0,0 → 1,1233 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + 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 |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <math.h> |
#include <stdio.h> |
#include <stdlib.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" |
#include "spi_slave.h" |
|
u8 NCMAG_Present = 0; |
u8 NCMAG_IsCalibrated = 0; |
|
|
// 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; |
u8 NCMAG_Orientation = 0; // 0 means unknown! |
|
#define CALIBRATION_VERSION 1 |
#define MAG_CALIBRATION_COMPATIBLE 0xA3 |
|
#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 |
volatile s16vec_t AccRawVector; |
volatile s16vec_t MagRawVector; |
|
// 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 |
#define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
|
// 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 |
#define MAG_IDF_LSM303DLM 0x3C |
|
// 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 // <--- we use this |
#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 555 |
#define HMC5843_TEST_YSCALE 555 |
#define HMC5843_TEST_ZSCALE 555 |
// calibration range |
#define HMC5843_CALIBRATION_RANGE 600 |
|
// 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 // <--- we use this (Since V2.03) |
#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 245 |
#define LSM303DLH_TEST_YSCALE 245 |
#define LSM303DLH_TEST_ZSCALE 235 |
// clibration range |
#define LSM303_CALIBRATION_RANGE 300 // War bis V2.02: 550 -> Auflösung von 19Ga auf 40GA reduziert |
|
// 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 |
#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 |
|
#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_CRTL2_FILTER8 0x10 |
#define ACC_CRTL2_FILTER16 0x11 |
#define ACC_CRTL2_FILTER32 0x12 |
#define ACC_CRTL2_FILTER64 0x13 |
|
#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 |
|
#define ACC_CTRL5_STW_ON 0x03 |
#define ACC_CTRL5_STW_OFF 0x00 |
|
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; |
|
// write calibration data for external and internal sensor seperately |
u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
{ |
u16 address; |
u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
EEPROM_Result_t eres; |
u8 *pBuff = (u8*)&Calibration; |
|
if (I2Cx == NCMAG_PORT_EXTERN) |
{ |
address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
} |
else if (I2Cx == NCMAG_PORT_INTERN) |
{ |
address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
Calibration.Version = CALIBRATION_VERSION; |
} |
else return(i); |
|
for(i = 0; i<(sizeof(Calibration)-1); i++) |
{ |
crc += pBuff[i]; |
} |
Calibration.crc = ~crc; |
eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
if(EEPROM_SUCCESS == eres) i = 1; |
else i = 0; |
return(i); |
} |
|
// read calibration data for external and internal sensor seperately |
u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
{ |
u8 address; |
u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
u8 *pBuff = (u8*)&Calibration; |
|
if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
else return(0); |
|
if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, 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 & 0x0F) == CALIBRATION_VERSION) return(1); |
} |
return(0); |
} |
|
|
void NCMAG_Calibrate(void) |
{ |
u8 msg[64]; |
static u8 speak = 0; |
static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
static s16 X = 0, Y = 0, Z = 0; |
static u8 OldCalState = 0; |
s16 MinCalibration = 450; |
|
X = (X + MagRawVector.X)/2; |
Y = (Y + MagRawVector.Y)/2; |
Z = (Z + MagRawVector.Z)/2; |
|
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; |
Zmin2 = 10000; |
Zmax2 = -10000; |
X = 0; Y = 0; Z = 0; |
speak = 1; |
CompassValueErrorCount = 0; |
if(Compass_CalState != OldCalState) // only once per state |
{ |
UART1_PutString("\r\nStarting compass calibration"); |
if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
{ |
if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
UART1_PutString(" - External sensor "); |
sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
UART1_PutString(msg); |
} |
else UART1_PutString(" - Internal sensor "); |
} |
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;} |
if(Z < Zmin) { Zmin = Z; } // silent |
else if(Z > Zmax) { Zmax = Z; } |
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
break; |
|
case 3: // 3rd step of calibration |
// used to change the orientation of the MK3MAG vertical to the horizontal plane |
speak = 1; |
break; |
|
case 4: |
// find Min and Max of the Z-Sensor |
if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
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;} |
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
break; |
|
case 5: |
// Save values |
if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
{ |
switch(NCMAG_SensorType) |
{ |
case TYPE_HMC5843: |
UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
MinCalibration = HMC5843_CALIBRATION_RANGE; |
break; |
|
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
MinCalibration = LSM303_CALIBRATION_RANGE; |
break; |
} |
if(EarthMagneticStrengthTheoretic) |
{ |
MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
UART1_PutString(msg); |
} |
else UART1_PutString("without GPS\n\r"); |
|
if(Zmin2 < Zmin) Zmin = Zmin2; |
if(Zmax2 > Zmax) Zmax = Zmax2; |
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(CompassValueErrorCount) |
{ |
SpeakHoTT = SPEAK_ERR_CALIBARTION; |
UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
|
} |
else |
if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
BeepTime = 2500; |
UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
SpeakHoTT = SPEAK_MIKROKOPTER; |
} |
else |
{ |
SpeakHoTT = SPEAK_ERR_CALIBARTION; |
UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
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 |
NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
} |
sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
UART1_PutString(msg); |
sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
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",MinCalibration); |
UART1_PutString(msg); |
} |
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)); |
} |
} |
|
void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
{ // if number of bytes are matching |
if(RxBufferSize == sizeof(NCMAG_Identification2)) |
{ |
memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
} |
} |
|
// 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, X = 0, Y = 0, Z = 0; |
raw = pRxBuffer[0]<<8; |
raw+= pRxBuffer[1]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
raw = pRxBuffer[2]<<8; |
raw+= pRxBuffer[3]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
{ |
if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
else Y = raw; |
} |
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
raw = pRxBuffer[4]<<8; |
raw+= pRxBuffer[5]; |
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
{ |
if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
else Z = raw; |
} |
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
// correct compass orientation |
switch(NCMAG_Orientation) |
{ |
case 0: |
case 1: |
default: |
// 1:1 Mapping |
MagRawVector.X = X; |
MagRawVector.Y = Y; |
MagRawVector.Z = Z; |
break; |
case 2: |
MagRawVector.X = -X; |
MagRawVector.Y = Y; |
MagRawVector.Z = -Z; |
break; |
case 3: |
MagRawVector.X = -Z; |
MagRawVector.Y = Y; |
MagRawVector.Z = X; |
break; |
case 4: |
MagRawVector.X = Z; |
MagRawVector.Y = Y; |
MagRawVector.Z = -X; |
break; |
case 5: |
MagRawVector.X = X; |
MagRawVector.Y = -Z; |
MagRawVector.Z = Y; |
break; |
case 6: |
MagRawVector.X = -X; |
MagRawVector.Y = -Z; |
MagRawVector.Z = -Y; |
break; |
} |
} |
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 bytes are matching |
if(RxBufferSize == sizeof(AccRawVector) ) |
{ |
// copy from I2C buffer |
memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
// scale and update Acc Vector, at the moment simply 1:1 |
memcpy((u8*)&AccVector, (u8*)&AccRawVector,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_GetOrientationFromAcc(void) |
{ |
// only if external compass connected |
if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
// MK must not be tilted |
if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
{ |
// UART1_PutString("\r\nTilted"); |
return(0); |
} |
// select orientation |
if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
else |
if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
else |
if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
else |
if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
else |
if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
else |
if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
return(0); |
} |
|
// --------------------------------------------------------------------- |
u8 NCMAG_SetMagConfig(void) |
{ |
u8 retval = 0; |
|
// try to catch the i2c buffer within 100 ms timeout |
if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
{ |
u8 TxBytes = 0; |
u8 TxData[sizeof(MagConfig) + 3]; |
|
TxData[TxBytes++] = REG_MAG_CRA; |
memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
TxBytes += sizeof(MagConfig); |
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
{ |
if(I2CBus(Compass_I2CPort)->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(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
TxData[TxBytes++] = REG_MAG_CRA; |
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
{ |
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
} |
} |
} |
return(retval); |
} |
|
// ---------------------------------------------------------------------------------------- |
u8 NCMAG_SetAccConfig(void) |
{ |
u8 retval = 0; |
// try to catch the i2c buffer within 50 ms timeout |
if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
{ |
u8 TxBytes = 0; |
u8 TxData[sizeof(AccConfig) + 3]; |
TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
TxBytes += sizeof(AccConfig); |
if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
{ |
if(I2CBus(Compass_I2CPort)->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(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
{ |
if(I2CBus(Compass_I2CPort)->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(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
NCMAG_Identification.A = 0xFF; |
NCMAG_Identification.B = 0xFF; |
NCMAG_Identification.C = 0xFF; |
TxData[TxBytes++] = REG_MAG_IDA; |
// initiate transmission |
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
{ |
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
} |
} |
} |
return(retval); |
} |
|
u8 NCMAG_GetIdentification_Sub(void) |
{ |
u8 retval = 0; |
// try to catch the i2c buffer within 100 ms timeout |
if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
NCMAG_Identification2.Sub = 0xFF; |
TxData[TxBytes++] = REG_MAG_IDF; |
// initiate transmission |
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
{ |
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
{ |
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
} |
} |
} |
return(retval); |
} |
|
|
// ---------------------------------------------------------------------------------------- |
void NCMAG_GetMagVector(u8 timeout) |
{ |
// try to catch the I2C buffer within timeout ms |
if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
// set register pointer |
TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
// initiate transmission |
I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
} |
} |
|
//---------------------------------------------------------------- |
void NCMAG_GetAccVector(u8 timeout) |
{ |
// try to catch the I2C buffer within timeout ms |
if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
{ |
u8 TxBytes = 0; |
u8 TxData[3]; |
// set register pointer |
TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
// initiate transmission |
I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
} |
} |
|
//---------------------------------------------------------------- |
u8 NCMAG_ConfigureSensor(void) |
{ |
u8 crb_gain, cra_rate; |
switch(NCMAG_SensorType) |
{ |
case TYPE_HMC5843: |
crb_gain = HMC5843_CRB_GAIN_15GA; |
cra_rate = HMC5843_CRA_RATE_50HZ; |
break; |
|
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
// crb_gain = LSM303DLH_CRB_GAIN_19GA; |
crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
cra_rate = LSM303DLH_CRA_RATE_75HZ; |
break; |
|
default: |
return(0); |
} |
|
MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
MagConfig.crb = crb_gain; |
MagConfig.mode = MODE_CONTINUOUS; |
return(NCMAG_SetMagConfig()); |
} |
|
|
//---------------------------------------------------------------- |
u8 NCMAG_Init_ACCSensor(void) |
{ |
AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
AccConfig.ctrl_2 = 0; |
AccConfig.ctrl_3 = 0x00; |
AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
return(NCMAG_SetAccConfig()); |
} |
// -------------------------------------------------------- |
void NCMAG_Update(u8 init) |
{ |
static u32 TimerUpdate = 0; |
static s8 send_config = 0; |
u32 delay = 20; |
|
if(init) TimerUpdate = SetDelay(10); |
|
if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
{ |
Compass_Heading = -1; |
DebugOut.Analog[14]++; // count I2C error |
TimerUpdate = SetDelay(10); |
return; |
} |
if(CheckDelay(TimerUpdate)) |
{ |
if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
if(++send_config == 25) // 500ms |
{ |
send_config = -25; // next try after 1 second |
NCMAG_ConfigureSensor(); |
TimerUpdate = SetDelay(20); // back into the old time-slot |
} |
else |
{ |
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: |
delay = 20; // next cycle after 20 ms |
NCMAG_GetMagVector(5); |
break; |
case TYPE_LSM303DLH: |
case TYPE_LSM303DLM: |
delay = 20; // next cycle after 20 ms |
if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
{ |
NCMAG_GetMagVector(5); |
} |
else // having an external compass, read every 50th cycle the ACC vec |
{ // try to initialize if no data are there |
if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
// get new data |
NCMAG_GetAccVector(5); |
delay = 10; // next cycle after 10 ms |
s = 40; //reset downconter about 0,8 sec |
} |
break; |
} |
if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
else TimerUpdate = SetDelay(delay); // 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_SensorType) |
{ |
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 TYPE_LSM303DLH: |
// crb_gain = LSM303DLH_CRB_GAIN_19GA; |
crb_gain = LSM303DLH_CRB_GAIN_40GA; // seit 2.03 -> 2.2014 |
cra_rate = LSM303DLH_CRA_RATE_75HZ; |
xscale = LSM303DLH_TEST_XSCALE; |
yscale = LSM303DLH_TEST_YSCALE; |
zscale = LSM303DLH_TEST_ZSCALE; |
break; |
|
case TYPE_LSM303DLM: |
// does not support self test feature |
done = 1; |
return(1); // always return success |
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(5); |
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(5); |
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); |
} |
|
|
void NCMAG_CheckOrientation(void) |
{ // only for external sensor |
if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
{ |
NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
else NCMAG_IsCalibrated = 1; |
} |
} |
//---------------------------------------------------------------- |
u8 NCMAG_Init(void) |
{ |
MagRawVector.X = 0; |
MagRawVector.Y = 0; |
MagRawVector.Z = 0; |
AccRawVector.X = 0; |
AccRawVector.Y = 0; |
AccRawVector.Z = 0; |
|
if(NCMAG_Present) // do only short init ! , full init was called before |
{ |
// reset I2C Bus |
//I2CBus_Deinit(Compass_I2CPort); |
//I2CBus_Init(Compass_I2CPort); |
// try to reconfigure senor |
NCMAG_ConfigureSensor(); |
//NCMAG_Update(1); |
} |
else // full init |
{ |
u8 msg[64]; |
u8 retval = 0; |
u8 repeat = 0; |
|
//-------------------------------------------- |
// search external sensor first |
//-------------------------------------------- |
Compass_I2CPort = NCMAG_PORT_EXTERN; |
// get id bytes |
retval = 0; |
for(repeat = 0; repeat < 5; repeat++) |
{ |
//retval = NCMAG_GetIdentification(); |
retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
if(retval) break; // break loop on success |
UART1_PutString("_"); |
} |
// Extenal sensor not found? |
if(!retval) |
{ |
// search internal sensor afterwards |
UART1_PutString(" internal sensor"); |
Compass_I2CPort = NCMAG_PORT_INTERN; |
} |
else |
{ |
UART1_PutString(" external sensor"); |
Compass_I2CPort = NCMAG_PORT_EXTERN; |
} |
//------------------------------------------- |
|
NCMAG_Present = 0; |
NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
// polling for LSM302DLH/DLM option by ACC address ack |
repeat = 0; |
for(repeat = 0; repeat < 3; repeat++) |
{ |
retval = NCMAG_GetAccConfig(); |
if(retval) break; // break loop on success |
} |
if(retval) |
{ |
// initialize ACC sensor |
NCMAG_Init_ACCSensor(); |
|
NCMAG_SensorType = TYPE_LSM303DLH; |
// polling of sub identification |
repeat = 0; |
for(repeat = 0; repeat < 12; repeat++) |
{ |
retval = NCMAG_GetIdentification_Sub(); |
if(retval) break; // break loop on success |
} |
if(retval) |
{ |
if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
} |
} |
// get id bytes |
retval = 0; |
for(repeat = 0; repeat < 3; repeat++) |
{ |
retval = NCMAG_GetIdentification(); |
if(retval) break; // break loop on success |
} |
|
// if we got an answer to id request |
if(retval) |
{ |
u8 n1[] = "\n\r HMC5843"; |
u8 n2[] = "\n\r LSM303DLH"; |
u8 n3[] = "\n\r LSM303DLM"; |
u8* pn = n1; |
|
switch(NCMAG_SensorType) |
{ |
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); |
UART1_PutString(msg); |
if ( (NCMAG_Identification.A == MAG_IDA) |
&& (NCMAG_Identification.B == MAG_IDB) |
&& (NCMAG_Identification.C == MAG_IDC)) |
{ |
NCMAG_Present = 1; |
|
if(EEPROM_Init()) |
{ |
NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
} |
else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
|
// in case of an external sensor, try to get the orientation by acc readings |
if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
{ |
// try to get orientation by acc sensor values |
for(repeat = 0; repeat < 100; repeat++) |
{ |
NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
} |
// check orientation result if available |
sprintf(msg, "\r\n Orientation: "); |
UART1_PutString(msg); |
if(NCMAG_Orientation) |
{ |
sprintf(msg, "%d ", NCMAG_Orientation); |
UART1_PutString(msg); |
if(NCMAG_IsCalibrated) // check against calibration data orientation |
{ |
if(NCMAG_Orientation != Calibration.Version >> 4) |
{ |
sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
UART1_PutString(msg); |
} |
} |
} |
else |
{ |
UART1_PutString("unknown!"); |
} |
} |
|
|
// 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"); |
|
// initialize magnetic sensor configuration |
NCMAG_ConfigureSensor(); |
} |
else |
{ |
UART1_PutString("\n\r Not compatible!"); |
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
LED_RED_ON; |
} |
} |
else // nothing found |
{ |
NCMAG_SensorType = TYPE_NONE; |
UART1_PutString(" not found!"); |
} |
} |
return(NCMAG_Present); |
} |
|