WebSVN - NaviCtrl - Path Comparison - / Rev 252 and / Rev 253

Ignore whitespace Rev 252 → Rev 253

/trunk/hmc5843.c
File deleted

/trunk/hmc5843.h
File deleted

/trunk/Navi-Ctrl.Uv2
44,10 → 44,10
File 1,1,<.\printf_P.c><printf_P.c>
File 1,1,<.\GPS.c><GPS.c>
File 1,1,<.\mk3mag.c><mk3mag.c>
File 1,1,<.\hmc5843.c><hmc5843.c>
File 1,1,<.\compass.c><compass.c>
File 1,1,<.\buffer.c><buffer.c>
File 1,1,<.\eeprom.c><eeprom.c>
File 1,1,<.\ncmag.c><ncmag.c>
File 2,5,<.\ramfunc.h><ramfunc.h>
File 2,5,<.\main.h><main.h>
File 2,5,<.\menu.h><menu.h>
83,10 → 83,10
File 2,5,<.\libstr91x\include\91x_it.h><91x_it.h>
File 2,5,<.\printf_P.h><printf_P.h>
File 2,5,<.\mk3mag.h><mk3mag.h>
File 2,5,<.\hmc5843.h><hmc5843.h>
File 2,5,<.\compass.h><compass.h>
File 2,5,<.\buffer.h><buffer.h>
File 2,5,<.\eeprom.h><eeprom.h>
File 2,5,<.\ncmag.h><ncmag.h>
File 3,2,<.\startup912.s><startup912.s>
File 4,1,<.\libstr91x\src\91x_scu.c><91x_scu.c>
File 4,1,<.\libstr91x\src\91x_gpio.c><91x_gpio.c>

 /trunk/Obj/Navi-Ctrl_STR9.hex
 ,15 → 10,15
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 :10016000020051E1FCFFFF8A40019FE540119FE53D
 :10017000341080E534019FE538119FE5001080E5DB
 ,21 → 43,21
 :1002A00030F0FFFF300000FC9C00000020A10700A0
 :1002B0000020005C960100000200020040300800AF
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 :1003D0000830C3030200000AA4259FE50130D2E5DE
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 ,17 → 64,17
 :1003F000010013E30500001A0130D2E5020013E307
 :100400007C259F050130D2050230C3030200000A9B
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 :1004F0000530D2E5023083E30530C2E580249FE574
 ,110 → 81,110
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 ,9 → 193,9
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 ,7 → 218,7
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 ,24 → 225,24
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 ,17 → 273,17
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 ,7 → 355,7
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 ,7 → 364,7
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 ,25 → 372,25
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 ,7 → 409,7
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 ,7 → 417,7
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 ,21 → 427,21
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 ,8 → 505,8
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 ,7 → 600,7
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 ,7 → 722,7
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 ,12 → 739,12
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 ,25 → 758,25
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 ,6760 → 784,6866
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+:0CDC94008024000474BB01008002000426
+:0CDCA00000000000000000000000000078
+:10DCAC0028DA010030DA010008CF010038DA01006F
+:10DCBC003CDA010040DA010044DA010048DA0100E4
+:10DCCC00E005000484020004CC02000414030004E8
+:04DCDC0084020004BA
+:10DCE0002001000000000000000000000000000013
+:10DCF000CC020004FC050004FC060004FC05000442
+:10DD0000FC050004FC050004FC050004900200046E
+:10DD1000A8980100B098010000000000B898010028
+:10DD200000000000000000001001000000000000E2
+:10DD3000000000000100000014030004FC060004C1
+:10DD4000FC070004FC060004FC060004FC060004BA
+:10DD5000FC060004D8020004A8980100B098010055
+:10DD600000000000B8980100000000000000000062
+:10DD7000100200000000000000000000020000008F
+:10DD80000000000000000000000000000000000093
+:10DD9000000000000000000000000000200300045C
+:10DDA000A8980100B098010000000000B898010098
+:08DDB00000000000000000006B
 :00000001FF

 /trunk/compass.c
 ,28 → 57,23
 #include "91x_lib.h"
 #include "compass.h"
 #include "mk3mag.h"
-#include "hmc5843.h"
+#include "ncmag.h"
 #include "uart1.h"
-volatile MagVector_t MagVector;
+volatile s16vec_t MagVector;
 volatile s16 CompassHeading;
-#define COMPASS_NONE 0
-#define COMPASS_MK3MAG 1
-#define COMPASS_HMC5843 2
+#define COMPASS_NONE    0
+#define COMPASS_MK3MAG  1
+#define COMPASS_NCMAG   2
 u8 CompassDevice = COMPASS_NONE;
 void Compass_Init(void)
 {
         UART1_PutString("\r\n Looking for compass");
-        if(       MK3MAG_Init() )       CompassDevice = COMPASS_MK3MAG;
-        else if( HMC5843_Init() )       CompassDevice = COMPASS_HMC5843;
-        else                                            CompassDevice = COMPASS_NONE;
-        if(CompassDevice == COMPASS_NONE)
-        {
-                UART1_PutString(" not found!");
-        }
+        if(     MK3MAG_Init() ) CompassDevice = COMPASS_MK3MAG;
+        else if( NCMAG_Init() ) CompassDevice = COMPASS_NCMAG;
+        else                                    CompassDevice = COMPASS_NONE;
 }
 ,8 → 84,8
                 case COMPASS_MK3MAG:
                         MK3MAG_UpdateCompass();
                         break;
-                case COMPASS_HMC5843:
-                        HMC5843_UpdateCompass();
+                case COMPASS_NCMAG:
+                        NCMAG_UpdateCompass();
                         break;
                 default:
                         break;
 ,8 → 99,8
                 case COMPASS_MK3MAG:
                         MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT);
                         break;
-                case COMPASS_HMC5843:
-                        HMC5843_UpdateCompass();
+                case COMPASS_NCMAG:
+                        NCMAG_UpdateCompass();
                 default:
                         break;
         }

 /trunk/compass.h
 ,9 → 6,9
   s16 X;
   s16 Y;
   s16 Z;
-} __attribute__((packed)) MagVector_t;
+} __attribute__((packed)) s16vec_t;
-extern volatile MagVector_t MagVector;
+extern volatile s16vec_t MagVector;
 extern volatile s16 CompassHeading;
 void Compass_Init(void);

 /trunk/menu.c
 ,7 → 65,6
 #include "menu.h"
 #include "uart1.h"
 u8 DispPtr = 0;
 s8 DisplayBuff[DISPLAYBUFFSIZE];
 ,7 → 330,7
                         LCD_printfxy(0,0,"Magnetic Field");
                         LCD_printfxy(0,1,"MagX: %4i",MagVector.X);
                         LCD_printfxy(0,2,"MagY: %4i",MagVector.Y);
-                        LCD_printfxy(0,3,"MagZ: %4i",MagVector.Z);
+                        LCD_printfxy(0,3,"MagZ: %4i",MagVector.Z);
                         break;
                 default:
                         //MaxMenuItem = MenuItem - 1;

 /trunk/ncmag.c
 ,0 → 1,575
+/*#######################################################################################*/
+/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
+/*#######################################################################################*/
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Copyright (c) 2010 Ingo Busker, Holger Buss
+// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
+// + FOR NON COMMERCIAL USE ONLY
+// + www.MikroKopter.com
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
+// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
+// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
+// + bzgl. der Nutzungsbedingungen aufzunehmen.
+// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
+// + Verkauf von Luftbildaufnahmen, usw.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
+// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
+// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
+// + eindeutig als Ursprung verlinkt werden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
+// + Benutzung auf eigene Gefahr
+// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
+// + mit unserer Zustimmung zulässig
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
+// + this list of conditions and the following disclaimer.
+// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
+// +     from this software without specific prior written permission.
+// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
+// +     for non-commercial use (directly or indirectly)
+// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
+// +     with our written permission
+// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
+// +     clearly linked as origin
+// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
+//
+// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// +  POSSIBILITY OF SUCH DAMAGE.
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+#include <string.h>
+#include "91x_lib.h"
+#include "ncmag.h"
+#include "i2c.h"
+#include "timer1.h"
+#include "led.h"
+#include "spi_slave.h"
+#include "uart1.h"
+u8 NCMAG_Present = 0;
+#define MAG_TYPE_NONE           0
+#define MAG_TYPE_HMC5843        1
+#define MAG_TYPE_LSM303DLH      2
+u8 NCMAG_MagType = MAG_TYPE_NONE;
+// i2c MAG interface
+#define MAG_SLAVE_ADDRESS       0x3C    // i2C slave address mag. sensor registers
+// register mapping
+#define REG_MAG_CRA                     0x00
+#define REG_MAG_CRB                     0x01
+#define REG_MAG_MODE            0x02
+#define REG_MAG_DATAX_MSB       0x03
+#define REG_MAG_DATAX_LSB       0x04
+#define REG_MAG_DATAY_MSB       0x05
+#define REG_MAG_DATAY_LSB       0x06
+#define REG_MAG_DATAZ_MSB       0x07
+#define REG_MAG_DATAZ_LSB       0x08
+#define REG_MAG_STATUS          0x09
+#define REG_MAG_IDA                     0x0A
+#define REG_MAG_IDB                     0x0B
+#define REG_MAG_IDC                     0x0C
+// bit mask for configuration mode
+#define CRA_MODE_MASK           0x03
+#define CRA_MODE_NORMAL         0x00    //default
+#define CRA_MODE_POSBIAS        0x01
+#define CRA_MODE_NEGBIAS        0x02
+#define CRA_MODE_SELFTEST       0x03
+// bit mask for measurement mode
+#define MODE_MASK                       0xFF
+#define MODE_CONTINUOUS         0x00
+#define MODE_SINGLE                     0x01    // default
+#define MODE_IDLE                       0x02
+#define MODE_SLEEP                      0x03
+// bit mask for rate
+#define CRA_RATE_MASK           0x1C
+// bit mask for gain
+#define CRB_GAIN_MASK           0xE0
+// ids
+#define MAG_IDA         0x48
+#define MAG_IDB         0x34
+#define MAG_IDC         0x33
+// the special HMC5843 interface
+// bit mask for rate
+#define HMC5843_CRA_RATE_0_5HZ          0x00
+#define HMC5843_CRA_RATE_1HZ            0x04
+#define HMC5843_CRA_RATE_2HZ            0x08
+#define HMC5843_CRA_RATE_5HZ            0x0C
+#define HMC5843_CRA_RATE_10HZ           0x10    //default
+#define HMC5843_CRA_RATE_20HZ           0x14
+#define HMC5843_CRA_RATE_50HZ           0x18
+// bit mask for gain
+#define HMC5843_CRB_GAIN_07GA           0x00
+#define HMC5843_CRB_GAIN_10GA           0x20    //default
+#define HMC5843_CRB_GAIN_15GA           0x40
+#define HMC5843_CRB_GAIN_20GA           0x60
+#define HMC5843_CRB_GAIN_32GA           0x80
+#define HMC5843_CRB_GAIN_38GA           0xA0
+#define HMC5843_CRB_GAIN_45GA           0xC0
+#define HMC5843_CRB_GAIN_65GA           0xE0
+// self test value
+#define HMC5843_TEST_XSCALE             715
+#define HMC5843_TEST_YSCALE             715
+#define HMC5843_TEST_ZSCALE             715
+// the special LSM302DLH interface
+// bit mask for rate
+#define LSM303DLH_CRA_RATE_0_75HZ       0x00
+#define LSM303DLH_CRA_RATE_1_5HZ        0x04
+#define LSM303DLH_CRA_RATE_3_0HZ        0x08
+#define LSM303DLH_CRA_RATE_7_5HZ        0x0C
+#define LSM303DLH_CRA_RATE_15HZ         0x10    //default
+#define LSM303DLH_CRA_RATE_30HZ         0x14
+#define LSM303DLH_CRA_RATE_75HZ         0x18
+// bit mask for gain
+#define LSM303DLH_CRB_GAIN_XXGA         0x00
+#define LSM303DLH_CRB_GAIN_13GA         0x20    //default
+#define LSM303DLH_CRB_GAIN_19GA         0x40
+#define LSM303DLH_CRB_GAIN_25GA         0x60
+#define LSM303DLH_CRB_GAIN_40GA         0x80
+#define LSM303DLH_CRB_GAIN_47GA         0xA0
+#define LSM303DLH_CRB_GAIN_56GA         0xC0
+#define LSM303DLH_CRB_GAIN_81GA         0xE0
+// self test value
+#define LSM303DLH_TEST_XSCALE   655
+#define LSM303DLH_TEST_YSCALE   655
+#define LSM303DLH_TEST_ZSCALE   630
+// the i2c ACC interface
+#define ACC_SLAVE_ADDRESS               0x30    // i2c slave for acc. sensor registers
+// register mapping
+#define REG_ACC_CTRL1                   0x20
+#define REG_ACC_CTRL2                   0x21
+#define REG_ACC_CTRL3                   0x22
+#define REG_ACC_CTRL4                   0x23
+#define REG_ACC_CTRL5                   0x24
+#define REG_ACC_HP_FILTER_RESET 0x25
+#define REG_ACC_REFERENCE               0x26
+#define REG_ACC_STATUS                  0x27
+#define REG_ACC_X_LSB                   0x28
+#define REG_ACC_X_MSB                   0x29
+#define REG_ACC_Y_LSB                   0x2A
+#define REG_ACC_Y_MSB                   0x2B
+#define REG_ACC_Z_LSB                   0x2C
+#define REG_ACC_Z_MSB                   0x2D
+typedef struct
+{
+        u8 A;
+        u8 B;
+        u8 C;
+} __attribute__((packed)) Identification_t;
+volatile Identification_t NCMAG_Identification;
+typedef struct
+{
+        u8 cra;
+        u8 crb;
+        u8 mode;
+} __attribute__((packed)) MagConfig_t;
+volatile MagConfig_t MagConfig;
+typedef struct
+{
+        u8 ctrl_1;
+        u8 ctrl_2;
+        u8 ctrl_3;
+        u8 ctrl_4;
+        u8 ctrl_5;
+} __attribute__((packed)) AccConfig_t;
+volatile AccConfig_t AccConfig;
+volatile s16vec_t AccVector;
+// ---------- call back handlers -----------------------------------------
+// rx data handler for id info request
+void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == sizeof(NCMAG_Identification) )
+        {
+                memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification));
+        }
+}
+// rx data handler for mag vector request
+void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == sizeof(MagVector) )
+        {       // byte order from big to little endian
+                MagVector.X = pRxBuffer[0]<<8;
+                MagVector.X+= pRxBuffer[1];
+                MagVector.Y = pRxBuffer[2]<<8;
+                MagVector.Y+= pRxBuffer[3];
+                MagVector.Z = pRxBuffer[4]<<8;
+                MagVector.Z+= pRxBuffer[5];
+        }
+        // tbd. calculate heading from mag vector and attitude
+        CompassHeading = 50; // tbd.
+}
+// rx data handler for acc vector request
+void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == sizeof(AccVector) )
+        {
+                memcpy((u8*)&AccVector, pRxBuffer,sizeof(AccVector));
+        }
+}
+void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == sizeof(MagConfig) )
+        {
+                memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig));
+        }
+}
+void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize)
+{       // if number of byte are matching
+        if(RxBufferSize == sizeof(AccConfig) )
+        {
+                memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig));
+        }
+}
+// ----------------------------------------------------------------------------------------
+u8 NCMAG_SetMagConfig(void)
+{
+        u8 retval = 0;
+        // try to catch the i2c buffer within 100 ms timeout
+        if(I2C_LockBuffer(100))
+        {
+                u8 TxBytes = 0;
+                I2C_Buffer[TxBytes++] = REG_MAG_CRA;
+                memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig));
+                TxBytes += sizeof(MagConfig);
+                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0))
+                {
+                        if(I2C_WaitForEndOfTransmission(100))
+                        {
+                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
+                        }
+                }
+        }
+        return(retval);
+}
+// ----------------------------------------------------------------------------------------
+u8 NCMAG_GetMagConfig(void)
+{
+        u8 retval = 0;
+        // try to catch the i2c buffer within 100 ms timeout
+        if(I2C_LockBuffer(100))
+        {
+                u8 TxBytes = 0;
+                I2C_Buffer[TxBytes++] = REG_MAG_CRA;
+                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))
+                {
+                        if(I2C_WaitForEndOfTransmission(100))
+                        {
+                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
+                        }
+                }
+        }
+        return(retval);
+}
+// ----------------------------------------------------------------------------------------
+u8 NCMAG_SetAccConfig(void)
+{
+        u8 retval = 0;
+        // try to catch the i2c buffer within 100 ms timeout
+        if(I2C_LockBuffer(100))
+        {
+                u8 TxBytes = 0;
+                I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;
+                memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig));
+                TxBytes += sizeof(AccConfig);
+                if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0))
+                {
+                        if(I2C_WaitForEndOfTransmission(100))
+                        {
+                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
+                        }
+                }
+        }
+        return(retval);
+}
+// ----------------------------------------------------------------------------------------
+u8 NCMAG_GetAccConfig(void)
+{
+        u8 retval = 0;
+        // try to catch the i2c buffer within 100 ms timeout
+        if(I2C_LockBuffer(100))
+        {
+                u8 TxBytes = 0;
+                I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;
+                if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig)))
+                {
+                        if(I2C_WaitForEndOfTransmission(100))
+                        {
+                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
+                        }
+                }
+        }
+        return(retval);
+}
+// ----------------------------------------------------------------------------------------
+u8 NCMAG_GetIdentification(void)
+{
+        u8 retval = 0;
+        // try to catch the i2c buffer within 100 ms timeout
+        if(I2C_LockBuffer(100))
+        {
+                u16 TxBytes = 0;
+                NCMAG_Identification.A = 0xFF;
+                NCMAG_Identification.B = 0xFF;
+                NCMAG_Identification.C = 0xFF;
+                I2C_Buffer[TxBytes++] = REG_MAG_IDA;
+                // initiate transmission
+                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification)))
+                {
+                        if(I2C_WaitForEndOfTransmission(100))
+                        {
+                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
+                        }
+                }
+        }
+        return(retval);
+}
+// ----------------------------------------------------------------------------------------
+void NCMAG_GetMagVector(void)
+{
+        // try to catch the I2C buffer within 0 ms
+        if(I2C_LockBuffer(0))
+        {
+                u16 TxBytes = 0;
+                // set register pointer
+                I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB;
+                // initiate transmission
+                I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector));
+        }
+}
+//----------------------------------------------------------------
+void NCMAG_GetAccVector(void)
+{
+        // try to catch the I2C buffer within 0 ms
+        if(I2C_LockBuffer(0))
+        {
+                u16 TxBytes = 0;
+                // set register pointer
+                I2C_Buffer[TxBytes++] = REG_ACC_X_LSB;
+                // initiate transmission
+                I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccVector));
+        }
+}
+// --------------------------------------------------------
+void NCMAG_UpdateCompass(void)
+{
+        static u32 TimerCompassUpdate = 0;
+        if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) return;
+        if(CheckDelay(TimerCompassUpdate))
+        {
+                // check for incomming compass calibration request
+                // update CalByte from spi input queue
+                /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));
+                // send new calstate
+                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
+                {
+                        do the calibration here
+                }
+                else // request current heading */
+                {
+                        NCMAG_GetMagVector();
+                }
+                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz
+        }
+}
+u8 NCMAG_SelfTest(void)
+{
+        #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;}
+        u32 time;
+        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
+        s16 xscale, yscale, zscale, scale_min, scale_max;
+        u8 crb_gain, cra_rate;
+        u8 i = 0, retval = 1;
+        switch(NCMAG_MagType)
+        {
+                case MAG_TYPE_HMC5843:
+                        crb_gain = HMC5843_CRB_GAIN_10GA;
+                        cra_rate = HMC5843_CRA_RATE_50HZ;
+                        xscale = HMC5843_TEST_XSCALE;
+                        yscale = HMC5843_TEST_YSCALE;
+                        zscale = HMC5843_TEST_ZSCALE;
+                        break;
+                case MAG_TYPE_LSM303DLH:
+                        crb_gain = LSM303DLH_CRB_GAIN_13GA;
+                        cra_rate = LSM303DLH_CRA_RATE_75HZ;
+                        xscale = LSM303DLH_TEST_XSCALE;
+                        yscale = LSM303DLH_TEST_YSCALE;
+                        zscale = LSM303DLH_TEST_ZSCALE;
+                        break;
+                default:
+                return(0);
+        }
+        MagConfig.cra = cra_rate|CRA_MODE_POSBIAS;
+        MagConfig.crb = crb_gain;
+        MagConfig.mode = MODE_CONTINUOUS;
+        // activate positive bias field
+        NCMAG_SetMagConfig();
+        // wait for stable readings
+        time = SetDelay(50);
+        while(!CheckDelay(time));
+        // averaging
+        #define AVERAGE 20
+        for(i = 0; i<AVERAGE; i++)
+        {
+                NCMAG_GetMagVector();
+                time = SetDelay(20);
+        while(!CheckDelay(time));
+                XMax += MagVector.X;
+                YMax += MagVector.Y;
+                ZMax += MagVector.Z;
+        }
+        MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS;
+        // activate positive bias field
+        NCMAG_SetMagConfig();
+    // wait for stable readings
+        time = SetDelay(50);
+        while(!CheckDelay(time));
+        // averaging
+        for(i = 0; i < AVERAGE; i++)
+        {
+                NCMAG_GetMagVector();
+                time = SetDelay(20);
+        while(!CheckDelay(time));
+                XMin += MagVector.X;
+                YMin += MagVector.Y;
+                ZMin += MagVector.Z;
+        }
+        // setup final configuration
+        MagConfig.cra = cra_rate|CRA_MODE_NORMAL;
+        // activate positive bias field
+        NCMAG_SetMagConfig();
+        // prepare scale limits
+        LIMITS(xscale, scale_min, scale_max);
+        // check scale for all axes
+        xscale = (XMax - XMin)/(2*AVERAGE);
+        if((xscale > scale_max) || (xscale < scale_min)) retval = 0;
+        LIMITS(yscale, scale_min, scale_max);
+        yscale = (YMax - YMin)/(2*AVERAGE);
+        if((yscale > scale_max) || (yscale < scale_min)) retval = 0;
+        LIMITS(zscale, scale_min, scale_max);
+        zscale = (ZMax - ZMin)/(2*AVERAGE);
+        if((zscale > scale_max) || (zscale < scale_min)) retval = 0;
+        return(retval);
+}
+//----------------------------------------------------------------
+u8 NCMAG_Init(void)
+{
+        u8 msg[64];
+        u8 retval = 0;
+        u8 repeat;
+        NCMAG_Present = 0;
+        NCMAG_MagType = MAG_TYPE_HMC5843;       // assuming having an HMC5843
+        // polling for LSM302DLH option
+        repeat = 0;
+        do
+        {
+                retval = NCMAG_GetAccConfig();
+                if(retval) break; // break loop on success
+                UART1_PutString(".");
+                repeat++;
+        }while(repeat < 3);
+        if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH
+        // polling of identification
+        repeat = 0;
+        do
+        {
+                retval = NCMAG_GetIdentification();
+                if(retval) break; // break loop on success
+                UART1_PutString(".");
+                repeat++;
+        }while(repeat < 12);
+        // if we got an answer to id request
+        if(retval)
+        {
+                u8 n1[] = "HMC5843";
+                u8 n2[] = "LSM303DLH";
+                u8* pn;
+                if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2;
+                else pn = n1;
+                sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C);
+                UART1_PutString(msg);
+                if (    (NCMAG_Identification.A == MAG_IDA)
+                     && (NCMAG_Identification.B == MAG_IDB)
+                         && (NCMAG_Identification.C == MAG_IDC))
+                {
+                        if(!NCMAG_SelfTest())
+                        {
+                                UART1_PutString(" Selftest failed!");
+                                LED_RED_ON;
+                        }
+                        else NCMAG_Present = 1;
+                }
+                else
+                {
+                        UART1_PutString("\n\r not compatible!");
+                        LED_RED_ON;
+                }
+        }
+        else // nothing found
+        {
+                NCMAG_MagType = MAG_TYPE_NONE;
+                UART1_PutString("not found!");
+        }
+        return(NCMAG_Present);
+}

 /trunk/ncmag.h
 ,0 → 1,24
+#ifndef __NCMAG_H
+#define __NCMAG_H
+#include "compass.h"
+typedef struct
+{
+        s16 XRange;
+        s16 YRange;
+        s16 ZRange;
+        s16 XOffset;
+        s16 YOffset;
+        s16 ZOffset;
+}  __attribute__((packed)) NCMAG_Calibration_t;
+extern NCMAG_Calibration_t NCMAG_Calibration;
+extern s16vec_t ACC_Vector;
+u8 NCMAG_Init(void);
+void NCMAG_UpdateCompass(void);
+void NCMAG_ToggleMode(void);
+#endif // __NCMAG_H

Subversion Repositories NaviCtrl

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Ignore whitespace Rev 252 → Rev 253