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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <math.h> |
57 | #include <math.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 "i2c.h" |
61 | #include "i2c.h" |
| 62 | #include "timer1.h" |
62 | #include "timer1.h" |
| 63 | #include "led.h" |
63 | #include "led.h" |
| 64 | #include "spi_slave.h" |
64 | #include "spi_slave.h" |
| 65 | #include "uart1.h" |
65 | #include "uart1.h" |
| 66 | #include "eeprom.h" |
66 | #include "eeprom.h" |
| - | 67 | #include "mymath.h" |
|
| 67 | 68 | ||
| 68 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
| 69 | u8 NCMAG_IsCalibrated = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
| 70 | 71 | ||
| 71 | #define MAG_TYPE_NONE 0 |
72 | #define MAG_TYPE_NONE 0 |
| 72 | #define MAG_TYPE_HMC5843 1 |
73 | #define MAG_TYPE_HMC5843 1 |
| 73 | #define MAG_TYPE_LSM303DLH 2 |
74 | #define MAG_TYPE_LSM303DLH 2 |
| 74 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
| 75 | 76 | ||
| 76 | #define CALIBRATION_VERSION 1 |
77 | #define CALIBRATION_VERSION 1 |
| 77 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
| - | 79 | ||
| - | 80 | #define NCMAG_MIN_RAWVALUE -2047 |
|
| - | 81 | #define NCMAG_MAX_RAWVALUE 2047 |
|
| - | 82 | #define NCMAG_INVALID_DATA -4096 |
|
| 78 | 83 | ||
| 79 | typedef struct |
84 | typedef struct |
| 80 | { |
85 | { |
| 81 | s16 Range; |
86 | s16 Range; |
| 82 | s16 Offset; |
87 | s16 Offset; |
| 83 | } Scaling_t; |
88 | } __attribute__((packed)) Scaling_t; |
| 84 | 89 | ||
| 85 | typedef struct |
90 | typedef struct |
| 86 | { |
91 | { |
| 87 | Scaling_t MagX; |
92 | Scaling_t MagX; |
| 88 | Scaling_t MagY; |
93 | Scaling_t MagY; |
| 89 | Scaling_t MagZ; |
94 | Scaling_t MagZ; |
| 90 | u8 Version; |
95 | u8 Version; |
| 91 | u8 crc; |
96 | u8 crc; |
| 92 | } Calibration_t; |
97 | } __attribute__((packed)) Calibration_t; |
| 93 | 98 | ||
| 94 | Calibration_t Calibration; // calibration data in RAM |
99 | Calibration_t Calibration; // calibration data in RAM |
| 95 | 100 | ||
| 96 | // i2c MAG interface |
101 | // i2c MAG interface |
| 97 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
102 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
| 98 | 103 | ||
| 99 | // register mapping |
104 | // register mapping |
| 100 | #define REG_MAG_CRA 0x00 |
105 | #define REG_MAG_CRA 0x00 |
| 101 | #define REG_MAG_CRB 0x01 |
106 | #define REG_MAG_CRB 0x01 |
| 102 | #define REG_MAG_MODE 0x02 |
107 | #define REG_MAG_MODE 0x02 |
| 103 | #define REG_MAG_DATAX_MSB 0x03 |
108 | #define REG_MAG_DATAX_MSB 0x03 |
| 104 | #define REG_MAG_DATAX_LSB 0x04 |
109 | #define REG_MAG_DATAX_LSB 0x04 |
| 105 | #define REG_MAG_DATAY_MSB 0x05 |
110 | #define REG_MAG_DATAY_MSB 0x05 |
| 106 | #define REG_MAG_DATAY_LSB 0x06 |
111 | #define REG_MAG_DATAY_LSB 0x06 |
| 107 | #define REG_MAG_DATAZ_MSB 0x07 |
112 | #define REG_MAG_DATAZ_MSB 0x07 |
| 108 | #define REG_MAG_DATAZ_LSB 0x08 |
113 | #define REG_MAG_DATAZ_LSB 0x08 |
| 109 | #define REG_MAG_STATUS 0x09 |
114 | #define REG_MAG_STATUS 0x09 |
| 110 | #define REG_MAG_IDA 0x0A |
115 | #define REG_MAG_IDA 0x0A |
| 111 | #define REG_MAG_IDB 0x0B |
116 | #define REG_MAG_IDB 0x0B |
| 112 | #define REG_MAG_IDC 0x0C |
117 | #define REG_MAG_IDC 0x0C |
| 113 | 118 | ||
| 114 | // bit mask for configuration mode |
119 | // bit mask for configuration mode |
| 115 | #define CRA_MODE_MASK 0x03 |
120 | #define CRA_MODE_MASK 0x03 |
| 116 | #define CRA_MODE_NORMAL 0x00 //default |
121 | #define CRA_MODE_NORMAL 0x00 //default |
| 117 | #define CRA_MODE_POSBIAS 0x01 |
122 | #define CRA_MODE_POSBIAS 0x01 |
| 118 | #define CRA_MODE_NEGBIAS 0x02 |
123 | #define CRA_MODE_NEGBIAS 0x02 |
| 119 | #define CRA_MODE_SELFTEST 0x03 |
124 | #define CRA_MODE_SELFTEST 0x03 |
| 120 | 125 | ||
| 121 | // bit mask for measurement mode |
126 | // bit mask for measurement mode |
| 122 | #define MODE_MASK 0xFF |
127 | #define MODE_MASK 0xFF |
| 123 | #define MODE_CONTINUOUS 0x00 |
128 | #define MODE_CONTINUOUS 0x00 |
| 124 | #define MODE_SINGLE 0x01 // default |
129 | #define MODE_SINGLE 0x01 // default |
| 125 | #define MODE_IDLE 0x02 |
130 | #define MODE_IDLE 0x02 |
| 126 | #define MODE_SLEEP 0x03 |
131 | #define MODE_SLEEP 0x03 |
| 127 | 132 | ||
| 128 | // bit mask for rate |
133 | // bit mask for rate |
| 129 | #define CRA_RATE_MASK 0x1C |
134 | #define CRA_RATE_MASK 0x1C |
| 130 | 135 | ||
| 131 | // bit mask for gain |
136 | // bit mask for gain |
| 132 | #define CRB_GAIN_MASK 0xE0 |
137 | #define CRB_GAIN_MASK 0xE0 |
| 133 | 138 | ||
| 134 | // ids |
139 | // ids |
| 135 | #define MAG_IDA 0x48 |
140 | #define MAG_IDA 0x48 |
| 136 | #define MAG_IDB 0x34 |
141 | #define MAG_IDB 0x34 |
| 137 | #define MAG_IDC 0x33 |
142 | #define MAG_IDC 0x33 |
| 138 | 143 | ||
| 139 | // the special HMC5843 interface |
144 | // the special HMC5843 interface |
| 140 | // bit mask for rate |
145 | // bit mask for rate |
| 141 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
146 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
| 142 | #define HMC5843_CRA_RATE_1HZ 0x04 |
147 | #define HMC5843_CRA_RATE_1HZ 0x04 |
| 143 | #define HMC5843_CRA_RATE_2HZ 0x08 |
148 | #define HMC5843_CRA_RATE_2HZ 0x08 |
| 144 | #define HMC5843_CRA_RATE_5HZ 0x0C |
149 | #define HMC5843_CRA_RATE_5HZ 0x0C |
| 145 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
150 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
| 146 | #define HMC5843_CRA_RATE_20HZ 0x14 |
151 | #define HMC5843_CRA_RATE_20HZ 0x14 |
| 147 | #define HMC5843_CRA_RATE_50HZ 0x18 |
152 | #define HMC5843_CRA_RATE_50HZ 0x18 |
| 148 | // bit mask for gain |
153 | // bit mask for gain |
| 149 | #define HMC5843_CRB_GAIN_07GA 0x00 |
154 | #define HMC5843_CRB_GAIN_07GA 0x00 |
| 150 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
155 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
| 151 | #define HMC5843_CRB_GAIN_15GA 0x40 |
156 | #define HMC5843_CRB_GAIN_15GA 0x40 |
| 152 | #define HMC5843_CRB_GAIN_20GA 0x60 |
157 | #define HMC5843_CRB_GAIN_20GA 0x60 |
| 153 | #define HMC5843_CRB_GAIN_32GA 0x80 |
158 | #define HMC5843_CRB_GAIN_32GA 0x80 |
| 154 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
159 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
| 155 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
160 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
| 156 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
161 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
| 157 | // self test value |
162 | // self test value |
| 158 | #define HMC5843_TEST_XSCALE 715 |
163 | #define HMC5843_TEST_XSCALE 715 |
| 159 | #define HMC5843_TEST_YSCALE 715 |
164 | #define HMC5843_TEST_YSCALE 715 |
| 160 | #define HMC5843_TEST_ZSCALE 715 |
165 | #define HMC5843_TEST_ZSCALE 715 |
| 161 | 166 | ||
| 162 | 167 | ||
| 163 | // the special LSM302DLH interface |
168 | // the special LSM302DLH interface |
| 164 | // bit mask for rate |
169 | // bit mask for rate |
| 165 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
| 166 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
| 167 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
| 168 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
| 169 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
| 170 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
| 171 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| 172 | // bit mask for gain |
177 | // bit mask for gain |
| 173 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
178 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| 174 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
179 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| 175 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
180 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
| 176 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
181 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| 177 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
182 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
| 178 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
183 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| 179 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
184 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| 180 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
185 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| 181 | // self test value |
186 | // self test value |
| 182 | #define LSM303DLH_TEST_XSCALE 655 |
187 | #define LSM303DLH_TEST_XSCALE 655 |
| 183 | #define LSM303DLH_TEST_YSCALE 655 |
188 | #define LSM303DLH_TEST_YSCALE 655 |
| 184 | #define LSM303DLH_TEST_ZSCALE 630 |
189 | #define LSM303DLH_TEST_ZSCALE 630 |
| 185 | 190 | ||
| 186 | // the i2c ACC interface |
191 | // the i2c ACC interface |
| 187 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
192 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
| 188 | // register mapping |
193 | // register mapping |
| 189 | #define REG_ACC_CTRL1 0x20 |
194 | #define REG_ACC_CTRL1 0x20 |
| 190 | #define REG_ACC_CTRL2 0x21 |
195 | #define REG_ACC_CTRL2 0x21 |
| 191 | #define REG_ACC_CTRL3 0x22 |
196 | #define REG_ACC_CTRL3 0x22 |
| 192 | #define REG_ACC_CTRL4 0x23 |
197 | #define REG_ACC_CTRL4 0x23 |
| 193 | #define REG_ACC_CTRL5 0x24 |
198 | #define REG_ACC_CTRL5 0x24 |
| 194 | #define REG_ACC_HP_FILTER_RESET 0x25 |
199 | #define REG_ACC_HP_FILTER_RESET 0x25 |
| 195 | #define REG_ACC_REFERENCE 0x26 |
200 | #define REG_ACC_REFERENCE 0x26 |
| 196 | #define REG_ACC_STATUS 0x27 |
201 | #define REG_ACC_STATUS 0x27 |
| 197 | #define REG_ACC_X_LSB 0x28 |
202 | #define REG_ACC_X_LSB 0x28 |
| 198 | #define REG_ACC_X_MSB 0x29 |
203 | #define REG_ACC_X_MSB 0x29 |
| 199 | #define REG_ACC_Y_LSB 0x2A |
204 | #define REG_ACC_Y_LSB 0x2A |
| 200 | #define REG_ACC_Y_MSB 0x2B |
205 | #define REG_ACC_Y_MSB 0x2B |
| 201 | #define REG_ACC_Z_LSB 0x2C |
206 | #define REG_ACC_Z_LSB 0x2C |
| 202 | #define REG_ACC_Z_MSB 0x2D |
207 | #define REG_ACC_Z_MSB 0x2D |
| 203 | 208 | ||
| 204 | 209 | ||
| 205 | 210 | ||
| 206 | typedef struct |
211 | typedef struct |
| 207 | { |
212 | { |
| 208 | u8 A; |
213 | u8 A; |
| 209 | u8 B; |
214 | u8 B; |
| 210 | u8 C; |
215 | u8 C; |
| 211 | } __attribute__((packed)) Identification_t; |
216 | } __attribute__((packed)) Identification_t; |
| 212 | 217 | ||
| 213 | volatile Identification_t NCMAG_Identification; |
218 | volatile Identification_t NCMAG_Identification; |
| 214 | 219 | ||
| 215 | typedef struct |
220 | typedef struct |
| 216 | { |
221 | { |
| 217 | u8 cra; |
222 | u8 cra; |
| 218 | u8 crb; |
223 | u8 crb; |
| 219 | u8 mode; |
224 | u8 mode; |
| 220 | } __attribute__((packed)) MagConfig_t; |
225 | } __attribute__((packed)) MagConfig_t; |
| 221 | 226 | ||
| 222 | volatile MagConfig_t MagConfig; |
227 | volatile MagConfig_t MagConfig; |
| 223 | 228 | ||
| 224 | typedef struct |
229 | typedef struct |
| 225 | { |
230 | { |
| 226 | u8 ctrl_1; |
231 | u8 ctrl_1; |
| 227 | u8 ctrl_2; |
232 | u8 ctrl_2; |
| 228 | u8 ctrl_3; |
233 | u8 ctrl_3; |
| 229 | u8 ctrl_4; |
234 | u8 ctrl_4; |
| 230 | u8 ctrl_5; |
235 | u8 ctrl_5; |
| 231 | } __attribute__((packed)) AccConfig_t; |
236 | } __attribute__((packed)) AccConfig_t; |
| 232 | 237 | ||
| 233 | volatile AccConfig_t AccConfig; |
238 | volatile AccConfig_t AccConfig; |
| 234 | 239 | ||
| 235 | volatile s16vec_t AccRawVector; |
240 | volatile s16vec_t AccRawVector; |
| 236 | volatile s16vec_t MagRawVector; |
241 | volatile s16vec_t MagRawVector; |
| 237 | 242 | ||
| 238 | 243 | ||
| 239 | u8 NCMag_CalibrationWrite(void) |
244 | u8 NCMag_CalibrationWrite(void) |
| 240 | { |
245 | { |
| 241 | u8 i, crc = 0xAA; |
246 | u8 i, crc = 0xAA; |
| 242 | EEPROM_Result_t eres; |
247 | EEPROM_Result_t eres; |
| 243 | u8 *pBuff = (u8*)&Calibration; |
248 | u8 *pBuff = (u8*)&Calibration; |
| 244 | 249 | ||
| 245 | Calibration.Version = CALIBRATION_VERSION; |
250 | Calibration.Version = CALIBRATION_VERSION; |
| 246 | for(i = 0; i<sizeof(Calibration)-1; i++) |
251 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 247 | { |
252 | { |
| 248 | crc += pBuff[i]; |
253 | crc += pBuff[i]; |
| 249 | } |
254 | } |
| 250 | Calibration.crc = ~crc; |
255 | Calibration.crc = ~crc; |
| 251 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
256 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
| 252 | DebugOut.Analog[25] = eres; |
- | |
| 253 | if(EEPROM_SUCCESS == eres) i = 1; |
257 | if(EEPROM_SUCCESS == eres) i = 1; |
| 254 | else i = 0; |
258 | else i = 0; |
| 255 | return(i); |
259 | return(i); |
| 256 | } |
260 | } |
| 257 | 261 | ||
| 258 | u8 NCMag_CalibrationRead(void) |
262 | u8 NCMag_CalibrationRead(void) |
| 259 | { |
263 | { |
| 260 | u8 i, crc = 0xAA; |
264 | u8 i, crc = 0xAA; |
| 261 | u8 *pBuff = (u8*)&Calibration; |
265 | u8 *pBuff = (u8*)&Calibration; |
| 262 | 266 | ||
| 263 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
267 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
| 264 | { |
268 | { |
| 265 | for(i = 0; i<sizeof(Calibration)-1; i++) |
269 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 266 | { |
270 | { |
| 267 | crc += pBuff[i]; |
271 | crc += pBuff[i]; |
| 268 | } |
272 | } |
| 269 | crc = ~crc; |
273 | crc = ~crc; |
| 270 | if(Calibration.crc != crc) return(0); // crc mismatch |
274 | if(Calibration.crc != crc) return(0); // crc mismatch |
| 271 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
275 | if(Calibration.Version == CALIBRATION_VERSION) |
| - | 276 | { |
|
| - | 277 | //#ifdef DEBUG |
|
| - | 278 | u8 msg[50]; |
|
| - | 279 | UART1_PutString("\r\n"); |
|
| - | 280 | sprintf(msg, "XRange = %d, XOffset = %d \r\n", Calibration.MagX.Range, Calibration.MagX.Offset); |
|
| - | 281 | UART1_PutString(msg); |
|
| - | 282 | sprintf(msg, "YRange = %d, YOffset = %d \r\n", Calibration.MagY.Range, Calibration.MagY.Offset); |
|
| - | 283 | UART1_PutString(msg); |
|
| - | 284 | sprintf(msg, "ZRange = %d, ZOffset = %d \r\n", Calibration.MagZ.Range, Calibration.MagZ.Offset); |
|
| - | 285 | UART1_PutString(msg); |
|
| - | 286 | //#endif |
|
| - | 287 | return(1); |
|
| - | 288 | } |
|
| 272 | } |
289 | } |
| 273 | return(0); |
290 | return(0); |
| 274 | } |
291 | } |
| 275 | 292 | ||
| 276 | 293 | ||
| 277 | void NCMAG_Calibrate(void) |
294 | void NCMAG_Calibrate(void) |
| 278 | { |
295 | { |
| 279 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
296 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| - | 297 | static s16 X = 0, Y = 0, Z = 0; |
|
| 280 | static u8 OldCalState = 0; |
298 | static u8 OldCalState = 0; |
| - | 299 | ||
| - | 300 | X = (4*X + MagRawVector.X + 3)/5; |
|
| - | 301 | Y = (4*Y + MagRawVector.Y + 3)/5; |
|
| - | 302 | Z = (4*Z + MagRawVector.Z + 3)/5; |
|
| 281 | 303 | ||
| 282 | switch(Compass_CalState) |
304 | switch(Compass_CalState) |
| 283 | { |
305 | { |
| 284 | case 1: |
306 | case 1: |
| 285 | // 1st step of calibration |
307 | // 1st step of calibration |
| 286 | // initialize ranges |
308 | // initialize ranges |
| 287 | // used to change the orientation of the NC in the horizontal plane |
309 | // used to change the orientation of the NC in the horizontal plane |
| 288 | Xmin = 10000; |
310 | Xmin = 10000; |
| 289 | Xmax = -10000; |
311 | Xmax = -10000; |
| 290 | Ymin = 10000; |
312 | Ymin = 10000; |
| 291 | Ymax = -10000; |
313 | Ymax = -10000; |
| 292 | Zmin = 10000; |
314 | Zmin = 10000; |
| 293 | Zmax = -10000; |
315 | Zmax = -10000; |
| 294 | break; |
316 | break; |
| 295 | 317 | ||
| 296 | case 2: // 2nd step of calibration |
318 | case 2: // 2nd step of calibration |
| 297 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
319 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 298 | if(MagRawVector.X < Xmin) Xmin = MagRawVector.X; |
320 | if(X < Xmin) Xmin = X; |
| 299 | if(MagRawVector.X > Xmax) Xmax = MagRawVector.X; |
321 | else if(X > Xmax) Xmax = X; |
| 300 | if(MagRawVector.Y < Ymin) Ymin = MagRawVector.Y; |
322 | if(Y < Ymin) Ymin = Y; |
| 301 | if(MagRawVector.Y > Ymax) Ymax = MagRawVector.Y; |
323 | else if(Y > Ymax) Ymax = Y; |
| 302 | break; |
324 | break; |
| 303 | 325 | ||
| 304 | case 3: // 3rd step of calibration |
326 | case 3: // 3rd step of calibration |
| 305 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
327 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| 306 | break; |
328 | break; |
| 307 | 329 | ||
| 308 | case 4: |
330 | case 4: |
| 309 | // find Min and Max of the Z-Sensor |
331 | // find Min and Max of the Z-Sensor |
| 310 | if(MagRawVector.Z < Zmin) Zmin = MagRawVector.Z; |
332 | if(Z < Zmin) Zmin = Z; |
| 311 | if(MagRawVector.Z > Zmax) Zmax = MagRawVector.Z; |
333 | else if(Z > Zmax) Zmax = Z; |
| 312 | break; |
334 | break; |
| 313 | 335 | ||
| 314 | case 5: |
336 | case 5: |
| 315 | // Save values |
337 | // Save values |
| 316 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
338 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| 317 | { |
339 | { |
| 318 | Calibration.MagX.Range = Xmax - Xmin; |
340 | Calibration.MagX.Range = Xmax - Xmin; |
| 319 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
341 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| 320 | Calibration.MagY.Range = Ymax - Ymin; |
342 | Calibration.MagY.Range = Ymax - Ymin; |
| 321 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
343 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| 322 | Calibration.MagZ.Range = Zmax - Zmin; |
344 | Calibration.MagZ.Range = Zmax - Zmin; |
| 323 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
345 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| 324 | if(1)//if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
346 | if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512)) |
| 325 | { |
347 | { |
| 326 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
348 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
| 327 | } |
349 | } |
| 328 | else |
350 | else |
| 329 | { |
351 | { |
| 330 | // restore old calibration data from eeprom |
352 | // restore old calibration data from eeprom |
| 331 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
353 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| 332 | } |
354 | } |
| 333 | } |
355 | } |
| 334 | break; |
356 | break; |
| 335 | 357 | ||
| 336 | default: |
358 | default: |
| 337 | break; |
359 | break; |
| 338 | } |
360 | } |
| 339 | OldCalState = Compass_CalState; |
361 | OldCalState = Compass_CalState; |
| 340 | } |
362 | } |
| 341 | 363 | ||
| 342 | // ---------- call back handlers ----------------------------------------- |
364 | // ---------- call back handlers ----------------------------------------- |
| 343 | 365 | ||
| 344 | // rx data handler for id info request |
366 | // rx data handler for id info request |
| 345 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
367 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
| 346 | { // if number of bytes are matching |
368 | { // if number of bytes are matching |
| 347 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
369 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
| 348 | { |
370 | { |
| 349 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
371 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
| 350 | } |
372 | } |
| 351 | } |
373 | } |
| 352 | // rx data handler for magnetic sensor raw data |
374 | // rx data handler for magnetic sensor raw data |
| 353 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
375 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| 354 | { // if number of bytes are matching |
376 | { // if number of bytes are matching |
| 355 | if(RxBufferSize == sizeof(MagRawVector) ) |
377 | if(RxBufferSize == sizeof(MagRawVector) ) |
| 356 | { // byte order from big to little endian |
378 | { // byte order from big to little endian |
| - | 379 | s16 raw; |
|
| 357 | MagRawVector.X = pRxBuffer[0]<<8; |
380 | raw = pRxBuffer[0]<<8; |
| 358 | MagRawVector.X+= pRxBuffer[1]; |
381 | raw+= pRxBuffer[1]; |
| - | 382 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
|
| 359 | MagRawVector.Y = pRxBuffer[2]<<8; |
383 | raw = pRxBuffer[2]<<8; |
| 360 | MagRawVector.Y+= pRxBuffer[3]; |
384 | raw+= pRxBuffer[3]; |
| - | 385 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
|
| 361 | MagRawVector.Z = pRxBuffer[4]<<8; |
386 | raw = pRxBuffer[4]<<8; |
| 362 | MagRawVector.Z+= pRxBuffer[5]; |
387 | raw+= pRxBuffer[5]; |
| - | 388 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
|
| 363 | } |
389 | } |
| 364 | if(Compass_CalState || !NCMAG_IsCalibrated) |
390 | if(Compass_CalState || !NCMAG_IsCalibrated) |
| 365 | { // direct output the raw data |
391 | { // direct output the raw data |
| 366 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
392 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
| 367 | Compass_Heading = -1; |
393 | Compass_Heading = -1; |
| 368 | } |
394 | } |
| 369 | else |
395 | else |
| 370 | { |
396 | { |
| 371 | // update MagVector from MagRaw Vector by Scaling |
397 | // update MagVector from MagRaw Vector by Scaling |
| 372 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
398 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
| 373 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
399 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
| 374 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
400 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
| - | 401 | ||
| - | 402 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
|
| - | 403 | { |
|
| - | 404 | Compass_Heading = -1; |
|
| - | 405 | } |
|
| - | 406 | else // fc attitude is avialable |
|
| - | 407 | { |
|
| 375 | // calculate attitude correction |
408 | // calculate attitude correction |
| - | 409 | // a float implementation takes too long for an ISR call! |
|
| - | 410 | s16 tmp, Hx, Hy; |
|
| 376 | double Hx, Hy, Cx, Cy, Cz, nick_rad, roll_rad; |
411 | s32 sinnick, cosnick, sinroll, cosroll; |
| - | 412 | ||
| 377 | Cx = (double)MagVector.X; |
413 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
| 378 | Cy = (double)MagVector.Y; |
414 | sinnick = (s32)c_sin_8192(tmp); |
| 379 | Cz = (double)MagVector.Z; |
415 | cosnick = (s32)c_cos_8192(tmp); |
| 380 | nick_rad = ((double)FromFlightCtrl.AngleNick * M_PI) / 1800.0; |
416 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
| - | 417 | sinroll = (s32)c_sin_8192(tmp); |
|
| - | 418 | cosroll = (s32)c_cos_8192(tmp); |
|
| 381 | roll_rad = ((double)FromFlightCtrl.AngleRoll * M_PI) / 1800.0; |
419 | // tbd. compensation signs and oriantation has to be fixed |
| 382 | - | ||
| 383 | Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
420 | Hx = (s16)((MagVector.X * cosnick - MagVector.Z * sinnick)/8192L); |
| 384 | Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
421 | Hy = (s16)((MagVector.Y * cosroll + MagVector.Z * sinroll)/8192L); |
| 385 | 422 | ||
| 386 | //DebugOut.Analog[23] = (s16)Hx; |
423 | DebugOut.Analog[23] = (s16)Hx; |
| 387 | //DebugOut.Analog[24] = (s16)Hy; |
424 | DebugOut.Analog[24] = (s16)Hy; |
| 388 | 425 | ||
| 389 | // calculate heading |
426 | // calculate heading |
| 390 | Compass_Heading = (s16)((180.0 * atan2(Hy, Hx)) / M_PI); |
427 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
| - | 428 | if (tmp <= 0) tmp = -tmp; |
|
| - | 429 | else tmp = 360 - tmp; |
|
| - | 430 | Compass_Heading = tmp; |
|
| - | 431 | } |
|
| 391 | } |
432 | } |
| 392 | } |
433 | } |
| 393 | // rx data handler for acceleration raw data |
434 | // rx data handler for acceleration raw data |
| 394 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
435 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| 395 | { // if number of byte are matching |
436 | { // if number of byte are matching |
| 396 | if(RxBufferSize == sizeof(AccRawVector) ) |
437 | if(RxBufferSize == sizeof(AccRawVector) ) |
| 397 | { |
438 | { |
| 398 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
439 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| 399 | } |
440 | } |
| 400 | } |
441 | } |
| 401 | // rx data handler for reading magnetic sensor configuration |
442 | // rx data handler for reading magnetic sensor configuration |
| 402 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
443 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 403 | { // if number of byte are matching |
444 | { // if number of byte are matching |
| 404 | if(RxBufferSize == sizeof(MagConfig) ) |
445 | if(RxBufferSize == sizeof(MagConfig) ) |
| 405 | { |
446 | { |
| 406 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
447 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
| 407 | } |
448 | } |
| 408 | } |
449 | } |
| 409 | // rx data handler for reading acceleration sensor configuration |
450 | // rx data handler for reading acceleration sensor configuration |
| 410 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
451 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 411 | { // if number of byte are matching |
452 | { // if number of byte are matching |
| 412 | if(RxBufferSize == sizeof(AccConfig) ) |
453 | if(RxBufferSize == sizeof(AccConfig) ) |
| 413 | { |
454 | { |
| 414 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
455 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| 415 | } |
456 | } |
| 416 | } |
457 | } |
| 417 | //---------------------------------------------------------------------- |
458 | //---------------------------------------------------------------------- |
| 418 | 459 | ||
| 419 | 460 | ||
| 420 | // --------------------------------------------------------------------- |
461 | // --------------------------------------------------------------------- |
| 421 | u8 NCMAG_SetMagConfig(void) |
462 | u8 NCMAG_SetMagConfig(void) |
| 422 | { |
463 | { |
| 423 | u8 retval = 0; |
464 | u8 retval = 0; |
| 424 | // try to catch the i2c buffer within 100 ms timeout |
465 | // try to catch the i2c buffer within 100 ms timeout |
| 425 | if(I2C_LockBuffer(100)) |
466 | if(I2C_LockBuffer(100)) |
| 426 | { |
467 | { |
| 427 | u8 TxBytes = 0; |
468 | u8 TxBytes = 0; |
| 428 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
469 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 429 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
470 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| 430 | TxBytes += sizeof(MagConfig); |
471 | TxBytes += sizeof(MagConfig); |
| 431 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
472 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 432 | { |
473 | { |
| 433 | if(I2C_WaitForEndOfTransmission(100)) |
474 | if(I2C_WaitForEndOfTransmission(100)) |
| 434 | { |
475 | { |
| 435 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
476 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 436 | } |
477 | } |
| 437 | } |
478 | } |
| 438 | } |
479 | } |
| 439 | return(retval); |
480 | return(retval); |
| 440 | } |
481 | } |
| 441 | 482 | ||
| 442 | // ---------------------------------------------------------------------------------------- |
483 | // ---------------------------------------------------------------------------------------- |
| 443 | u8 NCMAG_GetMagConfig(void) |
484 | u8 NCMAG_GetMagConfig(void) |
| 444 | { |
485 | { |
| 445 | u8 retval = 0; |
486 | u8 retval = 0; |
| 446 | // try to catch the i2c buffer within 100 ms timeout |
487 | // try to catch the i2c buffer within 100 ms timeout |
| 447 | if(I2C_LockBuffer(100)) |
488 | if(I2C_LockBuffer(100)) |
| 448 | { |
489 | { |
| 449 | u8 TxBytes = 0; |
490 | u8 TxBytes = 0; |
| 450 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
491 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 451 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
492 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| 452 | { |
493 | { |
| 453 | if(I2C_WaitForEndOfTransmission(100)) |
494 | if(I2C_WaitForEndOfTransmission(100)) |
| 454 | { |
495 | { |
| 455 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
496 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 456 | } |
497 | } |
| 457 | } |
498 | } |
| 458 | } |
499 | } |
| 459 | return(retval); |
500 | return(retval); |
| 460 | } |
501 | } |
| 461 | 502 | ||
| 462 | // ---------------------------------------------------------------------------------------- |
503 | // ---------------------------------------------------------------------------------------- |
| 463 | u8 NCMAG_SetAccConfig(void) |
504 | u8 NCMAG_SetAccConfig(void) |
| 464 | { |
505 | { |
| 465 | u8 retval = 0; |
506 | u8 retval = 0; |
| 466 | // try to catch the i2c buffer within 100 ms timeout |
507 | // try to catch the i2c buffer within 100 ms timeout |
| 467 | if(I2C_LockBuffer(100)) |
508 | if(I2C_LockBuffer(100)) |
| 468 | { |
509 | { |
| 469 | u8 TxBytes = 0; |
510 | u8 TxBytes = 0; |
| 470 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
511 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 471 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
512 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| 472 | TxBytes += sizeof(AccConfig); |
513 | TxBytes += sizeof(AccConfig); |
| 473 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
514 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 474 | { |
515 | { |
| 475 | if(I2C_WaitForEndOfTransmission(100)) |
516 | if(I2C_WaitForEndOfTransmission(100)) |
| 476 | { |
517 | { |
| 477 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
518 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 478 | } |
519 | } |
| 479 | } |
520 | } |
| 480 | } |
521 | } |
| 481 | return(retval); |
522 | return(retval); |
| 482 | } |
523 | } |
| 483 | 524 | ||
| 484 | // ---------------------------------------------------------------------------------------- |
525 | // ---------------------------------------------------------------------------------------- |
| 485 | u8 NCMAG_GetAccConfig(void) |
526 | u8 NCMAG_GetAccConfig(void) |
| 486 | { |
527 | { |
| 487 | u8 retval = 0; |
528 | u8 retval = 0; |
| 488 | // try to catch the i2c buffer within 100 ms timeout |
529 | // try to catch the i2c buffer within 100 ms timeout |
| 489 | if(I2C_LockBuffer(100)) |
530 | if(I2C_LockBuffer(100)) |
| 490 | { |
531 | { |
| 491 | u8 TxBytes = 0; |
532 | u8 TxBytes = 0; |
| 492 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
533 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 493 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
534 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| 494 | { |
535 | { |
| 495 | if(I2C_WaitForEndOfTransmission(100)) |
536 | if(I2C_WaitForEndOfTransmission(100)) |
| 496 | { |
537 | { |
| 497 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
538 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 498 | } |
539 | } |
| 499 | } |
540 | } |
| 500 | } |
541 | } |
| 501 | return(retval); |
542 | return(retval); |
| 502 | } |
543 | } |
| 503 | 544 | ||
| 504 | // ---------------------------------------------------------------------------------------- |
545 | // ---------------------------------------------------------------------------------------- |
| 505 | u8 NCMAG_GetIdentification(void) |
546 | u8 NCMAG_GetIdentification(void) |
| 506 | { |
547 | { |
| 507 | u8 retval = 0; |
548 | u8 retval = 0; |
| 508 | // try to catch the i2c buffer within 100 ms timeout |
549 | // try to catch the i2c buffer within 100 ms timeout |
| 509 | if(I2C_LockBuffer(100)) |
550 | if(I2C_LockBuffer(100)) |
| 510 | { |
551 | { |
| 511 | u16 TxBytes = 0; |
552 | u16 TxBytes = 0; |
| 512 | NCMAG_Identification.A = 0xFF; |
553 | NCMAG_Identification.A = 0xFF; |
| 513 | NCMAG_Identification.B = 0xFF; |
554 | NCMAG_Identification.B = 0xFF; |
| 514 | NCMAG_Identification.C = 0xFF; |
555 | NCMAG_Identification.C = 0xFF; |
| 515 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
556 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
| 516 | // initiate transmission |
557 | // initiate transmission |
| 517 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
558 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| 518 | { |
559 | { |
| 519 | if(I2C_WaitForEndOfTransmission(100)) |
560 | if(I2C_WaitForEndOfTransmission(100)) |
| 520 | { |
561 | { |
| 521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
562 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 522 | } |
563 | } |
| 523 | } |
564 | } |
| 524 | } |
565 | } |
| 525 | return(retval); |
566 | return(retval); |
| 526 | } |
567 | } |
| 527 | 568 | ||
| 528 | // ---------------------------------------------------------------------------------------- |
569 | // ---------------------------------------------------------------------------------------- |
| 529 | void NCMAG_GetMagVector(void) |
570 | void NCMAG_GetMagVector(void) |
| 530 | { |
571 | { |
| 531 | // try to catch the I2C buffer within 0 ms |
572 | // try to catch the I2C buffer within 0 ms |
| 532 | if(I2C_LockBuffer(0)) |
573 | if(I2C_LockBuffer(0)) |
| 533 | { |
574 | { |
| 534 | u16 TxBytes = 0; |
575 | u16 TxBytes = 0; |
| 535 | // set register pointer |
576 | // set register pointer |
| 536 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
577 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
| 537 | // initiate transmission |
578 | // initiate transmission |
| 538 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
579 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| 539 | } |
580 | } |
| 540 | } |
581 | } |
| 541 | 582 | ||
| 542 | //---------------------------------------------------------------- |
583 | //---------------------------------------------------------------- |
| 543 | void NCMAG_GetAccVector(void) |
584 | void NCMAG_GetAccVector(void) |
| 544 | { |
585 | { |
| 545 | // try to catch the I2C buffer within 0 ms |
586 | // try to catch the I2C buffer within 0 ms |
| 546 | if(I2C_LockBuffer(0)) |
587 | if(I2C_LockBuffer(0)) |
| 547 | { |
588 | { |
| 548 | u16 TxBytes = 0; |
589 | u16 TxBytes = 0; |
| 549 | // set register pointer |
590 | // set register pointer |
| 550 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
591 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
| 551 | // initiate transmission |
592 | // initiate transmission |
| 552 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
593 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| 553 | } |
594 | } |
| 554 | } |
595 | } |
| 555 | 596 | ||
| 556 | // -------------------------------------------------------- |
597 | // -------------------------------------------------------- |
| 557 | void NCMAG_UpdateCompass(void) |
598 | void NCMAG_UpdateCompass(void) |
| 558 | { |
599 | { |
| 559 | static u32 TimerCompassUpdate = 0; |
600 | static u32 TimerCompassUpdate = 0; |
| 560 | 601 | ||
| 561 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
602 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| 562 | { |
603 | { |
| 563 | Compass_Heading = -1; |
604 | Compass_Heading = -1; |
| 564 | return; |
605 | return; |
| 565 | } |
606 | } |
| 566 | 607 | ||
| 567 | if(CheckDelay(TimerCompassUpdate)) |
608 | if(CheckDelay(TimerCompassUpdate)) |
| 568 | { |
609 | { |
| 569 | // check for new calibration state |
610 | // check for new calibration state |
| 570 | Compass_UpdateCalState(); |
611 | Compass_UpdateCalState(); |
| 571 | if(Compass_CalState) NCMAG_Calibrate(); |
612 | if(Compass_CalState) NCMAG_Calibrate(); |
| 572 | NCMAG_GetMagVector(); //Get new data; |
613 | NCMAG_GetMagVector(); //Get new data; |
| 573 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
614 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| 574 | } |
615 | } |
| 575 | } |
616 | } |
| 576 | 617 | ||
| 577 | // -------------------------------------------------------- |
618 | // -------------------------------------------------------- |
| 578 | u8 NCMAG_SelfTest(void) |
619 | u8 NCMAG_SelfTest(void) |
| 579 | { |
620 | { |
| 580 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
621 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
| 581 | u32 time; |
622 | u32 time; |
| 582 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
623 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| 583 | s16 xscale, yscale, zscale, scale_min, scale_max; |
624 | s16 xscale, yscale, zscale, scale_min, scale_max; |
| 584 | u8 crb_gain, cra_rate; |
625 | u8 crb_gain, cra_rate; |
| 585 | u8 i = 0, retval = 1; |
626 | u8 i = 0, retval = 1; |
| 586 | 627 | ||
| 587 | switch(NCMAG_MagType) |
628 | switch(NCMAG_MagType) |
| 588 | { |
629 | { |
| 589 | case MAG_TYPE_HMC5843: |
630 | case MAG_TYPE_HMC5843: |
| 590 | crb_gain = HMC5843_CRB_GAIN_10GA; |
631 | crb_gain = HMC5843_CRB_GAIN_10GA; |
| 591 | cra_rate = HMC5843_CRA_RATE_50HZ; |
632 | cra_rate = HMC5843_CRA_RATE_50HZ; |
| 592 | xscale = HMC5843_TEST_XSCALE; |
633 | xscale = HMC5843_TEST_XSCALE; |
| 593 | yscale = HMC5843_TEST_YSCALE; |
634 | yscale = HMC5843_TEST_YSCALE; |
| 594 | zscale = HMC5843_TEST_ZSCALE; |
635 | zscale = HMC5843_TEST_ZSCALE; |
| 595 | break; |
636 | break; |
| 596 | 637 | ||
| 597 | case MAG_TYPE_LSM303DLH: |
638 | case MAG_TYPE_LSM303DLH: |
| 598 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
639 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
| 599 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
640 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 600 | xscale = LSM303DLH_TEST_XSCALE; |
641 | xscale = LSM303DLH_TEST_XSCALE; |
| 601 | yscale = LSM303DLH_TEST_YSCALE; |
642 | yscale = LSM303DLH_TEST_YSCALE; |
| 602 | zscale = LSM303DLH_TEST_ZSCALE; |
643 | zscale = LSM303DLH_TEST_ZSCALE; |
| 603 | break; |
644 | break; |
| 604 | 645 | ||
| 605 | default: |
646 | default: |
| 606 | return(0); |
647 | return(0); |
| 607 | } |
648 | } |
| 608 | 649 | ||
| 609 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
650 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
| 610 | MagConfig.crb = crb_gain; |
651 | MagConfig.crb = crb_gain; |
| 611 | MagConfig.mode = MODE_CONTINUOUS; |
652 | MagConfig.mode = MODE_CONTINUOUS; |
| 612 | // activate positive bias field |
653 | // activate positive bias field |
| 613 | NCMAG_SetMagConfig(); |
654 | NCMAG_SetMagConfig(); |
| 614 | // wait for stable readings |
655 | // wait for stable readings |
| 615 | time = SetDelay(50); |
656 | time = SetDelay(50); |
| 616 | while(!CheckDelay(time)); |
657 | while(!CheckDelay(time)); |
| 617 | // averaging |
658 | // averaging |
| 618 | #define AVERAGE 20 |
659 | #define AVERAGE 20 |
| 619 | for(i = 0; i<AVERAGE; i++) |
660 | for(i = 0; i<AVERAGE; i++) |
| 620 | { |
661 | { |
| 621 | NCMAG_GetMagVector(); |
662 | NCMAG_GetMagVector(); |
| 622 | time = SetDelay(20); |
663 | time = SetDelay(20); |
| 623 | while(!CheckDelay(time)); |
664 | while(!CheckDelay(time)); |
| 624 | XMax += MagRawVector.X; |
665 | XMax += MagRawVector.X; |
| 625 | YMax += MagRawVector.Y; |
666 | YMax += MagRawVector.Y; |
| 626 | ZMax += MagRawVector.Z; |
667 | ZMax += MagRawVector.Z; |
| 627 | } |
668 | } |
| 628 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
669 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
| 629 | // activate positive bias field |
670 | // activate positive bias field |
| 630 | NCMAG_SetMagConfig(); |
671 | NCMAG_SetMagConfig(); |
| 631 | // wait for stable readings |
672 | // wait for stable readings |
| 632 | time = SetDelay(50); |
673 | time = SetDelay(50); |
| 633 | while(!CheckDelay(time)); |
674 | while(!CheckDelay(time)); |
| 634 | // averaging |
675 | // averaging |
| 635 | for(i = 0; i < AVERAGE; i++) |
676 | for(i = 0; i < AVERAGE; i++) |
| 636 | { |
677 | { |
| 637 | NCMAG_GetMagVector(); |
678 | NCMAG_GetMagVector(); |
| 638 | time = SetDelay(20); |
679 | time = SetDelay(20); |
| 639 | while(!CheckDelay(time)); |
680 | while(!CheckDelay(time)); |
| 640 | XMin += MagRawVector.X; |
681 | XMin += MagRawVector.X; |
| 641 | YMin += MagRawVector.Y; |
682 | YMin += MagRawVector.Y; |
| 642 | ZMin += MagRawVector.Z; |
683 | ZMin += MagRawVector.Z; |
| 643 | } |
684 | } |
| 644 | // setup final configuration |
685 | // setup final configuration |
| 645 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
686 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| 646 | // activate positive bias field |
687 | // activate positive bias field |
| 647 | NCMAG_SetMagConfig(); |
688 | NCMAG_SetMagConfig(); |
| 648 | // prepare scale limits |
689 | // prepare scale limits |
| 649 | LIMITS(xscale, scale_min, scale_max); |
690 | LIMITS(xscale, scale_min, scale_max); |
| 650 | // check scale for all axes |
691 | // check scale for all axes |
| 651 | xscale = (XMax - XMin)/(2*AVERAGE); |
692 | xscale = (XMax - XMin)/(2*AVERAGE); |
| 652 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
693 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
| 653 | LIMITS(yscale, scale_min, scale_max); |
694 | LIMITS(yscale, scale_min, scale_max); |
| 654 | yscale = (YMax - YMin)/(2*AVERAGE); |
695 | yscale = (YMax - YMin)/(2*AVERAGE); |
| 655 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
696 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
| 656 | LIMITS(zscale, scale_min, scale_max); |
697 | LIMITS(zscale, scale_min, scale_max); |
| 657 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
698 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
| 658 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
699 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
| 659 | return(retval); |
700 | return(retval); |
| 660 | } |
701 | } |
| 661 | 702 | ||
| 662 | 703 | ||
| 663 | //---------------------------------------------------------------- |
704 | //---------------------------------------------------------------- |
| 664 | u8 NCMAG_Init(void) |
705 | u8 NCMAG_Init(void) |
| 665 | { |
706 | { |
| 666 | u8 msg[64]; |
707 | u8 msg[64]; |
| 667 | u8 retval = 0; |
708 | u8 retval = 0; |
| 668 | u8 repeat; |
709 | u8 repeat; |
| 669 | 710 | ||
| 670 | NCMAG_Present = 0; |
711 | NCMAG_Present = 0; |
| 671 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
712 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
| 672 | // polling for LSM302DLH option |
713 | // polling for LSM302DLH option |
| 673 | repeat = 0; |
714 | repeat = 0; |
| 674 | do |
715 | do |
| 675 | { |
716 | { |
| 676 | retval = NCMAG_GetAccConfig(); |
717 | retval = NCMAG_GetAccConfig(); |
| 677 | if(retval) break; // break loop on success |
718 | if(retval) break; // break loop on success |
| 678 | UART1_PutString("."); |
719 | UART1_PutString("."); |
| 679 | repeat++; |
720 | repeat++; |
| 680 | }while(repeat < 3); |
721 | }while(repeat < 3); |
| 681 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
722 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
| 682 | // polling of identification |
723 | // polling of identification |
| 683 | repeat = 0; |
724 | repeat = 0; |
| 684 | do |
725 | do |
| 685 | { |
726 | { |
| 686 | retval = NCMAG_GetIdentification(); |
727 | retval = NCMAG_GetIdentification(); |
| 687 | if(retval) break; // break loop on success |
728 | if(retval) break; // break loop on success |
| 688 | UART1_PutString("."); |
729 | UART1_PutString("."); |
| 689 | repeat++; |
730 | repeat++; |
| 690 | }while(repeat < 12); |
731 | }while(repeat < 12); |
| 691 | // if we got an answer to id request |
732 | // if we got an answer to id request |
| 692 | if(retval) |
733 | if(retval) |
| 693 | { |
734 | { |
| 694 | u8 n1[] = "HMC5843"; |
735 | u8 n1[] = "HMC5843"; |
| 695 | u8 n2[] = "LSM303DLH"; |
736 | u8 n2[] = "LSM303DLH"; |
| 696 | u8* pn; |
737 | u8* pn; |
| 697 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
738 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
| 698 | else pn = n1; |
739 | else pn = n1; |
| 699 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
740 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
| 700 | UART1_PutString(msg); |
741 | UART1_PutString(msg); |
| 701 | if ( (NCMAG_Identification.A == MAG_IDA) |
742 | if ( (NCMAG_Identification.A == MAG_IDA) |
| 702 | && (NCMAG_Identification.B == MAG_IDB) |
743 | && (NCMAG_Identification.B == MAG_IDB) |
| 703 | && (NCMAG_Identification.C == MAG_IDC)) |
744 | && (NCMAG_Identification.C == MAG_IDC)) |
| 704 | { |
745 | { |
| 705 | if(!NCMAG_SelfTest()) |
746 | if(!NCMAG_SelfTest()) |
| 706 | { |
747 | { |
| 707 | UART1_PutString(" Selftest failed!"); |
748 | UART1_PutString(" Selftest failed!"); |
| 708 | LED_RED_ON; |
749 | LED_RED_ON; |
| 709 | } |
750 | } |
| 710 | else |
751 | else |
| 711 | { |
752 | { |
| 712 | NCMAG_Present = 1; |
753 | NCMAG_Present = 1; |
| 713 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
754 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| 714 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
755 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| 715 | } |
756 | } |
| 716 | } |
757 | } |
| 717 | else |
758 | else |
| 718 | { |
759 | { |
| 719 | UART1_PutString("\n\r Not compatible!"); |
760 | UART1_PutString("\n\r Not compatible!"); |
| - | 761 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
|
| 720 | LED_RED_ON; |
762 | LED_RED_ON; |
| 721 | } |
763 | } |
| 722 | } |
764 | } |
| 723 | else // nothing found |
765 | else // nothing found |
| 724 | { |
766 | { |
| 725 | NCMAG_MagType = MAG_TYPE_NONE; |
767 | NCMAG_MagType = MAG_TYPE_NONE; |
| 726 | UART1_PutString("not found!"); |
768 | UART1_PutString("not found!"); |
| 727 | } |
769 | } |
| 728 | return(NCMAG_Present); |
770 | return(NCMAG_Present); |
| 729 | } |
771 | } |
| 730 | 772 | ||
| 731 | 773 | ||