596 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
482 | killagreg | 597 | // scale and update Acc Vector, at the moment simply 1:1 |
598 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
||
253 | killagreg | 599 | } |
473 | holgerb | 600 | } |
254 | killagreg | 601 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 602 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
603 | { // if number of byte are matching |
||
604 | if(RxBufferSize == sizeof(MagConfig) ) |
||
605 | { |
||
606 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
607 | } |
||
608 | } |
||
254 | killagreg | 609 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 610 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
611 | { // if number of byte are matching |
||
612 | if(RxBufferSize == sizeof(AccConfig) ) |
||
613 | { |
||
614 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
615 | } |
||
616 | } |
||
254 | killagreg | 617 | //---------------------------------------------------------------------- |
253 | killagreg | 618 | |
482 | killagreg | 619 | u8 NCMAG_GetOrientationFromAcc(void) |
620 | { |
||
621 | // only if external compass connected |
||
622 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
||
623 | // MK must not be tilted |
||
624 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
||
625 | { |
||
626 | // UART1_PutString("\r\nTilted"); |
||
627 | return(0); |
||
628 | } |
||
629 | // select orientation |
||
630 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
||
631 | else |
||
632 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
||
633 | else |
||
634 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
||
635 | else |
||
636 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
||
637 | else |
||
638 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
||
639 | else |
||
640 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
||
641 | return(0); |
||
642 | } |
||
254 | killagreg | 643 | |
644 | // --------------------------------------------------------------------- |
||
253 | killagreg | 645 | u8 NCMAG_SetMagConfig(void) |
646 | { |
||
647 | u8 retval = 0; |
||
482 | killagreg | 648 | |
253 | killagreg | 649 | // try to catch the i2c buffer within 100 ms timeout |
482 | killagreg | 650 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 651 | { |
652 | u8 TxBytes = 0; |
||
482 | killagreg | 653 | u8 TxData[sizeof(MagConfig) + 3]; |
654 | |||
655 | TxData[TxBytes++] = REG_MAG_CRA; |
||
656 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 657 | TxBytes += sizeof(MagConfig); |
482 | killagreg | 658 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 659 | { |
482 | killagreg | 660 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 661 | { |
482 | killagreg | 662 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 663 | } |
664 | } |
||
665 | } |
||
666 | return(retval); |
||
667 | } |
||
242 | killagreg | 668 | |
253 | killagreg | 669 | // ---------------------------------------------------------------------------------------- |
670 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 671 | { |
253 | killagreg | 672 | u8 retval = 0; |
252 | killagreg | 673 | // try to catch the i2c buffer within 100 ms timeout |
482 | killagreg | 674 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
242 | killagreg | 675 | { |
253 | killagreg | 676 | u8 TxBytes = 0; |
482 | killagreg | 677 | u8 TxData[3]; |
678 | TxData[TxBytes++] = REG_MAG_CRA; |
||
679 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 680 | { |
482 | killagreg | 681 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 682 | { |
482 | killagreg | 683 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 684 | } |
248 | killagreg | 685 | } |
242 | killagreg | 686 | } |
253 | killagreg | 687 | return(retval); |
242 | killagreg | 688 | } |
689 | |||
690 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 691 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 692 | { |
252 | killagreg | 693 | u8 retval = 0; |
482 | killagreg | 694 | // try to catch the i2c buffer within 50 ms timeout |
695 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
||
242 | killagreg | 696 | { |
253 | killagreg | 697 | u8 TxBytes = 0; |
482 | killagreg | 698 | u8 TxData[sizeof(AccConfig) + 3]; |
699 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
700 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 701 | TxBytes += sizeof(AccConfig); |
482 | killagreg | 702 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 703 | { |
482 | killagreg | 704 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
253 | killagreg | 705 | { |
482 | killagreg | 706 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 707 | } |
708 | } |
||
709 | } |
||
710 | return(retval); |
||
711 | } |
||
712 | |||
713 | // ---------------------------------------------------------------------------------------- |
||
714 | u8 NCMAG_GetAccConfig(void) |
||
715 | { |
||
716 | u8 retval = 0; |
||
717 | // try to catch the i2c buffer within 100 ms timeout |
||
482 | killagreg | 718 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 719 | { |
720 | u8 TxBytes = 0; |
||
482 | killagreg | 721 | u8 TxData[3]; |
722 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
723 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 724 | { |
482 | killagreg | 725 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 726 | { |
482 | killagreg | 727 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 728 | } |
729 | } |
||
730 | } |
||
731 | return(retval); |
||
732 | } |
||
733 | |||
734 | // ---------------------------------------------------------------------------------------- |
||
735 | u8 NCMAG_GetIdentification(void) |
||
736 | { |
||
737 | u8 retval = 0; |
||
738 | // try to catch the i2c buffer within 100 ms timeout |
||
482 | killagreg | 739 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 740 | { |
482 | killagreg | 741 | u8 TxBytes = 0; |
742 | u8 TxData[3]; |
||
253 | killagreg | 743 | NCMAG_Identification.A = 0xFF; |
744 | NCMAG_Identification.B = 0xFF; |
||
745 | NCMAG_Identification.C = 0xFF; |
||
482 | killagreg | 746 | TxData[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 747 | // initiate transmission |
482 | killagreg | 748 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 749 | { |
482 | killagreg | 750 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 751 | { |
482 | killagreg | 752 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 753 | } |
248 | killagreg | 754 | } |
242 | killagreg | 755 | } |
253 | killagreg | 756 | return(retval); |
242 | killagreg | 757 | } |
758 | |||
329 | holgerb | 759 | u8 NCMAG_GetIdentification_Sub(void) |
760 | { |
||
761 | u8 retval = 0; |
||
762 | // try to catch the i2c buffer within 100 ms timeout |
||
482 | killagreg | 763 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
329 | holgerb | 764 | { |
482 | killagreg | 765 | u8 TxBytes = 0; |
766 | u8 TxData[3]; |
||
329 | holgerb | 767 | NCMAG_Identification2.Sub = 0xFF; |
482 | killagreg | 768 | TxData[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 769 | // initiate transmission |
482 | killagreg | 770 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 771 | { |
482 | killagreg | 772 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
329 | holgerb | 773 | { |
482 | killagreg | 774 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 775 | } |
776 | } |
||
777 | } |
||
778 | return(retval); |
||
779 | } |
||
780 | |||
781 | |||
253 | killagreg | 782 | // ---------------------------------------------------------------------------------------- |
482 | killagreg | 783 | void NCMAG_GetMagVector(u8 timeout) |
253 | killagreg | 784 | { |
482 | killagreg | 785 | // try to catch the I2C buffer within timeout ms |
786 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
253 | killagreg | 787 | { |
482 | killagreg | 788 | u8 TxBytes = 0; |
789 | u8 TxData[3]; |
||
253 | killagreg | 790 | // set register pointer |
482 | killagreg | 791 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 792 | // initiate transmission |
482 | killagreg | 793 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 794 | } |
795 | } |
||
796 | |||
242 | killagreg | 797 | //---------------------------------------------------------------- |
473 | holgerb | 798 | void NCMAG_GetAccVector(u8 timeout) |
243 | killagreg | 799 | { |
482 | killagreg | 800 | // try to catch the I2C buffer within timeout ms |
801 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
243 | killagreg | 802 | { |
482 | killagreg | 803 | u8 TxBytes = 0; |
804 | u8 TxData[3]; |
||
243 | killagreg | 805 | // set register pointer |
482 | killagreg | 806 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 807 | // initiate transmission |
482 | killagreg | 808 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 809 | } |
810 | } |
||
811 | |||
330 | holgerb | 812 | //---------------------------------------------------------------- |
482 | killagreg | 813 | u8 NCMAG_ConfigureSensor(void) |
330 | holgerb | 814 | { |
815 | u8 crb_gain, cra_rate; |
||
816 | |||
394 | killagreg | 817 | switch(NCMAG_SensorType) |
330 | holgerb | 818 | { |
394 | killagreg | 819 | case TYPE_HMC5843: |
339 | holgerb | 820 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 821 | cra_rate = HMC5843_CRA_RATE_50HZ; |
822 | break; |
||
823 | |||
394 | killagreg | 824 | case TYPE_LSM303DLH: |
825 | case TYPE_LSM303DLM: |
||
338 | holgerb | 826 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
330 | holgerb | 827 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
828 | break; |
||
829 | |||
830 | default: |
||
394 | killagreg | 831 | return(0); |
330 | holgerb | 832 | } |
833 | |||
834 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
835 | MagConfig.crb = crb_gain; |
||
836 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 837 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 838 | } |
839 | |||
395 | holgerb | 840 | |
394 | killagreg | 841 | //---------------------------------------------------------------- |
842 | u8 NCMAG_Init_ACCSensor(void) |
||
843 | { |
||
395 | holgerb | 844 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
473 | holgerb | 845 | AccConfig.ctrl_2 = 0; |
394 | killagreg | 846 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 847 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 848 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
849 | return(NCMAG_SetAccConfig()); |
||
850 | } |
||
253 | killagreg | 851 | // -------------------------------------------------------- |
480 | holgerb | 852 | void NCMAG_Update(u8 init) |
243 | killagreg | 853 | { |
292 | killagreg | 854 | static u32 TimerUpdate = 0; |
419 | holgerb | 855 | static s8 send_config = 0; |
394 | killagreg | 856 | u32 delay = 20; |
482 | killagreg | 857 | |
480 | holgerb | 858 | if(init) TimerUpdate = SetDelay(10); |
859 | |||
482 | killagreg | 860 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
254 | killagreg | 861 | { |
862 | Compass_Heading = -1; |
||
326 | holgerb | 863 | DebugOut.Analog[14]++; // count I2C error |
480 | holgerb | 864 | TimerUpdate = SetDelay(10); |
254 | killagreg | 865 | return; |
866 | } |
||
482 | killagreg | 867 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 868 | { |
394 | killagreg | 869 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
870 | if(++send_config == 25) // 500ms |
||
871 | { |
||
419 | holgerb | 872 | send_config = -25; // next try after 1 second |
482 | killagreg | 873 | NCMAG_ConfigureSensor(); |
419 | holgerb | 874 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 875 | } |
321 | holgerb | 876 | else |
877 | { |
||
473 | holgerb | 878 | static u8 s = 0; |
394 | killagreg | 879 | // check for new calibration state |
880 | Compass_UpdateCalState(); |
||
881 | if(Compass_CalState) NCMAG_Calibrate(); |
||
882 | |||
883 | // in case of LSM303 type |
||
884 | switch(NCMAG_SensorType) |
||
885 | { |
||
482 | killagreg | 886 | case TYPE_HMC5843: |
887 | delay = 20; // next cycle after 20 ms |
||
888 | NCMAG_GetMagVector(5); |
||
394 | killagreg | 889 | break; |
890 | case TYPE_LSM303DLH: |
||
891 | case TYPE_LSM303DLM: |
||
482 | killagreg | 892 | |
893 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
||
894 | { |
||
895 | delay = 20; // next cycle after 20 ms |
||
896 | NCMAG_GetMagVector(5); |
||
897 | } |
||
898 | else // having an external compass, read every 50th cycle the ACC vec |
||
899 | { // try to initialize if no data are there |
||
900 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
||
901 | // get new data |
||
902 | NCMAG_GetAccVector(5); |
||
903 | delay = 10; // next cycle after 10 ms |
||
904 | s = 40; //reset downconter about 0,8 sec |
||
905 | } |
||
394 | killagreg | 906 | break; |
907 | } |
||
419 | holgerb | 908 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 909 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 910 | } |
243 | killagreg | 911 | } |
912 | } |
||
913 | |||
330 | holgerb | 914 | |
254 | killagreg | 915 | // -------------------------------------------------------- |
253 | killagreg | 916 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 917 | { |
266 | holgerb | 918 | u8 msg[64]; |
275 | killagreg | 919 | static u8 done = 0; |
266 | holgerb | 920 | |
287 | holgerb | 921 | if(done) return(1); // just make it once |
275 | killagreg | 922 | |
271 | holgerb | 923 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 924 | u32 time; |
253 | killagreg | 925 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
926 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
927 | u8 crb_gain, cra_rate; |
||
928 | u8 i = 0, retval = 1; |
||
243 | killagreg | 929 | |
394 | killagreg | 930 | switch(NCMAG_SensorType) |
253 | killagreg | 931 | { |
394 | killagreg | 932 | case TYPE_HMC5843: |
339 | holgerb | 933 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 934 | cra_rate = HMC5843_CRA_RATE_50HZ; |
935 | xscale = HMC5843_TEST_XSCALE; |
||
936 | yscale = HMC5843_TEST_YSCALE; |
||
937 | zscale = HMC5843_TEST_ZSCALE; |
||
938 | break; |
||
939 | |||
394 | killagreg | 940 | case TYPE_LSM303DLH: |
338 | holgerb | 941 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
253 | killagreg | 942 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
943 | xscale = LSM303DLH_TEST_XSCALE; |
||
944 | yscale = LSM303DLH_TEST_YSCALE; |
||
945 | zscale = LSM303DLH_TEST_ZSCALE; |
||
946 | break; |
||
947 | |||
394 | killagreg | 948 | case TYPE_LSM303DLM: |
949 | // does not support self test feature |
||
950 | done = retval; |
||
951 | return(retval); |
||
952 | break; |
||
953 | |||
253 | killagreg | 954 | default: |
394 | killagreg | 955 | return(0); |
253 | killagreg | 956 | } |
957 | |||
958 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
959 | MagConfig.crb = crb_gain; |
||
960 | MagConfig.mode = MODE_CONTINUOUS; |
||
961 | // activate positive bias field |
||
962 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 963 | // wait for stable readings |
964 | time = SetDelay(50); |
||
965 | while(!CheckDelay(time)); |
||
243 | killagreg | 966 | // averaging |
253 | killagreg | 967 | #define AVERAGE 20 |
968 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 969 | { |
482 | killagreg | 970 | NCMAG_GetMagVector(5); |
243 | killagreg | 971 | time = SetDelay(20); |
972 | while(!CheckDelay(time)); |
||
254 | killagreg | 973 | XMax += MagRawVector.X; |
974 | YMax += MagRawVector.Y; |
||
975 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 976 | } |
253 | killagreg | 977 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
978 | // activate positive bias field |
||
979 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 980 | // wait for stable readings |
981 | time = SetDelay(50); |
||
982 | while(!CheckDelay(time)); |
||
243 | killagreg | 983 | // averaging |
253 | killagreg | 984 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 985 | { |
482 | killagreg | 986 | NCMAG_GetMagVector(5); |
243 | killagreg | 987 | time = SetDelay(20); |
988 | while(!CheckDelay(time)); |
||
254 | killagreg | 989 | XMin += MagRawVector.X; |
990 | YMin += MagRawVector.Y; |
||
991 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 992 | } |
993 | // setup final configuration |
||
253 | killagreg | 994 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
995 | // activate positive bias field |
||
996 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 997 | // check scale for all axes |
243 | killagreg | 998 | // prepare scale limits |
253 | killagreg | 999 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 1000 | xscale = (XMax - XMin)/(2*AVERAGE); |
266 | holgerb | 1001 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 1002 | { |
1003 | retval = 0; |
||
1004 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
1005 | UART1_PutString(msg); |
||
1006 | } |
||
267 | holgerb | 1007 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 1008 | yscale = (YMax - YMin)/(2*AVERAGE); |
1009 | if((yscale > scale_max) || (yscale < scale_min)) |
||
394 | killagreg | 1010 | { |
1011 | retval = 0; |
||
1012 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
1013 | UART1_PutString(msg); |
||
1014 | } |
||
267 | holgerb | 1015 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 1016 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
1017 | if((zscale > scale_max) || (zscale < scale_min)) |
||
394 | killagreg | 1018 | { |
1019 | retval = 0; |
||
1020 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
1021 | UART1_PutString(msg); |
||
1022 | } |
||
275 | killagreg | 1023 | done = retval; |
253 | killagreg | 1024 | return(retval); |
243 | killagreg | 1025 | } |
1026 | |||
1027 | |||
482 | killagreg | 1028 | void NCMAG_CheckOrientation(void) |
1029 | { // only for external sensor |
||
1030 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1031 | { |
||
1032 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1033 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
||
1034 | else NCMAG_IsCalibrated = 1; |
||
1035 | } |
||
465 | ingob | 1036 | } |
1037 | //---------------------------------------------------------------- |
||
253 | killagreg | 1038 | u8 NCMAG_Init(void) |
242 | killagreg | 1039 | { |
482 | killagreg | 1040 | MagRawVector.X = 0; |
1041 | MagRawVector.Y = 0; |
||
1042 | MagRawVector.Z = 0; |
||
1043 | AccRawVector.X = 0; |
||
1044 | AccRawVector.Y = 0; |
||
1045 | AccRawVector.Z = 0; |
||
1046 | |||
1047 | if(NCMAG_Present) // do only short init ! , full init was called before |
||
472 | holgerb | 1048 | { |
482 | killagreg | 1049 | // reset I2C Bus |
1050 | I2CBus_Deinit(Compass_I2CPort); |
||
1051 | I2CBus_Init(Compass_I2CPort); |
||
1052 | // try to reconfigure senor |
||
1053 | NCMAG_ConfigureSensor(); |
||
1054 | NCMAG_Update(1); |
||
472 | holgerb | 1055 | } |
482 | killagreg | 1056 | else // full init |
472 | holgerb | 1057 | { |
482 | killagreg | 1058 | u8 msg[64]; |
1059 | u8 retval = 0; |
||
1060 | u8 repeat = 0; |
||
1061 | |||
1062 | //-------------------------------------------- |
||
1063 | // search external sensor first |
||
1064 | //-------------------------------------------- |
||
1065 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1066 | // get id bytes |
||
1067 | retval = 0; |
||
1068 | for(repeat = 0; repeat < 5; repeat++) |
||
1069 | { |
||
1070 | //retval = NCMAG_GetIdentification(); |
||
1071 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
||
1072 | if(retval) break; // break loop on success |
||
1073 | UART1_PutString("_"); |
||
1074 | } |
||
1075 | // Extenal sensor not found? |
||
1076 | if(!retval) |
||
1077 | { |
||
1078 | // search internal sensor afterwards |
||
1079 | UART1_PutString(" internal sensor"); |
||
1080 | Compass_I2CPort = NCMAG_PORT_INTERN; |
||
1081 | NCMAG_Orientation = 0; |
||
1082 | } |
||
1083 | else |
||
1084 | { |
||
1085 | UART1_PutString(" external sensor "); |
||
473 | holgerb | 1086 | |
482 | killagreg | 1087 | // initialize ACC sensor of the IC |
1088 | NCMAG_Init_ACCSensor(); |
||
1089 | // try to get orientation by acc sensor values |
||
1090 | for(repeat = 0; repeat < 100; repeat++) |
||
1091 | { |
||
1092 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
||
1093 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1094 | if(NCMAG_Orientation) break; |
||
1095 | } |
||
1096 | // check orientation result |
||
1097 | if(NCMAG_Orientation) |
||
1098 | { |
||
1099 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation ); |
||
1100 | UART1_PutString(msg); |
||
1101 | } |
||
1102 | else |
||
1103 | { |
||
1104 | UART1_PutString(" (Orientation unknown!)"); |
||
1105 | } |
||
1106 | } |
||
1107 | //------------------------------------------- |
||
1108 | |||
1109 | NCMAG_Present = 0; |
||
1110 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
||
1111 | // polling for LSM302DLH/DLM option by ACC address ack |
||
1112 | repeat = 0; |
||
1113 | for(repeat = 0; repeat < 3; repeat++) |
||
394 | killagreg | 1114 | { |
482 | killagreg | 1115 | retval = NCMAG_GetAccConfig(); |
394 | killagreg | 1116 | if(retval) break; // break loop on success |
480 | holgerb | 1117 | } |
394 | killagreg | 1118 | if(retval) |
1119 | { |
||
482 | killagreg | 1120 | // initialize ACC sensor |
1121 | NCMAG_Init_ACCSensor(); |
||
1122 | |||
1123 | NCMAG_SensorType = TYPE_LSM303DLH; |
||
1124 | // polling of sub identification |
||
1125 | repeat = 0; |
||
1126 | for(repeat = 0; repeat < 12; repeat++) |
||
1127 | { |
||
1128 | retval = NCMAG_GetIdentification_Sub(); |
||
1129 | if(retval) break; // break loop on success |
||
1130 | } |
||
1131 | if(retval) |
||
1132 | { |
||
1133 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
1134 | } |
||
1135 | } |
||
1136 | // get id bytes |
||
1137 | retval = 0; |
||
1138 | for(repeat = 0; repeat < 3; repeat++) |
||
329 | holgerb | 1139 | { |
482 | killagreg | 1140 | retval = NCMAG_GetIdentification(); |
1141 | if(retval) break; // break loop on success |
||
329 | holgerb | 1142 | } |
482 | killagreg | 1143 | |
1144 | // if we got an answer to id request |
||
1145 | if(retval) |
||
242 | killagreg | 1146 | { |
482 | killagreg | 1147 | u8 n1[] = "\n\r HMC5843"; |
1148 | u8 n2[] = "\n\r LSM303DLH"; |
||
1149 | u8 n3[] = "\n\r LSM303DLM"; |
||
1150 | u8* pn = n1; |
||
1151 | |||
1152 | switch(NCMAG_SensorType) |
||
394 | killagreg | 1153 | { |
482 | killagreg | 1154 | case TYPE_HMC5843: |
1155 | pn = n1; |
||
1156 | break; |
||
1157 | case TYPE_LSM303DLH: |
||
1158 | pn = n2; |
||
1159 | break; |
||
1160 | case TYPE_LSM303DLM: |
||
1161 | pn = n3; |
||
1162 | break; |
||
394 | killagreg | 1163 | } |
482 | killagreg | 1164 | |
1165 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
1166 | UART1_PutString(msg); |
||
1167 | if ( (NCMAG_Identification.A == MAG_IDA) |
||
1168 | && (NCMAG_Identification.B == MAG_IDB) |
||
1169 | && (NCMAG_Identification.C == MAG_IDC)) |
||
1170 | { |
||
1171 | NCMAG_Present = 1; |
||
1172 | |||
1173 | if(EEPROM_Init()) |
||
1174 | { |
||
1175 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
||
1176 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
1177 | else // valid calibration data in EEPROM |
||
1178 | { // check current orientation |
||
1179 | if(NCMAG_Orientation != Calibration.Version >> 4) |
||
1180 | { |
||
1181 | sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
||
1182 | UART1_PutString(msg); |
||
1183 | } |
||
1184 | else UART1_PutString("ok "); |
||
1185 | } |
||
1186 | } |
||
1187 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
||
1188 | // perform self test |
||
1189 | if(!NCMAG_SelfTest()) |
||
1190 | { |
||
1191 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
1192 | LED_RED_ON; |
||
1193 | //NCMAG_IsCalibrated = 0; |
||
1194 | } |
||
1195 | else UART1_PutString("\r\n Selftest ok"); |
||
1196 | |||
1197 | // initialize magnetic sensor configuration |
||
1198 | NCMAG_ConfigureSensor(); |
||
1199 | } |
||
1200 | else |
||
1201 | { |
||
1202 | UART1_PutString("\n\r Not compatible!"); |
||
1203 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
||
329 | holgerb | 1204 | LED_RED_ON; |
482 | killagreg | 1205 | } |
242 | killagreg | 1206 | } |
482 | killagreg | 1207 | else // nothing found |
242 | killagreg | 1208 | { |
482 | killagreg | 1209 | NCMAG_SensorType = TYPE_NONE; |
1210 | UART1_PutString("not found!"); |
||
242 | killagreg | 1211 | } |
1212 | } |
||
253 | killagreg | 1213 | return(NCMAG_Present); |
242 | killagreg | 1214 | } |
1215 |