| 0,0 → 1,755 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <math.h> |
| #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" |
| #include "eeprom.h" |
| #include "mymath.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; |
| else if(X > Xmax) Xmax = X; |
| if(Y < Ymin) Ymin = Y; |
| else if(Y > Ymax) Ymax = Y; |
| 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; |
| else if(Z > Zmax) Zmax = Z; |
| break; |
| |
| case 5: |
| // Save values |
| if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| { |
| 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 > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512)) |
| { |
| NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
| } |
| else |
| { |
| // restore old calibration data from eeprom |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| } |
| } |
| 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) |
| { // direct output the raw data |
| memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
| 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); |
| |
| if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
| { |
| Compass_Heading = -1; |
| } |
| else // fc attitude is avialable |
| { |
| // calculate attitude correction |
| // a float implementation takes too long for an ISR call! |
| s16 tmp, Hx, Hy; |
| s32 sinnick, cosnick, sinroll, cosroll; |
| |
| tmp = FromFlightCtrl.AngleNick/10; // in deg |
| sinnick = (s32)c_sin_8192(tmp); |
| cosnick = (s32)c_cos_8192(tmp); |
| tmp = FromFlightCtrl.AngleRoll/10; // in deg |
| sinroll = (s32)c_sin_8192(tmp); |
| cosroll = (s32)c_cos_8192(tmp); |
| // tbd. compensation signs and oriantation has to be fixed |
| Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
| Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
| // calculate heading |
| tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
| if (tmp > 0) tmp = 360 - tmp; |
| else tmp = -tmp; |
| Compass_Heading = tmp; |
| } |
| } |
| } |
| // 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_UpdateCompass(void) |
| { |
| static u32 TimerCompassUpdate = 0; |
| |
| if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| { |
| Compass_Heading = -1; |
| return; |
| } |
| |
| if(CheckDelay(TimerCompassUpdate)) |
| { |
| // check for new calibration state |
| Compass_UpdateCalState(); |
| if(Compass_CalState) NCMAG_Calibrate(); |
| NCMAG_GetMagVector(); //Get new data; |
| 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 += 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(); |
| // 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; |
| NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| } |
| } |
| 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); |
| } |
| |