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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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242 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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242 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
242 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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242 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
254 | killagreg | 56 | #include <math.h> |
292 | killagreg | 57 | #include <stdio.h> |
489 | killagreg | 58 | #include <stdlib.h> |
242 | killagreg | 59 | #include <string.h> |
60 | #include "91x_lib.h" |
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253 | killagreg | 61 | #include "ncmag.h" |
489 | killagreg | 62 | #include "i2c.h" |
242 | killagreg | 63 | #include "timer1.h" |
64 | #include "led.h" |
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65 | #include "uart1.h" |
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254 | killagreg | 66 | #include "eeprom.h" |
256 | killagreg | 67 | #include "mymath.h" |
292 | killagreg | 68 | #include "main.h" |
454 | holgerb | 69 | #include "spi_slave.h" |
242 | killagreg | 70 | |
253 | killagreg | 71 | u8 NCMAG_Present = 0; |
254 | killagreg | 72 | u8 NCMAG_IsCalibrated = 0; |
242 | killagreg | 73 | |
472 | holgerb | 74 | |
394 | killagreg | 75 | // supported magnetic sensor types |
76 | #define TYPE_NONE 0 |
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77 | #define TYPE_HMC5843 1 |
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78 | #define TYPE_LSM303DLH 2 |
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79 | #define TYPE_LSM303DLM 3 |
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242 | killagreg | 80 | |
394 | killagreg | 81 | u8 NCMAG_SensorType = TYPE_NONE; |
489 | killagreg | 82 | u8 NCMAG_Orientation = 0; // 0 means unknown! |
394 | killagreg | 83 | |
489 | killagreg | 84 | // 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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500 | holgerb | 89 | #define MAG_CALIBRATION_COMPATIBLE 0xA3 |
489 | killagreg | 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 | |||
110 | Calibration_t Calibration; // calibration data in RAM |
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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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489 | killagreg | 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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500 | holgerb | 198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
253 | killagreg | 199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
500 | holgerb | 200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 // <--- we use this (Since V2.03) |
253 | killagreg | 201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
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 |
500 | holgerb | 229 | #define LSM303DLH_TEST_XSCALE 245 |
230 | #define LSM303DLH_TEST_YSCALE 245 |
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231 | #define LSM303DLH_TEST_ZSCALE 235 |
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339 | holgerb | 232 | // clibration range |
500 | holgerb | 233 | #define LSM303_CALIBRATION_RANGE 300 // War bis V2.02: 550 -> Auflösung von 19Ga auf 40GA reduziert |
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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489 | killagreg | 269 | // axis anable flags |
394 | killagreg | 270 | #define ACC_CRTL1_XEN 0x01 |
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 | |||
489 | 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; |
489 | 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 | |||
489 | killagreg | 310 | if (I2Cx == NCMAG_PORT_EXTERN) |
473 | holgerb | 311 | { |
489 | killagreg | 312 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
313 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
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473 | holgerb | 314 | } |
489 | 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 | { |
489 | killagreg | 324 | crc += pBuff[i]; |
254 | killagreg | 325 | } |
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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489 | killagreg | 330 | return(i); |
254 | killagreg | 331 | } |
332 | |||
489 | 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 | { |
489 | killagreg | 336 | u8 address; |
337 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
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254 | killagreg | 338 | u8 *pBuff = (u8*)&Calibration; |
339 | |||
489 | 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 | { |
489 | killagreg | 348 | crc += pBuff[i]; |
254 | killagreg | 349 | } |
350 | crc = ~crc; |
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351 | if(Calibration.crc != crc) return(0); // crc mismatch |
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489 | 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; |
489 | 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; |
489 | killagreg | 364 | static u8 OldCalState = 0; |
394 | killagreg | 365 | s16 MinCalibration = 450; |
254 | killagreg | 366 | |
488 | holgerb | 367 | X = (X + MagRawVector.X)/2; |
368 | Y = (Y + MagRawVector.Y)/2; |
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369 | Z = (Z + MagRawVector.Z)/2; |
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256 | killagreg | 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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500 | holgerb | 383 | Zmin2 = 10000; |
384 | Zmax2 = -10000; |
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385 | X = 0; Y = 0; Z = 0; |
||
489 | killagreg | 386 | speak = 1; |
488 | holgerb | 387 | CompassValueErrorCount = 0; |
489 | killagreg | 388 | if(Compass_CalState != OldCalState) // only once per state |
475 | holgerb | 389 | { |
489 | killagreg | 390 | UART1_PutString("\r\nStarting compass calibration"); |
391 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
392 | { |
||
393 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
394 | UART1_PutString(" - External sensor "); |
||
395 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
||
396 | UART1_PutString(msg); |
||
397 | } |
||
398 | else UART1_PutString(" - Internal sensor "); |
||
483 | holgerb | 399 | } |
254 | killagreg | 400 | break; |
489 | killagreg | 401 | |
254 | killagreg | 402 | case 2: // 2nd step of calibration |
403 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
||
275 | killagreg | 404 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
405 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
406 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
||
407 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
489 | killagreg | 408 | if(Z < Zmin) { Zmin = Z; } // silent |
475 | holgerb | 409 | else if(Z > Zmax) { Zmax = Z; } |
454 | holgerb | 410 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 411 | break; |
412 | |||
413 | case 3: // 3rd step of calibration |
||
414 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
||
489 | killagreg | 415 | speak = 1; |
254 | killagreg | 416 | break; |
417 | |||
418 | case 4: |
||
419 | // find Min and Max of the Z-Sensor |
||
489 | killagreg | 420 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
421 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
||
422 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
||
423 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
||
475 | holgerb | 424 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
425 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
||
454 | holgerb | 426 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
254 | killagreg | 427 | break; |
489 | killagreg | 428 | |
254 | killagreg | 429 | case 5: |
430 | // Save values |
||
431 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
||
432 | { |
||
394 | killagreg | 433 | switch(NCMAG_SensorType) |
434 | { |
||
489 | killagreg | 435 | case TYPE_HMC5843: |
436 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
||
437 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
||
438 | break; |
||
394 | killagreg | 439 | |
440 | case TYPE_LSM303DLH: |
||
489 | killagreg | 441 | case TYPE_LSM303DLM: |
442 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
||
443 | MinCalibration = LSM303_CALIBRATION_RANGE; |
||
444 | break; |
||
394 | killagreg | 445 | } |
342 | holgerb | 446 | if(EarthMagneticStrengthTheoretic) |
489 | killagreg | 447 | { |
448 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
||
449 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
||
450 | UART1_PutString(msg); |
||
451 | } |
||
342 | holgerb | 452 | else UART1_PutString("without GPS\n\r"); |
339 | holgerb | 453 | |
489 | killagreg | 454 | if(Zmin2 < Zmin) Zmin = Zmin2; |
455 | if(Zmax2 > Zmax) Zmax = Zmax2; |
||
254 | killagreg | 456 | Calibration.MagX.Range = Xmax - Xmin; |
457 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
||
458 | Calibration.MagY.Range = Ymax - Ymin; |
||
459 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
||
460 | Calibration.MagZ.Range = Zmax - Zmin; |
||
461 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
||
488 | holgerb | 462 | if(CompassValueErrorCount) |
489 | killagreg | 463 | { |
488 | holgerb | 464 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
465 | UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
||
466 | |||
489 | killagreg | 467 | } |
488 | holgerb | 468 | else |
394 | killagreg | 469 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
254 | killagreg | 470 | { |
489 | killagreg | 471 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
270 | killagreg | 472 | BeepTime = 2500; |
342 | holgerb | 473 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
489 | killagreg | 474 | SpeakHoTT = SPEAK_MIKROKOPTER; |
254 | killagreg | 475 | } |
476 | else |
||
477 | { |
||
489 | killagreg | 478 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
339 | holgerb | 479 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
394 | killagreg | 480 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
481 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
||
482 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
||
330 | holgerb | 483 | UART1_PutString("\r\n"); |
339 | holgerb | 484 | |
254 | killagreg | 485 | // restore old calibration data from eeprom |
489 | killagreg | 486 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
254 | killagreg | 487 | } |
330 | holgerb | 488 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
489 | UART1_PutString(msg); |
||
490 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
||
491 | UART1_PutString(msg); |
||
492 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
||
493 | UART1_PutString(msg); |
||
394 | killagreg | 494 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
342 | holgerb | 495 | UART1_PutString(msg); |
254 | killagreg | 496 | } |
497 | break; |
||
489 | killagreg | 498 | |
254 | killagreg | 499 | default: |
489 | killagreg | 500 | break; |
254 | killagreg | 501 | } |
502 | OldCalState = Compass_CalState; |
||
503 | } |
||
504 | |||
242 | killagreg | 505 | // ---------- call back handlers ----------------------------------------- |
506 | |||
507 | // rx data handler for id info request |
||
253 | killagreg | 508 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 509 | { // if number of bytes are matching |
253 | killagreg | 510 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
242 | killagreg | 511 | { |
253 | killagreg | 512 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
513 | } |
||
242 | killagreg | 514 | } |
329 | holgerb | 515 | |
516 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
||
517 | { // if number of bytes are matching |
||
518 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
||
519 | { |
||
520 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
||
521 | } |
||
522 | } |
||
523 | |||
254 | killagreg | 524 | // rx data handler for magnetic sensor raw data |
253 | killagreg | 525 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
254 | killagreg | 526 | { // if number of bytes are matching |
527 | if(RxBufferSize == sizeof(MagRawVector) ) |
||
243 | killagreg | 528 | { // byte order from big to little endian |
473 | holgerb | 529 | s16 raw, X = 0, Y = 0, Z = 0; |
256 | killagreg | 530 | raw = pRxBuffer[0]<<8; |
531 | raw+= pRxBuffer[1]; |
||
489 | killagreg | 532 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
487 | holgerb | 533 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
534 | |||
256 | killagreg | 535 | raw = pRxBuffer[2]<<8; |
536 | raw+= pRxBuffer[3]; |
||
489 | killagreg | 537 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 538 | { |
473 | holgerb | 539 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
489 | killagreg | 540 | else Y = raw; |
330 | holgerb | 541 | } |
487 | holgerb | 542 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
543 | |||
256 | killagreg | 544 | raw = pRxBuffer[4]<<8; |
545 | raw+= pRxBuffer[5]; |
||
489 | killagreg | 546 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
330 | holgerb | 547 | { |
473 | holgerb | 548 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
489 | killagreg | 549 | else Z = raw; |
330 | holgerb | 550 | } |
487 | holgerb | 551 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
552 | |||
489 | killagreg | 553 | // correct compass orientation |
554 | switch(NCMAG_Orientation) |
||
473 | holgerb | 555 | { |
489 | killagreg | 556 | case 0: |
557 | case 1: |
||
558 | default: |
||
559 | // 1:1 Mapping |
||
473 | holgerb | 560 | MagRawVector.X = X; |
561 | MagRawVector.Y = Y; |
||
562 | MagRawVector.Z = Z; |
||
563 | break; |
||
489 | killagreg | 564 | case 2: |
473 | holgerb | 565 | MagRawVector.X = -X; |
566 | MagRawVector.Y = Y; |
||
567 | MagRawVector.Z = -Z; |
||
568 | break; |
||
489 | killagreg | 569 | case 3: |
473 | holgerb | 570 | MagRawVector.X = -Z; |
571 | MagRawVector.Y = Y; |
||
572 | MagRawVector.Z = X; |
||
573 | break; |
||
489 | killagreg | 574 | case 4: |
473 | holgerb | 575 | MagRawVector.X = Z; |
576 | MagRawVector.Y = Y; |
||
577 | MagRawVector.Z = -X; |
||
578 | break; |
||
489 | killagreg | 579 | case 5: |
473 | holgerb | 580 | MagRawVector.X = X; |
581 | MagRawVector.Y = -Z; |
||
582 | MagRawVector.Z = Y; |
||
583 | break; |
||
489 | killagreg | 584 | case 6: |
473 | holgerb | 585 | MagRawVector.X = -X; |
586 | MagRawVector.Y = -Z; |
||
587 | MagRawVector.Z = -Y; |
||
588 | break; |
||
589 | } |
||
242 | killagreg | 590 | } |
254 | killagreg | 591 | if(Compass_CalState || !NCMAG_IsCalibrated) |
284 | killagreg | 592 | { // mark out data invalid |
289 | killagreg | 593 | MagVector.X = MagRawVector.X; |
594 | MagVector.Y = MagRawVector.Y; |
||
595 | MagVector.Z = MagRawVector.Z; |
||
254 | killagreg | 596 | Compass_Heading = -1; |
597 | } |
||
598 | else |
||
599 | { |
||
600 | // update MagVector from MagRaw Vector by Scaling |
||
601 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
||
602 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
||
603 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
||
292 | killagreg | 604 | Compass_CalcHeading(); |
254 | killagreg | 605 | } |
242 | killagreg | 606 | } |
254 | killagreg | 607 | // rx data handler for acceleration raw data |
253 | killagreg | 608 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
489 | killagreg | 609 | { // if number of bytes are matching |
254 | killagreg | 610 | if(RxBufferSize == sizeof(AccRawVector) ) |
489 | killagreg | 611 | { |
612 | // copy from I2C buffer |
||
254 | killagreg | 613 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
489 | killagreg | 614 | // scale and update Acc Vector, at the moment simply 1:1 |
615 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
||
253 | killagreg | 616 | } |
473 | holgerb | 617 | } |
254 | killagreg | 618 | // rx data handler for reading magnetic sensor configuration |
253 | killagreg | 619 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
620 | { // if number of byte are matching |
||
621 | if(RxBufferSize == sizeof(MagConfig) ) |
||
622 | { |
||
623 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
||
624 | } |
||
625 | } |
||
254 | killagreg | 626 | // rx data handler for reading acceleration sensor configuration |
253 | killagreg | 627 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
628 | { // if number of byte are matching |
||
629 | if(RxBufferSize == sizeof(AccConfig) ) |
||
630 | { |
||
631 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
||
632 | } |
||
633 | } |
||
254 | killagreg | 634 | //---------------------------------------------------------------------- |
253 | killagreg | 635 | |
489 | killagreg | 636 | u8 NCMAG_GetOrientationFromAcc(void) |
637 | { |
||
638 | // only if external compass connected |
||
639 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
||
640 | // MK must not be tilted |
||
641 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
||
642 | { |
||
643 | // UART1_PutString("\r\nTilted"); |
||
644 | return(0); |
||
645 | } |
||
646 | // select orientation |
||
647 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
||
648 | else |
||
649 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
||
650 | else |
||
651 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
||
652 | else |
||
653 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
||
654 | else |
||
655 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
||
656 | else |
||
657 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
||
658 | return(0); |
||
659 | } |
||
254 | killagreg | 660 | |
661 | // --------------------------------------------------------------------- |
||
253 | killagreg | 662 | u8 NCMAG_SetMagConfig(void) |
663 | { |
||
664 | u8 retval = 0; |
||
489 | killagreg | 665 | |
253 | killagreg | 666 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 667 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 668 | { |
669 | u8 TxBytes = 0; |
||
489 | killagreg | 670 | u8 TxData[sizeof(MagConfig) + 3]; |
671 | |||
672 | TxData[TxBytes++] = REG_MAG_CRA; |
||
673 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
||
253 | killagreg | 674 | TxBytes += sizeof(MagConfig); |
489 | killagreg | 675 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 676 | { |
489 | killagreg | 677 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 678 | { |
489 | killagreg | 679 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 680 | } |
681 | } |
||
682 | } |
||
489 | killagreg | 683 | return(retval); |
253 | killagreg | 684 | } |
242 | killagreg | 685 | |
253 | killagreg | 686 | // ---------------------------------------------------------------------------------------- |
687 | u8 NCMAG_GetMagConfig(void) |
||
242 | killagreg | 688 | { |
253 | killagreg | 689 | u8 retval = 0; |
252 | killagreg | 690 | // try to catch the i2c buffer within 100 ms timeout |
489 | killagreg | 691 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
242 | killagreg | 692 | { |
253 | killagreg | 693 | u8 TxBytes = 0; |
489 | killagreg | 694 | u8 TxData[3]; |
695 | TxData[TxBytes++] = REG_MAG_CRA; |
||
696 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
||
248 | killagreg | 697 | { |
489 | killagreg | 698 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 699 | { |
489 | killagreg | 700 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 701 | } |
248 | killagreg | 702 | } |
242 | killagreg | 703 | } |
489 | killagreg | 704 | return(retval); |
242 | killagreg | 705 | } |
706 | |||
707 | // ---------------------------------------------------------------------------------------- |
||
253 | killagreg | 708 | u8 NCMAG_SetAccConfig(void) |
242 | killagreg | 709 | { |
252 | killagreg | 710 | u8 retval = 0; |
489 | killagreg | 711 | // try to catch the i2c buffer within 50 ms timeout |
712 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
||
242 | killagreg | 713 | { |
253 | killagreg | 714 | u8 TxBytes = 0; |
489 | killagreg | 715 | u8 TxData[sizeof(AccConfig) + 3]; |
716 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
717 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
||
253 | killagreg | 718 | TxBytes += sizeof(AccConfig); |
489 | killagreg | 719 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
253 | killagreg | 720 | { |
489 | killagreg | 721 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
253 | killagreg | 722 | { |
489 | killagreg | 723 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 724 | } |
725 | } |
||
726 | } |
||
489 | killagreg | 727 | return(retval); |
253 | killagreg | 728 | } |
729 | |||
730 | // ---------------------------------------------------------------------------------------- |
||
731 | u8 NCMAG_GetAccConfig(void) |
||
732 | { |
||
733 | u8 retval = 0; |
||
734 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 735 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 736 | { |
737 | u8 TxBytes = 0; |
||
489 | killagreg | 738 | u8 TxData[3]; |
739 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
||
740 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
||
253 | killagreg | 741 | { |
489 | killagreg | 742 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
253 | killagreg | 743 | { |
489 | killagreg | 744 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
253 | killagreg | 745 | } |
746 | } |
||
747 | } |
||
489 | killagreg | 748 | return(retval); |
253 | killagreg | 749 | } |
750 | |||
751 | // ---------------------------------------------------------------------------------------- |
||
752 | u8 NCMAG_GetIdentification(void) |
||
753 | { |
||
754 | u8 retval = 0; |
||
755 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 756 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
253 | killagreg | 757 | { |
489 | killagreg | 758 | u8 TxBytes = 0; |
759 | u8 TxData[3]; |
||
253 | killagreg | 760 | NCMAG_Identification.A = 0xFF; |
761 | NCMAG_Identification.B = 0xFF; |
||
762 | NCMAG_Identification.C = 0xFF; |
||
489 | killagreg | 763 | TxData[TxBytes++] = REG_MAG_IDA; |
248 | killagreg | 764 | // initiate transmission |
489 | killagreg | 765 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
248 | killagreg | 766 | { |
489 | killagreg | 767 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
252 | killagreg | 768 | { |
489 | killagreg | 769 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
252 | killagreg | 770 | } |
248 | killagreg | 771 | } |
242 | killagreg | 772 | } |
253 | killagreg | 773 | return(retval); |
242 | killagreg | 774 | } |
775 | |||
329 | holgerb | 776 | u8 NCMAG_GetIdentification_Sub(void) |
777 | { |
||
778 | u8 retval = 0; |
||
779 | // try to catch the i2c buffer within 100 ms timeout |
||
489 | killagreg | 780 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
329 | holgerb | 781 | { |
489 | killagreg | 782 | u8 TxBytes = 0; |
783 | u8 TxData[3]; |
||
329 | holgerb | 784 | NCMAG_Identification2.Sub = 0xFF; |
489 | killagreg | 785 | TxData[TxBytes++] = REG_MAG_IDF; |
329 | holgerb | 786 | // initiate transmission |
489 | killagreg | 787 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
329 | holgerb | 788 | { |
489 | killagreg | 789 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
329 | holgerb | 790 | { |
489 | killagreg | 791 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
329 | holgerb | 792 | } |
793 | } |
||
794 | } |
||
795 | return(retval); |
||
796 | } |
||
797 | |||
798 | |||
253 | killagreg | 799 | // ---------------------------------------------------------------------------------------- |
489 | killagreg | 800 | void NCMAG_GetMagVector(u8 timeout) |
253 | killagreg | 801 | { |
489 | killagreg | 802 | // try to catch the I2C buffer within timeout ms |
803 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
253 | killagreg | 804 | { |
489 | killagreg | 805 | u8 TxBytes = 0; |
806 | u8 TxData[3]; |
||
253 | killagreg | 807 | // set register pointer |
489 | killagreg | 808 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
253 | killagreg | 809 | // initiate transmission |
489 | killagreg | 810 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
253 | killagreg | 811 | } |
812 | } |
||
813 | |||
242 | killagreg | 814 | //---------------------------------------------------------------- |
473 | holgerb | 815 | void NCMAG_GetAccVector(u8 timeout) |
243 | killagreg | 816 | { |
489 | killagreg | 817 | // try to catch the I2C buffer within timeout ms |
818 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
||
243 | killagreg | 819 | { |
489 | killagreg | 820 | u8 TxBytes = 0; |
821 | u8 TxData[3]; |
||
243 | killagreg | 822 | // set register pointer |
489 | killagreg | 823 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
243 | killagreg | 824 | // initiate transmission |
489 | killagreg | 825 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
243 | killagreg | 826 | } |
827 | } |
||
828 | |||
330 | holgerb | 829 | //---------------------------------------------------------------- |
489 | killagreg | 830 | u8 NCMAG_ConfigureSensor(void) |
330 | holgerb | 831 | { |
832 | u8 crb_gain, cra_rate; |
||
394 | killagreg | 833 | switch(NCMAG_SensorType) |
330 | holgerb | 834 | { |
394 | killagreg | 835 | case TYPE_HMC5843: |
339 | holgerb | 836 | crb_gain = HMC5843_CRB_GAIN_15GA; |
330 | holgerb | 837 | cra_rate = HMC5843_CRA_RATE_50HZ; |
838 | break; |
||
839 | |||
394 | killagreg | 840 | case TYPE_LSM303DLH: |
841 | case TYPE_LSM303DLM: |
||
500 | holgerb | 842 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
843 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
330 | holgerb | 844 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
845 | break; |
||
846 | |||
847 | default: |
||
394 | killagreg | 848 | return(0); |
330 | holgerb | 849 | } |
850 | |||
851 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
||
852 | MagConfig.crb = crb_gain; |
||
853 | MagConfig.mode = MODE_CONTINUOUS; |
||
394 | killagreg | 854 | return(NCMAG_SetMagConfig()); |
330 | holgerb | 855 | } |
856 | |||
395 | holgerb | 857 | |
394 | killagreg | 858 | //---------------------------------------------------------------- |
859 | u8 NCMAG_Init_ACCSensor(void) |
||
860 | { |
||
395 | holgerb | 861 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
473 | holgerb | 862 | AccConfig.ctrl_2 = 0; |
394 | killagreg | 863 | AccConfig.ctrl_3 = 0x00; |
397 | holgerb | 864 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
394 | killagreg | 865 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
866 | return(NCMAG_SetAccConfig()); |
||
867 | } |
||
253 | killagreg | 868 | // -------------------------------------------------------- |
480 | holgerb | 869 | void NCMAG_Update(u8 init) |
243 | killagreg | 870 | { |
292 | killagreg | 871 | static u32 TimerUpdate = 0; |
419 | holgerb | 872 | static s8 send_config = 0; |
394 | killagreg | 873 | u32 delay = 20; |
489 | killagreg | 874 | |
480 | holgerb | 875 | if(init) TimerUpdate = SetDelay(10); |
876 | |||
489 | killagreg | 877 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
254 | killagreg | 878 | { |
879 | Compass_Heading = -1; |
||
326 | holgerb | 880 | DebugOut.Analog[14]++; // count I2C error |
480 | holgerb | 881 | TimerUpdate = SetDelay(10); |
254 | killagreg | 882 | return; |
883 | } |
||
489 | killagreg | 884 | if(CheckDelay(TimerUpdate)) |
243 | killagreg | 885 | { |
394 | killagreg | 886 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
887 | if(++send_config == 25) // 500ms |
||
888 | { |
||
419 | holgerb | 889 | send_config = -25; // next try after 1 second |
489 | killagreg | 890 | NCMAG_ConfigureSensor(); |
419 | holgerb | 891 | TimerUpdate = SetDelay(20); // back into the old time-slot |
394 | killagreg | 892 | } |
321 | holgerb | 893 | else |
894 | { |
||
473 | holgerb | 895 | static u8 s = 0; |
394 | killagreg | 896 | // check for new calibration state |
897 | Compass_UpdateCalState(); |
||
898 | if(Compass_CalState) NCMAG_Calibrate(); |
||
489 | killagreg | 899 | |
394 | killagreg | 900 | // in case of LSM303 type |
901 | switch(NCMAG_SensorType) |
||
902 | { |
||
489 | killagreg | 903 | case TYPE_HMC5843: |
904 | delay = 20; // next cycle after 20 ms |
||
905 | NCMAG_GetMagVector(5); |
||
394 | killagreg | 906 | break; |
907 | case TYPE_LSM303DLH: |
||
908 | case TYPE_LSM303DLM: |
||
492 | killagreg | 909 | delay = 20; // next cycle after 20 ms |
489 | killagreg | 910 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
911 | { |
||
912 | NCMAG_GetMagVector(5); |
||
913 | } |
||
914 | else // having an external compass, read every 50th cycle the ACC vec |
||
915 | { // try to initialize if no data are there |
||
916 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
||
917 | // get new data |
||
918 | NCMAG_GetAccVector(5); |
||
919 | delay = 10; // next cycle after 10 ms |
||
920 | s = 40; //reset downconter about 0,8 sec |
||
921 | } |
||
922 | break; |
||
394 | killagreg | 923 | } |
419 | holgerb | 924 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
394 | killagreg | 925 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
321 | holgerb | 926 | } |
243 | killagreg | 927 | } |
928 | } |
||
929 | |||
330 | holgerb | 930 | |
254 | killagreg | 931 | // -------------------------------------------------------- |
253 | killagreg | 932 | u8 NCMAG_SelfTest(void) |
243 | killagreg | 933 | { |
266 | holgerb | 934 | u8 msg[64]; |
275 | killagreg | 935 | static u8 done = 0; |
266 | holgerb | 936 | |
287 | holgerb | 937 | if(done) return(1); // just make it once |
489 | killagreg | 938 | |
271 | holgerb | 939 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
243 | killagreg | 940 | u32 time; |
253 | killagreg | 941 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
942 | s16 xscale, yscale, zscale, scale_min, scale_max; |
||
943 | u8 crb_gain, cra_rate; |
||
944 | u8 i = 0, retval = 1; |
||
243 | killagreg | 945 | |
394 | killagreg | 946 | switch(NCMAG_SensorType) |
253 | killagreg | 947 | { |
394 | killagreg | 948 | case TYPE_HMC5843: |
339 | holgerb | 949 | crb_gain = HMC5843_CRB_GAIN_15GA; |
253 | killagreg | 950 | cra_rate = HMC5843_CRA_RATE_50HZ; |
951 | xscale = HMC5843_TEST_XSCALE; |
||
952 | yscale = HMC5843_TEST_YSCALE; |
||
953 | zscale = HMC5843_TEST_ZSCALE; |
||
954 | break; |
||
955 | |||
394 | killagreg | 956 | case TYPE_LSM303DLH: |
500 | holgerb | 957 | // crb_gain = LSM303DLH_CRB_GAIN_19GA; |
958 | crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
||
253 | killagreg | 959 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
960 | xscale = LSM303DLH_TEST_XSCALE; |
||
961 | yscale = LSM303DLH_TEST_YSCALE; |
||
962 | zscale = LSM303DLH_TEST_ZSCALE; |
||
963 | break; |
||
964 | |||
394 | killagreg | 965 | case TYPE_LSM303DLM: |
489 | killagreg | 966 | // does not support self test feature |
967 | done = 1; |
||
968 | return(1); // always return success |
||
394 | killagreg | 969 | break; |
970 | |||
253 | killagreg | 971 | default: |
394 | killagreg | 972 | return(0); |
253 | killagreg | 973 | } |
974 | |||
975 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
||
976 | MagConfig.crb = crb_gain; |
||
977 | MagConfig.mode = MODE_CONTINUOUS; |
||
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 | #define AVERAGE 20 |
985 | for(i = 0; i<AVERAGE; i++) |
||
243 | killagreg | 986 | { |
489 | killagreg | 987 | NCMAG_GetMagVector(5); |
243 | killagreg | 988 | time = SetDelay(20); |
989 | while(!CheckDelay(time)); |
||
254 | killagreg | 990 | XMax += MagRawVector.X; |
991 | YMax += MagRawVector.Y; |
||
992 | ZMax += MagRawVector.Z; |
||
243 | killagreg | 993 | } |
253 | killagreg | 994 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
995 | // activate positive bias field |
||
996 | NCMAG_SetMagConfig(); |
||
251 | killagreg | 997 | // wait for stable readings |
998 | time = SetDelay(50); |
||
999 | while(!CheckDelay(time)); |
||
243 | killagreg | 1000 | // averaging |
253 | killagreg | 1001 | for(i = 0; i < AVERAGE; i++) |
243 | killagreg | 1002 | { |
489 | killagreg | 1003 | NCMAG_GetMagVector(5); |
243 | killagreg | 1004 | time = SetDelay(20); |
1005 | while(!CheckDelay(time)); |
||
254 | killagreg | 1006 | XMin += MagRawVector.X; |
1007 | YMin += MagRawVector.Y; |
||
1008 | ZMin += MagRawVector.Z; |
||
243 | killagreg | 1009 | } |
1010 | // setup final configuration |
||
253 | killagreg | 1011 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
1012 | // activate positive bias field |
||
1013 | NCMAG_SetMagConfig(); |
||
266 | holgerb | 1014 | // check scale for all axes |
243 | killagreg | 1015 | // prepare scale limits |
253 | killagreg | 1016 | LIMITS(xscale, scale_min, scale_max); |
267 | holgerb | 1017 | xscale = (XMax - XMin)/(2*AVERAGE); |
489 | killagreg | 1018 | if((xscale > scale_max) || (xscale < scale_min)) |
394 | killagreg | 1019 | { |
1020 | retval = 0; |
||
1021 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
||
1022 | UART1_PutString(msg); |
||
1023 | } |
||
267 | holgerb | 1024 | LIMITS(yscale, scale_min, scale_max); |
266 | holgerb | 1025 | yscale = (YMax - YMin)/(2*AVERAGE); |
489 | killagreg | 1026 | if((yscale > scale_max) || (yscale < scale_min)) |
394 | killagreg | 1027 | { |
1028 | retval = 0; |
||
1029 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
||
1030 | UART1_PutString(msg); |
||
1031 | } |
||
267 | holgerb | 1032 | LIMITS(zscale, scale_min, scale_max); |
266 | holgerb | 1033 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
489 | killagreg | 1034 | if((zscale > scale_max) || (zscale < scale_min)) |
394 | killagreg | 1035 | { |
1036 | retval = 0; |
||
1037 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
||
1038 | UART1_PutString(msg); |
||
1039 | } |
||
275 | killagreg | 1040 | done = retval; |
253 | killagreg | 1041 | return(retval); |
243 | killagreg | 1042 | } |
1043 | |||
1044 | |||
489 | killagreg | 1045 | void NCMAG_CheckOrientation(void) |
1046 | { // only for external sensor |
||
1047 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1048 | { |
||
1049 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1050 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
||
1051 | else NCMAG_IsCalibrated = 1; |
||
1052 | } |
||
465 | ingob | 1053 | } |
1054 | //---------------------------------------------------------------- |
||
253 | killagreg | 1055 | u8 NCMAG_Init(void) |
242 | killagreg | 1056 | { |
489 | killagreg | 1057 | MagRawVector.X = 0; |
1058 | MagRawVector.Y = 0; |
||
1059 | MagRawVector.Z = 0; |
||
1060 | AccRawVector.X = 0; |
||
1061 | AccRawVector.Y = 0; |
||
1062 | AccRawVector.Z = 0; |
||
483 | holgerb | 1063 | |
489 | killagreg | 1064 | if(NCMAG_Present) // do only short init ! , full init was called before |
472 | holgerb | 1065 | { |
489 | killagreg | 1066 | // reset I2C Bus |
492 | killagreg | 1067 | //I2CBus_Deinit(Compass_I2CPort); |
1068 | //I2CBus_Init(Compass_I2CPort); |
||
489 | killagreg | 1069 | // try to reconfigure senor |
1070 | NCMAG_ConfigureSensor(); |
||
492 | killagreg | 1071 | //NCMAG_Update(1); |
472 | holgerb | 1072 | } |
489 | killagreg | 1073 | else // full init |
472 | holgerb | 1074 | { |
489 | killagreg | 1075 | u8 msg[64]; |
1076 | u8 retval = 0; |
||
1077 | u8 repeat = 0; |
||
473 | holgerb | 1078 | |
489 | killagreg | 1079 | //-------------------------------------------- |
1080 | // search external sensor first |
||
1081 | //-------------------------------------------- |
||
1082 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1083 | // get id bytes |
||
1084 | retval = 0; |
||
1085 | for(repeat = 0; repeat < 5; repeat++) |
||
1086 | { |
||
1087 | //retval = NCMAG_GetIdentification(); |
||
1088 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
||
1089 | if(retval) break; // break loop on success |
||
1090 | UART1_PutString("_"); |
||
1091 | } |
||
1092 | // Extenal sensor not found? |
||
1093 | if(!retval) |
||
1094 | { |
||
1095 | // search internal sensor afterwards |
||
1096 | UART1_PutString(" internal sensor"); |
||
1097 | Compass_I2CPort = NCMAG_PORT_INTERN; |
||
1098 | } |
||
1099 | else |
||
1100 | { |
||
1101 | UART1_PutString(" external sensor"); |
||
1102 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
||
1103 | } |
||
1104 | //------------------------------------------- |
||
483 | holgerb | 1105 | |
489 | killagreg | 1106 | NCMAG_Present = 0; |
1107 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
||
1108 | // polling for LSM302DLH/DLM option by ACC address ack |
||
1109 | repeat = 0; |
||
1110 | for(repeat = 0; repeat < 3; repeat++) |
||
394 | killagreg | 1111 | { |
489 | killagreg | 1112 | retval = NCMAG_GetAccConfig(); |
394 | killagreg | 1113 | if(retval) break; // break loop on success |
480 | holgerb | 1114 | } |
394 | killagreg | 1115 | if(retval) |
1116 | { |
||
489 | killagreg | 1117 | // initialize ACC sensor |
1118 | NCMAG_Init_ACCSensor(); |
||
483 | holgerb | 1119 | |
489 | killagreg | 1120 | NCMAG_SensorType = TYPE_LSM303DLH; |
1121 | // polling of sub identification |
||
1122 | repeat = 0; |
||
1123 | for(repeat = 0; repeat < 12; repeat++) |
||
1124 | { |
||
1125 | retval = NCMAG_GetIdentification_Sub(); |
||
1126 | if(retval) break; // break loop on success |
||
1127 | } |
||
1128 | if(retval) |
||
1129 | { |
||
1130 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
||
1131 | } |
||
1132 | } |
||
1133 | // get id bytes |
||
1134 | retval = 0; |
||
1135 | for(repeat = 0; repeat < 3; repeat++) |
||
329 | holgerb | 1136 | { |
489 | killagreg | 1137 | retval = NCMAG_GetIdentification(); |
1138 | if(retval) break; // break loop on success |
||
329 | holgerb | 1139 | } |
483 | holgerb | 1140 | |
489 | killagreg | 1141 | // if we got an answer to id request |
1142 | if(retval) |
||
242 | killagreg | 1143 | { |
489 | killagreg | 1144 | u8 n1[] = "\n\r HMC5843"; |
1145 | u8 n2[] = "\n\r LSM303DLH"; |
||
1146 | u8 n3[] = "\n\r LSM303DLM"; |
||
1147 | u8* pn = n1; |
||
483 | holgerb | 1148 | |
489 | killagreg | 1149 | switch(NCMAG_SensorType) |
394 | killagreg | 1150 | { |
489 | killagreg | 1151 | case TYPE_HMC5843: |
1152 | pn = n1; |
||
1153 | break; |
||
1154 | case TYPE_LSM303DLH: |
||
1155 | pn = n2; |
||
1156 | break; |
||
1157 | case TYPE_LSM303DLM: |
||
1158 | pn = n3; |
||
1159 | break; |
||
394 | killagreg | 1160 | } |
489 | killagreg | 1161 | |
1162 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
||
1163 | UART1_PutString(msg); |
||
1164 | if ( (NCMAG_Identification.A == MAG_IDA) |
||
1165 | && (NCMAG_Identification.B == MAG_IDB) |
||
1166 | && (NCMAG_Identification.C == MAG_IDC)) |
||
1167 | { |
||
1168 | NCMAG_Present = 1; |
||
1169 | |||
1170 | if(EEPROM_Init()) |
||
1171 | { |
||
1172 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
||
1173 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
||
1174 | } |
||
1175 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
||
1176 | |||
1177 | // in case of an external sensor, try to get the orientation by acc readings |
||
1178 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
||
1179 | { |
||
1180 | // try to get orientation by acc sensor values |
||
1181 | for(repeat = 0; repeat < 100; repeat++) |
||
1182 | { |
||
1183 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
||
1184 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
||
1185 | if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
||
1186 | } |
||
1187 | // check orientation result if available |
||
1188 | sprintf(msg, "\r\n Orientation: "); |
||
1189 | UART1_PutString(msg); |
||
1190 | if(NCMAG_Orientation) |
||
1191 | { |
||
1192 | sprintf(msg, "%d ", NCMAG_Orientation); |
||
1193 | UART1_PutString(msg); |
||
1194 | if(NCMAG_IsCalibrated) // check against calibration data orientation |
||
1195 | { |
||
1196 | if(NCMAG_Orientation != Calibration.Version >> 4) |
||
1197 | { |
||
1198 | sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
||
1199 | UART1_PutString(msg); |
||
1200 | } |
||
1201 | } |
||
1202 | } |
||
1203 | else |
||
1204 | { |
||
1205 | UART1_PutString("unknown!"); |
||
1206 | } |
||
1207 | } |
||
1208 | |||
1209 | |||
1210 | // perform self test |
||
1211 | if(!NCMAG_SelfTest()) |
||
1212 | { |
||
1213 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
||
1214 | LED_RED_ON; |
||
1215 | //NCMAG_IsCalibrated = 0; |
||
1216 | } |
||
1217 | else UART1_PutString("\r\n Selftest ok"); |
||
1218 | |||
1219 | // initialize magnetic sensor configuration |
||
1220 | NCMAG_ConfigureSensor(); |
||
1221 | } |
||
1222 | else |
||
1223 | { |
||
1224 | UART1_PutString("\n\r Not compatible!"); |
||
1225 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
||
329 | holgerb | 1226 | LED_RED_ON; |
489 | killagreg | 1227 | } |
242 | killagreg | 1228 | } |
489 | killagreg | 1229 | else // nothing found |
242 | killagreg | 1230 | { |
489 | killagreg | 1231 | NCMAG_SensorType = TYPE_NONE; |
1232 | UART1_PutString("not found!"); |
||
242 | killagreg | 1233 | } |
1234 | } |
||
253 | killagreg | 1235 | return(NCMAG_Present); |
242 | killagreg | 1236 | } |
1237 |