0,0 → 1,765 |
/*#######################################################################################*/ |
/* !!! 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 |
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// + 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 |
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// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <math.h> |
#include <stdio.h> |
#include <string.h> |
#include "91x_lib.h" |
#include "ncmag.h" |
#include "i2c.h" |
#include "timer1.h" |
#include "led.h" |
#include "uart1.h" |
#include "eeprom.h" |
#include "mymath.h" |
#include "main.h" |
|
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; |
|
#define CALIBRATION_VERSION 1 |
#define EEPROM_ADR_MAG_CALIBRATION 50 |
|
#define NCMAG_MIN_RAWVALUE -2047 |
#define NCMAG_MAX_RAWVALUE 2047 |
#define NCMAG_INVALID_DATA -4096 |
|
typedef struct |
{ |
s16 Range; |
s16 Offset; |
} __attribute__((packed)) Scaling_t; |
|
typedef struct |
{ |
Scaling_t MagX; |
Scaling_t MagY; |
Scaling_t MagZ; |
u8 Version; |
u8 crc; |
} __attribute__((packed)) Calibration_t; |
|
Calibration_t Calibration; // calibration data in RAM |
|
// 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 AccRawVector; |
volatile s16vec_t MagRawVector; |
|
|
u8 NCMag_CalibrationWrite(void) |
{ |
u8 i, crc = 0xAA; |
EEPROM_Result_t eres; |
u8 *pBuff = (u8*)&Calibration; |
|
Calibration.Version = CALIBRATION_VERSION; |
for(i = 0; i<(sizeof(Calibration)-1); i++) |
{ |
crc += pBuff[i]; |
} |
Calibration.crc = ~crc; |
eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
if(EEPROM_SUCCESS == eres) i = 1; |
else i = 0; |
return(i); |
} |
|
u8 NCMag_CalibrationRead(void) |
{ |
u8 i, crc = 0xAA; |
u8 *pBuff = (u8*)&Calibration; |
|
if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
{ |
for(i = 0; i<(sizeof(Calibration)-1); i++) |
{ |
crc += pBuff[i]; |
} |
crc = ~crc; |
if(Calibration.crc != crc) return(0); // crc mismatch |
if(Calibration.Version == CALIBRATION_VERSION) return(1); |
} |
return(0); |
} |
|
|
void NCMAG_Calibrate(void) |
{ |
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; |
|
X = (4*X + MagRawVector.X + 3)/5; |
Y = (4*Y + MagRawVector.Y + 3)/5; |
Z = (4*Z + MagRawVector.Z + 3)/5; |
|
switch(Compass_CalState) |
{ |
case 1: |
// 1st step of calibration |
// initialize ranges |
// used to change the orientation of the NC in the horizontal plane |
Xmin = 10000; |
Xmax = -10000; |
Ymin = 10000; |
Ymax = -10000; |
Zmin = 10000; |
Zmax = -10000; |
break; |
|
case 2: // 2nd step of calibration |
// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
if(X < Xmin) { Xmin = X; BeepTime = 20;} |
else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
break; |
|
case 3: // 3rd step of calibration |
// used to change the orientation of the MK3MAG vertical to the horizontal plane |
break; |
|
case 4: |
// find Min and Max of the Z-Sensor |
if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
break; |
|
case 5: |
// Save values |
if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
{ |
#define MIN_CALIBRATION 256 |
Calibration.MagX.Range = Xmax - Xmin; |
Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
Calibration.MagY.Range = Ymax - Ymin; |
Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
Calibration.MagZ.Range = Zmax - Zmin; |
Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
BeepTime = 2500; |
UART1_PutString("\r\n Calibration okay"); |
} |
else |
{ |
// restore old calibration data from eeprom |
NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
UART1_PutString("\r\n Calibration FAILED - Values too low: "); |
if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("Y! "); |
if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
} |
} |
break; |
|
default: |
break; |
} |
OldCalState = Compass_CalState; |
} |
|
// ---------- call back handlers ----------------------------------------- |
|
// rx data handler for id info request |
void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
{ // if number of bytes are matching |
if(RxBufferSize == sizeof(NCMAG_Identification) ) |
{ |
memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
} |
} |
// rx data handler for magnetic sensor raw data |
void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
{ // if number of bytes are matching |
if(RxBufferSize == sizeof(MagRawVector) ) |
{ // byte order from big to little endian |
s16 raw; |
raw = pRxBuffer[0]<<8; |
raw+= pRxBuffer[1]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
raw = pRxBuffer[2]<<8; |
raw+= pRxBuffer[3]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
raw = pRxBuffer[4]<<8; |
raw+= pRxBuffer[5]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
} |
if(Compass_CalState || !NCMAG_IsCalibrated) |
{ // mark out data invalid |
MagVector.X = MagRawVector.X; |
MagVector.Y = MagRawVector.Y; |
MagVector.Z = MagRawVector.Z; |
Compass_Heading = -1; |
} |
else |
{ |
// update MagVector from MagRaw Vector by Scaling |
MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
Compass_CalcHeading(); |
} |
} |
// rx data handler for acceleration raw data |
void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
{ // if number of byte are matching |
if(RxBufferSize == sizeof(AccRawVector) ) |
{ |
memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
} |
} |
// rx data handler for reading magnetic sensor configuration |
void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
{ // if number of byte are matching |
if(RxBufferSize == sizeof(MagConfig) ) |
{ |
memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
} |
} |
// rx data handler for reading acceleration sensor configuration |
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(AccRawVector)); |
} |
} |
|
// -------------------------------------------------------- |
void NCMAG_Update(void) |
{ |
static u32 TimerUpdate = 0; |
|
if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
{ |
Compass_Heading = -1; |
return; |
} |
|
if(CheckDelay(TimerUpdate)) |
{ |
// check for new calibration state |
Compass_UpdateCalState(); |
if(Compass_CalState) NCMAG_Calibrate(); |
NCMAG_GetMagVector(); //Get new data; |
TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
} |
} |
|
// -------------------------------------------------------- |
u8 NCMAG_SelfTest(void) |
{ |
u8 msg[64]; |
static u8 done = 0; |
|
if(done) return(1); // just make it once |
|
#define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * 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 += MagRawVector.X; |
YMax += MagRawVector.Y; |
ZMax += MagRawVector.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 += MagRawVector.X; |
YMin += MagRawVector.Y; |
ZMin += MagRawVector.Z; |
} |
// setup final configuration |
MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
// activate positive bias field |
NCMAG_SetMagConfig(); |
// check scale for all axes |
// prepare scale limits |
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); |
} |
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); |
} |
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); |
} |
done = retval; |
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)) |
{ |
NCMAG_Present = 1; |
if(!NCMAG_SelfTest()) |
{ |
UART1_PutString(" Selftest failed!"); |
LED_RED_ON; |
NCMAG_IsCalibrated = 0; |
} |
else |
{ |
if(EEPROM_Init()) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
} |
else UART1_PutString("\r\n Calibration data not available!"); |
} |
} |
else |
{ |
UART1_PutString("\n\r Not compatible!"); |
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
LED_RED_ON; |
} |
} |
else // nothing found |
{ |
NCMAG_MagType = MAG_TYPE_NONE; |
UART1_PutString("not found!"); |
} |
return(NCMAG_Present); |
} |
|