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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + 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 |
35 | // + 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 |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <math.h> |
56 | #include <math.h> |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "i2c1.h" |
61 | #include "i2c1.h" |
62 | #include "i2c0.h" |
62 | #include "i2c0.h" |
63 | 63 | ||
64 | #include "timer1.h" |
64 | #include "timer1.h" |
65 | #include "led.h" |
65 | #include "led.h" |
66 | #include "uart1.h" |
66 | #include "uart1.h" |
67 | #include "eeprom.h" |
67 | #include "eeprom.h" |
68 | #include "mymath.h" |
68 | #include "mymath.h" |
69 | #include "main.h" |
69 | #include "main.h" |
70 | #include "spi_slave.h" |
70 | #include "spi_slave.h" |
71 | 71 | ||
72 | u8 NCMAG_Present = 0; |
72 | u8 NCMAG_Present = 0; |
73 | u8 NCMAG_IsCalibrated = 0; |
73 | u8 NCMAG_IsCalibrated = 0; |
74 | 74 | ||
75 | u8 I2C_CompassPort = 1; |
75 | u8 I2C_CompassPort = 1; |
76 | u8 ExtCompassOrientation = 0; |
76 | u8 ExtCompassOrientation = 0; |
77 | 77 | ||
78 | u8 *I2C_BufferPnt; |
78 | u8 *I2C_BufferPnt; |
79 | u8 *I2C_ErrorPnt; |
79 | u8 *I2C_ErrorPnt; |
80 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
80 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
81 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
81 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
82 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
82 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
83 | 83 | ||
84 | 84 | ||
85 | // supported magnetic sensor types |
85 | // supported magnetic sensor types |
86 | #define TYPE_NONE 0 |
86 | #define TYPE_NONE 0 |
87 | #define TYPE_HMC5843 1 |
87 | #define TYPE_HMC5843 1 |
88 | #define TYPE_LSM303DLH 2 |
88 | #define TYPE_LSM303DLH 2 |
89 | #define TYPE_LSM303DLM 3 |
89 | #define TYPE_LSM303DLM 3 |
90 | 90 | ||
91 | u8 NCMAG_SensorType = TYPE_NONE; |
91 | u8 NCMAG_SensorType = TYPE_NONE; |
92 | 92 | ||
93 | Calibration_t Calibration; // calibration data in RAM |
93 | Calibration_t Calibration; // calibration data in RAM |
94 | volatile s16vec_t AccRawVector; |
94 | volatile s16vec_t AccRawVector; |
95 | volatile s16vec_t MagRawVector; |
95 | volatile s16vec_t MagRawVector; |
96 | 96 | ||
97 | // i2c MAG interface |
97 | // i2c MAG interface |
98 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
98 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
99 | 99 | ||
100 | // register mapping |
100 | // register mapping |
101 | #define REG_MAG_CRA 0x00 |
101 | #define REG_MAG_CRA 0x00 |
102 | #define REG_MAG_CRB 0x01 |
102 | #define REG_MAG_CRB 0x01 |
103 | #define REG_MAG_MODE 0x02 |
103 | #define REG_MAG_MODE 0x02 |
104 | #define REG_MAG_DATAX_MSB 0x03 |
104 | #define REG_MAG_DATAX_MSB 0x03 |
105 | #define REG_MAG_DATAX_LSB 0x04 |
105 | #define REG_MAG_DATAX_LSB 0x04 |
106 | #define REG_MAG_DATAY_MSB 0x05 |
106 | #define REG_MAG_DATAY_MSB 0x05 |
107 | #define REG_MAG_DATAY_LSB 0x06 |
107 | #define REG_MAG_DATAY_LSB 0x06 |
108 | #define REG_MAG_DATAZ_MSB 0x07 |
108 | #define REG_MAG_DATAZ_MSB 0x07 |
109 | #define REG_MAG_DATAZ_LSB 0x08 |
109 | #define REG_MAG_DATAZ_LSB 0x08 |
110 | #define REG_MAG_STATUS 0x09 |
110 | #define REG_MAG_STATUS 0x09 |
111 | 111 | ||
112 | #define REG_MAG_IDA 0x0A |
112 | #define REG_MAG_IDA 0x0A |
113 | #define REG_MAG_IDB 0x0B |
113 | #define REG_MAG_IDB 0x0B |
114 | #define REG_MAG_IDC 0x0C |
114 | #define REG_MAG_IDC 0x0C |
115 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
115 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
116 | 116 | ||
117 | // bit mask for configuration mode |
117 | // bit mask for configuration mode |
118 | #define CRA_MODE_MASK 0x03 |
118 | #define CRA_MODE_MASK 0x03 |
119 | #define CRA_MODE_NORMAL 0x00 //default |
119 | #define CRA_MODE_NORMAL 0x00 //default |
120 | #define CRA_MODE_POSBIAS 0x01 |
120 | #define CRA_MODE_POSBIAS 0x01 |
121 | #define CRA_MODE_NEGBIAS 0x02 |
121 | #define CRA_MODE_NEGBIAS 0x02 |
122 | #define CRA_MODE_SELFTEST 0x03 |
122 | #define CRA_MODE_SELFTEST 0x03 |
123 | 123 | ||
124 | // bit mask for measurement mode |
124 | // bit mask for measurement mode |
125 | #define MODE_MASK 0xFF |
125 | #define MODE_MASK 0xFF |
126 | #define MODE_CONTINUOUS 0x00 |
126 | #define MODE_CONTINUOUS 0x00 |
127 | #define MODE_SINGLE 0x01 // default |
127 | #define MODE_SINGLE 0x01 // default |
128 | #define MODE_IDLE 0x02 |
128 | #define MODE_IDLE 0x02 |
129 | #define MODE_SLEEP 0x03 |
129 | #define MODE_SLEEP 0x03 |
130 | 130 | ||
131 | // bit mask for rate |
131 | // bit mask for rate |
132 | #define CRA_RATE_MASK 0x1C |
132 | #define CRA_RATE_MASK 0x1C |
133 | 133 | ||
134 | // bit mask for gain |
134 | // bit mask for gain |
135 | #define CRB_GAIN_MASK 0xE0 |
135 | #define CRB_GAIN_MASK 0xE0 |
136 | 136 | ||
137 | // ids |
137 | // ids |
138 | #define MAG_IDA 0x48 |
138 | #define MAG_IDA 0x48 |
139 | #define MAG_IDB 0x34 |
139 | #define MAG_IDB 0x34 |
140 | #define MAG_IDC 0x33 |
140 | #define MAG_IDC 0x33 |
141 | #define MAG_IDF_LSM303DLM 0x3C |
141 | #define MAG_IDF_LSM303DLM 0x3C |
142 | 142 | ||
143 | // the special HMC5843 interface |
143 | // the special HMC5843 interface |
144 | // bit mask for rate |
144 | // bit mask for rate |
145 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
145 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
146 | #define HMC5843_CRA_RATE_1HZ 0x04 |
146 | #define HMC5843_CRA_RATE_1HZ 0x04 |
147 | #define HMC5843_CRA_RATE_2HZ 0x08 |
147 | #define HMC5843_CRA_RATE_2HZ 0x08 |
148 | #define HMC5843_CRA_RATE_5HZ 0x0C |
148 | #define HMC5843_CRA_RATE_5HZ 0x0C |
149 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
149 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
150 | #define HMC5843_CRA_RATE_20HZ 0x14 |
150 | #define HMC5843_CRA_RATE_20HZ 0x14 |
151 | #define HMC5843_CRA_RATE_50HZ 0x18 |
151 | #define HMC5843_CRA_RATE_50HZ 0x18 |
152 | // bit mask for gain |
152 | // bit mask for gain |
153 | #define HMC5843_CRB_GAIN_07GA 0x00 |
153 | #define HMC5843_CRB_GAIN_07GA 0x00 |
154 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
154 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
155 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
155 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
156 | #define HMC5843_CRB_GAIN_20GA 0x60 |
156 | #define HMC5843_CRB_GAIN_20GA 0x60 |
157 | #define HMC5843_CRB_GAIN_32GA 0x80 |
157 | #define HMC5843_CRB_GAIN_32GA 0x80 |
158 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
158 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
159 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
159 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
160 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
160 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
161 | // self test value |
161 | // self test value |
162 | #define HMC5843_TEST_XSCALE 555 |
162 | #define HMC5843_TEST_XSCALE 555 |
163 | #define HMC5843_TEST_YSCALE 555 |
163 | #define HMC5843_TEST_YSCALE 555 |
164 | #define HMC5843_TEST_ZSCALE 555 |
164 | #define HMC5843_TEST_ZSCALE 555 |
165 | // calibration range |
165 | // calibration range |
166 | #define HMC5843_CALIBRATION_RANGE 600 |
166 | #define HMC5843_CALIBRATION_RANGE 600 |
167 | 167 | ||
168 | // the special LSM302DLH interface |
168 | // the special LSM302DLH interface |
169 | // bit mask for rate |
169 | // bit mask for rate |
170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
177 | 177 | ||
178 | // bit mask for gain |
178 | // bit mask for gain |
179 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
179 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
180 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
180 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
181 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
181 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
182 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
182 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
183 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
183 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
184 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
184 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
185 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
185 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
186 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
186 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
187 | 187 | ||
188 | typedef struct |
188 | typedef struct |
189 | { |
189 | { |
190 | u8 A; |
190 | u8 A; |
191 | u8 B; |
191 | u8 B; |
192 | u8 C; |
192 | u8 C; |
193 | } __attribute__((packed)) Identification_t; |
193 | } __attribute__((packed)) Identification_t; |
194 | volatile Identification_t NCMAG_Identification; |
194 | volatile Identification_t NCMAG_Identification; |
195 | 195 | ||
196 | typedef struct |
196 | typedef struct |
197 | { |
197 | { |
198 | u8 Sub; |
198 | u8 Sub; |
199 | } __attribute__((packed)) Identification2_t; |
199 | } __attribute__((packed)) Identification2_t; |
200 | volatile Identification2_t NCMAG_Identification2; |
200 | volatile Identification2_t NCMAG_Identification2; |
201 | 201 | ||
202 | typedef struct |
202 | typedef struct |
203 | { |
203 | { |
204 | u8 cra; |
204 | u8 cra; |
205 | u8 crb; |
205 | u8 crb; |
206 | u8 mode; |
206 | u8 mode; |
207 | } __attribute__((packed)) MagConfig_t; |
207 | } __attribute__((packed)) MagConfig_t; |
208 | 208 | ||
209 | volatile MagConfig_t MagConfig; |
209 | volatile MagConfig_t MagConfig; |
210 | 210 | ||
211 | 211 | ||
212 | 212 | ||
213 | 213 | ||
214 | 214 | ||
215 | // self test value |
215 | // self test value |
216 | #define LSM303DLH_TEST_XSCALE 495 |
216 | #define LSM303DLH_TEST_XSCALE 495 |
217 | #define LSM303DLH_TEST_YSCALE 495 |
217 | #define LSM303DLH_TEST_YSCALE 495 |
218 | #define LSM303DLH_TEST_ZSCALE 470 |
218 | #define LSM303DLH_TEST_ZSCALE 470 |
219 | // clibration range |
219 | // clibration range |
220 | #define LSM303_CALIBRATION_RANGE 550 |
220 | #define LSM303_CALIBRATION_RANGE 550 |
221 | 221 | ||
222 | // the i2c ACC interface |
222 | // the i2c ACC interface |
223 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
223 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
224 | 224 | ||
225 | // multiple byte read/write mask |
225 | // multiple byte read/write mask |
226 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
226 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
227 | 227 | ||
228 | // register mapping |
228 | // register mapping |
229 | #define REG_ACC_CTRL1 0x20 |
229 | #define REG_ACC_CTRL1 0x20 |
230 | #define REG_ACC_CTRL2 0x21 |
230 | #define REG_ACC_CTRL2 0x21 |
231 | #define REG_ACC_CTRL3 0x22 |
231 | #define REG_ACC_CTRL3 0x22 |
232 | #define REG_ACC_CTRL4 0x23 |
232 | #define REG_ACC_CTRL4 0x23 |
233 | #define REG_ACC_CTRL5 0x24 |
233 | #define REG_ACC_CTRL5 0x24 |
234 | #define REG_ACC_HP_FILTER_RESET 0x25 |
234 | #define REG_ACC_HP_FILTER_RESET 0x25 |
235 | #define REG_ACC_REFERENCE 0x26 |
235 | #define REG_ACC_REFERENCE 0x26 |
236 | #define REG_ACC_STATUS 0x27 |
236 | #define REG_ACC_STATUS 0x27 |
237 | #define REG_ACC_X_LSB 0x28 |
237 | #define REG_ACC_X_LSB 0x28 |
238 | #define REG_ACC_X_MSB 0x29 |
238 | #define REG_ACC_X_MSB 0x29 |
239 | #define REG_ACC_Y_LSB 0x2A |
239 | #define REG_ACC_Y_LSB 0x2A |
240 | #define REG_ACC_Y_MSB 0x2B |
240 | #define REG_ACC_Y_MSB 0x2B |
241 | #define REG_ACC_Z_LSB 0x2C |
241 | #define REG_ACC_Z_LSB 0x2C |
242 | #define REG_ACC_Z_MSB 0x2D |
242 | #define REG_ACC_Z_MSB 0x2D |
243 | 243 | ||
244 | #define ACC_CRTL1_PM_DOWN 0x00 |
244 | #define ACC_CRTL1_PM_DOWN 0x00 |
245 | #define ACC_CRTL1_PM_NORMAL 0x20 |
245 | #define ACC_CRTL1_PM_NORMAL 0x20 |
246 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
246 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
247 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
247 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
248 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
248 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
249 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
249 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
250 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
250 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
251 | // Output data rate in normal power mode |
251 | // Output data rate in normal power mode |
252 | #define ACC_CRTL1_DR_50HZ 0x00 |
252 | #define ACC_CRTL1_DR_50HZ 0x00 |
253 | #define ACC_CRTL1_DR_100HZ 0x08 |
253 | #define ACC_CRTL1_DR_100HZ 0x08 |
254 | #define ACC_CRTL1_DR_400HZ 0x10 |
254 | #define ACC_CRTL1_DR_400HZ 0x10 |
255 | #define ACC_CRTL1_DR_1000HZ 0x18 |
255 | #define ACC_CRTL1_DR_1000HZ 0x18 |
256 | // axis anable flags |
256 | // axis anable flags |
257 | #define ACC_CRTL1_XEN 0x01 |
257 | #define ACC_CRTL1_XEN 0x01 |
258 | #define ACC_CRTL1_YEN 0x02 |
258 | #define ACC_CRTL1_YEN 0x02 |
259 | #define ACC_CRTL1_ZEN 0x04 |
259 | #define ACC_CRTL1_ZEN 0x04 |
260 | 260 | ||
261 | #define ACC_CRTL2_FILTER8 0x10 |
261 | #define ACC_CRTL2_FILTER8 0x10 |
262 | #define ACC_CRTL2_FILTER16 0x11 |
262 | #define ACC_CRTL2_FILTER16 0x11 |
263 | #define ACC_CRTL2_FILTER32 0x12 |
263 | #define ACC_CRTL2_FILTER32 0x12 |
264 | #define ACC_CRTL2_FILTER64 0x13 |
264 | #define ACC_CRTL2_FILTER64 0x13 |
265 | 265 | ||
266 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
266 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
267 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
267 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
268 | #define ACC_CTRL4_FS_2G 0x00 |
268 | #define ACC_CTRL4_FS_2G 0x00 |
269 | #define ACC_CTRL4_FS_4G 0x10 |
269 | #define ACC_CTRL4_FS_4G 0x10 |
270 | #define ACC_CTRL4_FS_8G 0x30 |
270 | #define ACC_CTRL4_FS_8G 0x30 |
271 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
271 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
272 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
272 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
273 | #define ACC_CTRL4_ST_ENABLE 0x02 |
273 | #define ACC_CTRL4_ST_ENABLE 0x02 |
274 | 274 | ||
275 | #define ACC_CTRL5_STW_ON 0x03 |
275 | #define ACC_CTRL5_STW_ON 0x03 |
276 | #define ACC_CTRL5_STW_OFF 0x00 |
276 | #define ACC_CTRL5_STW_OFF 0x00 |
277 | 277 | ||
278 | typedef struct |
278 | typedef struct |
279 | { |
279 | { |
280 | u8 ctrl_1; |
280 | u8 ctrl_1; |
281 | u8 ctrl_2; |
281 | u8 ctrl_2; |
282 | u8 ctrl_3; |
282 | u8 ctrl_3; |
283 | u8 ctrl_4; |
283 | u8 ctrl_4; |
284 | u8 ctrl_5; |
284 | u8 ctrl_5; |
285 | } __attribute__((packed)) AccConfig_t; |
285 | } __attribute__((packed)) AccConfig_t; |
286 | 286 | ||
287 | volatile AccConfig_t AccConfig; |
287 | volatile AccConfig_t AccConfig; |
288 | 288 | ||
289 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
289 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
290 | { |
290 | { |
291 | u16 address; |
291 | u16 address; |
292 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
292 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
293 | EEPROM_Result_t eres; |
293 | EEPROM_Result_t eres; |
294 | u8 *pBuff = (u8*)&Calibration; |
294 | u8 *pBuff = (u8*)&Calibration; |
295 | Calibration.Version = CALIBRATION_VERSION; |
295 | Calibration.Version = CALIBRATION_VERSION; |
296 | 296 | ||
297 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
297 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
298 | else |
298 | else |
299 | { |
299 | { |
300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
301 | Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
301 | Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
302 | } |
302 | } |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
304 | { |
304 | { |
305 | crc += pBuff[i]; |
305 | crc += pBuff[i]; |
306 | } |
306 | } |
307 | Calibration.crc = ~crc; |
307 | Calibration.crc = ~crc; |
308 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
308 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
310 | else i = 0; |
310 | else i = 0; |
311 | return(i); |
311 | return(i); |
312 | } |
312 | } |
313 | 313 | ||
314 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
314 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
315 | { |
315 | { |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
317 | u8 *pBuff = (u8*)&Calibration; |
317 | u8 *pBuff = (u8*)&Calibration; |
318 | u16 address; |
318 | u16 address; |
319 | 319 | ||
320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
322 | 322 | ||
323 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
323 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
324 | { |
324 | { |
325 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
325 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
326 | { |
326 | { |
327 | crc += pBuff[i]; |
327 | crc += pBuff[i]; |
328 | } |
328 | } |
329 | crc = ~crc; |
329 | crc = ~crc; |
330 | if(Calibration.crc != crc) return(0); // crc mismatch |
330 | if(Calibration.crc != crc) return(0); // crc mismatch |
331 | if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
331 | if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
332 | } |
332 | } |
333 | return(0); |
333 | return(0); |
334 | } |
334 | } |
335 | 335 | ||
336 | 336 | ||
337 | void NCMAG_Calibrate(void) |
337 | void NCMAG_Calibrate(void) |
338 | { |
338 | { |
339 | u8 msg[64]; |
339 | u8 msg[64]; |
340 | static u8 speak = 0; |
340 | static u8 speak = 0; |
341 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
341 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
342 | static s16 X = 0, Y = 0, Z = 0; |
342 | static s16 X = 0, Y = 0, Z = 0; |
343 | static u8 OldCalState = 0; |
343 | static u8 OldCalState = 0; |
344 | s16 MinCalibration = 450; |
344 | s16 MinCalibration = 450; |
345 | 345 | ||
346 | X = (4*X + MagRawVector.X + 3)/5; |
346 | X = (4*X + MagRawVector.X + 3)/5; |
347 | Y = (4*Y + MagRawVector.Y + 3)/5; |
347 | Y = (4*Y + MagRawVector.Y + 3)/5; |
348 | Z = (4*Z + MagRawVector.Z + 3)/5; |
348 | Z = (4*Z + MagRawVector.Z + 3)/5; |
349 | 349 | ||
350 | switch(Compass_CalState) |
350 | switch(Compass_CalState) |
351 | { |
351 | { |
352 | case 1: |
352 | case 1: |
353 | // 1st step of calibration |
353 | // 1st step of calibration |
354 | // initialize ranges |
354 | // initialize ranges |
355 | // used to change the orientation of the NC in the horizontal plane |
355 | // used to change the orientation of the NC in the horizontal plane |
356 | Xmin = 10000; |
356 | Xmin = 10000; |
357 | Xmax = -10000; |
357 | Xmax = -10000; |
358 | Ymin = 10000; |
358 | Ymin = 10000; |
359 | Ymax = -10000; |
359 | Ymax = -10000; |
360 | Zmin = 10000; |
360 | Zmin = 10000; |
361 | Zmax = -10000; |
361 | Zmax = -10000; |
362 | speak = 1; |
362 | speak = 1; |
363 | break; |
363 | break; |
364 | 364 | ||
365 | case 2: // 2nd step of calibration |
365 | case 2: // 2nd step of calibration |
366 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
366 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
367 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
367 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
368 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
368 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
369 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
369 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
370 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
370 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
371 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
371 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
372 | break; |
372 | break; |
373 | 373 | ||
374 | case 3: // 3rd step of calibration |
374 | case 3: // 3rd step of calibration |
375 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
375 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
376 | speak = 1; |
376 | speak = 1; |
377 | break; |
377 | break; |
378 | 378 | ||
379 | case 4: |
379 | case 4: |
380 | // find Min and Max of the Z-Sensor |
380 | // find Min and Max of the Z-Sensor |
381 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
381 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
382 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
382 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
383 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
383 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
384 | break; |
384 | break; |
385 | 385 | ||
386 | case 5: |
386 | case 5: |
387 | // Save values |
387 | // Save values |
388 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
388 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
389 | { |
389 | { |
390 | switch(NCMAG_SensorType) |
390 | switch(NCMAG_SensorType) |
391 | { |
391 | { |
392 | case TYPE_HMC5843: |
392 | case TYPE_HMC5843: |
393 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
393 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
394 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
394 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
395 | break; |
395 | break; |
396 | 396 | ||
397 | case TYPE_LSM303DLH: |
397 | case TYPE_LSM303DLH: |
398 | case TYPE_LSM303DLM: |
398 | case TYPE_LSM303DLM: |
399 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
399 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
400 | MinCalibration = LSM303_CALIBRATION_RANGE; |
400 | MinCalibration = LSM303_CALIBRATION_RANGE; |
401 | break; |
401 | break; |
402 | } |
402 | } |
403 | if(EarthMagneticStrengthTheoretic) |
403 | if(EarthMagneticStrengthTheoretic) |
404 | { |
404 | { |
405 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
405 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
406 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
406 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
407 | UART1_PutString(msg); |
407 | UART1_PutString(msg); |
408 | } |
408 | } |
409 | else UART1_PutString("without GPS\n\r"); |
409 | else UART1_PutString("without GPS\n\r"); |
410 | 410 | ||
411 | Calibration.MagX.Range = Xmax - Xmin; |
411 | Calibration.MagX.Range = Xmax - Xmin; |
412 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
412 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
413 | Calibration.MagY.Range = Ymax - Ymin; |
413 | Calibration.MagY.Range = Ymax - Ymin; |
414 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
414 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
415 | Calibration.MagZ.Range = Zmax - Zmin; |
415 | Calibration.MagZ.Range = Zmax - Zmin; |
416 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
416 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
417 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
417 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
418 | { |
418 | { |
419 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
419 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
420 | BeepTime = 2500; |
420 | BeepTime = 2500; |
421 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
421 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
422 | SpeakHoTT = SPEAK_MIKROKOPTER; |
422 | SpeakHoTT = SPEAK_MIKROKOPTER; |
423 | } |
423 | } |
424 | else |
424 | else |
425 | { |
425 | { |
426 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
426 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
427 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
427 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
428 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
428 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
429 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
429 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
430 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
430 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
431 | UART1_PutString("\r\n"); |
431 | UART1_PutString("\r\n"); |
432 | 432 | ||
433 | // restore old calibration data from eeprom |
433 | // restore old calibration data from eeprom |
434 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
434 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
435 | } |
435 | } |
436 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
436 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
437 | UART1_PutString(msg); |
437 | UART1_PutString(msg); |
438 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
438 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
439 | UART1_PutString(msg); |
439 | UART1_PutString(msg); |
440 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
440 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
441 | UART1_PutString(msg); |
441 | UART1_PutString(msg); |
442 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
442 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
443 | UART1_PutString(msg); |
443 | UART1_PutString(msg); |
444 | } |
444 | } |
445 | break; |
445 | break; |
446 | 446 | ||
447 | default: |
447 | default: |
448 | break; |
448 | break; |
449 | } |
449 | } |
450 | OldCalState = Compass_CalState; |
450 | OldCalState = Compass_CalState; |
451 | } |
451 | } |
452 | 452 | ||
453 | // ---------- call back handlers ----------------------------------------- |
453 | // ---------- call back handlers ----------------------------------------- |
454 | 454 | ||
455 | // rx data handler for id info request |
455 | // rx data handler for id info request |
456 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
456 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
457 | { // if number of bytes are matching |
457 | { // if number of bytes are matching |
458 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
458 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
459 | { |
459 | { |
460 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
460 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
461 | } |
461 | } |
462 | } |
462 | } |
463 | 463 | ||
464 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
464 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
465 | { // if number of bytes are matching |
465 | { // if number of bytes are matching |
466 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
466 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
467 | { |
467 | { |
468 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
468 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
469 | } |
469 | } |
470 | } |
470 | } |
471 | 471 | ||
472 | // rx data handler for magnetic sensor raw data |
472 | // rx data handler for magnetic sensor raw data |
473 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
473 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
474 | { // if number of bytes are matching |
474 | { // if number of bytes are matching |
475 | if(RxBufferSize == sizeof(MagRawVector) ) |
475 | if(RxBufferSize == sizeof(MagRawVector) ) |
476 | { // byte order from big to little endian |
476 | { // byte order from big to little endian |
477 | s16 raw, X = 0, Y = 0, Z = 0; |
477 | s16 raw, X = 0, Y = 0, Z = 0; |
478 | raw = pRxBuffer[0]<<8; |
478 | raw = pRxBuffer[0]<<8; |
479 | raw+= pRxBuffer[1]; |
479 | raw+= pRxBuffer[1]; |
480 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
480 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
481 | raw = pRxBuffer[2]<<8; |
481 | raw = pRxBuffer[2]<<8; |
482 | raw+= pRxBuffer[3]; |
482 | raw+= pRxBuffer[3]; |
483 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
483 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
484 | { |
484 | { |
485 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
485 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
486 | else Y = raw; |
486 | else Y = raw; |
487 | } |
487 | } |
488 | raw = pRxBuffer[4]<<8; |
488 | raw = pRxBuffer[4]<<8; |
489 | raw+= pRxBuffer[5]; |
489 | raw+= pRxBuffer[5]; |
490 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
490 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
491 | { |
491 | { |
492 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
492 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
493 | else Z = raw; |
493 | else Z = raw; |
494 | } |
494 | } |
495 | switch(ExtCompassOrientation) |
495 | switch(ExtCompassOrientation) |
496 | { |
496 | { |
497 | case 0: |
497 | case 0: |
498 | case 1: |
498 | case 1: |
499 | default: |
499 | default: |
500 | MagRawVector.X = X; |
500 | MagRawVector.X = X; |
501 | MagRawVector.Y = Y; |
501 | MagRawVector.Y = Y; |
502 | MagRawVector.Z = Z; |
502 | MagRawVector.Z = Z; |
503 | break; |
503 | break; |
504 | case 2: |
504 | case 2: |
505 | MagRawVector.X = -X; |
505 | MagRawVector.X = -X; |
506 | MagRawVector.Y = Y; |
506 | MagRawVector.Y = Y; |
507 | MagRawVector.Z = -Z; |
507 | MagRawVector.Z = -Z; |
508 | break; |
508 | break; |
509 | case 3: |
509 | case 3: |
510 | MagRawVector.X = -Z; |
510 | MagRawVector.X = -Z; |
511 | MagRawVector.Y = Y; |
511 | MagRawVector.Y = Y; |
512 | MagRawVector.Z = X; |
512 | MagRawVector.Z = X; |
513 | break; |
513 | break; |
514 | case 4: |
514 | case 4: |
515 | MagRawVector.X = Z; |
515 | MagRawVector.X = Z; |
516 | MagRawVector.Y = Y; |
516 | MagRawVector.Y = Y; |
517 | MagRawVector.Z = -X; |
517 | MagRawVector.Z = -X; |
518 | break; |
518 | break; |
519 | case 5: |
519 | case 5: |
520 | MagRawVector.X = X; |
520 | MagRawVector.X = X; |
521 | MagRawVector.Y = -Z; |
521 | MagRawVector.Y = -Z; |
522 | MagRawVector.Z = Y; |
522 | MagRawVector.Z = Y; |
523 | break; |
523 | break; |
524 | case 6: |
524 | case 6: |
525 | MagRawVector.X = -X; |
525 | MagRawVector.X = -X; |
526 | MagRawVector.Y = -Z; |
526 | MagRawVector.Y = -Z; |
527 | MagRawVector.Z = -Y; |
527 | MagRawVector.Z = -Y; |
528 | break; |
528 | break; |
529 | } |
529 | } |
530 | } |
530 | } |
531 | if(Compass_CalState || !NCMAG_IsCalibrated) |
531 | if(Compass_CalState || !NCMAG_IsCalibrated) |
532 | { // mark out data invalid |
532 | { // mark out data invalid |
533 | MagVector.X = MagRawVector.X; |
533 | MagVector.X = MagRawVector.X; |
534 | MagVector.Y = MagRawVector.Y; |
534 | MagVector.Y = MagRawVector.Y; |
535 | MagVector.Z = MagRawVector.Z; |
535 | MagVector.Z = MagRawVector.Z; |
536 | Compass_Heading = -1; |
536 | Compass_Heading = -1; |
537 | } |
537 | } |
538 | else |
538 | else |
539 | { |
539 | { |
540 | // update MagVector from MagRaw Vector by Scaling |
540 | // update MagVector from MagRaw Vector by Scaling |
541 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
541 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
542 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
542 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
543 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
543 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
544 | Compass_CalcHeading(); |
544 | Compass_CalcHeading(); |
545 | } |
545 | } |
546 | } |
546 | } |
547 | // rx data handler for acceleration raw data |
547 | // rx data handler for acceleration raw data |
548 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
548 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
549 | { // if number of byte are matching |
549 | { // if number of byte are matching |
550 | if(RxBufferSize == sizeof(AccRawVector) ) |
550 | if(RxBufferSize == sizeof(AccRawVector) ) |
551 | { |
551 | { |
552 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
552 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
553 | } |
553 | } |
554 | } |
554 | } |
555 | 555 | ||
556 | u8 GetExtCompassOrientation(void) |
556 | u8 GetExtCompassOrientation(void) |
557 | { |
557 | { |
558 | if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
558 | if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
559 | if(abs(FromFlightCtrl.AngleNick) > 300) return(0); // MK tilted |
559 | if(abs(FromFlightCtrl.AngleNick) > 300) return(0); // MK tilted |
560 | if(abs(FromFlightCtrl.AngleRoll) > 300) return(0); |
560 | if(abs(FromFlightCtrl.AngleRoll) > 300) return(0); |
561 | 561 | ||
562 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
562 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
563 | else |
563 | else |
564 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
564 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
565 | else |
565 | else |
566 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
566 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
567 | else |
567 | else |
568 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
568 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
569 | else |
569 | else |
570 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
570 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
571 | else |
571 | else |
572 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
572 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
573 | return(0); |
573 | return(0); |
574 | } |
574 | } |
575 | 575 | ||
576 | // rx data handler for reading magnetic sensor configuration |
576 | // rx data handler for reading magnetic sensor configuration |
577 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
577 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
578 | { // if number of byte are matching |
578 | { // if number of byte are matching |
579 | if(RxBufferSize == sizeof(MagConfig) ) |
579 | if(RxBufferSize == sizeof(MagConfig) ) |
580 | { |
580 | { |
581 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
581 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
582 | } |
582 | } |
583 | } |
583 | } |
584 | // rx data handler for reading acceleration sensor configuration |
584 | // rx data handler for reading acceleration sensor configuration |
585 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
585 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
586 | { // if number of byte are matching |
586 | { // if number of byte are matching |
587 | if(RxBufferSize == sizeof(AccConfig) ) |
587 | if(RxBufferSize == sizeof(AccConfig) ) |
588 | { |
588 | { |
589 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
589 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
590 | } |
590 | } |
591 | } |
591 | } |
592 | //---------------------------------------------------------------------- |
592 | //---------------------------------------------------------------------- |
593 | 593 | ||
594 | 594 | ||
595 | // --------------------------------------------------------------------- |
595 | // --------------------------------------------------------------------- |
596 | u8 NCMAG_SetMagConfig(void) |
596 | u8 NCMAG_SetMagConfig(void) |
597 | { |
597 | { |
598 | u8 retval = 0; |
598 | u8 retval = 0; |
599 | // try to catch the i2c buffer within 100 ms timeout |
599 | // try to catch the i2c buffer within 100 ms timeout |
600 | if(I2C_LockBufferFunc(100)) |
600 | if(I2C_LockBufferFunc(100)) |
601 | { |
601 | { |
602 | u8 TxBytes = 0; |
602 | u8 TxBytes = 0; |
603 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
603 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
604 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
604 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
605 | TxBytes += sizeof(MagConfig); |
605 | TxBytes += sizeof(MagConfig); |
606 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
606 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
607 | { |
607 | { |
608 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
608 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
609 | { |
609 | { |
610 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
610 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
611 | } |
611 | } |
612 | } |
612 | } |
613 | } |
613 | } |
614 | return(retval); |
614 | return(retval); |
615 | } |
615 | } |
616 | 616 | ||
617 | // ---------------------------------------------------------------------------------------- |
617 | // ---------------------------------------------------------------------------------------- |
618 | u8 NCMAG_GetMagConfig(void) |
618 | u8 NCMAG_GetMagConfig(void) |
619 | { |
619 | { |
620 | u8 retval = 0; |
620 | u8 retval = 0; |
621 | // try to catch the i2c buffer within 100 ms timeout |
621 | // try to catch the i2c buffer within 100 ms timeout |
622 | if(I2C_LockBufferFunc(100)) |
622 | if(I2C_LockBufferFunc(100)) |
623 | { |
623 | { |
624 | u8 TxBytes = 0; |
624 | u8 TxBytes = 0; |
625 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
625 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
626 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
626 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
627 | { |
627 | { |
628 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
628 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
629 | { |
629 | { |
630 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
630 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
631 | } |
631 | } |
632 | } |
632 | } |
633 | } |
633 | } |
634 | return(retval); |
634 | return(retval); |
635 | } |
635 | } |
636 | 636 | ||
637 | // ---------------------------------------------------------------------------------------- |
637 | // ---------------------------------------------------------------------------------------- |
638 | u8 NCMAG_SetAccConfig(void) |
638 | u8 NCMAG_SetAccConfig(void) |
639 | { |
639 | { |
640 | u8 retval = 0; |
640 | u8 retval = 0; |
641 | // try to catch the i2c buffer within 100 ms timeout |
641 | // try to catch the i2c buffer within 100 ms timeout |
642 | if(I2C_LockBufferFunc(50)) |
642 | if(I2C_LockBufferFunc(50)) |
643 | { |
643 | { |
644 | u8 TxBytes = 0; |
644 | u8 TxBytes = 0; |
645 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
645 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
646 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
646 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
647 | TxBytes += sizeof(AccConfig); |
647 | TxBytes += sizeof(AccConfig); |
648 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
648 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
649 | { |
649 | { |
650 | if(I2C_WaitForEndOfTransmissionFunc(50)) |
650 | if(I2C_WaitForEndOfTransmissionFunc(50)) |
651 | { |
651 | { |
652 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
652 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
653 | } |
653 | } |
654 | } |
654 | } |
655 | } |
655 | } |
656 | return(retval); |
656 | return(retval); |
657 | } |
657 | } |
658 | 658 | ||
659 | // ---------------------------------------------------------------------------------------- |
659 | // ---------------------------------------------------------------------------------------- |
660 | u8 NCMAG_GetAccConfig(void) |
660 | u8 NCMAG_GetAccConfig(void) |
661 | { |
661 | { |
662 | u8 retval = 0; |
662 | u8 retval = 0; |
663 | // try to catch the i2c buffer within 100 ms timeout |
663 | // try to catch the i2c buffer within 100 ms timeout |
664 | if(I2C_LockBufferFunc(100)) |
664 | if(I2C_LockBufferFunc(100)) |
665 | { |
665 | { |
666 | u8 TxBytes = 0; |
666 | u8 TxBytes = 0; |
667 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
667 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
668 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
668 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
669 | { |
669 | { |
670 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
670 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
671 | { |
671 | { |
672 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
672 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
673 | } |
673 | } |
674 | } |
674 | } |
675 | } |
675 | } |
676 | return(retval); |
676 | return(retval); |
677 | } |
677 | } |
678 | 678 | ||
679 | // ---------------------------------------------------------------------------------------- |
679 | // ---------------------------------------------------------------------------------------- |
680 | u8 NCMAG_GetIdentification(void) |
680 | u8 NCMAG_GetIdentification(void) |
681 | { |
681 | { |
682 | u8 retval = 0; |
682 | u8 retval = 0; |
683 | // try to catch the i2c buffer within 100 ms timeout |
683 | // try to catch the i2c buffer within 100 ms timeout |
684 | if(I2C_LockBufferFunc(100)) |
684 | if(I2C_LockBufferFunc(100)) |
685 | { |
685 | { |
686 | u16 TxBytes = 0; |
686 | u16 TxBytes = 0; |
687 | NCMAG_Identification.A = 0xFF; |
687 | NCMAG_Identification.A = 0xFF; |
688 | NCMAG_Identification.B = 0xFF; |
688 | NCMAG_Identification.B = 0xFF; |
689 | NCMAG_Identification.C = 0xFF; |
689 | NCMAG_Identification.C = 0xFF; |
690 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
690 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
691 | // initiate transmission |
691 | // initiate transmission |
692 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
692 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
693 | { |
693 | { |
694 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
694 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
695 | { |
695 | { |
696 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
696 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
697 | } |
697 | } |
698 | } |
698 | } |
699 | } |
699 | } |
700 | return(retval); |
700 | return(retval); |
701 | } |
701 | } |
702 | 702 | ||
703 | u8 NCMAG_GetIdentification_Sub(void) |
703 | u8 NCMAG_GetIdentification_Sub(void) |
704 | { |
704 | { |
705 | u8 retval = 0; |
705 | u8 retval = 0; |
706 | // try to catch the i2c buffer within 100 ms timeout |
706 | // try to catch the i2c buffer within 100 ms timeout |
707 | if(I2C_LockBufferFunc(100)) |
707 | if(I2C_LockBufferFunc(100)) |
708 | { |
708 | { |
709 | u16 TxBytes = 0; |
709 | u16 TxBytes = 0; |
710 | NCMAG_Identification2.Sub = 0xFF; |
710 | NCMAG_Identification2.Sub = 0xFF; |
711 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
711 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
712 | // initiate transmission |
712 | // initiate transmission |
713 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
713 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
714 | { |
714 | { |
715 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
715 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
716 | { |
716 | { |
717 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
717 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
718 | } |
718 | } |
719 | } |
719 | } |
720 | } |
720 | } |
721 | return(retval); |
721 | return(retval); |
722 | } |
722 | } |
723 | 723 | ||
724 | 724 | ||
725 | // ---------------------------------------------------------------------------------------- |
725 | // ---------------------------------------------------------------------------------------- |
726 | void NCMAG_GetMagVector(void) |
726 | void NCMAG_GetMagVector(void) |
727 | { |
727 | { |
728 | // try to catch the I2C buffer within 0 ms |
728 | // try to catch the I2C buffer within 0 ms |
729 | if(I2C_LockBufferFunc(0)) |
729 | if(I2C_LockBufferFunc(0)) |
730 | { |
730 | { |
731 | u16 TxBytes = 0; |
731 | u16 TxBytes = 0; |
732 | // set register pointer |
732 | // set register pointer |
733 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
733 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
734 | // initiate transmission |
734 | // initiate transmission |
735 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
735 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
736 | } |
736 | } |
737 | } |
737 | } |
738 | 738 | ||
739 | //---------------------------------------------------------------- |
739 | //---------------------------------------------------------------- |
740 | void NCMAG_GetAccVector(u8 timeout) |
740 | void NCMAG_GetAccVector(u8 timeout) |
741 | { |
741 | { |
742 | // try to catch the I2C buffer within 0 ms |
742 | // try to catch the I2C buffer within 0 ms |
743 | if(I2C_LockBufferFunc(timeout)) |
743 | if(I2C_LockBufferFunc(timeout)) |
744 | { |
744 | { |
745 | u16 TxBytes = 0; |
745 | u16 TxBytes = 0; |
746 | // set register pointer |
746 | // set register pointer |
747 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
747 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
748 | // initiate transmission |
748 | // initiate transmission |
749 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
749 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
750 | //DebugOut.Analog[16] = AccRawVector.X; |
750 | //DebugOut.Analog[16] = AccRawVector.X; |
751 | //DebugOut.Analog[17] = AccRawVector.Y; |
751 | //DebugOut.Analog[17] = AccRawVector.Y; |
752 | //DebugOut.Analog[18] = AccRawVector.Z; |
752 | //DebugOut.Analog[18] = AccRawVector.Z; |
753 | } |
753 | } |
754 | } |
754 | } |
755 | 755 | ||
756 | //---------------------------------------------------------------- |
756 | //---------------------------------------------------------------- |
757 | u8 InitNC_MagnetSensor(void) |
757 | u8 InitNC_MagnetSensor(void) |
758 | { |
758 | { |
759 | u8 crb_gain, cra_rate; |
759 | u8 crb_gain, cra_rate; |
760 | 760 | ||
761 | switch(NCMAG_SensorType) |
761 | switch(NCMAG_SensorType) |
762 | { |
762 | { |
763 | case TYPE_HMC5843: |
763 | case TYPE_HMC5843: |
764 | crb_gain = HMC5843_CRB_GAIN_15GA; |
764 | crb_gain = HMC5843_CRB_GAIN_15GA; |
765 | cra_rate = HMC5843_CRA_RATE_50HZ; |
765 | cra_rate = HMC5843_CRA_RATE_50HZ; |
766 | break; |
766 | break; |
767 | 767 | ||
768 | case TYPE_LSM303DLH: |
768 | case TYPE_LSM303DLH: |
769 | case TYPE_LSM303DLM: |
769 | case TYPE_LSM303DLM: |
770 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
770 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
771 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
771 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
772 | break; |
772 | break; |
773 | 773 | ||
774 | default: |
774 | default: |
775 | return(0); |
775 | return(0); |
776 | } |
776 | } |
777 | 777 | ||
778 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
778 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
779 | MagConfig.crb = crb_gain; |
779 | MagConfig.crb = crb_gain; |
780 | MagConfig.mode = MODE_CONTINUOUS; |
780 | MagConfig.mode = MODE_CONTINUOUS; |
781 | return(NCMAG_SetMagConfig()); |
781 | return(NCMAG_SetMagConfig()); |
782 | } |
782 | } |
783 | 783 | ||
784 | 784 | ||
785 | //---------------------------------------------------------------- |
785 | //---------------------------------------------------------------- |
786 | u8 NCMAG_Init_ACCSensor(void) |
786 | u8 NCMAG_Init_ACCSensor(void) |
787 | { |
787 | { |
788 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
788 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
789 | AccConfig.ctrl_2 = 0; |
789 | AccConfig.ctrl_2 = 0; |
790 | AccConfig.ctrl_3 = 0x00; |
790 | AccConfig.ctrl_3 = 0x00; |
791 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
791 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
792 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
792 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
793 | return(NCMAG_SetAccConfig()); |
793 | return(NCMAG_SetAccConfig()); |
794 | } |
794 | } |
795 | // -------------------------------------------------------- |
795 | // -------------------------------------------------------- |
796 | void NCMAG_Update(void) |
796 | void NCMAG_Update(void) |
797 | { |
797 | { |
798 | static u32 TimerUpdate = 0; |
798 | static u32 TimerUpdate = 0; |
799 | static s8 send_config = 0; |
799 | static s8 send_config = 0; |
800 | u32 delay = 20; |
800 | u32 delay = 20; |
801 | // todo State Handling for both busses !! |
801 | // todo State Handling for both busses !! |
802 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF) || !NCMAG_Present ) |
802 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF) || !NCMAG_Present ) |
803 | { |
803 | { |
804 | Compass_Heading = -1; |
804 | Compass_Heading = -1; |
805 | DebugOut.Analog[14]++; // count I2C error |
805 | DebugOut.Analog[14]++; // count I2C error |
806 | return; |
806 | return; |
807 | } |
807 | } |
808 | if(CheckDelay(TimerUpdate)) |
808 | if(CheckDelay(TimerUpdate)) |
809 | { |
809 | { |
810 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
810 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
811 | if(++send_config == 25) // 500ms |
811 | if(++send_config == 25) // 500ms |
812 | { |
812 | { |
813 | send_config = -25; // next try after 1 second |
813 | send_config = -25; // next try after 1 second |
814 | InitNC_MagnetSensor(); |
814 | InitNC_MagnetSensor(); |
815 | TimerUpdate = SetDelay(20); // back into the old time-slot |
815 | TimerUpdate = SetDelay(20); // back into the old time-slot |
816 | } |
816 | } |
817 | else |
817 | else |
818 | { |
818 | { |
819 | static u8 s = 0; |
819 | static u8 s = 0; |
820 | // check for new calibration state |
820 | // check for new calibration state |
821 | Compass_UpdateCalState(); |
821 | Compass_UpdateCalState(); |
822 | if(Compass_CalState) NCMAG_Calibrate(); |
822 | if(Compass_CalState) NCMAG_Calibrate(); |
823 | 823 | ||
824 | // in case of LSM303 type |
824 | // in case of LSM303 type |
825 | switch(NCMAG_SensorType) |
825 | switch(NCMAG_SensorType) |
826 | { |
826 | { |
827 | case TYPE_HMC5843: |
827 | case TYPE_HMC5843: |
828 | NCMAG_GetMagVector(); |
828 | NCMAG_GetMagVector(); |
829 | delay = 20; |
829 | delay = 20; |
830 | break; |
830 | break; |
831 | case TYPE_LSM303DLH: |
831 | case TYPE_LSM303DLH: |
832 | case TYPE_LSM303DLM: |
832 | case TYPE_LSM303DLM: |
833 | delay = 20; |
833 | delay = 20; |
834 | if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
834 | if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
835 | else |
835 | else |
836 | { |
836 | { |
837 | if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
837 | if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
838 | NCMAG_GetAccVector(0); |
838 | NCMAG_GetAccVector(0); |
839 | delay = 3; |
839 | delay = 10; |
840 | s = 50; |
840 | s = 40; // about 0,8 sec |
841 | }; |
841 | }; |
842 | - | ||
- | 842 | if(!s) delay = 10; // ACC-Reading in the next step after 10ms |
|
843 | break; |
843 | break; |
844 | } |
844 | } |
845 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
845 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
846 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
846 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
847 | } |
847 | } |
848 | } |
848 | } |
849 | } |
849 | } |
850 | 850 | ||
851 | 851 | ||
852 | // -------------------------------------------------------- |
852 | // -------------------------------------------------------- |
853 | u8 NCMAG_SelfTest(void) |
853 | u8 NCMAG_SelfTest(void) |
854 | { |
854 | { |
855 | u8 msg[64]; |
855 | u8 msg[64]; |
856 | static u8 done = 0; |
856 | static u8 done = 0; |
857 | 857 | ||
858 | if(done) return(1); // just make it once |
858 | if(done) return(1); // just make it once |
859 | 859 | ||
860 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
860 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
861 | u32 time; |
861 | u32 time; |
862 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
862 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
863 | s16 xscale, yscale, zscale, scale_min, scale_max; |
863 | s16 xscale, yscale, zscale, scale_min, scale_max; |
864 | u8 crb_gain, cra_rate; |
864 | u8 crb_gain, cra_rate; |
865 | u8 i = 0, retval = 1; |
865 | u8 i = 0, retval = 1; |
866 | 866 | ||
867 | switch(NCMAG_SensorType) |
867 | switch(NCMAG_SensorType) |
868 | { |
868 | { |
869 | case TYPE_HMC5843: |
869 | case TYPE_HMC5843: |
870 | crb_gain = HMC5843_CRB_GAIN_15GA; |
870 | crb_gain = HMC5843_CRB_GAIN_15GA; |
871 | cra_rate = HMC5843_CRA_RATE_50HZ; |
871 | cra_rate = HMC5843_CRA_RATE_50HZ; |
872 | xscale = HMC5843_TEST_XSCALE; |
872 | xscale = HMC5843_TEST_XSCALE; |
873 | yscale = HMC5843_TEST_YSCALE; |
873 | yscale = HMC5843_TEST_YSCALE; |
874 | zscale = HMC5843_TEST_ZSCALE; |
874 | zscale = HMC5843_TEST_ZSCALE; |
875 | break; |
875 | break; |
876 | 876 | ||
877 | case TYPE_LSM303DLH: |
877 | case TYPE_LSM303DLH: |
878 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
878 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
879 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
879 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
880 | xscale = LSM303DLH_TEST_XSCALE; |
880 | xscale = LSM303DLH_TEST_XSCALE; |
881 | yscale = LSM303DLH_TEST_YSCALE; |
881 | yscale = LSM303DLH_TEST_YSCALE; |
882 | zscale = LSM303DLH_TEST_ZSCALE; |
882 | zscale = LSM303DLH_TEST_ZSCALE; |
883 | break; |
883 | break; |
884 | 884 | ||
885 | case TYPE_LSM303DLM: |
885 | case TYPE_LSM303DLM: |
886 | // does not support self test feature |
886 | // does not support self test feature |
887 | done = retval; |
887 | done = retval; |
888 | return(retval); |
888 | return(retval); |
889 | break; |
889 | break; |
890 | 890 | ||
891 | default: |
891 | default: |
892 | return(0); |
892 | return(0); |
893 | } |
893 | } |
894 | 894 | ||
895 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
895 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
896 | MagConfig.crb = crb_gain; |
896 | MagConfig.crb = crb_gain; |
897 | MagConfig.mode = MODE_CONTINUOUS; |
897 | MagConfig.mode = MODE_CONTINUOUS; |
898 | // activate positive bias field |
898 | // activate positive bias field |
899 | NCMAG_SetMagConfig(); |
899 | NCMAG_SetMagConfig(); |
900 | // wait for stable readings |
900 | // wait for stable readings |
901 | time = SetDelay(50); |
901 | time = SetDelay(50); |
902 | while(!CheckDelay(time)); |
902 | while(!CheckDelay(time)); |
903 | // averaging |
903 | // averaging |
904 | #define AVERAGE 20 |
904 | #define AVERAGE 20 |
905 | for(i = 0; i<AVERAGE; i++) |
905 | for(i = 0; i<AVERAGE; i++) |
906 | { |
906 | { |
907 | NCMAG_GetMagVector(); |
907 | NCMAG_GetMagVector(); |
908 | time = SetDelay(20); |
908 | time = SetDelay(20); |
909 | while(!CheckDelay(time)); |
909 | while(!CheckDelay(time)); |
910 | XMax += MagRawVector.X; |
910 | XMax += MagRawVector.X; |
911 | YMax += MagRawVector.Y; |
911 | YMax += MagRawVector.Y; |
912 | ZMax += MagRawVector.Z; |
912 | ZMax += MagRawVector.Z; |
913 | } |
913 | } |
914 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
914 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
915 | // activate positive bias field |
915 | // activate positive bias field |
916 | NCMAG_SetMagConfig(); |
916 | NCMAG_SetMagConfig(); |
917 | // wait for stable readings |
917 | // wait for stable readings |
918 | time = SetDelay(50); |
918 | time = SetDelay(50); |
919 | while(!CheckDelay(time)); |
919 | while(!CheckDelay(time)); |
920 | // averaging |
920 | // averaging |
921 | for(i = 0; i < AVERAGE; i++) |
921 | for(i = 0; i < AVERAGE; i++) |
922 | { |
922 | { |
923 | NCMAG_GetMagVector(); |
923 | NCMAG_GetMagVector(); |
924 | time = SetDelay(20); |
924 | time = SetDelay(20); |
925 | while(!CheckDelay(time)); |
925 | while(!CheckDelay(time)); |
926 | XMin += MagRawVector.X; |
926 | XMin += MagRawVector.X; |
927 | YMin += MagRawVector.Y; |
927 | YMin += MagRawVector.Y; |
928 | ZMin += MagRawVector.Z; |
928 | ZMin += MagRawVector.Z; |
929 | } |
929 | } |
930 | // setup final configuration |
930 | // setup final configuration |
931 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
931 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
932 | // activate positive bias field |
932 | // activate positive bias field |
933 | NCMAG_SetMagConfig(); |
933 | NCMAG_SetMagConfig(); |
934 | // check scale for all axes |
934 | // check scale for all axes |
935 | // prepare scale limits |
935 | // prepare scale limits |
936 | LIMITS(xscale, scale_min, scale_max); |
936 | LIMITS(xscale, scale_min, scale_max); |
937 | xscale = (XMax - XMin)/(2*AVERAGE); |
937 | xscale = (XMax - XMin)/(2*AVERAGE); |
938 | if((xscale > scale_max) || (xscale < scale_min)) |
938 | if((xscale > scale_max) || (xscale < scale_min)) |
939 | { |
939 | { |
940 | retval = 0; |
940 | retval = 0; |
941 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
941 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
942 | UART1_PutString(msg); |
942 | UART1_PutString(msg); |
943 | } |
943 | } |
944 | LIMITS(yscale, scale_min, scale_max); |
944 | LIMITS(yscale, scale_min, scale_max); |
945 | yscale = (YMax - YMin)/(2*AVERAGE); |
945 | yscale = (YMax - YMin)/(2*AVERAGE); |
946 | if((yscale > scale_max) || (yscale < scale_min)) |
946 | if((yscale > scale_max) || (yscale < scale_min)) |
947 | { |
947 | { |
948 | retval = 0; |
948 | retval = 0; |
949 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
949 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
950 | UART1_PutString(msg); |
950 | UART1_PutString(msg); |
951 | } |
951 | } |
952 | LIMITS(zscale, scale_min, scale_max); |
952 | LIMITS(zscale, scale_min, scale_max); |
953 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
953 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
954 | if((zscale > scale_max) || (zscale < scale_min)) |
954 | if((zscale > scale_max) || (zscale < scale_min)) |
955 | { |
955 | { |
956 | retval = 0; |
956 | retval = 0; |
957 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
957 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
958 | UART1_PutString(msg); |
958 | UART1_PutString(msg); |
959 | } |
959 | } |
960 | done = retval; |
960 | done = retval; |
961 | return(retval); |
961 | return(retval); |
962 | } |
962 | } |
963 | 963 | ||
964 | 964 | ||
965 | //---------------------------------------------------------------- |
965 | //---------------------------------------------------------------- |
966 | void NCMAG_SelectI2CBus(u8 busno) |
966 | void NCMAG_SelectI2CBus(u8 busno) |
967 | { |
967 | { |
968 | if (busno == 0) |
968 | if (busno == 0) |
969 | { |
969 | { |
970 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
970 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
971 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
971 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
972 | I2C_TransmissionFunc = &I2C0_Transmission; |
972 | I2C_TransmissionFunc = &I2C0_Transmission; |
973 | I2C_BufferPnt = I2C0_Buffer; |
973 | I2C_BufferPnt = I2C0_Buffer; |
974 | I2C_ErrorPnt = &I2C0_Error; |
974 | I2C_ErrorPnt = &I2C0_Error; |
975 | } |
975 | } |
976 | else |
976 | else |
977 | { |
977 | { |
978 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
978 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
979 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
979 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
980 | I2C_TransmissionFunc = &I2C1_Transmission; |
980 | I2C_TransmissionFunc = &I2C1_Transmission; |
981 | I2C_BufferPnt = I2C1_Buffer; |
981 | I2C_BufferPnt = I2C1_Buffer; |
982 | I2C_ErrorPnt = &I2C1_Error; |
982 | I2C_ErrorPnt = &I2C1_Error; |
983 | } |
983 | } |
984 | } |
984 | } |
985 | 985 | ||
986 | //---------------------------------------------------------------- |
986 | //---------------------------------------------------------------- |
987 | u8 NCMAG_Init(void) |
987 | u8 NCMAG_Init(void) |
988 | { |
988 | { |
989 | u8 msg[64]; |
989 | u8 msg[64]; |
990 | u8 retval = 0; |
990 | u8 retval = 0; |
991 | u8 repeat; |
991 | u8 repeat; |
992 | 992 | ||
993 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
993 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
994 | // Search external sensor |
994 | // Search external sensor |
995 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
995 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
996 | I2C_CompassPort = I2C_EXTERN_0; |
996 | I2C_CompassPort = I2C_EXTERN_0; |
997 | NCMAG_SelectI2CBus(I2C_CompassPort); |
997 | NCMAG_SelectI2CBus(I2C_CompassPort); |
998 | 998 | ||
999 | // get id bytes |
999 | // get id bytes |
1000 | retval = 0; |
1000 | retval = 0; |
1001 | do |
1001 | do |
1002 | { |
1002 | { |
1003 | // retval = NCMAG_GetIdentification(); |
1003 | // retval = NCMAG_GetIdentification(); |
1004 | retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
1004 | retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
1005 | if(retval) break; // break loop on success |
1005 | if(retval) break; // break loop on success |
1006 | // UART1_PutString("+"); |
1006 | // UART1_PutString("+"); |
1007 | repeat++; |
1007 | repeat++; |
1008 | } while(repeat < 5); |
1008 | } while(repeat < 5); |
1009 | 1009 | ||
1010 | if(!retval) |
1010 | if(!retval) |
1011 | { |
1011 | { |
1012 | UART1_PutString(" internal sensor"); |
1012 | UART1_PutString(" internal sensor"); |
1013 | I2C_CompassPort = I2C_INTERN_1; |
1013 | I2C_CompassPort = I2C_INTERN_1; |
1014 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1014 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1015 | } |
1015 | } |
1016 | else |
1016 | else |
1017 | { |
1017 | { |
1018 | UART1_PutString(" external sensor "); |
1018 | UART1_PutString(" external sensor "); |
1019 | NCMAG_Init_ACCSensor(); |
1019 | NCMAG_Init_ACCSensor(); |
1020 | 1020 | ||
1021 | for(repeat = 0; repeat < 100; repeat++) |
1021 | for(repeat = 0; repeat < 100; repeat++) |
1022 | { |
1022 | { |
1023 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1023 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1024 | ExtCompassOrientation = GetExtCompassOrientation(); |
1024 | ExtCompassOrientation = GetExtCompassOrientation(); |
1025 | if(ExtCompassOrientation) break; |
1025 | if(ExtCompassOrientation) break; |
1026 | } |
1026 | } |
1027 | //DebugOut.Analog[19] = repeat; |
1027 | //DebugOut.Analog[19] = repeat; |
1028 | 1028 | ||
1029 | if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
1029 | if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
1030 | else |
1030 | else |
1031 | { |
1031 | { |
1032 | NCMag_CalibrationRead(I2C_CompassPort); |
1032 | NCMag_CalibrationRead(I2C_CompassPort); |
1033 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
1033 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
1034 | UART1_PutString(msg); |
1034 | UART1_PutString(msg); |
1035 | if(ExtCompassOrientation != Calibration.Version / 16) |
1035 | if(ExtCompassOrientation != Calibration.Version / 16) |
1036 | { |
1036 | { |
1037 | sprintf(msg, "\n\r! Warining: calibrated orientation was %d !",Calibration.Version / 16); |
1037 | sprintf(msg, "\n\r! Warining: calibrated orientation was %d !",Calibration.Version / 16); |
1038 | UART1_PutString(msg); |
1038 | UART1_PutString(msg); |
1039 | } |
1039 | } |
1040 | else UART1_PutString("ok"); |
1040 | else UART1_PutString("ok"); |
1041 | } |
1041 | } |
1042 | 1042 | ||
1043 | } |
1043 | } |
1044 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1044 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1045 | 1045 | ||
1046 | NCMAG_Present = 0; |
1046 | NCMAG_Present = 0; |
1047 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1047 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1048 | // polling for LSM302DLH/DLM option by ACC address ack |
1048 | // polling for LSM302DLH/DLM option by ACC address ack |
1049 | repeat = 0; |
1049 | repeat = 0; |
1050 | do |
1050 | do |
1051 | { |
1051 | { |
1052 | retval = NCMAG_GetAccConfig(); |
1052 | retval = NCMAG_GetAccConfig(); |
1053 | if(retval) break; // break loop on success |
1053 | if(retval) break; // break loop on success |
1054 | // UART1_PutString("*"); |
1054 | // UART1_PutString("*"); |
1055 | repeat++; |
1055 | repeat++; |
1056 | } while(repeat < 3); |
1056 | } while(repeat < 3); |
1057 | if(retval) |
1057 | if(retval) |
1058 | { |
1058 | { |
1059 | // initialize ACC sensor |
1059 | // initialize ACC sensor |
1060 | NCMAG_Init_ACCSensor(); |
1060 | NCMAG_Init_ACCSensor(); |
1061 | 1061 | ||
1062 | NCMAG_SensorType = TYPE_LSM303DLH; |
1062 | NCMAG_SensorType = TYPE_LSM303DLH; |
1063 | // polling of sub identification |
1063 | // polling of sub identification |
1064 | repeat = 0; |
1064 | repeat = 0; |
1065 | do |
1065 | do |
1066 | { |
1066 | { |
1067 | retval = NCMAG_GetIdentification_Sub(); |
1067 | retval = NCMAG_GetIdentification_Sub(); |
1068 | if(retval) break; // break loop on success |
1068 | if(retval) break; // break loop on success |
1069 | // UART1_PutString("."); |
1069 | // UART1_PutString("."); |
1070 | repeat++; |
1070 | repeat++; |
1071 | }while(repeat < 12); |
1071 | }while(repeat < 12); |
1072 | if(retval) |
1072 | if(retval) |
1073 | { |
1073 | { |
1074 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1074 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1075 | } |
1075 | } |
1076 | } |
1076 | } |
1077 | // get id bytes |
1077 | // get id bytes |
1078 | retval = 0; |
1078 | retval = 0; |
1079 | do |
1079 | do |
1080 | { |
1080 | { |
1081 | retval = NCMAG_GetIdentification(); |
1081 | retval = NCMAG_GetIdentification(); |
1082 | if(retval) break; // break loop on success |
1082 | if(retval) break; // break loop on success |
1083 | // UART1_PutString("#"); |
1083 | // UART1_PutString("#"); |
1084 | repeat++; |
1084 | repeat++; |
1085 | } while(repeat < 12); |
1085 | } while(repeat < 12); |
1086 | 1086 | ||
1087 | // if we got an answer to id request |
1087 | // if we got an answer to id request |
1088 | if(retval) |
1088 | if(retval) |
1089 | { |
1089 | { |
1090 | u8 n1[] = "\n\r HMC5843"; |
1090 | u8 n1[] = "\n\r HMC5843"; |
1091 | u8 n2[] = "\n\r LSM303DLH"; |
1091 | u8 n2[] = "\n\r LSM303DLH"; |
1092 | u8 n3[] = "\n\r LSM303DLM"; |
1092 | u8 n3[] = "\n\r LSM303DLM"; |
1093 | u8* pn = n1; |
1093 | u8* pn = n1; |
1094 | 1094 | ||
1095 | switch(NCMAG_SensorType) |
1095 | switch(NCMAG_SensorType) |
1096 | { |
1096 | { |
1097 | case TYPE_HMC5843: |
1097 | case TYPE_HMC5843: |
1098 | pn = n1; |
1098 | pn = n1; |
1099 | break; |
1099 | break; |
1100 | case TYPE_LSM303DLH: |
1100 | case TYPE_LSM303DLH: |
1101 | pn = n2; |
1101 | pn = n2; |
1102 | break; |
1102 | break; |
1103 | case TYPE_LSM303DLM: |
1103 | case TYPE_LSM303DLM: |
1104 | pn = n3; |
1104 | pn = n3; |
1105 | break; |
1105 | break; |
1106 | } |
1106 | } |
1107 | 1107 | ||
1108 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1108 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1109 | UART1_PutString(msg); |
1109 | UART1_PutString(msg); |
1110 | if ( (NCMAG_Identification.A == MAG_IDA) |
1110 | if ( (NCMAG_Identification.A == MAG_IDA) |
1111 | && (NCMAG_Identification.B == MAG_IDB) |
1111 | && (NCMAG_Identification.B == MAG_IDB) |
1112 | && (NCMAG_Identification.C == MAG_IDC)) |
1112 | && (NCMAG_Identification.C == MAG_IDC)) |
1113 | { |
1113 | { |
1114 | NCMAG_Present = 1; |
1114 | NCMAG_Present = 1; |
1115 | 1115 | ||
1116 | if(EEPROM_Init()) |
1116 | if(EEPROM_Init()) |
1117 | { |
1117 | { |
1118 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
1118 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
1119 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1119 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1120 | } |
1120 | } |
1121 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1121 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1122 | // perform self test |
1122 | // perform self test |
1123 | if(!NCMAG_SelfTest()) |
1123 | if(!NCMAG_SelfTest()) |
1124 | { |
1124 | { |
1125 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1125 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1126 | LED_RED_ON; |
1126 | LED_RED_ON; |
1127 | // NCMAG_IsCalibrated = 0; |
1127 | // NCMAG_IsCalibrated = 0; |
1128 | } |
1128 | } |
1129 | else UART1_PutString("\r\n Selftest ok"); |
1129 | else UART1_PutString("\r\n Selftest ok"); |
1130 | 1130 | ||
1131 | // initialize magnetic sensor configuration |
1131 | // initialize magnetic sensor configuration |
1132 | InitNC_MagnetSensor(); |
1132 | InitNC_MagnetSensor(); |
1133 | } |
1133 | } |
1134 | else |
1134 | else |
1135 | { |
1135 | { |
1136 | UART1_PutString("\n\r Not compatible!"); |
1136 | UART1_PutString("\n\r Not compatible!"); |
1137 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1137 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1138 | LED_RED_ON; |
1138 | LED_RED_ON; |
1139 | } |
1139 | } |
1140 | } |
1140 | } |
1141 | else // nothing found |
1141 | else // nothing found |
1142 | { |
1142 | { |
1143 | NCMAG_SensorType = TYPE_NONE; |
1143 | NCMAG_SensorType = TYPE_NONE; |
1144 | UART1_PutString("not found!"); |
1144 | UART1_PutString("not found!"); |
1145 | } |
1145 | } |
1146 | return(NCMAG_Present); |
1146 | return(NCMAG_Present); |
1147 | } |
1147 | } |
1148 | 1148 | ||
1149 | 1149 |