WebSVN - NaviCtrl - Diff - Rev 251 and 252


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2010 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <string.h>
#include "91x_lib.h"
#include "hmc5843.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "spi_slave.h"
#include "uart1.h"
#include "compass.h"
 
#define HMC5843_SLAVE_ADDRESS           0x3C  // i2C slave address
 
u8 HMC5843_Present = 0;
 
#define REGISTER_CRA            0
#define REGISTER_CRB            1
#define REGISTER_MODE           2
#define REGISTER_DATAX_MSB      3
#define REGISTER_DATAX_LSB      4
#define REGISTER_DATAY_MSB      5
#define REGISTER_DATAY_LSB      6
#define REGISTER_DATAZ_MSB      7
#define REGISTER_DATAZ_LSB      8
#define REGISTER_STATUS         9
#define REGISTER_IDA            10
#define REGISTER_IDB            11
#define REGISTER_IDC            12
 
 
#define HMC5843_IDA 0x48
#define HMC5843_IDB 0x34
#define HMC5843_IDC     0x33
 
// bit mask for rate
#define HMC5843_CRA_RATE_MASK           0x1C
#define HMC5843_CRA_RATE_0_5HZ          0x00
#define HMC5843_CRA_RATE_1HZ            0x04
#define HMC5843_CRA_RATE_2HZ            0x08
#define HMC5843_CRA_RATE_5HZ            0x0C
#define HMC5843_CRA_RATE_10HZ           0x10    //default
#define HMC5843_CRA_RATE_20HZ           0x14
#define HMC5843_CRA_RATE_50HZ           0x18
 
// bit mask for mode
#define HMC5843_CRA_MODE_MASK           0x03
#define HMC5843_CRA_MODE_NORMAL         0x00    //default
#define HMC5843_CRA_MODE_POSBIAS        0x01
#define HMC5843_CRA_MODE_NEGBIAS        0x02
#define HMC5843_CRA_MODE_SELFTEST       0x03    
 
// bit mask for gain
#define HMC5843_CRB_GAIN_MASK           0xE0
#define HMC5843_CRB_GAIN_07GA           0x00
#define HMC5843_CRB_GAIN_10GA           0x20    //default
#define HMC5843_CRB_GAIN_15GA           0x40
#define HMC5843_CRB_GAIN_20GA           0x60
#define HMC5843_CRB_GAIN_32GA           0x80
#define HMC5843_CRB_GAIN_38GA           0xA0
#define HMC5843_CRB_GAIN_45GA           0xC0
#define HMC5843_CRB_GAIN_65GA           0xE0
 
// bit mask for measurement mode
#define HMC5843_MODE_MASK                       0xFF
#define HMC5843_MODE_CONTINUOUS         0x00
#define HMC5843_MODE_SINGLE                     0x01    // default
#define HMC5843_MODE_IDLE                       0x02
#define HMC5843_MODE_SLEEP                      0x03    
 
typedef struct
{
  u8 A;
  u8 B;
  u8 C;
} __attribute__((packed)) HMC5843_Identification_t;
 
volatile HMC5843_Identification_t HMC5843_Identification;
 
 
 
// ---------- call back handlers -----------------------------------------
 
// rx data handler for id info request
void HMC5843_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of byte are matching
        if(RxBufferSize == sizeof(HMC5843_Identification) )
        {
                memcpy((u8 *)&HMC5843_Identification, pRxBuffer, sizeof(HMC5843_Identification));
        }                
}
 
// rx data handler for mag vector request
void HMC5843_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of byte are matching
        if(RxBufferSize == sizeof(MagVector) )
        {       // byte order from big to little endian
                MagVector.X = pRxBuffer[0]<<8;
                MagVector.X+= pRxBuffer[1];
                MagVector.Y = pRxBuffer[2]<<8;
                MagVector.Y+= pRxBuffer[3];
                MagVector.Z = pRxBuffer[4]<<8;
                MagVector.Z+= pRxBuffer[5];
        }
        // tbd. calculate heading from mag vector and attitude
        CompassHeading = 50; // tbd.              
}
 
 
// ----------------------------------------------------------------------------------------
 
u8 HMC5843_GetIdentification(void)
{
        u8 retval = 0; 
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u16 TxBytes = 0;
                HMC5843_Identification.A = 0xFF;
                HMC5843_Identification.B = 0xFF;
                HMC5843_Identification.C = 0xFF;
                I2C_Buffer[TxBytes++] = REGISTER_IDA;
                // initiate transmission
                if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);
}
 
// ----------------------------------------------------------------------------------------
u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode)
{
        u8 retval = 0;
        // tra to catch the I2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u16 TxBytes = 0;       
                I2C_Buffer[TxBytes++] = REGISTER_CRA;
                I2C_Buffer[TxBytes++] = cra;
                I2C_Buffer[TxBytes++] = crb;
                I2C_Buffer[TxBytes++] = mode;
                // initiate transmission
                if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0))
                {
                        if(I2C_WaitForEndOfTransmission(50))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);
}
 
//----------------------------------------------------------------
void HMC5843_GetMagVector(void)
{
        // try to catch the I2C buffer within 0 ms
        if(I2C_LockBuffer(0))
        {
                u16 TxBytes = 0;
                // set register pointer
                I2C_Buffer[TxBytes++] = REGISTER_DATAX_MSB;
                // initiate transmission
                I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateMagVector, sizeof(MagVector));
        }
}
 
void HMC5843_UpdateCompass(void)
{
        static u32 TimerCompassUpdate = 0;
 
        if( (I2C_State == I2C_STATE_OFF) || !HMC5843_Present ) return;
       
        if(CheckDelay(TimerCompassUpdate))
        {
                // check for incomming compass calibration request
                // update CalByte from spi input queue
                /*fifo_get(&CompassCalcStateFiFo, (u8 *)&(MK3MAG_WriteCal.CalByte));
                // send new calstate
                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
                {
                        do the calibration here
                }
                else // request current heading */
                {
                        HMC5843_GetMagVector();
                }              
                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 
u8 HMC5843_SelfTest(void)
{
        u32 time;
        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
        s16 scale, scale_min, scale_max;
        u8 i = 0;
 
        // activate positive bias field  of 0.55 gauss
        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
        // wait for stable readings
        time = SetDelay(50);
        while(!CheckDelay(time));
        // averaging
        for(i = 0; i<20; i++)
        {
                HMC5843_GetMagVector();
                time = SetDelay(20);
        while(!CheckDelay(time));
                XMax += MagVector.X;
                YMax += MagVector.Y;
                ZMax += MagVector.Z;
        }
        // activate negative bias field of 0.55 gauss
        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
    // wait for stable readings
        time = SetDelay(50);
        while(!CheckDelay(time));
        // averaging
        for(i = 0; i < 20; i++)
        {
                HMC5843_GetMagVector();
                time = SetDelay(20);
        while(!CheckDelay(time));
                XMin += MagVector.X;
                YMin += MagVector.Y;
                ZMin += MagVector.Z;     
        }
        // setup final configuration
        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
        // prepare scale limits
        scale = 715;  // 1300 counts/Gauss * 0.55 Gauss = 715 counts
        scale_min = (scale *  90)/100;
        scale_max = (scale * 110)/100;
        // check scale for all axes
        scale = (XMax - XMin)/40;
        if((scale > scale_max) || (scale < scale_min)) return(0);
        scale = (YMax - YMin)/40;
        if((scale > scale_max) || (scale < scale_min)) return(0);
        scale = (ZMax - ZMin)/40;
        if((scale > scale_max) || (scale < scale_min)) return(0);
        return(1);
}
 
 
//----------------------------------------------------------------
u8 HMC5843_Init(void)
{
        u8 msg[64];
        u8 retval = 0;
        u8 repeat;
 
        HMC5843_Present = 0;
 
 
 
 
 
        // polling of identification
        repeat = 0;
        do
        {
                retval = HMC5843_GetIdentification();
                if(retval) break; // break loop on success
                UART1_PutString(".");
                repeat++;
        }while(repeat < 12);
        // if we got it
        if(retval)
        {
                sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);
                UART1_PutString(msg);
 
                if (    (HMC5843_Identification.A == HMC5843_IDA)
                     && (HMC5843_Identification.B == HMC5843_IDB)
                         && (HMC5843_Identification.C == HMC5843_IDC))
                {
                        //HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
                        if(!HMC5843_SelfTest())
                        {
                                UART1_PutString("\n\r HMC5843 selftest failed!");
                                LED_RED_ON;
                        }
                        else HMC5843_Present = 1;
                }
                else
                {
                        UART1_PutString("\n\r HMC5843 not compatible!");
                        LED_RED_ON;
                }
        }
        // else no answer
        return(HMC5843_Present);
}
 
 

Rev 251	Rev 252
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	{ // byte order from big to little endian	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	u8 HMC5843_GetIdentification(void)
-		167	{
-		168	u8 retval = 0;
167	{	169	// try to catch the i2c buffer within 100 ms timeout
168	if(I2C_LockBuffer(100))	170	if(I2C_LockBuffer(100))
169	{	171	{
170	u16 TxBytes = 0;	172	u16 TxBytes = 0;
171	HMC5843_Identification.A = 0xFF;	173	HMC5843_Identification.A = 0xFF;
172	HMC5843_Identification.B = 0xFF;	174	HMC5843_Identification.B = 0xFF;
173	HMC5843_Identification.C = 0xFF;	175	HMC5843_Identification.C = 0xFF;
174	I2C_Buffer[TxBytes++] = REGISTER_IDA;	176	I2C_Buffer[TxBytes++] = REGISTER_IDA;
175	// initiate transmission	177	// initiate transmission
176	if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)))	178	if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateIdentification, sizeof(HMC5843_Identification)))
177	{	179	{
178	I2C_WaitForEndOfTransmission(100);	180	if(I2C_WaitForEndOfTransmission(100))
-		181	{
-		182	if(I2C_Error == I2C_ERROR_NONE) retval = 1;
-		183	}
179	}	184	}
180	}	185	}
-		186	return(retval);
181	}	187	}
182		188
183	// ----------------------------------------------------------------------------------------	189	// ----------------------------------------------------------------------------------------
184	u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode)	190	u8 HMC5843_SetConfiguration(u8 cra, u8 crb, u8 mode)
185	{	191	{
186	u8 retval = 0;	192	u8 retval = 0;
-		193	// tra to catch the I2c buffer within 100 ms timeout
187	if(I2C_LockBuffer(100))	194	if(I2C_LockBuffer(100))
188	{	195	{
189	u16 TxBytes = 0;	196	u16 TxBytes = 0;
190	I2C_Buffer[TxBytes++] = REGISTER_CRA;	197	I2C_Buffer[TxBytes++] = REGISTER_CRA;
191	I2C_Buffer[TxBytes++] = cra;	198	I2C_Buffer[TxBytes++] = cra;
192	I2C_Buffer[TxBytes++] = crb;	199	I2C_Buffer[TxBytes++] = crb;
193	I2C_Buffer[TxBytes++] = mode;	200	I2C_Buffer[TxBytes++] = mode;
194	// initiate transmission	201	// initiate transmission
195	if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0))	202	if(I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, NULL, 0))
196	{	203	{
197	retval = I2C_WaitForEndOfTransmission(50);	204	if(I2C_WaitForEndOfTransmission(50))
-		205	{
-		206	if(I2C_Error == I2C_ERROR_NONE) retval = 1;
-		207	}
198	}	208	}
199	}	209	}
200	return(retval);	210	return(retval);
201	}	211	}
202		212
203	//----------------------------------------------------------------	213	//----------------------------------------------------------------
204	void HMC5843_GetMagVector(void)	214	void HMC5843_GetMagVector(void)
205	{	215	{
-		216	// try to catch the I2C buffer within 0 ms
206	if(I2C_LockBuffer(100))	217	if(I2C_LockBuffer(0))
207	{	218	{
208	u16 TxBytes = 0;	219	u16 TxBytes = 0;
209	// set register pointer	220	// set register pointer
210	I2C_Buffer[TxBytes++] = REGISTER_DATAX_MSB;	221	I2C_Buffer[TxBytes++] = REGISTER_DATAX_MSB;
211	// initiate transmission	222	// initiate transmission
212	I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateMagVector, sizeof(MagVector));	223	I2C_Transmission(HMC5843_SLAVE_ADDRESS, TxBytes, &HMC5843_UpdateMagVector, sizeof(MagVector));
213	}	224	}
214	}	225	}
215		226
216	void HMC5843_UpdateCompass(void)	227	void HMC5843_UpdateCompass(void)
217	{	228	{
218	static u32 TimerCompassUpdate = 0;	229	static u32 TimerCompassUpdate = 0;
219		230
220	if( (I2C_State == I2C_STATE_OFF) \|\| !HMC5843_Present ) return;	231	if( (I2C_State == I2C_STATE_OFF) \|\| !HMC5843_Present ) return;
221		232
222	if(CheckDelay(TimerCompassUpdate))	233	if(CheckDelay(TimerCompassUpdate))
223	{	234	{
224	// check for incomming compass calibration request	235	// check for incomming compass calibration request
225	// update CalByte from spi input queue	236	// update CalByte from spi input queue
226	/fifo_get(&CompassCalcStateFiFo, (u8 )&(MK3MAG_WriteCal.CalByte));	237	/fifo_get(&CompassCalcStateFiFo, (u8 )&(MK3MAG_WriteCal.CalByte));
227	// send new calstate	238	// send new calstate
228	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	239	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
229	{	240	{
230	do the calibration here	241	do the calibration here
231	}	242	}
232	else // request current heading */	243	else // request current heading */
233	{	244	{
234	HMC5843_GetMagVector();	245	HMC5843_GetMagVector();
235	}	246	}
236	TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz	247	TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz
237	}	248	}
238	}	249	}
239		250
240	u8 HMC5843_SelfTest(void)	251	u8 HMC5843_SelfTest(void)
241	{	252	{
242	u32 time;	253	u32 time;
243	s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;	254	s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
244	s16 scale, scale_min, scale_max;	255	s16 scale, scale_min, scale_max;
245	u8 i = 0;	256	u8 i = 0;
246		257
247	// activate positive bias field of 0.55 gauss	258	// activate positive bias field of 0.55 gauss
248	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);	259	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
249	// wait for stable readings	260	// wait for stable readings
250	time = SetDelay(50);	261	time = SetDelay(50);
251	while(!CheckDelay(time));	262	while(!CheckDelay(time));
252	// averaging	263	// averaging
253	for(i = 0; i<20; i++)	264	for(i = 0; i<20; i++)
254	{	265	{
255	HMC5843_GetMagVector();	266	HMC5843_GetMagVector();
256	time = SetDelay(20);	267	time = SetDelay(20);
257	while(!CheckDelay(time));	268	while(!CheckDelay(time));
258	XMax += MagVector.X;	269	XMax += MagVector.X;
259	YMax += MagVector.Y;	270	YMax += MagVector.Y;
260	ZMax += MagVector.Z;	271	ZMax += MagVector.Z;
261	}	272	}
262	// activate negative bias field of 0.55 gauss	273	// activate negative bias field of 0.55 gauss
263	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);	274	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
264	// wait for stable readings	275	// wait for stable readings
265	time = SetDelay(50);	276	time = SetDelay(50);
266	while(!CheckDelay(time));	277	while(!CheckDelay(time));
267	// averaging	278	// averaging
268	for(i = 0; i < 20; i++)	279	for(i = 0; i < 20; i++)
269	{	280	{
270	HMC5843_GetMagVector();	281	HMC5843_GetMagVector();
271	time = SetDelay(20);	282	time = SetDelay(20);
272	while(!CheckDelay(time));	283	while(!CheckDelay(time));
273	XMin += MagVector.X;	284	XMin += MagVector.X;
274	YMin += MagVector.Y;	285	YMin += MagVector.Y;
275	ZMin += MagVector.Z;	286	ZMin += MagVector.Z;
276	}	287	}
277	// setup final configuration	288	// setup final configuration
278	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);	289	HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
279	// prepare scale limits	290	// prepare scale limits
280	scale = 715; // 1300 counts/Gauss * 0.55 Gauss = 715 counts	291	scale = 715; // 1300 counts/Gauss * 0.55 Gauss = 715 counts
281	scale_min = (scale * 90)/100;	292	scale_min = (scale * 90)/100;
282	scale_max = (scale * 110)/100;	293	scale_max = (scale * 110)/100;
283	// check scale for all axes	294	// check scale for all axes
284	scale = (XMax - XMin)/40;	295	scale = (XMax - XMin)/40;
285	if((scale > scale_max) \|\| (scale < scale_min)) return(0);	296	if((scale > scale_max) \|\| (scale < scale_min)) return(0);
286	scale = (YMax - YMin)/40;	297	scale = (YMax - YMin)/40;
287	if((scale > scale_max) \|\| (scale < scale_min)) return(0);	298	if((scale > scale_max) \|\| (scale < scale_min)) return(0);
288	scale = (ZMax - ZMin)/40;	299	scale = (ZMax - ZMin)/40;
289	if((scale > scale_max) \|\| (scale < scale_min)) return(0);	300	if((scale > scale_max) \|\| (scale < scale_min)) return(0);
290	return(1);	301	return(1);
291	}	302	}
292		303
293		304
294	//----------------------------------------------------------------	305	//----------------------------------------------------------------
295	u8 HMC5843_Init(void)	306	u8 HMC5843_Init(void)
296	{	307	{
297	u8 msg[64];	308	u8 msg[64];
-		309	u8 retval = 0;
298	u8 repeat;	310	u8 repeat;
299		311
300	HMC5843_Present = 0;	312	HMC5843_Present = 0;
301		-
302	HMC5843_Identification.A = 0xFF;	-
303	HMC5843_Identification.B = 0xFF;	-
304	HMC5843_Identification.C = 0xFF;	-
305		313
306	// polling of identification	314	// polling of identification
307	repeat = 0;	315	repeat = 0;
308	do	316	do
309	{	317	{
310	HMC5843_GetIdentification();	318	retval = HMC5843_GetIdentification();
311	if (HMC5843_Identification.A != 0xFF) break; // break loop on success	319	if(retval) break; // break loop on success
312	UART1_PutString(".");	320	UART1_PutString(".");
313	repeat++;	321	repeat++;
314	}while ((HMC5843_Identification.A == 0xFF) && (repeat < 12));	322	}while(repeat < 12);
315	// if we got it	323	// if we got it
316	if(HMC5843_Identification.A != 0xFF)	324	if(retval)
317	{	325	{
318	sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);	326	sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);
319	UART1_PutString(msg);	327	UART1_PutString(msg);
320		328
321	if ( (HMC5843_Identification.A == HMC5843_IDA)	329	if ( (HMC5843_Identification.A == HMC5843_IDA)
322	&& (HMC5843_Identification.B == HMC5843_IDB)	330	&& (HMC5843_Identification.B == HMC5843_IDB)
323	&& (HMC5843_Identification.C == HMC5843_IDC))	331	&& (HMC5843_Identification.C == HMC5843_IDC))
324	{	332	{
325	//HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);	333	//HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ\|HMC5843_CRA_MODE_NORMAL, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
326	if(!HMC5843_SelfTest())	334	if(!HMC5843_SelfTest())
327	{	335	{
328	UART1_PutString("\n\r HMC5843 selftest failed!");	336	UART1_PutString("\n\r HMC5843 selftest failed!");
329	LED_RED_ON;	337	LED_RED_ON;
330	}	338	}
331	else HMC5843_Present = 1;	339	else HMC5843_Present = 1;
332	}	340	}
333	else	341	else
334	{	342	{
335	UART1_PutString("\n\r HMC5843 not compatible!");	343	UART1_PutString("\n\r HMC5843 not compatible!");
336	LED_RED_ON;	344	LED_RED_ON;
337	}	345	}
338	}	346	}
-		347	// else no answer
339	return(HMC5843_Present);	348	return(HMC5843_Present);
340	}	349	}
341		350
342		351

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