69,14 → 69,17 |
u8 NCMAG_Present = 0; |
u8 NCMAG_IsCalibrated = 0; |
|
#define MAG_TYPE_NONE 0 |
#define MAG_TYPE_HMC5843 1 |
#define MAG_TYPE_LSM303DLH 2 |
u8 NCMAG_MagType = MAG_TYPE_NONE; |
// supported magnetic sensor types |
#define TYPE_NONE 0 |
#define TYPE_HMC5843 1 |
#define TYPE_LSM303DLH 2 |
#define TYPE_LSM303DLM 3 |
|
u8 NCMAG_SensorType = TYPE_NONE; |
|
#define EEPROM_ADR_MAG_CALIBRATION 50 |
#define CALIBRATION_VERSION 1 |
#define EEPROM_ADR_MAG_CALIBRATION 50 |
#define MAG_CALIBRATION_COMPATIBEL 0xA2 |
#define MAG_CALIBRATION_COMPATIBLE 0xA2 |
|
#define NCMAG_MIN_RAWVALUE -2047 |
#define NCMAG_MAX_RAWVALUE 2047 |
119,7 → 122,7 |
#define REG_MAG_IDA 0x0A |
#define REG_MAG_IDB 0x0B |
#define REG_MAG_IDC 0x0C |
#define REG_MAG_IDF 0x0F |
#define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
|
// bit mask for configuration mode |
#define CRA_MODE_MASK 0x03 |
145,6 → 148,7 |
#define MAG_IDA 0x48 |
#define MAG_IDB 0x34 |
#define MAG_IDC 0x33 |
#define MAG_IDF_LSM303DLM 0x3C |
|
// the special HMC5843 interface |
// bit mask for rate |
168,7 → 172,7 |
#define HMC5843_TEST_XSCALE 555 |
#define HMC5843_TEST_YSCALE 555 |
#define HMC5843_TEST_ZSCALE 555 |
// clibration range |
// calibration range |
#define HMC5843_CALIBRATION_RANGE 600 |
|
// the special LSM302DLH interface |
190,6 → 194,31 |
#define LSM303DLH_CRB_GAIN_47GA 0xA0 |
#define LSM303DLH_CRB_GAIN_56GA 0xC0 |
#define LSM303DLH_CRB_GAIN_81GA 0xE0 |
|
typedef struct |
{ |
u8 A; |
u8 B; |
u8 C; |
} __attribute__((packed)) Identification_t; |
volatile Identification_t NCMAG_Identification; |
|
typedef struct |
{ |
u8 Sub; |
} __attribute__((packed)) Identification2_t; |
volatile Identification2_t NCMAG_Identification2; |
|
typedef struct |
{ |
u8 cra; |
u8 crb; |
u8 mode; |
} __attribute__((packed)) MagConfig_t; |
|
volatile MagConfig_t MagConfig; |
|
|
// self test value |
#define LSM303DLH_TEST_XSCALE 495 |
#define LSM303DLH_TEST_YSCALE 495 |
199,6 → 228,10 |
|
// the i2c ACC interface |
#define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
|
// multiple byte read/write mask |
#define REG_ACC_MASK_AUTOINCREMENT 0x80 |
|
// register mapping |
#define REG_ACC_CTRL1 0x20 |
#define REG_ACC_CTRL2 0x21 |
215,33 → 248,37 |
#define REG_ACC_Z_LSB 0x2C |
#define REG_ACC_Z_MSB 0x2D |
|
#define ACC_CRTL1_PM_DOWN 0x00 |
#define ACC_CRTL1_PM_NORMAL 0x20 |
#define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
#define ACC_CRTL1_PM_LOW_1HZ 0x60 |
#define ACC_CRTL1_PM_LOW_2HZ 0x80 |
#define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
#define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
// Output data rate in normal power mode |
#define ACC_CRTL1_DR_50HZ 0x00 |
#define ACC_CRTL1_DR_100HZ 0x08 |
#define ACC_CRTL1_DR_400HZ 0x10 |
#define ACC_CRTL1_DR_1000HZ 0x18 |
// axis anable flags |
#define ACC_CRTL1_XEN 0x01 |
#define ACC_CRTL1_YEN 0x02 |
#define ACC_CRTL1_ZEN 0x04 |
|
#define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
#define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
#define ACC_CTRL4_FS_2G 0x00 |
#define ACC_CTRL4_FS_4G 0x10 |
#define ACC_CTRL4_FS_8G 0x30 |
#define ACC_CTRL4_STSIGN_PLUS 0x00 |
#define ACC_CTRL4_STSIGN_MINUS 0x08 |
#define ACC_CTRL4_ST_ENABLE 0x02 |
|
typedef struct |
{ |
u8 A; |
u8 B; |
u8 C; |
} __attribute__((packed)) Identification_t; |
volatile Identification_t NCMAG_Identification; |
#define ACC_CTRL5_STW_ON 0x03 |
#define ACC_CTRL5_STW_OFF 0x00 |
|
typedef struct |
{ |
u8 Sub; |
} __attribute__((packed)) Identification2_t; |
volatile Identification2_t NCMAG_Identification2; |
|
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; |
253,7 → 290,7 |
|
u8 NCMag_CalibrationWrite(void) |
{ |
u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
EEPROM_Result_t eres; |
u8 *pBuff = (u8*)&Calibration; |
|
271,7 → 308,7 |
|
u8 NCMag_CalibrationRead(void) |
{ |
u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
u8 *pBuff = (u8*)&Calibration; |
|
if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
294,7 → 331,7 |
static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
static s16 X = 0, Y = 0, Z = 0; |
static u8 OldCalState = 0; |
s16 MinCaclibration = 450; |
s16 MinCalibration = 450; |
|
X = (4*X + MagRawVector.X + 3)/5; |
Y = (4*Y + MagRawVector.Y + 3)/5; |
336,20 → 373,22 |
// Save values |
if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
{ |
// #define MIN_CALIBRATION 256 |
if(NCMAG_MagType == MAG_TYPE_HMC5843) |
{ |
UART1_PutString("\r\nHMC5843 calibration\n\r"); |
MinCaclibration = HMC5843_CALIBRATION_RANGE; |
} |
if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
{ |
UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
MinCaclibration =LSM303_CALIBRATION_RANGE; |
} |
switch(NCMAG_SensorType) |
{ |
case TYPE_HMC5843: |
UART1_PutString("\r\nHMC5843 calibration\n\r"); |
MinCalibration = HMC5843_CALIBRATION_RANGE; |
break; |
|
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
MinCalibration = LSM303_CALIBRATION_RANGE; |
break; |
} |
if(EarthMagneticStrengthTheoretic) |
{ |
MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
UART1_PutString(msg); |
} |
361,7 → 400,7 |
Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
Calibration.MagZ.Range = Zmax - Zmin; |
Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
BeepTime = 2500; |
370,9 → 409,9 |
else |
{ |
UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("Y! "); |
if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
UART1_PutString("\r\n"); |
|
// restore old calibration data from eeprom |
384,7 → 423,7 |
UART1_PutString(msg); |
sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
UART1_PutString(msg); |
sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
UART1_PutString(msg); |
} |
break; |
427,17 → 466,16 |
raw+= pRxBuffer[3]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
{ |
if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
else MagRawVector.Y = raw; |
if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
else MagRawVector.Y = raw; |
} |
raw = pRxBuffer[4]<<8; |
raw+= pRxBuffer[5]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
{ |
if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
else MagRawVector.Z = raw; |
if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
else MagRawVector.Z = raw; |
} |
//MagRawVector.X += 2 * ((s32) FC.Poti[7] - 128); |
} |
if(Compass_CalState || !NCMAG_IsCalibrated) |
{ // mark out data invalid |
462,6 → 500,9 |
{ |
memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
} |
DebugOut.Analog[16] = AccRawVector.X; |
DebugOut.Analog[17] = AccRawVector.Y; |
DebugOut.Analog[18] = AccRawVector.Z; |
} |
// rx data handler for reading magnetic sensor configuration |
void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
532,7 → 573,7 |
if(I2C_LockBuffer(100)) |
{ |
u8 TxBytes = 0; |
I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
TxBytes += sizeof(AccConfig); |
if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
554,7 → 595,7 |
if(I2C_LockBuffer(100)) |
{ |
u8 TxBytes = 0; |
I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
{ |
if(I2C_WaitForEndOfTransmission(100)) |
618,7 → 659,6 |
// try to catch the I2C buffer within 0 ms |
if(I2C_LockBuffer(0)) |
{ |
// s16 tmp; |
u16 TxBytes = 0; |
// set register pointer |
I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
635,7 → 675,7 |
{ |
u16 TxBytes = 0; |
// set register pointer |
I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
// initiate transmission |
I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
} |
642,46 → 682,49 |
} |
|
//---------------------------------------------------------------- |
void InitNC_MagnetSensor(void) |
u8 InitNC_MagnetSensor(void) |
{ |
s16 xscale, yscale, zscale; |
u8 crb_gain, cra_rate; |
// u8 retval = 1; |
|
switch(NCMAG_MagType) |
switch(NCMAG_SensorType) |
{ |
case MAG_TYPE_HMC5843: |
case TYPE_HMC5843: |
crb_gain = HMC5843_CRB_GAIN_15GA; |
cra_rate = HMC5843_CRA_RATE_50HZ; |
xscale = HMC5843_TEST_XSCALE; |
yscale = HMC5843_TEST_YSCALE; |
zscale = HMC5843_TEST_ZSCALE; |
break; |
|
case MAG_TYPE_LSM303DLH: |
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
crb_gain = LSM303DLH_CRB_GAIN_19GA; |
cra_rate = LSM303DLH_CRA_RATE_75HZ; |
xscale = LSM303DLH_TEST_XSCALE; |
yscale = LSM303DLH_TEST_YSCALE; |
zscale = LSM303DLH_TEST_ZSCALE; |
break; |
|
default: |
return; |
return(0); |
} |
|
MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
MagConfig.crb = crb_gain; |
MagConfig.mode = MODE_CONTINUOUS; |
NCMAG_SetMagConfig(); |
return(NCMAG_SetMagConfig()); |
} |
|
|
//---------------------------------------------------------------- |
u8 NCMAG_Init_ACCSensor(void) |
{ |
AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_400HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
AccConfig.ctrl_2 = 0x00; |
AccConfig.ctrl_3 = 0x00; |
AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_2G; |
AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
return(NCMAG_SetAccConfig()); |
} |
// -------------------------------------------------------- |
void NCMAG_Update(void) |
{ |
static u32 TimerUpdate = 0; |
static u8 send_config = 0; |
u32 delay = 20; |
|
if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
{ |
691,21 → 734,36 |
} |
if(CheckDelay(TimerUpdate)) |
{ |
if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
if(++send_config == 25) // 500ms |
{ |
send_config = 0; |
InitNC_MagnetSensor(); |
TimerUpdate = SetDelay(15); // back into the old time-slot |
} |
if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
if(++send_config == 25) // 500ms |
{ |
send_config = 0; |
InitNC_MagnetSensor(); |
TimerUpdate = SetDelay(15); // back into the old time-slot |
} |
else |
{ |
// check for new calibration state |
Compass_UpdateCalState(); |
if(Compass_CalState) NCMAG_Calibrate(); |
NCMAG_GetMagVector(); //Get new data; |
if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
static u8 s = 0; |
// check for new calibration state |
Compass_UpdateCalState(); |
if(Compass_CalState) NCMAG_Calibrate(); |
|
// in case of LSM303 type |
switch(NCMAG_SensorType) |
{ |
case TYPE_HMC5843: |
NCMAG_GetMagVector(); |
delay = 20; |
break; |
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
if(s){ NCMAG_GetMagVector(); s = 0;} |
else { NCMAG_GetAccVector(); s = 1;} |
delay = 10; |
break; |
} |
if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
} |
} |
} |
726,9 → 784,9 |
u8 crb_gain, cra_rate; |
u8 i = 0, retval = 1; |
|
switch(NCMAG_MagType) |
switch(NCMAG_SensorType) |
{ |
case MAG_TYPE_HMC5843: |
case TYPE_HMC5843: |
crb_gain = HMC5843_CRB_GAIN_15GA; |
cra_rate = HMC5843_CRA_RATE_50HZ; |
xscale = HMC5843_TEST_XSCALE; |
736,7 → 794,7 |
zscale = HMC5843_TEST_ZSCALE; |
break; |
|
case MAG_TYPE_LSM303DLH: |
case TYPE_LSM303DLH: |
crb_gain = LSM303DLH_CRB_GAIN_19GA; |
cra_rate = LSM303DLH_CRA_RATE_75HZ; |
xscale = LSM303DLH_TEST_XSCALE; |
744,8 → 802,14 |
zscale = LSM303DLH_TEST_ZSCALE; |
break; |
|
case TYPE_LSM303DLM: |
// does not support self test feature |
done = retval; |
return(retval); |
break; |
|
default: |
return(0); |
return(0); |
} |
|
MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
792,27 → 856,27 |
LIMITS(xscale, scale_min, scale_max); |
xscale = (XMax - XMin)/(2*AVERAGE); |
if((xscale > scale_max) || (xscale < scale_min)) |
{ |
retval = 0; |
sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
{ |
retval = 0; |
sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
LIMITS(yscale, scale_min, scale_max); |
yscale = (YMax - YMin)/(2*AVERAGE); |
if((yscale > scale_max) || (yscale < scale_min)) |
{ |
retval = 0; |
sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
{ |
retval = 0; |
sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
LIMITS(zscale, scale_min, scale_max); |
zscale = (ZMax - ZMin)/(2*AVERAGE); |
if((zscale > scale_max) || (zscale < scale_min)) |
{ |
retval = 0; |
sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
{ |
retval = 0; |
sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
UART1_PutString(msg); |
} |
done = retval; |
return(retval); |
} |
826,8 → 890,8 |
u8 repeat; |
|
NCMAG_Present = 0; |
NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
// polling for LSM302DLH option |
NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
// polling for LSM302DLH/DLM option by ACC address ack |
repeat = 0; |
do |
{ |
836,16 → 900,27 |
UART1_PutString("."); |
repeat++; |
}while(repeat < 3); |
if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
// polling of identification |
repeat = 0; |
do |
if(retval) |
{ |
retval = NCMAG_GetIdentification_Sub(); |
if(retval) break; // break loop on success |
UART1_PutString("."); |
repeat++; |
}while(repeat < 12); |
// initialize ACC sensor |
NCMAG_Init_ACCSensor(); |
|
NCMAG_SensorType = TYPE_LSM303DLH; |
// polling of sub identification |
repeat = 0; |
do |
{ |
retval = NCMAG_GetIdentification_Sub(); |
if(retval) break; // break loop on success |
UART1_PutString("."); |
repeat++; |
}while(repeat < 12); |
if(retval) |
{ |
if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
} |
} |
// get id bytes |
retval = 0; |
do |
{ |
861,13 → 936,19 |
u8 n1[] = "\n\r HMC5843"; |
u8 n2[] = "\n\r LSM303DLH"; |
u8 n3[] = "\n\r LSM303DLM"; |
u8* pn; |
u8* pn = n1; |
|
pn = n1; |
if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
switch(NCMAG_SensorType) |
{ |
if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
else pn = n2; |
case TYPE_HMC5843: |
pn = n1; |
break; |
case TYPE_LSM303DLH: |
pn = n2; |
break; |
case TYPE_LSM303DLM: |
pn = n3; |
break; |
} |
|
sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
879,22 → 960,22 |
NCMAG_Present = 1; |
|
if(EEPROM_Init()) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
} |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
} |
else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
|
if(NCMAG_Identification2.Sub == 0x00) |
{ |
if(!NCMAG_SelfTest()) |
{ |
// perform self test |
if(!NCMAG_SelfTest()) |
{ |
UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
LED_RED_ON; |
NCMAG_IsCalibrated = 0; |
} else UART1_PutString("\r\n Selftest ok"); |
} |
else InitNC_MagnetSensor(); |
} |
else UART1_PutString("\r\n Selftest ok"); |
|
// initialize magnetic sensor configuration |
InitNC_MagnetSensor(); |
} |
else |
{ |
905,7 → 986,7 |
} |
else // nothing found |
{ |
NCMAG_MagType = MAG_TYPE_NONE; |
NCMAG_SensorType = TYPE_NONE; |
UART1_PutString("not found!"); |
} |
return(NCMAG_Present); |