WebSVN - NaviCtrl - Diff - Rev 360 and 454


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + 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 
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <string.h>
#include "91x_lib.h"
#include "mk3mag.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
#include "spi_slave.h"
 
#define MK3MAG_SLAVE_ADDRESS            0x50  // i2C slave address
 
u8 MK3MAG_Present = 0;
 
typedef struct
{
  s16 Nick;
  s16 Roll;
} __attribute__((packed)) MK3MAG_WriteAttitude_t;
 
typedef struct
{
  u8 Major;
  u8 Minor;
  u8 Patch;
  u8 Compatible;
} __attribute__((packed)) MK3MAG_Version_t;
 
typedef struct
{
  u8 CalByte;
  u8 Dummy1;
  u8 Dummy2;
} __attribute__((packed)) MK3MAG_Cal_t;
 
// Transfer buffers
volatile MK3MAG_WriteAttitude_t         MK3MAG_WriteAttitude;
volatile MK3MAG_Version_t                       MK3MAG_Version;
volatile MK3MAG_Cal_t                           MK3MAG_WriteCal;
volatile MK3MAG_Cal_t                           MK3MAG_ReadCal;
 
// -------------------------------------------------------------------------------
// the calculation of the MK3MAG packet checksum
 
// calculate the crc of  bytecount bytes in buffer
u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
{
        u8 i, crc = 0;
        for(i=0; i < bytecount; i++)
        {
                crc += pBuffer[i];
        }
        crc = ~crc;
        return crc;
}
 
// assuming the last byte in buffer is the crc byte
u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
{
        u8 crc = 0, retval = 0;
        if(BuffLen == 0) return(retval);
        crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
        if(crc == pBuffer[BuffLen-1])
        {
                retval = 1;
                DebugOut.Analog[15]++; // count mk3mag ok
        }
        else
        {
                retval = 0;
                DebugOut.Analog[14]++; // count mk3mag crc error
        }
        return(retval);
}
 
// -------------------------------------------------------------------------------
// the I2C rx data handler functions
 
// rx data handler for version info request
void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
        {
                memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
        }                
}
 
// rx data handler for calibration request
void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
        {
                memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
        }                        
}
 
// rx data handler for magnetic vector request
void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
        {
                s16vec_t *pMagVector = (s16vec_t*)pRxBuffer;
                MagVector.X = pMagVector->Y;
                MagVector.Y = pMagVector->X;
                MagVector.Z = -pMagVector->Z;    
                Compass_CalcHeading();
        }                        
}
 
//----------------------------------------------------------------
#define MK3MAG_CMD_VERSION              0x01
#define MK3MAG_CMD_READ_MAGVECT         0x02
#define MK3MAG_CMD_WRITE_CAL            0x04
 
void MK3MAG_SendCommand(u8 command)
{
        // try to catch the I2C buffer
        if(I2C_LockBuffer(0))
        {
                u16 TxBytes = 0;
                u16 RxBytes = 0;
                I2C_pRxHandler_t pRxHandlerFunc = NULL;
               
                // update current command id
                I2C_Buffer[TxBytes++] = command;
 
                // set pointers to data area with respect to the command id
                switch (command)
                {
                        case MK3MAG_CMD_VERSION:
                                RxBytes = sizeof(MK3MAG_Version)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateVersion;
                                break;
                        case MK3MAG_CMD_WRITE_CAL:
                                RxBytes = sizeof(MK3MAG_ReadCal)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateCalibration;
                                memcpy((u8*)I2C_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
                                TxBytes += sizeof(MK3MAG_WriteCal);
                                break;
                        case MK3MAG_CMD_READ_MAGVECT:
                                RxBytes = sizeof(MagVector)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateMagVector;
                                break;
                        default: // unknown command id
                                RxBytes = 0;
                                pRxHandlerFunc = NULL;
                                break;
                }
                // update packet checksum
                I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
                TxBytes++;
                // initiate I2C transmission
                I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
        } // EOF I2C_State == I2C_IDLE  
}
 
 
//----------------------------------------------------------------
u8 MK3MAG_Init(void)
{
        u8 msg[64];
        u8 repeat;
        u32 timeout;
       
        MK3MAG_Present = 0;
 
        MK3MAG_Version.Major = 0xFF;
        MK3MAG_Version.Minor = 0xFF;
        MK3MAG_Version.Patch = 0xFF;
        MK3MAG_Version.Compatible = 0xFF;
 
        Compass_Heading = -1;
 
        // polling of version info
        repeat = 0;
        do
        {
                MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
                if(Version_HW > 11) timeout = SetDelay(100);
                else timeout = SetDelay(250);
 
                do
                {
                        if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                }while (!CheckDelay(timeout));
                UART1_PutString(".");
                repeat++;
        }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
        // if we got it
        if (MK3MAG_Version.Major != 0xFF)
        {
                sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                UART1_PutString(msg);
                if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
                {
                        UART1_PutString("\n\r MK3MAG not compatible!");
                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
                        LED_RED_ON;
                }
                else
                {       // version ok
                        MK3MAG_Present = 1;
                }
        }
        return(MK3MAG_Present);
}
 
//----------------------------------------------------------------
void MK3MAG_Update(void)
{
        static u32 TimerUpdate = 0;
        static s16 x_max,y_max,z_max,x_min,y_min,z_min;
        static u8 last_state,speak = 0;
        u8 msg[64];
        u16 MinCaclibration = 500;
 
        if( (I2C_State == I2C_STATE_OFF) || !MK3MAG_Present ) return;
       
        if(CheckDelay(TimerUpdate))
        {
                // check for incomming compass calibration request
                Compass_UpdateCalState();
                MK3MAG_WriteCal.CalByte = Compass_CalState;
       
                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
                {       // send new calibration state
                        MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
                }
                else
                {       // calibration state matches
                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
               
                        switch(Compass_CalState)
                        {
                                case 1:
                                    if(last_state != Compass_CalState)
                                         {
                                          UART1_PutString("\r\nMK3Mag calibration\n\r");
                                      if(EarthMagneticStrengthTheoretic)
                                                {
                                                  MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
                                                  sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
                                                  UART1_PutString(msg);
                                                 }
                                           else UART1_PutString("without GPS\n\r");
                                         }
                                        x_max = -30000; y_max = -30000; z_max = -30000;
                                        x_min = 30000; y_min = 30000; z_min = 30000;
                                        speak = 1;
                                        break;
 
                                case 2:
                                        if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
 
                                                 if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
                                        else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
                                                 if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
                                        else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
 
                                        break;
                                case 3:
                                        speak = 1;
                                        break;
 
                                case 4:
                                        if(speak) SpeakHoTT = SPEAK_CALIBRATE;  speak = 0;
                                                 if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
                                        else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
                                        break;
                                case 5:
                                    if(last_state == Compass_CalState) break;
                                        if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
                                        {
                                        BeepTime = 2500;
                                        UART1_PutString("\r\n-> Calibration okay <-\n\r");
SpeakHoTT = SPEAK_MIKROKOPTER;
                                        }
                                        else
                                        {
                                        UART1_PutString("\r\nCalibration FAILED - Values too low: ");
                                    if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
                                    if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
                                    if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
                                        UART1_PutString("\r\n");
SpeakHoTT = SPEAK_ERR_CALIBARTION;
                                        }
                                        UART1_PutString(msg);
                                        sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
                                        UART1_PutString(msg);
                                        break;
                                default:
                                        break;
                        }
                        last_state = Compass_CalState;
                }
                TimerUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 

Rev 360	Rev 454
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 <stdio.h>	56	#include <stdio.h>
57	#include <string.h>	57	#include <string.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "mk3mag.h"	59	#include "mk3mag.h"
60	#include "i2c.h"	60	#include "i2c.h"
61	#include "timer1.h"	61	#include "timer1.h"
62	#include "led.h"	62	#include "led.h"
63	#include "main.h"	63	#include "main.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "compass.h"	65	#include "compass.h"
-		66	#include "spi_slave.h"
66		67
67	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address	68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address
68		69
69	u8 MK3MAG_Present = 0;	70	u8 MK3MAG_Present = 0;
70		71
71	typedef struct	72	typedef struct
72	{	73	{
73	s16 Nick;	74	s16 Nick;
74	s16 Roll;	75	s16 Roll;
75	} __attribute__((packed)) MK3MAG_WriteAttitude_t;	76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;
76		77
77	typedef struct	78	typedef struct
78	{	79	{
79	u8 Major;	80	u8 Major;
80	u8 Minor;	81	u8 Minor;
81	u8 Patch;	82	u8 Patch;
82	u8 Compatible;	83	u8 Compatible;
83	} __attribute__((packed)) MK3MAG_Version_t;	84	} __attribute__((packed)) MK3MAG_Version_t;
84		85
85	typedef struct	86	typedef struct
86	{	87	{
87	u8 CalByte;	88	u8 CalByte;
88	u8 Dummy1;	89	u8 Dummy1;
89	u8 Dummy2;	90	u8 Dummy2;
90	} __attribute__((packed)) MK3MAG_Cal_t;	91	} __attribute__((packed)) MK3MAG_Cal_t;
91		92
92	// Transfer buffers	93	// Transfer buffers
93	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;	94	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;
94	volatile MK3MAG_Version_t MK3MAG_Version;	95	volatile MK3MAG_Version_t MK3MAG_Version;
95	volatile MK3MAG_Cal_t MK3MAG_WriteCal;	96	volatile MK3MAG_Cal_t MK3MAG_WriteCal;
96	volatile MK3MAG_Cal_t MK3MAG_ReadCal;	97	volatile MK3MAG_Cal_t MK3MAG_ReadCal;
97		98
98	// -------------------------------------------------------------------------------	99	// -------------------------------------------------------------------------------
99	// the calculation of the MK3MAG packet checksum	100	// the calculation of the MK3MAG packet checksum
100		101
101	// calculate the crc of bytecount bytes in buffer	102	// calculate the crc of bytecount bytes in buffer
102	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)	103	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
103	{	104	{
104	u8 i, crc = 0;	105	u8 i, crc = 0;
105	for(i=0; i < bytecount; i++)	106	for(i=0; i < bytecount; i++)
106	{	107	{
107	crc += pBuffer[i];	108	crc += pBuffer[i];
108	}	109	}
109	crc = ~crc;	110	crc = ~crc;
110	return crc;	111	return crc;
111	}	112	}
112		113
113	// assuming the last byte in buffer is the crc byte	114	// assuming the last byte in buffer is the crc byte
114	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)	115	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
115	{	116	{
116	u8 crc = 0, retval = 0;	117	u8 crc = 0, retval = 0;
117	if(BuffLen == 0) return(retval);	118	if(BuffLen == 0) return(retval);
118	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);	119	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
119	if(crc == pBuffer[BuffLen-1])	120	if(crc == pBuffer[BuffLen-1])
120	{	121	{
121	retval = 1;	122	retval = 1;
122	DebugOut.Analog[15]++; // count mk3mag ok	123	DebugOut.Analog[15]++; // count mk3mag ok
123	}	124	}
124	else	125	else
125	{	126	{
126	retval = 0;	127	retval = 0;
127	DebugOut.Analog[14]++; // count mk3mag crc error	128	DebugOut.Analog[14]++; // count mk3mag crc error
128	}	129	}
129	return(retval);	130	return(retval);
130	}	131	}
131		132
132	// -------------------------------------------------------------------------------	133	// -------------------------------------------------------------------------------
133	// the I2C rx data handler functions	134	// the I2C rx data handler functions
134		135
135	// rx data handler for version info request	136	// rx data handler for version info request
136	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)	137	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
137	{ // if crc is ok and number of byte are matching	138	{ // if crc is ok and number of byte are matching
138	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )	139	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
139	{	140	{
140	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));	141	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
141	}	142	}
142	}	143	}
143		144
144	// rx data handler for calibration request	145	// rx data handler for calibration request
145	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)	146	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
146	{ // if crc is ok and number of byte are matching	147	{ // if crc is ok and number of byte are matching
147	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )	148	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
148	{	149	{
149	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));	150	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
150	}	151	}
151	}	152	}
152		153
153	// rx data handler for magnetic vector request	154	// rx data handler for magnetic vector request
154	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	155	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
155	{ // if crc is ok and number of byte are matching	156	{ // if crc is ok and number of byte are matching
156	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )	157	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
157	{	158	{
158	s16vec_t pMagVector = (s16vec_t)pRxBuffer;	159	s16vec_t pMagVector = (s16vec_t)pRxBuffer;
159	MagVector.X = pMagVector->Y;	160	MagVector.X = pMagVector->Y;
160	MagVector.Y = pMagVector->X;	161	MagVector.Y = pMagVector->X;
161	MagVector.Z = -pMagVector->Z;	162	MagVector.Z = -pMagVector->Z;
162	Compass_CalcHeading();	163	Compass_CalcHeading();
163	}	164	}
164	}	165	}
165		166
166	//----------------------------------------------------------------	167	//----------------------------------------------------------------
167	#define MK3MAG_CMD_VERSION 0x01	168	#define MK3MAG_CMD_VERSION 0x01
168	#define MK3MAG_CMD_READ_MAGVECT 0x02	169	#define MK3MAG_CMD_READ_MAGVECT 0x02
169	#define MK3MAG_CMD_WRITE_CAL 0x04	170	#define MK3MAG_CMD_WRITE_CAL 0x04
170		171
171	void MK3MAG_SendCommand(u8 command)	172	void MK3MAG_SendCommand(u8 command)
172	{	173	{
173	// try to catch the I2C buffer	174	// try to catch the I2C buffer
174	if(I2C_LockBuffer(0))	175	if(I2C_LockBuffer(0))
175	{	176	{
176	u16 TxBytes = 0;	177	u16 TxBytes = 0;
177	u16 RxBytes = 0;	178	u16 RxBytes = 0;
178	I2C_pRxHandler_t pRxHandlerFunc = NULL;	179	I2C_pRxHandler_t pRxHandlerFunc = NULL;
179		180
180	// update current command id	181	// update current command id
181	I2C_Buffer[TxBytes++] = command;	182	I2C_Buffer[TxBytes++] = command;
182		183
183	// set pointers to data area with respect to the command id	184	// set pointers to data area with respect to the command id
184	switch (command)	185	switch (command)
185	{	186	{
186	case MK3MAG_CMD_VERSION:	187	case MK3MAG_CMD_VERSION:
187	RxBytes = sizeof(MK3MAG_Version)+1;	188	RxBytes = sizeof(MK3MAG_Version)+1;
188	pRxHandlerFunc = &MK3MAG_UpdateVersion;	189	pRxHandlerFunc = &MK3MAG_UpdateVersion;
189	break;	190	break;
190	case MK3MAG_CMD_WRITE_CAL:	191	case MK3MAG_CMD_WRITE_CAL:
191	RxBytes = sizeof(MK3MAG_ReadCal)+1;	192	RxBytes = sizeof(MK3MAG_ReadCal)+1;
192	pRxHandlerFunc = &MK3MAG_UpdateCalibration;	193	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
193	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));	194	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
194	TxBytes += sizeof(MK3MAG_WriteCal);	195	TxBytes += sizeof(MK3MAG_WriteCal);
195	break;	196	break;
196	case MK3MAG_CMD_READ_MAGVECT:	197	case MK3MAG_CMD_READ_MAGVECT:
197	RxBytes = sizeof(MagVector)+1;	198	RxBytes = sizeof(MagVector)+1;
198	pRxHandlerFunc = &MK3MAG_UpdateMagVector;	199	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
199	break;	200	break;
200	default: // unknown command id	201	default: // unknown command id
201	RxBytes = 0;	202	RxBytes = 0;
202	pRxHandlerFunc = NULL;	203	pRxHandlerFunc = NULL;
203	break;	204	break;
204	}	205	}
205	// update packet checksum	206	// update packet checksum
206	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);	207	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
207	TxBytes++;	208	TxBytes++;
208	// initiate I2C transmission	209	// initiate I2C transmission
209	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);	210	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
210	} // EOF I2C_State == I2C_IDLE	211	} // EOF I2C_State == I2C_IDLE
211	}	212	}
212		213
213		214
214	//----------------------------------------------------------------	215	//----------------------------------------------------------------
215	u8 MK3MAG_Init(void)	216	u8 MK3MAG_Init(void)
216	{	217	{
217	u8 msg[64];	218	u8 msg[64];
218	u8 repeat;	219	u8 repeat;
219	u32 timeout;	220	u32 timeout;
220		221
221	MK3MAG_Present = 0;	222	MK3MAG_Present = 0;
222		223
223	MK3MAG_Version.Major = 0xFF;	224	MK3MAG_Version.Major = 0xFF;
224	MK3MAG_Version.Minor = 0xFF;	225	MK3MAG_Version.Minor = 0xFF;
225	MK3MAG_Version.Patch = 0xFF;	226	MK3MAG_Version.Patch = 0xFF;
226	MK3MAG_Version.Compatible = 0xFF;	227	MK3MAG_Version.Compatible = 0xFF;
227		228
228	Compass_Heading = -1;	229	Compass_Heading = -1;
229		230
230	// polling of version info	231	// polling of version info
231	repeat = 0;	232	repeat = 0;
232	do	233	do
233	{	234	{
234	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);	235	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
235	if(Version_HW > 11) timeout = SetDelay(100);	236	if(Version_HW > 11) timeout = SetDelay(100);
236	else timeout = SetDelay(250);	237	else timeout = SetDelay(250);
237		238
238	do	239	do
239	{	240	{
240	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	241	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
241	}while (!CheckDelay(timeout));	242	}while (!CheckDelay(timeout));
242	UART1_PutString(".");	243	UART1_PutString(".");
243	repeat++;	244	repeat++;
244	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	245	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
245	// if we got it	246	// if we got it
246	if (MK3MAG_Version.Major != 0xFF)	247	if (MK3MAG_Version.Major != 0xFF)
247	{	248	{
248	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	249	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
249	UART1_PutString(msg);	250	UART1_PutString(msg);
250	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	251	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
251	{	252	{
252	UART1_PutString("\n\r MK3MAG not compatible!");	253	UART1_PutString("\n\r MK3MAG not compatible!");
253	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	254	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
254	LED_RED_ON;	255	LED_RED_ON;
255	}	256	}
256	else	257	else
257	{ // version ok	258	{ // version ok
258	MK3MAG_Present = 1;	259	MK3MAG_Present = 1;
259	}	260	}
260	}	261	}
261	return(MK3MAG_Present);	262	return(MK3MAG_Present);
262	}	263	}
263		264
264	//----------------------------------------------------------------	265	//----------------------------------------------------------------
265	void MK3MAG_Update(void)	266	void MK3MAG_Update(void)
266	{	267	{
267	static u32 TimerUpdate = 0;	268	static u32 TimerUpdate = 0;
268	static s16 x_max,y_max,z_max,x_min,y_min,z_min;	269	static s16 x_max,y_max,z_max,x_min,y_min,z_min;
269	static u8 last_state;	270	static u8 last_state,speak = 0;
270	u8 msg[64];	271	u8 msg[64];
271	u16 MinCaclibration = 500;	272	u16 MinCaclibration = 500;
272		273
273	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;	274	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;
274		275
275	if(CheckDelay(TimerUpdate))	276	if(CheckDelay(TimerUpdate))
276	{	277	{
277	// check for incomming compass calibration request	278	// check for incomming compass calibration request
278	Compass_UpdateCalState();	279	Compass_UpdateCalState();
279	MK3MAG_WriteCal.CalByte = Compass_CalState;	280	MK3MAG_WriteCal.CalByte = Compass_CalState;
280		281
281	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	282	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
282	{ // send new calibration state	283	{ // send new calibration state
283	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);	284	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
284	}	285	}
285	else	286	else
286	{ // calibration state matches	287	{ // calibration state matches
287	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer	288	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
288		289
289	switch(Compass_CalState)	290	switch(Compass_CalState)
290	{	291	{
291	case 1:	292	case 1:
292	if(last_state != Compass_CalState)	293	if(last_state != Compass_CalState)
293	{	294	{
294	UART1_PutString("\r\nMK3Mag calibration\n\r");	295	UART1_PutString("\r\nMK3Mag calibration\n\r");
295	if(EarthMagneticStrengthTheoretic)	296	if(EarthMagneticStrengthTheoretic)
296	{	297	{
297	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;	298	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
298	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);	299	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
299	UART1_PutString(msg);	300	UART1_PutString(msg);
300	}	301	}
301	else UART1_PutString("without GPS\n\r");	302	else UART1_PutString("without GPS\n\r");
302	}	303	}
303	x_max = -30000; y_max = -30000; z_max = -30000;	304	x_max = -30000; y_max = -30000; z_max = -30000;
304	x_min = 30000; y_min = 30000; z_min = 30000;	305	x_min = 30000; y_min = 30000; z_min = 30000;
-		306	speak = 1;
305	break;	307	break;
306		-
307	case 2:	308	case 2:
-		309	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
-		310
308	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }	311	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
309	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }	312	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
310	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }	313	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
311	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }	314	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
-		315
-		316	break;
-		317	case 3:
-		318	speak = 1;
312	break;	319	break;
313		-
314	case 4:	320	case 4:
-		321	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
315	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }	322	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
316	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }	323	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
317	break;	324	break;
318	case 5:	325	case 5:
319	if(last_state == Compass_CalState) break;	326	if(last_state == Compass_CalState) break;
320	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))	327	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
321	{	328	{
322	BeepTime = 2500;	329	BeepTime = 2500;
323	UART1_PutString("\r\n-> Calibration okay <-\n\r");	330	UART1_PutString("\r\n-> Calibration okay <-\n\r");
-		331	SpeakHoTT = SPEAK_MIKROKOPTER;
324	}	332	}
325	else	333	else
326	{	334	{
327	UART1_PutString("\r\nCalibration FAILED - Values too low: ");	335	UART1_PutString("\r\nCalibration FAILED - Values too low: ");
328	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");	336	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
329	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");	337	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
330	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");	338	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
331	UART1_PutString("\r\n");	339	UART1_PutString("\r\n");
-		340	SpeakHoTT = SPEAK_ERR_CALIBARTION;
332	}	341	}
333	UART1_PutString(msg);	342	UART1_PutString(msg);
334	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);	343	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
335	UART1_PutString(msg);	344	UART1_PutString(msg);
336	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);	345	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
337	UART1_PutString(msg);	346	UART1_PutString(msg);
338	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);	347	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
339	UART1_PutString(msg);	348	UART1_PutString(msg);
340	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);	349	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
341	UART1_PutString(msg);	350	UART1_PutString(msg);
342	break;	351	break;
343	default:	352	default:
344	break;	353	break;
345	}	354	}
346	last_state = Compass_CalState;	355	last_state = Compass_CalState;
347	}	356	}
348	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz	357	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz
349	}	358	}
350	}	359	}
351		360

Subversion Repositories NaviCtrl

(root)/tags/V2.06b/mk3mag.c @ 658 - Rev 360 → 454