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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <math.h> |
56 | #include <math.h> |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "i2c.h" |
61 | #include "i2c.h" |
62 | #include "timer1.h" |
62 | #include "timer1.h" |
63 | #include "led.h" |
63 | #include "led.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "eeprom.h" |
65 | #include "eeprom.h" |
66 | #include "mymath.h" |
66 | #include "mymath.h" |
67 | #include "main.h" |
67 | #include "main.h" |
68 | 68 | ||
69 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
71 | 71 | ||
72 | // supported magnetic sensor types |
72 | // supported magnetic sensor types |
73 | #define TYPE_NONE 0 |
73 | #define TYPE_NONE 0 |
74 | #define TYPE_HMC5843 1 |
74 | #define TYPE_HMC5843 1 |
75 | #define TYPE_LSM303DLH 2 |
75 | #define TYPE_LSM303DLH 2 |
76 | #define TYPE_LSM303DLM 3 |
76 | #define TYPE_LSM303DLM 3 |
77 | 77 | ||
78 | u8 NCMAG_SensorType = TYPE_NONE; |
78 | u8 NCMAG_SensorType = TYPE_NONE; |
79 | 79 | ||
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
81 | #define CALIBRATION_VERSION 1 |
81 | #define CALIBRATION_VERSION 1 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
83 | 83 | ||
84 | #define NCMAG_MIN_RAWVALUE -2047 |
84 | #define NCMAG_MIN_RAWVALUE -2047 |
85 | #define NCMAG_MAX_RAWVALUE 2047 |
85 | #define NCMAG_MAX_RAWVALUE 2047 |
86 | #define NCMAG_INVALID_DATA -4096 |
86 | #define NCMAG_INVALID_DATA -4096 |
87 | 87 | ||
88 | typedef struct |
88 | typedef struct |
89 | { |
89 | { |
90 | s16 Range; |
90 | s16 Range; |
91 | s16 Offset; |
91 | s16 Offset; |
92 | } __attribute__((packed)) Scaling_t; |
92 | } __attribute__((packed)) Scaling_t; |
93 | 93 | ||
94 | typedef struct |
94 | typedef struct |
95 | { |
95 | { |
96 | Scaling_t MagX; |
96 | Scaling_t MagX; |
97 | Scaling_t MagY; |
97 | Scaling_t MagY; |
98 | Scaling_t MagZ; |
98 | Scaling_t MagZ; |
99 | u8 Version; |
99 | u8 Version; |
100 | u8 crc; |
100 | u8 crc; |
101 | } __attribute__((packed)) Calibration_t; |
101 | } __attribute__((packed)) Calibration_t; |
102 | 102 | ||
103 | Calibration_t Calibration; // calibration data in RAM |
103 | Calibration_t Calibration; // calibration data in RAM |
104 | volatile s16vec_t AccRawVector; |
104 | volatile s16vec_t AccRawVector; |
105 | volatile s16vec_t MagRawVector; |
105 | volatile s16vec_t MagRawVector; |
106 | 106 | ||
107 | // i2c MAG interface |
107 | // i2c MAG interface |
108 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
108 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
109 | 109 | ||
110 | // register mapping |
110 | // register mapping |
111 | #define REG_MAG_CRA 0x00 |
111 | #define REG_MAG_CRA 0x00 |
112 | #define REG_MAG_CRB 0x01 |
112 | #define REG_MAG_CRB 0x01 |
113 | #define REG_MAG_MODE 0x02 |
113 | #define REG_MAG_MODE 0x02 |
114 | #define REG_MAG_DATAX_MSB 0x03 |
114 | #define REG_MAG_DATAX_MSB 0x03 |
115 | #define REG_MAG_DATAX_LSB 0x04 |
115 | #define REG_MAG_DATAX_LSB 0x04 |
116 | #define REG_MAG_DATAY_MSB 0x05 |
116 | #define REG_MAG_DATAY_MSB 0x05 |
117 | #define REG_MAG_DATAY_LSB 0x06 |
117 | #define REG_MAG_DATAY_LSB 0x06 |
118 | #define REG_MAG_DATAZ_MSB 0x07 |
118 | #define REG_MAG_DATAZ_MSB 0x07 |
119 | #define REG_MAG_DATAZ_LSB 0x08 |
119 | #define REG_MAG_DATAZ_LSB 0x08 |
120 | #define REG_MAG_STATUS 0x09 |
120 | #define REG_MAG_STATUS 0x09 |
121 | 121 | ||
122 | #define REG_MAG_IDA 0x0A |
122 | #define REG_MAG_IDA 0x0A |
123 | #define REG_MAG_IDB 0x0B |
123 | #define REG_MAG_IDB 0x0B |
124 | #define REG_MAG_IDC 0x0C |
124 | #define REG_MAG_IDC 0x0C |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
126 | 126 | ||
127 | // bit mask for configuration mode |
127 | // bit mask for configuration mode |
128 | #define CRA_MODE_MASK 0x03 |
128 | #define CRA_MODE_MASK 0x03 |
129 | #define CRA_MODE_NORMAL 0x00 //default |
129 | #define CRA_MODE_NORMAL 0x00 //default |
130 | #define CRA_MODE_POSBIAS 0x01 |
130 | #define CRA_MODE_POSBIAS 0x01 |
131 | #define CRA_MODE_NEGBIAS 0x02 |
131 | #define CRA_MODE_NEGBIAS 0x02 |
132 | #define CRA_MODE_SELFTEST 0x03 |
132 | #define CRA_MODE_SELFTEST 0x03 |
133 | 133 | ||
134 | // bit mask for measurement mode |
134 | // bit mask for measurement mode |
135 | #define MODE_MASK 0xFF |
135 | #define MODE_MASK 0xFF |
136 | #define MODE_CONTINUOUS 0x00 |
136 | #define MODE_CONTINUOUS 0x00 |
137 | #define MODE_SINGLE 0x01 // default |
137 | #define MODE_SINGLE 0x01 // default |
138 | #define MODE_IDLE 0x02 |
138 | #define MODE_IDLE 0x02 |
139 | #define MODE_SLEEP 0x03 |
139 | #define MODE_SLEEP 0x03 |
140 | 140 | ||
141 | // bit mask for rate |
141 | // bit mask for rate |
142 | #define CRA_RATE_MASK 0x1C |
142 | #define CRA_RATE_MASK 0x1C |
143 | 143 | ||
144 | // bit mask for gain |
144 | // bit mask for gain |
145 | #define CRB_GAIN_MASK 0xE0 |
145 | #define CRB_GAIN_MASK 0xE0 |
146 | 146 | ||
147 | // ids |
147 | // ids |
148 | #define MAG_IDA 0x48 |
148 | #define MAG_IDA 0x48 |
149 | #define MAG_IDB 0x34 |
149 | #define MAG_IDB 0x34 |
150 | #define MAG_IDC 0x33 |
150 | #define MAG_IDC 0x33 |
151 | #define MAG_IDF_LSM303DLM 0x3C |
151 | #define MAG_IDF_LSM303DLM 0x3C |
152 | 152 | ||
153 | // the special HMC5843 interface |
153 | // the special HMC5843 interface |
154 | // bit mask for rate |
154 | // bit mask for rate |
155 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
155 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
156 | #define HMC5843_CRA_RATE_1HZ 0x04 |
156 | #define HMC5843_CRA_RATE_1HZ 0x04 |
157 | #define HMC5843_CRA_RATE_2HZ 0x08 |
157 | #define HMC5843_CRA_RATE_2HZ 0x08 |
158 | #define HMC5843_CRA_RATE_5HZ 0x0C |
158 | #define HMC5843_CRA_RATE_5HZ 0x0C |
159 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
159 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
160 | #define HMC5843_CRA_RATE_20HZ 0x14 |
160 | #define HMC5843_CRA_RATE_20HZ 0x14 |
161 | #define HMC5843_CRA_RATE_50HZ 0x18 |
161 | #define HMC5843_CRA_RATE_50HZ 0x18 |
162 | // bit mask for gain |
162 | // bit mask for gain |
163 | #define HMC5843_CRB_GAIN_07GA 0x00 |
163 | #define HMC5843_CRB_GAIN_07GA 0x00 |
164 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
164 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
165 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
165 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
166 | #define HMC5843_CRB_GAIN_20GA 0x60 |
166 | #define HMC5843_CRB_GAIN_20GA 0x60 |
167 | #define HMC5843_CRB_GAIN_32GA 0x80 |
167 | #define HMC5843_CRB_GAIN_32GA 0x80 |
168 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
168 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
169 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
169 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
171 | // self test value |
171 | // self test value |
172 | #define HMC5843_TEST_XSCALE 555 |
172 | #define HMC5843_TEST_XSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
175 | // calibration range |
175 | // calibration range |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
177 | 177 | ||
178 | // the special LSM302DLH interface |
178 | // the special LSM302DLH interface |
179 | // bit mask for rate |
179 | // bit mask for rate |
180 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
180 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
181 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
181 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
182 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
182 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
183 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
183 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
184 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
184 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
185 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
185 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
186 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
186 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
187 | 187 | ||
188 | // bit mask for gain |
188 | // bit mask for gain |
189 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
189 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
190 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
190 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
191 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
191 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
197 | 197 | ||
198 | typedef struct |
198 | typedef struct |
199 | { |
199 | { |
200 | u8 A; |
200 | u8 A; |
201 | u8 B; |
201 | u8 B; |
202 | u8 C; |
202 | u8 C; |
203 | } __attribute__((packed)) Identification_t; |
203 | } __attribute__((packed)) Identification_t; |
204 | volatile Identification_t NCMAG_Identification; |
204 | volatile Identification_t NCMAG_Identification; |
205 | 205 | ||
206 | typedef struct |
206 | typedef struct |
207 | { |
207 | { |
208 | u8 Sub; |
208 | u8 Sub; |
209 | } __attribute__((packed)) Identification2_t; |
209 | } __attribute__((packed)) Identification2_t; |
210 | volatile Identification2_t NCMAG_Identification2; |
210 | volatile Identification2_t NCMAG_Identification2; |
211 | 211 | ||
212 | typedef struct |
212 | typedef struct |
213 | { |
213 | { |
214 | u8 cra; |
214 | u8 cra; |
215 | u8 crb; |
215 | u8 crb; |
216 | u8 mode; |
216 | u8 mode; |
217 | } __attribute__((packed)) MagConfig_t; |
217 | } __attribute__((packed)) MagConfig_t; |
218 | 218 | ||
219 | volatile MagConfig_t MagConfig; |
219 | volatile MagConfig_t MagConfig; |
220 | 220 | ||
221 | 221 | ||
222 | // self test value |
222 | // self test value |
223 | #define LSM303DLH_TEST_XSCALE 495 |
223 | #define LSM303DLH_TEST_XSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
226 | // clibration range |
226 | // clibration range |
227 | #define LSM303_CALIBRATION_RANGE 550 |
227 | #define LSM303_CALIBRATION_RANGE 550 |
228 | 228 | ||
229 | // the i2c ACC interface |
229 | // the i2c ACC interface |
230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
231 | 231 | ||
232 | // multiple byte read/write mask |
232 | // multiple byte read/write mask |
233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
234 | 234 | ||
235 | // register mapping |
235 | // register mapping |
236 | #define REG_ACC_CTRL1 0x20 |
236 | #define REG_ACC_CTRL1 0x20 |
237 | #define REG_ACC_CTRL2 0x21 |
237 | #define REG_ACC_CTRL2 0x21 |
238 | #define REG_ACC_CTRL3 0x22 |
238 | #define REG_ACC_CTRL3 0x22 |
239 | #define REG_ACC_CTRL4 0x23 |
239 | #define REG_ACC_CTRL4 0x23 |
240 | #define REG_ACC_CTRL5 0x24 |
240 | #define REG_ACC_CTRL5 0x24 |
241 | #define REG_ACC_HP_FILTER_RESET 0x25 |
241 | #define REG_ACC_HP_FILTER_RESET 0x25 |
242 | #define REG_ACC_REFERENCE 0x26 |
242 | #define REG_ACC_REFERENCE 0x26 |
243 | #define REG_ACC_STATUS 0x27 |
243 | #define REG_ACC_STATUS 0x27 |
244 | #define REG_ACC_X_LSB 0x28 |
244 | #define REG_ACC_X_LSB 0x28 |
245 | #define REG_ACC_X_MSB 0x29 |
245 | #define REG_ACC_X_MSB 0x29 |
246 | #define REG_ACC_Y_LSB 0x2A |
246 | #define REG_ACC_Y_LSB 0x2A |
247 | #define REG_ACC_Y_MSB 0x2B |
247 | #define REG_ACC_Y_MSB 0x2B |
248 | #define REG_ACC_Z_LSB 0x2C |
248 | #define REG_ACC_Z_LSB 0x2C |
249 | #define REG_ACC_Z_MSB 0x2D |
249 | #define REG_ACC_Z_MSB 0x2D |
250 | 250 | ||
251 | #define ACC_CRTL1_PM_DOWN 0x00 |
251 | #define ACC_CRTL1_PM_DOWN 0x00 |
252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
258 | // Output data rate in normal power mode |
258 | // Output data rate in normal power mode |
259 | #define ACC_CRTL1_DR_50HZ 0x00 |
259 | #define ACC_CRTL1_DR_50HZ 0x00 |
260 | #define ACC_CRTL1_DR_100HZ 0x08 |
260 | #define ACC_CRTL1_DR_100HZ 0x08 |
261 | #define ACC_CRTL1_DR_400HZ 0x10 |
261 | #define ACC_CRTL1_DR_400HZ 0x10 |
262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
263 | // axis anable flags |
263 | // axis anable flags |
264 | #define ACC_CRTL1_XEN 0x01 |
264 | #define ACC_CRTL1_XEN 0x01 |
265 | #define ACC_CRTL1_YEN 0x02 |
265 | #define ACC_CRTL1_YEN 0x02 |
266 | #define ACC_CRTL1_ZEN 0x04 |
266 | #define ACC_CRTL1_ZEN 0x04 |
- | 267 | ||
- | 268 | #define ACC_CRTL2_FILTER8 0x00 |
|
- | 269 | #define ACC_CRTL2_FILTER16 0x01 |
|
- | 270 | #define ACC_CRTL2_FILTER32 0x02 |
|
- | 271 | #define ACC_CRTL2_FILTER64 0x03 |
|
267 | 272 | ||
268 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
273 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
269 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
274 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
270 | #define ACC_CTRL4_FS_2G 0x00 |
275 | #define ACC_CTRL4_FS_2G 0x00 |
271 | #define ACC_CTRL4_FS_4G 0x10 |
276 | #define ACC_CTRL4_FS_4G 0x10 |
272 | #define ACC_CTRL4_FS_8G 0x30 |
277 | #define ACC_CTRL4_FS_8G 0x30 |
273 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
278 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
274 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
279 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
275 | #define ACC_CTRL4_ST_ENABLE 0x02 |
280 | #define ACC_CTRL4_ST_ENABLE 0x02 |
276 | 281 | ||
277 | #define ACC_CTRL5_STW_ON 0x03 |
282 | #define ACC_CTRL5_STW_ON 0x03 |
278 | #define ACC_CTRL5_STW_OFF 0x00 |
283 | #define ACC_CTRL5_STW_OFF 0x00 |
279 | 284 | ||
280 | typedef struct |
285 | typedef struct |
281 | { |
286 | { |
282 | u8 ctrl_1; |
287 | u8 ctrl_1; |
283 | u8 ctrl_2; |
288 | u8 ctrl_2; |
284 | u8 ctrl_3; |
289 | u8 ctrl_3; |
285 | u8 ctrl_4; |
290 | u8 ctrl_4; |
286 | u8 ctrl_5; |
291 | u8 ctrl_5; |
287 | } __attribute__((packed)) AccConfig_t; |
292 | } __attribute__((packed)) AccConfig_t; |
288 | 293 | ||
289 | volatile AccConfig_t AccConfig; |
294 | volatile AccConfig_t AccConfig; |
290 | 295 | ||
291 | u8 NCMag_CalibrationWrite(void) |
296 | u8 NCMag_CalibrationWrite(void) |
292 | { |
297 | { |
293 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
298 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
294 | EEPROM_Result_t eres; |
299 | EEPROM_Result_t eres; |
295 | u8 *pBuff = (u8*)&Calibration; |
300 | u8 *pBuff = (u8*)&Calibration; |
296 | 301 | ||
297 | Calibration.Version = CALIBRATION_VERSION; |
302 | Calibration.Version = CALIBRATION_VERSION; |
298 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
299 | { |
304 | { |
300 | crc += pBuff[i]; |
305 | crc += pBuff[i]; |
301 | } |
306 | } |
302 | Calibration.crc = ~crc; |
307 | Calibration.crc = ~crc; |
303 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
308 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
304 | if(EEPROM_SUCCESS == eres) i = 1; |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
305 | else i = 0; |
310 | else i = 0; |
306 | return(i); |
311 | return(i); |
307 | } |
312 | } |
308 | 313 | ||
309 | u8 NCMag_CalibrationRead(void) |
314 | u8 NCMag_CalibrationRead(void) |
310 | { |
315 | { |
311 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
312 | u8 *pBuff = (u8*)&Calibration; |
317 | u8 *pBuff = (u8*)&Calibration; |
313 | 318 | ||
314 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
319 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
315 | { |
320 | { |
316 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
321 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
317 | { |
322 | { |
318 | crc += pBuff[i]; |
323 | crc += pBuff[i]; |
319 | } |
324 | } |
320 | crc = ~crc; |
325 | crc = ~crc; |
321 | if(Calibration.crc != crc) return(0); // crc mismatch |
326 | if(Calibration.crc != crc) return(0); // crc mismatch |
322 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
327 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
323 | } |
328 | } |
324 | return(0); |
329 | return(0); |
325 | } |
330 | } |
326 | 331 | ||
327 | 332 | ||
328 | void NCMAG_Calibrate(void) |
333 | void NCMAG_Calibrate(void) |
329 | { |
334 | { |
330 | u8 msg[64]; |
335 | u8 msg[64]; |
331 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
336 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
332 | static s16 X = 0, Y = 0, Z = 0; |
337 | static s16 X = 0, Y = 0, Z = 0; |
333 | static u8 OldCalState = 0; |
338 | static u8 OldCalState = 0; |
334 | s16 MinCalibration = 450; |
339 | s16 MinCalibration = 450; |
335 | 340 | ||
336 | X = (4*X + MagRawVector.X + 3)/5; |
341 | X = (4*X + MagRawVector.X + 3)/5; |
337 | Y = (4*Y + MagRawVector.Y + 3)/5; |
342 | Y = (4*Y + MagRawVector.Y + 3)/5; |
338 | Z = (4*Z + MagRawVector.Z + 3)/5; |
343 | Z = (4*Z + MagRawVector.Z + 3)/5; |
339 | 344 | ||
340 | switch(Compass_CalState) |
345 | switch(Compass_CalState) |
341 | { |
346 | { |
342 | case 1: |
347 | case 1: |
343 | // 1st step of calibration |
348 | // 1st step of calibration |
344 | // initialize ranges |
349 | // initialize ranges |
345 | // used to change the orientation of the NC in the horizontal plane |
350 | // used to change the orientation of the NC in the horizontal plane |
346 | Xmin = 10000; |
351 | Xmin = 10000; |
347 | Xmax = -10000; |
352 | Xmax = -10000; |
348 | Ymin = 10000; |
353 | Ymin = 10000; |
349 | Ymax = -10000; |
354 | Ymax = -10000; |
350 | Zmin = 10000; |
355 | Zmin = 10000; |
351 | Zmax = -10000; |
356 | Zmax = -10000; |
352 | break; |
357 | break; |
353 | 358 | ||
354 | case 2: // 2nd step of calibration |
359 | case 2: // 2nd step of calibration |
355 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
360 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
356 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
361 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
357 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
362 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
358 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
363 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
359 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
364 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
360 | break; |
365 | break; |
361 | 366 | ||
362 | case 3: // 3rd step of calibration |
367 | case 3: // 3rd step of calibration |
363 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
368 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
364 | break; |
369 | break; |
365 | 370 | ||
366 | case 4: |
371 | case 4: |
367 | // find Min and Max of the Z-Sensor |
372 | // find Min and Max of the Z-Sensor |
368 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
373 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
369 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
374 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
370 | break; |
375 | break; |
371 | 376 | ||
372 | case 5: |
377 | case 5: |
373 | // Save values |
378 | // Save values |
374 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
379 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
375 | { |
380 | { |
376 | switch(NCMAG_SensorType) |
381 | switch(NCMAG_SensorType) |
377 | { |
382 | { |
378 | case TYPE_HMC5843: |
383 | case TYPE_HMC5843: |
379 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
384 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
380 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
385 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
381 | break; |
386 | break; |
382 | 387 | ||
383 | case TYPE_LSM303DLH: |
388 | case TYPE_LSM303DLH: |
384 | case TYPE_LSM303DLM: |
389 | case TYPE_LSM303DLM: |
385 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
390 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
386 | MinCalibration = LSM303_CALIBRATION_RANGE; |
391 | MinCalibration = LSM303_CALIBRATION_RANGE; |
387 | break; |
392 | break; |
388 | } |
393 | } |
389 | if(EarthMagneticStrengthTheoretic) |
394 | if(EarthMagneticStrengthTheoretic) |
390 | { |
395 | { |
391 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
396 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
392 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
397 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
393 | UART1_PutString(msg); |
398 | UART1_PutString(msg); |
394 | } |
399 | } |
395 | else UART1_PutString("without GPS\n\r"); |
400 | else UART1_PutString("without GPS\n\r"); |
396 | 401 | ||
397 | Calibration.MagX.Range = Xmax - Xmin; |
402 | Calibration.MagX.Range = Xmax - Xmin; |
398 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
403 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
399 | Calibration.MagY.Range = Ymax - Ymin; |
404 | Calibration.MagY.Range = Ymax - Ymin; |
400 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
405 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
401 | Calibration.MagZ.Range = Zmax - Zmin; |
406 | Calibration.MagZ.Range = Zmax - Zmin; |
402 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
407 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
403 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
408 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
404 | { |
409 | { |
405 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
410 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
406 | BeepTime = 2500; |
411 | BeepTime = 2500; |
407 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
412 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
408 | } |
413 | } |
409 | else |
414 | else |
410 | { |
415 | { |
411 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
416 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
412 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
417 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
413 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
418 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
414 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
419 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
415 | UART1_PutString("\r\n"); |
420 | UART1_PutString("\r\n"); |
416 | 421 | ||
417 | // restore old calibration data from eeprom |
422 | // restore old calibration data from eeprom |
418 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
423 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
419 | } |
424 | } |
420 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
425 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
421 | UART1_PutString(msg); |
426 | UART1_PutString(msg); |
422 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
427 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
423 | UART1_PutString(msg); |
428 | UART1_PutString(msg); |
424 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
429 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
425 | UART1_PutString(msg); |
430 | UART1_PutString(msg); |
426 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
431 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
427 | UART1_PutString(msg); |
432 | UART1_PutString(msg); |
428 | } |
433 | } |
429 | break; |
434 | break; |
430 | 435 | ||
431 | default: |
436 | default: |
432 | break; |
437 | break; |
433 | } |
438 | } |
434 | OldCalState = Compass_CalState; |
439 | OldCalState = Compass_CalState; |
435 | } |
440 | } |
436 | 441 | ||
437 | // ---------- call back handlers ----------------------------------------- |
442 | // ---------- call back handlers ----------------------------------------- |
438 | 443 | ||
439 | // rx data handler for id info request |
444 | // rx data handler for id info request |
440 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
445 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
441 | { // if number of bytes are matching |
446 | { // if number of bytes are matching |
442 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
447 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
443 | { |
448 | { |
444 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
449 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
445 | } |
450 | } |
446 | } |
451 | } |
447 | 452 | ||
448 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
453 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
449 | { // if number of bytes are matching |
454 | { // if number of bytes are matching |
450 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
455 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
451 | { |
456 | { |
452 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
457 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
453 | } |
458 | } |
454 | } |
459 | } |
455 | 460 | ||
456 | // rx data handler for magnetic sensor raw data |
461 | // rx data handler for magnetic sensor raw data |
457 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
462 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
458 | { // if number of bytes are matching |
463 | { // if number of bytes are matching |
459 | if(RxBufferSize == sizeof(MagRawVector) ) |
464 | if(RxBufferSize == sizeof(MagRawVector) ) |
460 | { // byte order from big to little endian |
465 | { // byte order from big to little endian |
461 | s16 raw; |
466 | s16 raw; |
462 | raw = pRxBuffer[0]<<8; |
467 | raw = pRxBuffer[0]<<8; |
463 | raw+= pRxBuffer[1]; |
468 | raw+= pRxBuffer[1]; |
464 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
469 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
465 | raw = pRxBuffer[2]<<8; |
470 | raw = pRxBuffer[2]<<8; |
466 | raw+= pRxBuffer[3]; |
471 | raw+= pRxBuffer[3]; |
467 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
472 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
468 | { |
473 | { |
469 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
474 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
470 | else MagRawVector.Y = raw; |
475 | else MagRawVector.Y = raw; |
471 | } |
476 | } |
472 | raw = pRxBuffer[4]<<8; |
477 | raw = pRxBuffer[4]<<8; |
473 | raw+= pRxBuffer[5]; |
478 | raw+= pRxBuffer[5]; |
474 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
479 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
475 | { |
480 | { |
476 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
481 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
477 | else MagRawVector.Z = raw; |
482 | else MagRawVector.Z = raw; |
478 | } |
483 | } |
479 | } |
484 | } |
480 | if(Compass_CalState || !NCMAG_IsCalibrated) |
485 | if(Compass_CalState || !NCMAG_IsCalibrated) |
481 | { // mark out data invalid |
486 | { // mark out data invalid |
482 | MagVector.X = MagRawVector.X; |
487 | MagVector.X = MagRawVector.X; |
483 | MagVector.Y = MagRawVector.Y; |
488 | MagVector.Y = MagRawVector.Y; |
484 | MagVector.Z = MagRawVector.Z; |
489 | MagVector.Z = MagRawVector.Z; |
485 | Compass_Heading = -1; |
490 | Compass_Heading = -1; |
486 | } |
491 | } |
487 | else |
492 | else |
488 | { |
493 | { |
489 | // update MagVector from MagRaw Vector by Scaling |
494 | // update MagVector from MagRaw Vector by Scaling |
490 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
495 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
491 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
496 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
492 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
497 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
493 | Compass_CalcHeading(); |
498 | Compass_CalcHeading(); |
494 | } |
499 | } |
495 | } |
500 | } |
496 | // rx data handler for acceleration raw data |
501 | // rx data handler for acceleration raw data |
497 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
502 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
498 | { // if number of byte are matching |
503 | { // if number of byte are matching |
499 | if(RxBufferSize == sizeof(AccRawVector) ) |
504 | if(RxBufferSize == sizeof(AccRawVector) ) |
500 | { |
505 | { |
501 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
506 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
502 | } |
507 | } |
503 | DebugOut.Analog[16] = AccRawVector.X; |
508 | DebugOut.Analog[16] = AccRawVector.X; |
504 | DebugOut.Analog[17] = AccRawVector.Y; |
509 | DebugOut.Analog[17] = AccRawVector.Y; |
505 | DebugOut.Analog[18] = AccRawVector.Z; |
510 | DebugOut.Analog[18] = AccRawVector.Z; |
- | 511 | DebugOut.Analog[19] = (DebugOut.Analog[19] * 3 + AccRawVector.Z) / 4; |
|
506 | } |
512 | } |
507 | // rx data handler for reading magnetic sensor configuration |
513 | // rx data handler for reading magnetic sensor configuration |
508 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
514 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
509 | { // if number of byte are matching |
515 | { // if number of byte are matching |
510 | if(RxBufferSize == sizeof(MagConfig) ) |
516 | if(RxBufferSize == sizeof(MagConfig) ) |
511 | { |
517 | { |
512 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
518 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
513 | } |
519 | } |
514 | } |
520 | } |
515 | // rx data handler for reading acceleration sensor configuration |
521 | // rx data handler for reading acceleration sensor configuration |
516 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
522 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
517 | { // if number of byte are matching |
523 | { // if number of byte are matching |
518 | if(RxBufferSize == sizeof(AccConfig) ) |
524 | if(RxBufferSize == sizeof(AccConfig) ) |
519 | { |
525 | { |
520 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
526 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
521 | } |
527 | } |
522 | } |
528 | } |
523 | //---------------------------------------------------------------------- |
529 | //---------------------------------------------------------------------- |
524 | 530 | ||
525 | 531 | ||
526 | // --------------------------------------------------------------------- |
532 | // --------------------------------------------------------------------- |
527 | u8 NCMAG_SetMagConfig(void) |
533 | u8 NCMAG_SetMagConfig(void) |
528 | { |
534 | { |
529 | u8 retval = 0; |
535 | u8 retval = 0; |
530 | // try to catch the i2c buffer within 100 ms timeout |
536 | // try to catch the i2c buffer within 100 ms timeout |
531 | if(I2C_LockBuffer(100)) |
537 | if(I2C_LockBuffer(100)) |
532 | { |
538 | { |
533 | u8 TxBytes = 0; |
539 | u8 TxBytes = 0; |
534 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
540 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
535 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
541 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
536 | TxBytes += sizeof(MagConfig); |
542 | TxBytes += sizeof(MagConfig); |
537 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
543 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
538 | { |
544 | { |
539 | if(I2C_WaitForEndOfTransmission(100)) |
545 | if(I2C_WaitForEndOfTransmission(100)) |
540 | { |
546 | { |
541 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
547 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
542 | } |
548 | } |
543 | } |
549 | } |
544 | } |
550 | } |
545 | return(retval); |
551 | return(retval); |
546 | } |
552 | } |
547 | 553 | ||
548 | // ---------------------------------------------------------------------------------------- |
554 | // ---------------------------------------------------------------------------------------- |
549 | u8 NCMAG_GetMagConfig(void) |
555 | u8 NCMAG_GetMagConfig(void) |
550 | { |
556 | { |
551 | u8 retval = 0; |
557 | u8 retval = 0; |
552 | // try to catch the i2c buffer within 100 ms timeout |
558 | // try to catch the i2c buffer within 100 ms timeout |
553 | if(I2C_LockBuffer(100)) |
559 | if(I2C_LockBuffer(100)) |
554 | { |
560 | { |
555 | u8 TxBytes = 0; |
561 | u8 TxBytes = 0; |
556 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
562 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
557 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
563 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
558 | { |
564 | { |
559 | if(I2C_WaitForEndOfTransmission(100)) |
565 | if(I2C_WaitForEndOfTransmission(100)) |
560 | { |
566 | { |
561 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
567 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
562 | } |
568 | } |
563 | } |
569 | } |
564 | } |
570 | } |
565 | return(retval); |
571 | return(retval); |
566 | } |
572 | } |
567 | 573 | ||
568 | // ---------------------------------------------------------------------------------------- |
574 | // ---------------------------------------------------------------------------------------- |
569 | u8 NCMAG_SetAccConfig(void) |
575 | u8 NCMAG_SetAccConfig(void) |
570 | { |
576 | { |
571 | u8 retval = 0; |
577 | u8 retval = 0; |
572 | // try to catch the i2c buffer within 100 ms timeout |
578 | // try to catch the i2c buffer within 100 ms timeout |
573 | if(I2C_LockBuffer(100)) |
579 | if(I2C_LockBuffer(100)) |
574 | { |
580 | { |
575 | u8 TxBytes = 0; |
581 | u8 TxBytes = 0; |
576 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
582 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
577 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
583 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
578 | TxBytes += sizeof(AccConfig); |
584 | TxBytes += sizeof(AccConfig); |
579 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
585 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
580 | { |
586 | { |
581 | if(I2C_WaitForEndOfTransmission(100)) |
587 | if(I2C_WaitForEndOfTransmission(100)) |
582 | { |
588 | { |
583 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
589 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
584 | } |
590 | } |
585 | } |
591 | } |
586 | } |
592 | } |
587 | return(retval); |
593 | return(retval); |
588 | } |
594 | } |
589 | 595 | ||
590 | // ---------------------------------------------------------------------------------------- |
596 | // ---------------------------------------------------------------------------------------- |
591 | u8 NCMAG_GetAccConfig(void) |
597 | u8 NCMAG_GetAccConfig(void) |
592 | { |
598 | { |
593 | u8 retval = 0; |
599 | u8 retval = 0; |
594 | // try to catch the i2c buffer within 100 ms timeout |
600 | // try to catch the i2c buffer within 100 ms timeout |
595 | if(I2C_LockBuffer(100)) |
601 | if(I2C_LockBuffer(100)) |
596 | { |
602 | { |
597 | u8 TxBytes = 0; |
603 | u8 TxBytes = 0; |
598 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
604 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
599 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
605 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
600 | { |
606 | { |
601 | if(I2C_WaitForEndOfTransmission(100)) |
607 | if(I2C_WaitForEndOfTransmission(100)) |
602 | { |
608 | { |
603 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
609 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
604 | } |
610 | } |
605 | } |
611 | } |
606 | } |
612 | } |
607 | return(retval); |
613 | return(retval); |
608 | } |
614 | } |
609 | 615 | ||
610 | // ---------------------------------------------------------------------------------------- |
616 | // ---------------------------------------------------------------------------------------- |
611 | u8 NCMAG_GetIdentification(void) |
617 | u8 NCMAG_GetIdentification(void) |
612 | { |
618 | { |
613 | u8 retval = 0; |
619 | u8 retval = 0; |
614 | // try to catch the i2c buffer within 100 ms timeout |
620 | // try to catch the i2c buffer within 100 ms timeout |
615 | if(I2C_LockBuffer(100)) |
621 | if(I2C_LockBuffer(100)) |
616 | { |
622 | { |
617 | u16 TxBytes = 0; |
623 | u16 TxBytes = 0; |
618 | NCMAG_Identification.A = 0xFF; |
624 | NCMAG_Identification.A = 0xFF; |
619 | NCMAG_Identification.B = 0xFF; |
625 | NCMAG_Identification.B = 0xFF; |
620 | NCMAG_Identification.C = 0xFF; |
626 | NCMAG_Identification.C = 0xFF; |
621 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
627 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
622 | // initiate transmission |
628 | // initiate transmission |
623 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
629 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
624 | { |
630 | { |
625 | if(I2C_WaitForEndOfTransmission(100)) |
631 | if(I2C_WaitForEndOfTransmission(100)) |
626 | { |
632 | { |
627 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
633 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
628 | } |
634 | } |
629 | } |
635 | } |
630 | } |
636 | } |
631 | return(retval); |
637 | return(retval); |
632 | } |
638 | } |
633 | 639 | ||
634 | u8 NCMAG_GetIdentification_Sub(void) |
640 | u8 NCMAG_GetIdentification_Sub(void) |
635 | { |
641 | { |
636 | u8 retval = 0; |
642 | u8 retval = 0; |
637 | // try to catch the i2c buffer within 100 ms timeout |
643 | // try to catch the i2c buffer within 100 ms timeout |
638 | if(I2C_LockBuffer(100)) |
644 | if(I2C_LockBuffer(100)) |
639 | { |
645 | { |
640 | u16 TxBytes = 0; |
646 | u16 TxBytes = 0; |
641 | NCMAG_Identification2.Sub = 0xFF; |
647 | NCMAG_Identification2.Sub = 0xFF; |
642 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
648 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
643 | // initiate transmission |
649 | // initiate transmission |
644 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
650 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
645 | { |
651 | { |
646 | if(I2C_WaitForEndOfTransmission(100)) |
652 | if(I2C_WaitForEndOfTransmission(100)) |
647 | { |
653 | { |
648 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
654 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
649 | } |
655 | } |
650 | } |
656 | } |
651 | } |
657 | } |
652 | return(retval); |
658 | return(retval); |
653 | } |
659 | } |
654 | 660 | ||
655 | 661 | ||
656 | // ---------------------------------------------------------------------------------------- |
662 | // ---------------------------------------------------------------------------------------- |
657 | void NCMAG_GetMagVector(void) |
663 | void NCMAG_GetMagVector(void) |
658 | { |
664 | { |
659 | // try to catch the I2C buffer within 0 ms |
665 | // try to catch the I2C buffer within 0 ms |
660 | if(I2C_LockBuffer(0)) |
666 | if(I2C_LockBuffer(0)) |
661 | { |
667 | { |
662 | u16 TxBytes = 0; |
668 | u16 TxBytes = 0; |
663 | // set register pointer |
669 | // set register pointer |
664 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
670 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
665 | // initiate transmission |
671 | // initiate transmission |
666 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
672 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
667 | } |
673 | } |
668 | } |
674 | } |
669 | 675 | ||
670 | //---------------------------------------------------------------- |
676 | //---------------------------------------------------------------- |
671 | void NCMAG_GetAccVector(void) |
677 | void NCMAG_GetAccVector(void) |
672 | { |
678 | { |
673 | // try to catch the I2C buffer within 0 ms |
679 | // try to catch the I2C buffer within 0 ms |
674 | if(I2C_LockBuffer(0)) |
680 | if(I2C_LockBuffer(0)) |
675 | { |
681 | { |
676 | u16 TxBytes = 0; |
682 | u16 TxBytes = 0; |
677 | // set register pointer |
683 | // set register pointer |
678 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
684 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
679 | // initiate transmission |
685 | // initiate transmission |
680 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
686 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
681 | } |
687 | } |
682 | } |
688 | } |
683 | 689 | ||
684 | //---------------------------------------------------------------- |
690 | //---------------------------------------------------------------- |
685 | u8 InitNC_MagnetSensor(void) |
691 | u8 InitNC_MagnetSensor(void) |
686 | { |
692 | { |
687 | u8 crb_gain, cra_rate; |
693 | u8 crb_gain, cra_rate; |
688 | 694 | ||
689 | switch(NCMAG_SensorType) |
695 | switch(NCMAG_SensorType) |
690 | { |
696 | { |
691 | case TYPE_HMC5843: |
697 | case TYPE_HMC5843: |
692 | crb_gain = HMC5843_CRB_GAIN_15GA; |
698 | crb_gain = HMC5843_CRB_GAIN_15GA; |
693 | cra_rate = HMC5843_CRA_RATE_50HZ; |
699 | cra_rate = HMC5843_CRA_RATE_50HZ; |
694 | break; |
700 | break; |
695 | 701 | ||
696 | case TYPE_LSM303DLH: |
702 | case TYPE_LSM303DLH: |
697 | case TYPE_LSM303DLM: |
703 | case TYPE_LSM303DLM: |
698 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
704 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
699 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
705 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
700 | break; |
706 | break; |
701 | 707 | ||
702 | default: |
708 | default: |
703 | return(0); |
709 | return(0); |
704 | } |
710 | } |
705 | 711 | ||
706 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
712 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
707 | MagConfig.crb = crb_gain; |
713 | MagConfig.crb = crb_gain; |
708 | MagConfig.mode = MODE_CONTINUOUS; |
714 | MagConfig.mode = MODE_CONTINUOUS; |
709 | return(NCMAG_SetMagConfig()); |
715 | return(NCMAG_SetMagConfig()); |
710 | } |
716 | } |
- | 717 | ||
711 | 718 | ||
712 | //---------------------------------------------------------------- |
719 | //---------------------------------------------------------------- |
713 | u8 NCMAG_Init_ACCSensor(void) |
720 | u8 NCMAG_Init_ACCSensor(void) |
714 | { |
721 | { |
715 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_400HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
722 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
716 | AccConfig.ctrl_2 = 0x00; |
723 | AccConfig.ctrl_2 = ACC_CRTL2_FILTER64; |
717 | AccConfig.ctrl_3 = 0x00; |
724 | AccConfig.ctrl_3 = 0x00; |
718 | AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_2G; |
725 | AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_8G; |
719 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
726 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
720 | return(NCMAG_SetAccConfig()); |
727 | return(NCMAG_SetAccConfig()); |
721 | } |
728 | } |
722 | // -------------------------------------------------------- |
729 | // -------------------------------------------------------- |
723 | void NCMAG_Update(void) |
730 | void NCMAG_Update(void) |
724 | { |
731 | { |
725 | static u32 TimerUpdate = 0; |
732 | static u32 TimerUpdate = 0; |
726 | static u8 send_config = 0; |
733 | static u8 send_config = 0; |
727 | u32 delay = 20; |
734 | u32 delay = 20; |
728 | 735 | ||
729 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
736 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
730 | { |
737 | { |
731 | Compass_Heading = -1; |
738 | Compass_Heading = -1; |
732 | DebugOut.Analog[14]++; // count I2C error |
739 | DebugOut.Analog[14]++; // count I2C error |
733 | return; |
740 | return; |
734 | } |
741 | } |
735 | if(CheckDelay(TimerUpdate)) |
742 | if(CheckDelay(TimerUpdate)) |
736 | { |
743 | { |
737 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
744 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
738 | if(++send_config == 25) // 500ms |
745 | if(++send_config == 25) // 500ms |
739 | { |
746 | { |
740 | send_config = 0; |
747 | send_config = 0; |
741 | InitNC_MagnetSensor(); |
748 | InitNC_MagnetSensor(); |
742 | TimerUpdate = SetDelay(15); // back into the old time-slot |
749 | TimerUpdate = SetDelay(15); // back into the old time-slot |
743 | } |
750 | } |
744 | else |
751 | else |
745 | { |
752 | { |
746 | static u8 s = 0; |
753 | static u8 s = 0; |
747 | // check for new calibration state |
754 | // check for new calibration state |
748 | Compass_UpdateCalState(); |
755 | Compass_UpdateCalState(); |
749 | if(Compass_CalState) NCMAG_Calibrate(); |
756 | if(Compass_CalState) NCMAG_Calibrate(); |
750 | 757 | ||
751 | // in case of LSM303 type |
758 | // in case of LSM303 type |
752 | switch(NCMAG_SensorType) |
759 | switch(NCMAG_SensorType) |
753 | { |
760 | { |
754 | case TYPE_HMC5843: |
761 | case TYPE_HMC5843: |
755 | NCMAG_GetMagVector(); |
762 | NCMAG_GetMagVector(); |
756 | delay = 20; |
763 | delay = 20; |
757 | break; |
764 | break; |
758 | case TYPE_LSM303DLH: |
765 | case TYPE_LSM303DLH: |
759 | case TYPE_LSM303DLM: |
766 | case TYPE_LSM303DLM: |
760 | if(s){ NCMAG_GetMagVector(); s = 0;} |
767 | if(s){ NCMAG_GetMagVector(); s = 0;} |
761 | else { NCMAG_GetAccVector(); s = 1;} |
768 | else { NCMAG_GetAccVector(); s = 1;} |
762 | delay = 10; |
769 | delay = 10; |
763 | break; |
770 | break; |
764 | } |
771 | } |
765 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
772 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
766 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
773 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
767 | } |
774 | } |
768 | } |
775 | } |
769 | } |
776 | } |
770 | 777 | ||
771 | 778 | ||
772 | // -------------------------------------------------------- |
779 | // -------------------------------------------------------- |
773 | u8 NCMAG_SelfTest(void) |
780 | u8 NCMAG_SelfTest(void) |
774 | { |
781 | { |
775 | u8 msg[64]; |
782 | u8 msg[64]; |
776 | static u8 done = 0; |
783 | static u8 done = 0; |
777 | 784 | ||
778 | if(done) return(1); // just make it once |
785 | if(done) return(1); // just make it once |
779 | 786 | ||
780 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
787 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
781 | u32 time; |
788 | u32 time; |
782 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
789 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
783 | s16 xscale, yscale, zscale, scale_min, scale_max; |
790 | s16 xscale, yscale, zscale, scale_min, scale_max; |
784 | u8 crb_gain, cra_rate; |
791 | u8 crb_gain, cra_rate; |
785 | u8 i = 0, retval = 1; |
792 | u8 i = 0, retval = 1; |
786 | 793 | ||
787 | switch(NCMAG_SensorType) |
794 | switch(NCMAG_SensorType) |
788 | { |
795 | { |
789 | case TYPE_HMC5843: |
796 | case TYPE_HMC5843: |
790 | crb_gain = HMC5843_CRB_GAIN_15GA; |
797 | crb_gain = HMC5843_CRB_GAIN_15GA; |
791 | cra_rate = HMC5843_CRA_RATE_50HZ; |
798 | cra_rate = HMC5843_CRA_RATE_50HZ; |
792 | xscale = HMC5843_TEST_XSCALE; |
799 | xscale = HMC5843_TEST_XSCALE; |
793 | yscale = HMC5843_TEST_YSCALE; |
800 | yscale = HMC5843_TEST_YSCALE; |
794 | zscale = HMC5843_TEST_ZSCALE; |
801 | zscale = HMC5843_TEST_ZSCALE; |
795 | break; |
802 | break; |
796 | 803 | ||
797 | case TYPE_LSM303DLH: |
804 | case TYPE_LSM303DLH: |
798 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
805 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
799 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
806 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
800 | xscale = LSM303DLH_TEST_XSCALE; |
807 | xscale = LSM303DLH_TEST_XSCALE; |
801 | yscale = LSM303DLH_TEST_YSCALE; |
808 | yscale = LSM303DLH_TEST_YSCALE; |
802 | zscale = LSM303DLH_TEST_ZSCALE; |
809 | zscale = LSM303DLH_TEST_ZSCALE; |
803 | break; |
810 | break; |
804 | 811 | ||
805 | case TYPE_LSM303DLM: |
812 | case TYPE_LSM303DLM: |
806 | // does not support self test feature |
813 | // does not support self test feature |
807 | done = retval; |
814 | done = retval; |
808 | return(retval); |
815 | return(retval); |
809 | break; |
816 | break; |
810 | 817 | ||
811 | default: |
818 | default: |
812 | return(0); |
819 | return(0); |
813 | } |
820 | } |
814 | 821 | ||
815 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
822 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
816 | MagConfig.crb = crb_gain; |
823 | MagConfig.crb = crb_gain; |
817 | MagConfig.mode = MODE_CONTINUOUS; |
824 | MagConfig.mode = MODE_CONTINUOUS; |
818 | // activate positive bias field |
825 | // activate positive bias field |
819 | NCMAG_SetMagConfig(); |
826 | NCMAG_SetMagConfig(); |
820 | // wait for stable readings |
827 | // wait for stable readings |
821 | time = SetDelay(50); |
828 | time = SetDelay(50); |
822 | while(!CheckDelay(time)); |
829 | while(!CheckDelay(time)); |
823 | // averaging |
830 | // averaging |
824 | #define AVERAGE 20 |
831 | #define AVERAGE 20 |
825 | for(i = 0; i<AVERAGE; i++) |
832 | for(i = 0; i<AVERAGE; i++) |
826 | { |
833 | { |
827 | NCMAG_GetMagVector(); |
834 | NCMAG_GetMagVector(); |
828 | time = SetDelay(20); |
835 | time = SetDelay(20); |
829 | while(!CheckDelay(time)); |
836 | while(!CheckDelay(time)); |
830 | XMax += MagRawVector.X; |
837 | XMax += MagRawVector.X; |
831 | YMax += MagRawVector.Y; |
838 | YMax += MagRawVector.Y; |
832 | ZMax += MagRawVector.Z; |
839 | ZMax += MagRawVector.Z; |
833 | } |
840 | } |
834 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
841 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
835 | // activate positive bias field |
842 | // activate positive bias field |
836 | NCMAG_SetMagConfig(); |
843 | NCMAG_SetMagConfig(); |
837 | // wait for stable readings |
844 | // wait for stable readings |
838 | time = SetDelay(50); |
845 | time = SetDelay(50); |
839 | while(!CheckDelay(time)); |
846 | while(!CheckDelay(time)); |
840 | // averaging |
847 | // averaging |
841 | for(i = 0; i < AVERAGE; i++) |
848 | for(i = 0; i < AVERAGE; i++) |
842 | { |
849 | { |
843 | NCMAG_GetMagVector(); |
850 | NCMAG_GetMagVector(); |
844 | time = SetDelay(20); |
851 | time = SetDelay(20); |
845 | while(!CheckDelay(time)); |
852 | while(!CheckDelay(time)); |
846 | XMin += MagRawVector.X; |
853 | XMin += MagRawVector.X; |
847 | YMin += MagRawVector.Y; |
854 | YMin += MagRawVector.Y; |
848 | ZMin += MagRawVector.Z; |
855 | ZMin += MagRawVector.Z; |
849 | } |
856 | } |
850 | // setup final configuration |
857 | // setup final configuration |
851 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
858 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
852 | // activate positive bias field |
859 | // activate positive bias field |
853 | NCMAG_SetMagConfig(); |
860 | NCMAG_SetMagConfig(); |
854 | // check scale for all axes |
861 | // check scale for all axes |
855 | // prepare scale limits |
862 | // prepare scale limits |
856 | LIMITS(xscale, scale_min, scale_max); |
863 | LIMITS(xscale, scale_min, scale_max); |
857 | xscale = (XMax - XMin)/(2*AVERAGE); |
864 | xscale = (XMax - XMin)/(2*AVERAGE); |
858 | if((xscale > scale_max) || (xscale < scale_min)) |
865 | if((xscale > scale_max) || (xscale < scale_min)) |
859 | { |
866 | { |
860 | retval = 0; |
867 | retval = 0; |
861 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
868 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
862 | UART1_PutString(msg); |
869 | UART1_PutString(msg); |
863 | } |
870 | } |
864 | LIMITS(yscale, scale_min, scale_max); |
871 | LIMITS(yscale, scale_min, scale_max); |
865 | yscale = (YMax - YMin)/(2*AVERAGE); |
872 | yscale = (YMax - YMin)/(2*AVERAGE); |
866 | if((yscale > scale_max) || (yscale < scale_min)) |
873 | if((yscale > scale_max) || (yscale < scale_min)) |
867 | { |
874 | { |
868 | retval = 0; |
875 | retval = 0; |
869 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
876 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
870 | UART1_PutString(msg); |
877 | UART1_PutString(msg); |
871 | } |
878 | } |
872 | LIMITS(zscale, scale_min, scale_max); |
879 | LIMITS(zscale, scale_min, scale_max); |
873 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
880 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
874 | if((zscale > scale_max) || (zscale < scale_min)) |
881 | if((zscale > scale_max) || (zscale < scale_min)) |
875 | { |
882 | { |
876 | retval = 0; |
883 | retval = 0; |
877 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
884 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
878 | UART1_PutString(msg); |
885 | UART1_PutString(msg); |
879 | } |
886 | } |
880 | done = retval; |
887 | done = retval; |
881 | return(retval); |
888 | return(retval); |
882 | } |
889 | } |
883 | 890 | ||
884 | 891 | ||
885 | //---------------------------------------------------------------- |
892 | //---------------------------------------------------------------- |
886 | u8 NCMAG_Init(void) |
893 | u8 NCMAG_Init(void) |
887 | { |
894 | { |
888 | u8 msg[64]; |
895 | u8 msg[64]; |
889 | u8 retval = 0; |
896 | u8 retval = 0; |
890 | u8 repeat; |
897 | u8 repeat; |
891 | 898 | ||
892 | NCMAG_Present = 0; |
899 | NCMAG_Present = 0; |
893 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
900 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
894 | // polling for LSM302DLH/DLM option by ACC address ack |
901 | // polling for LSM302DLH/DLM option by ACC address ack |
895 | repeat = 0; |
902 | repeat = 0; |
896 | do |
903 | do |
897 | { |
904 | { |
898 | retval = NCMAG_GetAccConfig(); |
905 | retval = NCMAG_GetAccConfig(); |
899 | if(retval) break; // break loop on success |
906 | if(retval) break; // break loop on success |
900 | UART1_PutString("."); |
907 | UART1_PutString("."); |
901 | repeat++; |
908 | repeat++; |
902 | }while(repeat < 3); |
909 | }while(repeat < 3); |
903 | if(retval) |
910 | if(retval) |
904 | { |
911 | { |
905 | // initialize ACC sensor |
912 | // initialize ACC sensor |
906 | NCMAG_Init_ACCSensor(); |
913 | NCMAG_Init_ACCSensor(); |
907 | 914 | ||
908 | NCMAG_SensorType = TYPE_LSM303DLH; |
915 | NCMAG_SensorType = TYPE_LSM303DLH; |
909 | // polling of sub identification |
916 | // polling of sub identification |
910 | repeat = 0; |
917 | repeat = 0; |
911 | do |
918 | do |
912 | { |
919 | { |
913 | retval = NCMAG_GetIdentification_Sub(); |
920 | retval = NCMAG_GetIdentification_Sub(); |
914 | if(retval) break; // break loop on success |
921 | if(retval) break; // break loop on success |
915 | UART1_PutString("."); |
922 | UART1_PutString("."); |
916 | repeat++; |
923 | repeat++; |
917 | }while(repeat < 12); |
924 | }while(repeat < 12); |
918 | if(retval) |
925 | if(retval) |
919 | { |
926 | { |
920 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
927 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
921 | } |
928 | } |
922 | } |
929 | } |
923 | // get id bytes |
930 | // get id bytes |
924 | retval = 0; |
931 | retval = 0; |
925 | do |
932 | do |
926 | { |
933 | { |
927 | retval = NCMAG_GetIdentification(); |
934 | retval = NCMAG_GetIdentification(); |
928 | if(retval) break; // break loop on success |
935 | if(retval) break; // break loop on success |
929 | UART1_PutString("."); |
936 | UART1_PutString("."); |
930 | repeat++; |
937 | repeat++; |
931 | }while(repeat < 12); |
938 | }while(repeat < 12); |
932 | 939 | ||
933 | // if we got an answer to id request |
940 | // if we got an answer to id request |
934 | if(retval) |
941 | if(retval) |
935 | { |
942 | { |
936 | u8 n1[] = "\n\r HMC5843"; |
943 | u8 n1[] = "\n\r HMC5843"; |
937 | u8 n2[] = "\n\r LSM303DLH"; |
944 | u8 n2[] = "\n\r LSM303DLH"; |
938 | u8 n3[] = "\n\r LSM303DLM"; |
945 | u8 n3[] = "\n\r LSM303DLM"; |
939 | u8* pn = n1; |
946 | u8* pn = n1; |
940 | 947 | ||
941 | switch(NCMAG_SensorType) |
948 | switch(NCMAG_SensorType) |
942 | { |
949 | { |
943 | case TYPE_HMC5843: |
950 | case TYPE_HMC5843: |
944 | pn = n1; |
951 | pn = n1; |
945 | break; |
952 | break; |
946 | case TYPE_LSM303DLH: |
953 | case TYPE_LSM303DLH: |
947 | pn = n2; |
954 | pn = n2; |
948 | break; |
955 | break; |
949 | case TYPE_LSM303DLM: |
956 | case TYPE_LSM303DLM: |
950 | pn = n3; |
957 | pn = n3; |
951 | break; |
958 | break; |
952 | } |
959 | } |
953 | 960 | ||
954 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
961 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
955 | UART1_PutString(msg); |
962 | UART1_PutString(msg); |
956 | if ( (NCMAG_Identification.A == MAG_IDA) |
963 | if ( (NCMAG_Identification.A == MAG_IDA) |
957 | && (NCMAG_Identification.B == MAG_IDB) |
964 | && (NCMAG_Identification.B == MAG_IDB) |
958 | && (NCMAG_Identification.C == MAG_IDC)) |
965 | && (NCMAG_Identification.C == MAG_IDC)) |
959 | { |
966 | { |
960 | NCMAG_Present = 1; |
967 | NCMAG_Present = 1; |
961 | 968 | ||
962 | if(EEPROM_Init()) |
969 | if(EEPROM_Init()) |
963 | { |
970 | { |
964 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
971 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
965 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
972 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
966 | } |
973 | } |
967 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
974 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
968 | // perform self test |
975 | // perform self test |
969 | if(!NCMAG_SelfTest()) |
976 | if(!NCMAG_SelfTest()) |
970 | { |
977 | { |
971 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
978 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
972 | LED_RED_ON; |
979 | LED_RED_ON; |
973 | NCMAG_IsCalibrated = 0; |
980 | NCMAG_IsCalibrated = 0; |
974 | } |
981 | } |
975 | else UART1_PutString("\r\n Selftest ok"); |
982 | else UART1_PutString("\r\n Selftest ok"); |
976 | 983 | ||
977 | // initialize magnetic sensor configuration |
984 | // initialize magnetic sensor configuration |
978 | InitNC_MagnetSensor(); |
985 | InitNC_MagnetSensor(); |
979 | } |
986 | } |
980 | else |
987 | else |
981 | { |
988 | { |
982 | UART1_PutString("\n\r Not compatible!"); |
989 | UART1_PutString("\n\r Not compatible!"); |
983 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
990 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
984 | LED_RED_ON; |
991 | LED_RED_ON; |
985 | } |
992 | } |
986 | } |
993 | } |
987 | else // nothing found |
994 | else // nothing found |
988 | { |
995 | { |
989 | NCMAG_SensorType = TYPE_NONE; |
996 | NCMAG_SensorType = TYPE_NONE; |
990 | UART1_PutString("not found!"); |
997 | UART1_PutString("not found!"); |
991 | } |
998 | } |
992 | return(NCMAG_Present); |
999 | return(NCMAG_Present); |
993 | } |
1000 | } |
994 | 1001 | ||
995 | 1002 |