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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <string.h> |
57 | #include <string.h> |
58 | #include "91x_lib.h" |
58 | #include "91x_lib.h" |
59 | #include "hmc5843.h" |
59 | #include "hmc5843.h" |
60 | #include "i2c.h" |
60 | #include "i2c.h" |
61 | #include "timer1.h" |
61 | #include "timer1.h" |
62 | #include "led.h" |
62 | #include "led.h" |
63 | #include "spi_slave.h" |
63 | #include "spi_slave.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "compass.h" |
65 | #include "compass.h" |
66 | 66 | ||
67 | #define HMC5843_SLAVE_ADDRESS 0x3C // i2C slave address |
67 | #define HMC5843_SLAVE_ADDRESS 0x3C // i2C slave address |
68 | 68 | ||
69 | u8 HMC5843_Present = 0; |
69 | u8 HMC5843_Present = 0; |
70 | 70 | ||
71 | #define REGISTER_CRA 0 |
71 | #define REGISTER_CRA 0 |
72 | #define REGISTER_CRB 1 |
72 | #define REGISTER_CRB 1 |
73 | #define REGISTER_MODE 2 |
73 | #define REGISTER_MODE 2 |
74 | #define REGISTER_DATAX_MSB 3 |
74 | #define REGISTER_DATAX_MSB 3 |
75 | #define REGISTER_DATAX_LSB 4 |
75 | #define REGISTER_DATAX_LSB 4 |
76 | #define REGISTER_DATAY_MSB 5 |
76 | #define REGISTER_DATAY_MSB 5 |
77 | #define REGISTER_DATAY_LSB 6 |
77 | #define REGISTER_DATAY_LSB 6 |
78 | #define REGISTER_DATAZ_MSB 7 |
78 | #define REGISTER_DATAZ_MSB 7 |
79 | #define REGISTER_DATAZ_LSB 8 |
79 | #define REGISTER_DATAZ_LSB 8 |
80 | #define REGISTER_STATUS 9 |
80 | #define REGISTER_STATUS 9 |
81 | #define REGISTER_IDA 10 |
81 | #define REGISTER_IDA 10 |
82 | #define REGISTER_IDB 11 |
82 | #define REGISTER_IDB 11 |
83 | #define REGISTER_IDC 12 |
83 | #define REGISTER_IDC 12 |
84 | 84 | ||
85 | 85 | ||
86 | #define HMC5843_IDA 0x48 |
86 | #define HMC5843_IDA 0x48 |
87 | #define HMC5843_IDB 0x34 |
87 | #define HMC5843_IDB 0x34 |
88 | #define HMC5843_IDC 0x33 |
88 | #define HMC5843_IDC 0x33 |
89 | 89 | ||
90 | // bit mask for rate |
90 | // bit mask for rate |
91 | #define HMC5843_CRA_RATE_MASK 0x1C |
91 | #define HMC5843_CRA_RATE_MASK 0x1C |
92 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
92 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
93 | #define HMC5843_CRA_RATE_1HZ 0x04 |
93 | #define HMC5843_CRA_RATE_1HZ 0x04 |
94 | #define HMC5843_CRA_RATE_2HZ 0x08 |
94 | #define HMC5843_CRA_RATE_2HZ 0x08 |
95 | #define HMC5843_CRA_RATE_5HZ 0x0C |
95 | #define HMC5843_CRA_RATE_5HZ 0x0C |
96 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
96 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
97 | #define HMC5843_CRA_RATE_20HZ 0x14 |
97 | #define HMC5843_CRA_RATE_20HZ 0x14 |
98 | #define HMC5843_CRA_RATE_50HZ 0x18 |
98 | #define HMC5843_CRA_RATE_50HZ 0x18 |
99 | 99 | ||
100 | // bit mask for mode |
100 | // bit mask for mode |
101 | #define HMC5843_CRA_MODE_MASK 0x03 |
101 | #define HMC5843_CRA_MODE_MASK 0x03 |
102 | #define HMC5843_CRA_MODE_NORMAL 0x00 //default |
102 | #define HMC5843_CRA_MODE_NORMAL 0x00 //default |
103 | #define HMC5843_CRA_MODE_POSBIAS 0x01 |
103 | #define HMC5843_CRA_MODE_POSBIAS 0x01 |
104 | #define HMC5843_CRA_MODE_NEGBIAS 0x02 |
104 | #define HMC5843_CRA_MODE_NEGBIAS 0x02 |
105 | #define HMC5843_CRA_MODE_SELFTEST 0x03 |
105 | #define HMC5843_CRA_MODE_SELFTEST 0x03 |
106 | 106 | ||
107 | // bit mask for gain |
107 | // bit mask for gain |
108 | #define HMC5843_CRB_GAIN_MASK 0xE0 |
108 | #define HMC5843_CRB_GAIN_MASK 0xE0 |
109 | #define HMC5843_CRB_GAIN_07GA 0x00 |
109 | #define HMC5843_CRB_GAIN_07GA 0x00 |
110 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
110 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
111 | #define HMC5843_CRB_GAIN_15GA 0x40 |
111 | #define HMC5843_CRB_GAIN_15GA 0x40 |
112 | #define HMC5843_CRB_GAIN_20GA 0x60 |
112 | #define HMC5843_CRB_GAIN_20GA 0x60 |
113 | #define HMC5843_CRB_GAIN_32GA 0x80 |
113 | #define HMC5843_CRB_GAIN_32GA 0x80 |
114 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
114 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
115 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
115 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
116 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
116 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
117 | 117 | ||
118 | // bit mask for measurement mode |
118 | // bit mask for measurement mode |
119 | #define HMC5843_MODE_MASK 0xFF |
119 | #define HMC5843_MODE_MASK 0xFF |
120 | #define HMC5843_MODE_CONTINUOUS 0x00 |
120 | #define HMC5843_MODE_CONTINUOUS 0x00 |
121 | #define HMC5843_MODE_SINGLE 0x01 // default |
121 | #define HMC5843_MODE_SINGLE 0x01 // default |
122 | #define HMC5843_MODE_IDLE 0x02 |
122 | #define HMC5843_MODE_IDLE 0x02 |
123 | #define HMC5843_MODE_SLEEP 0x03 |
123 | #define HMC5843_MODE_SLEEP 0x03 |
124 | 124 | ||
125 | typedef struct |
125 | typedef struct |
126 | { |
126 | { |
127 | u8 A; |
127 | u8 A; |
128 | u8 B; |
128 | u8 B; |
129 | u8 C; |
129 | u8 C; |
130 | } __attribute__((packed)) HMC5843_Identification_t; |
130 | } __attribute__((packed)) HMC5843_Identification_t; |
131 | 131 | ||
132 | volatile HMC5843_Identification_t HMC5843_Identification; |
132 | volatile HMC5843_Identification_t HMC5843_Identification; |
133 | 133 | ||
134 | 134 | ||
135 | 135 | ||
136 | // ---------- call back handlers ----------------------------------------- |
136 | // ---------- call back handlers ----------------------------------------- |
137 | 137 | ||
138 | // rx data handler for id info request |
138 | // rx data handler for id info request |
139 | void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
139 | void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
140 | { // if number of byte are matching |
140 | { // if number of byte are matching |
141 | if(RxBufferSize == sizeof(HMC5843_Identification) ) |
141 | if(RxBufferSize == sizeof(HMC5843_Identification) ) |
142 | { |
142 | { |
143 | memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification)); |
143 | memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification)); |
144 | } |
144 | } |
145 | } |
145 | } |
146 | 146 | ||
147 | // rx data handler for mag vector request |
147 | // rx data handler for mag vector request |
148 | void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
148 | void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
149 | { // if number of byte are matching |
149 | { // if number of byte are matching |
150 | if(RxBufferSize == sizeof(MagVector) ) |
150 | if(RxBufferSize == sizeof(MagVector) ) |
151 | { |
- | |
- | 151 | { // byte order from big to little endian |
|
152 | MagVector.X = pRxBuffer[0]<<8; |
152 | MagVector.X = pRxBuffer[0]<<8; |
153 | MagVector.X+= pRxBuffer[1]; |
153 | MagVector.X+= pRxBuffer[1]; |
154 | MagVector.Y = pRxBuffer[2]<<8; |
154 | MagVector.Y = pRxBuffer[2]<<8; |
155 | MagVector.Y+= pRxBuffer[3]; |
155 | MagVector.Y+= pRxBuffer[3]; |
156 | MagVector.Z = pRxBuffer[4]<<8; |
156 | MagVector.Z = pRxBuffer[4]<<8; |
157 | MagVector.Z+= pRxBuffer[5]; |
157 | MagVector.Z+= pRxBuffer[5]; |
158 | } |
158 | } |
159 | // tbd. calculate heading from mag vector and attitude |
159 | // tbd. calculate heading from mag vector and attitude |
160 | CompassHeading = 50; // tbd. |
160 | CompassHeading = 50; // tbd. |
161 | } |
161 | } |
162 | 162 | ||
163 | 163 | ||
164 | // ---------------------------------------------------------------------------------------- |
164 | // ---------------------------------------------------------------------------------------- |
165 | 165 | ||
166 | void HMC5843_GetIdentification(void) |
166 | void HMC5843_GetIdentification(void) |
167 | { |
167 | { |
168 | if(I2C_State == I2C_STATE_IDLE) |
168 | if(I2C_State == I2C_STATE_IDLE) |
169 | { |
169 | { |
170 | I2C_TxBufferSize = 0; |
170 | I2C_TxBufferSize = 0; |
171 | // set register pointer |
171 | // set register pointer |
172 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_IDA; |
172 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_IDA; |
173 | // initiate transmission |
173 | // initiate transmission |
174 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)); |
174 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)); |
175 | } |
175 | } |
176 | } |
176 | } |
177 | 177 | ||
178 | // ---------------------------------------------------------------------------------------- |
178 | // ---------------------------------------------------------------------------------------- |
179 | u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode) |
179 | u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode) |
180 | { |
180 | { |
181 | u32 timeout = SetDelay(100); |
181 | u32 timeout = SetDelay(100); |
182 | // wait for free I2C bus |
182 | // wait for free I2C bus |
183 | while(I2C_State != I2C_STATE_IDLE) |
183 | while(I2C_State != I2C_STATE_IDLE) |
184 | { |
184 | { |
185 | if(CheckDelay(timeout)) return 0; |
185 | if(CheckDelay(timeout)) return 0; |
186 | } |
186 | } |
187 | I2C_TxBufferSize = 0; |
187 | I2C_TxBufferSize = 0; |
188 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_CRA; |
188 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_CRA; |
189 | I2C_TxBuffer[I2C_TxBufferSize++] = cra; |
189 | I2C_TxBuffer[I2C_TxBufferSize++] = cra; |
190 | I2C_TxBuffer[I2C_TxBufferSize++] = crb; |
190 | I2C_TxBuffer[I2C_TxBufferSize++] = crb; |
191 | I2C_TxBuffer[I2C_TxBufferSize++] = mode; |
191 | I2C_TxBuffer[I2C_TxBufferSize++] = mode; |
192 | // initiate transmission |
192 | // initiate transmission |
193 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, NULL, 0); |
193 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, NULL, 0); |
194 | return 1; |
194 | return 1; |
195 | } |
195 | } |
196 | 196 | ||
197 | //---------------------------------------------------------------- |
197 | //---------------------------------------------------------------- |
- | 198 | void HMC5843_GetMagVector(void) |
|
- | 199 | { |
|
- | 200 | if(I2C_State == I2C_STATE_IDLE) |
|
- | 201 | { |
|
- | 202 | I2C_TxBufferSize = 0; |
|
- | 203 | // set register pointer |
|
- | 204 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_DATAX_MSB; |
|
- | 205 | // initiate transmission |
|
- | 206 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateMagVector, sizeof(MagVector)); |
|
- | 207 | } |
|
- | 208 | } |
|
- | 209 | ||
- | 210 | void HMC5843_UpdateCompass(void) |
|
- | 211 | { |
|
- | 212 | static u32 TimerCompassUpdate = 0; |
|
- | 213 | ||
- | 214 | if( (I2C_State == I2C_STATE_OFF) || !HMC5843_Present ) return; |
|
- | 215 | ||
- | 216 | if(CheckDelay(TimerCompassUpdate)) |
|
- | 217 | { |
|
- | 218 | // check for incomming compass calibration request |
|
- | 219 | // update CalByte from spi input queue |
|
- | 220 | /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
|
- | 221 | // send new calstate |
|
- | 222 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
|
- | 223 | { |
|
- | 224 | do the calibration here |
|
- | 225 | } |
|
- | 226 | else // request current heading */ |
|
- | 227 | { |
|
- | 228 | HMC5843_GetMagVector(); |
|
- | 229 | } |
|
- | 230 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
|
- | 231 | } |
|
- | 232 | } |
|
- | 233 | ||
- | 234 | u8 HMC5843_SelfTest(void) |
|
- | 235 | { |
|
- | 236 | u32 time; |
|
- | 237 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
|
- | 238 | s32 scale, scale_min, scale_max; |
|
- | 239 | u8 i = 0; |
|
- | 240 | ||
- | 241 | // activate positive bias field of 0.55 gauss |
|
- | 242 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
|
- | 243 | // wait a while |
|
- | 244 | time = SetDelay(55); |
|
- | 245 | while(!CheckDelay(time)); |
|
- | 246 | // averaging |
|
- | 247 | for(i = 0; i<20; i++) |
|
- | 248 | { |
|
- | 249 | HMC5843_GetMagVector(); |
|
- | 250 | time = SetDelay(20); |
|
- | 251 | while(!CheckDelay(time)); |
|
- | 252 | XMax += MagVector.X; |
|
- | 253 | YMax += MagVector.Y; |
|
- | 254 | ZMax += MagVector.Z; |
|
- | 255 | } |
|
- | 256 | // activate negative bias field of 0.55 gauss |
|
- | 257 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
|
- | 258 | // wait a while |
|
- | 259 | time = SetDelay(55); |
|
- | 260 | while(!CheckDelay(time)); |
|
- | 261 | // averaging |
|
- | 262 | for(i = 0; i < 20; i++) |
|
- | 263 | { |
|
- | 264 | HMC5843_GetMagVector(); |
|
- | 265 | time = SetDelay(20); |
|
- | 266 | while(!CheckDelay(time)); |
|
- | 267 | XMin += MagVector.X; |
|
- | 268 | YMin += MagVector.Y; |
|
- | 269 | ZMin += MagVector.Z; |
|
- | 270 | } |
|
- | 271 | // setup final configuration |
|
- | 272 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
|
- | 273 | // prepare scale limits |
|
- | 274 | scale = 715; // 1300 counts/Gauss * 0.55 Gauss = 715 counts |
|
- | 275 | scale_min = (scale * 90)/100; |
|
- | 276 | scale_max = (scale * 110)/100; |
|
- | 277 | // check scale for all axes |
|
- | 278 | scale = (XMax - XMin)/40; |
|
- | 279 | if((scale > scale_max) && (scale < scale_min)) return 0; |
|
- | 280 | scale = (YMax + YMin)/40; |
|
- | 281 | if((scale > scale_max) && (scale < scale_min)) return 0; |
|
- | 282 | scale = (ZMax + ZMin)/40; |
|
- | 283 | if((scale > scale_max) && (scale < scale_min)) return 0; |
|
- | 284 | return 1; |
|
- | 285 | } |
|
- | 286 | ||
- | 287 | ||
- | 288 | //---------------------------------------------------------------- |
|
198 | u8 HMC5843_Init(void) |
289 | u8 HMC5843_Init(void) |
199 | { |
290 | { |
200 | u8 msg[64]; |
291 | u8 msg[64]; |
201 | u8 repeat; |
292 | u8 repeat; |
202 | u32 timeout; |
293 | u32 timeout; |
203 | 294 | ||
204 | HMC5843_Present = 0; |
295 | HMC5843_Present = 0; |
205 | 296 | ||
206 | HMC5843_Identification.A = 0xFF; |
297 | HMC5843_Identification.A = 0xFF; |
207 | HMC5843_Identification.B = 0xFF; |
298 | HMC5843_Identification.B = 0xFF; |
208 | HMC5843_Identification.C = 0xFF; |
299 | HMC5843_Identification.C = 0xFF; |
209 | 300 | ||
210 | // polling of identification |
301 | // polling of identification |
211 | repeat = 0; |
302 | repeat = 0; |
212 | do |
303 | do |
213 | { |
304 | { |
214 | HMC5843_GetIdentification(); |
305 | HMC5843_GetIdentification(); |
215 | timeout = SetDelay(250); |
306 | timeout = SetDelay(250); |
216 | do |
307 | do |
217 | { |
308 | { |
218 | if (HMC5843_Identification.A != 0xFF) break; // break loop on success |
309 | if (HMC5843_Identification.A != 0xFF) break; // break loop on success |
219 | }while (!CheckDelay(timeout)); |
310 | }while (!CheckDelay(timeout)); |
220 | UART1_PutString("."); |
311 | UART1_PutString("."); |
221 | repeat++; |
312 | repeat++; |
222 | }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12)); // 12*250ms=3s |
313 | }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12)); // 12*250ms=3s |
223 | // if we got it |
314 | // if we got it |
224 | if(HMC5843_Identification.A != 0xFF) |
315 | if(HMC5843_Identification.A != 0xFF) |
225 | { |
316 | { |
226 | sprintf(msg, " HMC5843 ID %d/%d/%d.", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C); |
317 | sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C); |
227 | UART1_PutString(msg); |
318 | UART1_PutString(msg); |
228 | 319 | ||
229 | if ( (HMC5843_Identification.A == HMC5843_IDA) |
320 | if ( (HMC5843_Identification.A == HMC5843_IDA) |
230 | && (HMC5843_Identification.B == HMC5843_IDB) |
321 | && (HMC5843_Identification.B == HMC5843_IDB) |
231 | && (HMC5843_Identification.C == HMC5843_IDC)) |
322 | && (HMC5843_Identification.C == HMC5843_IDC)) |
232 | { |
323 | { |
233 | HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
324 | //HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS); |
- | 325 | if(!HMC5843_SelfTest()) |
|
- | 326 | { |
|
- | 327 | UART1_PutString("\n\r HMC5843 selftest failed!"); |
|
- | 328 | LED_RED_ON; |
|
- | 329 | } |
|
234 | HMC5843_Present = 1; |
330 | else HMC5843_Present = 1; |
235 | } |
331 | } |
236 | else |
332 | else |
237 | { |
333 | { |
238 | UART1_PutString("\n\r HMC5843 not compatible!"); |
334 | UART1_PutString("\n\r HMC5843 not compatible!"); |
239 | LED_RED_ON; |
335 | LED_RED_ON; |
240 | } |
336 | } |
241 | } |
337 | } |
242 | return(HMC5843_Present); |
338 | return(HMC5843_Present); |
243 | } |
339 | } |
244 | - | ||
245 | - | ||
246 | //---------------------------------------------------------------- |
- | |
247 | void HMC5843_GetMagVector(void) |
- | |
248 | { |
- | |
249 | if(I2C_State == I2C_STATE_IDLE) |
- | |
250 | { |
- | |
251 | I2C_TxBufferSize = 0; |
- | |
252 | // set register pointer |
- | |
253 | I2C_TxBuffer[I2C_TxBufferSize++] = REGISTER_DATAX_MSB; |
- | |
254 | // initiate transmission |
- | |
255 | I2C_Transmission(HMC5843_SLAVE_ADDRESS, &HMC5843_UpdateMagVector, sizeof(MagVector)); |
- | |
256 | } |
- | |
257 | } |
- | |
258 | - | ||
259 | void HMC5843_UpdateCompass(void) |
- | |
260 | { |
- | |
261 | static u32 TimerCompassUpdate = 0; |
- | |
262 | - | ||
263 | if( (I2C_State == I2C_STATE_OFF) || !HMC5843_Present ) return; |
- | |
264 | - | ||
265 | if(CheckDelay(TimerCompassUpdate)) |
- | |
266 | { |
- | |
267 | // check for incomming compass calibration request |
- | |
268 | // update CalByte from spi input queue |
- | |
269 | /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte)); |
- | |
270 | // send new calstate |
- | |
271 | if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte) |
- | |
272 | { |
- | |
273 | do the calibration here |
- | |
274 | } |
- | |
275 | else // request current heading */ |
- | |
276 | { |
- | |
277 | HMC5843_GetMagVector(); |
- | |
278 | } |
- | |
279 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
- | |
280 | } |
- | |
281 | } |
340 | |
282 | 341 |