WebSVN - NaviCtrl - Diff - Rev 454 and 464


/*#######################################################################################*/
/* !!! 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 "i2c0.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
 
// use I2C1 for communication
void MK3MAG_SendCommandI2C1(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  
}
 
// use I2C0 for communication
void MK3MAG_SendCommandI2C0(u8 command)
{
        // try to catch the I2C buffer
        if(I2C0_LockBuffer(0))
        {
                u16 TxBytes = 0;
                u16 RxBytes = 0;
                I2C_pRxHandler_t pRxHandlerFunc = NULL;
               
                // update current command id
                I2C0_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*)I2C0_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
                I2C0_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C0_Buffer, TxBytes);
                TxBytes++;
                // initiate I2C transmission
                I2C0_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
        } // EOF I2C_State == I2C_IDLE  
}
 
void MK3MAG_SendCommand(u8 command)
{
 // MK3MAG_SendCommandI2C1(command);
  MK3MAG_SendCommandI2C0(command);
}
 
//----------------------------------------------------------------
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 454	Rev 464
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 "i2c0.h"
61	#include "timer1.h"	62	#include "timer1.h"
62	#include "led.h"	63	#include "led.h"
63	#include "main.h"	64	#include "main.h"
64	#include "uart1.h"	65	#include "uart1.h"
65	#include "compass.h"	66	#include "compass.h"
66	#include "spi_slave.h"	67	#include "spi_slave.h"
67		68
68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address	69	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address
69		70
70	u8 MK3MAG_Present = 0;	71	u8 MK3MAG_Present = 0;
71		72
72	typedef struct	73	typedef struct
73	{	74	{
74	s16 Nick;	75	s16 Nick;
75	s16 Roll;	76	s16 Roll;
76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;	77	} __attribute__((packed)) MK3MAG_WriteAttitude_t;
77		78
78	typedef struct	79	typedef struct
79	{	80	{
80	u8 Major;	81	u8 Major;
81	u8 Minor;	82	u8 Minor;
82	u8 Patch;	83	u8 Patch;
83	u8 Compatible;	84	u8 Compatible;
84	} __attribute__((packed)) MK3MAG_Version_t;	85	} __attribute__((packed)) MK3MAG_Version_t;
85		86
86	typedef struct	87	typedef struct
87	{	88	{
88	u8 CalByte;	89	u8 CalByte;
89	u8 Dummy1;	90	u8 Dummy1;
90	u8 Dummy2;	91	u8 Dummy2;
91	} __attribute__((packed)) MK3MAG_Cal_t;	92	} __attribute__((packed)) MK3MAG_Cal_t;
92		93
93	// Transfer buffers	94	// Transfer buffers
94	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;	95	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;
95	volatile MK3MAG_Version_t MK3MAG_Version;	96	volatile MK3MAG_Version_t MK3MAG_Version;
96	volatile MK3MAG_Cal_t MK3MAG_WriteCal;	97	volatile MK3MAG_Cal_t MK3MAG_WriteCal;
97	volatile MK3MAG_Cal_t MK3MAG_ReadCal;	98	volatile MK3MAG_Cal_t MK3MAG_ReadCal;
98		99
99	// -------------------------------------------------------------------------------	100	// -------------------------------------------------------------------------------
100	// the calculation of the MK3MAG packet checksum	101	// the calculation of the MK3MAG packet checksum
101		102
102	// calculate the crc of bytecount bytes in buffer	103	// calculate the crc of bytecount bytes in buffer
103	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)	104	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
104	{	105	{
105	u8 i, crc = 0;	106	u8 i, crc = 0;
106	for(i=0; i < bytecount; i++)	107	for(i=0; i < bytecount; i++)
107	{	108	{
108	crc += pBuffer[i];	109	crc += pBuffer[i];
109	}	110	}
110	crc = ~crc;	111	crc = ~crc;
111	return crc;	112	return crc;
112	}	113	}
113		114
114	// assuming the last byte in buffer is the crc byte	115	// assuming the last byte in buffer is the crc byte
115	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)	116	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
116	{	117	{
117	u8 crc = 0, retval = 0;	118	u8 crc = 0, retval = 0;
118	if(BuffLen == 0) return(retval);	119	if(BuffLen == 0) return(retval);
119	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);	120	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
120	if(crc == pBuffer[BuffLen-1])	121	if(crc == pBuffer[BuffLen-1])
121	{	122	{
122	retval = 1;	123	retval = 1;
123	DebugOut.Analog[15]++; // count mk3mag ok	124	DebugOut.Analog[15]++; // count mk3mag ok
124	}	125	}
125	else	126	else
126	{	127	{
127	retval = 0;	128	retval = 0;
128	DebugOut.Analog[14]++; // count mk3mag crc error	129	DebugOut.Analog[14]++; // count mk3mag crc error
129	}	130	}
130	return(retval);	131	return(retval);
131	}	132	}
132		133
133	// -------------------------------------------------------------------------------	134	// -------------------------------------------------------------------------------
134	// the I2C rx data handler functions	135	// the I2C rx data handler functions
135		136
136	// rx data handler for version info request	137	// rx data handler for version info request
137	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)	138	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
138	{ // if crc is ok and number of byte are matching	139	{ // if crc is ok and number of byte are matching
139	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )	140	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
140	{	141	{
141	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));	142	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
142	}	143	}
143	}	144	}
144		145
145	// rx data handler for calibration request	146	// rx data handler for calibration request
146	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)	147	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
147	{ // if crc is ok and number of byte are matching	148	{ // if crc is ok and number of byte are matching
148	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )	149	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
149	{	150	{
150	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));	151	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
151	}	152	}
152	}	153	}
153		154
154	// rx data handler for magnetic vector request	155	// rx data handler for magnetic vector request
155	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	156	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
156	{ // if crc is ok and number of byte are matching	157	{ // if crc is ok and number of byte are matching
157	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )	158	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
158	{	159	{
159	s16vec_t pMagVector = (s16vec_t)pRxBuffer;	160	s16vec_t pMagVector = (s16vec_t)pRxBuffer;
160	MagVector.X = pMagVector->Y;	161	MagVector.X = pMagVector->Y;
161	MagVector.Y = pMagVector->X;	162	MagVector.Y = pMagVector->X;
162	MagVector.Z = -pMagVector->Z;	163	MagVector.Z = -pMagVector->Z;
163	Compass_CalcHeading();	164	Compass_CalcHeading();
164	}	165	}
165	}	166	}
166		167
167	//----------------------------------------------------------------	168	//----------------------------------------------------------------
168	#define MK3MAG_CMD_VERSION 0x01	169	#define MK3MAG_CMD_VERSION 0x01
169	#define MK3MAG_CMD_READ_MAGVECT 0x02	170	#define MK3MAG_CMD_READ_MAGVECT 0x02
170	#define MK3MAG_CMD_WRITE_CAL 0x04	171	#define MK3MAG_CMD_WRITE_CAL 0x04
-		172
171		173	// use I2C1 for communication
172	void MK3MAG_SendCommand(u8 command)	174	void MK3MAG_SendCommandI2C1(u8 command)
173	{	175	{
174	// try to catch the I2C buffer	176	// try to catch the I2C buffer
175	if(I2C_LockBuffer(0))	177	if(I2C_LockBuffer(0))
176	{	178	{
177	u16 TxBytes = 0;	179	u16 TxBytes = 0;
178	u16 RxBytes = 0;	180	u16 RxBytes = 0;
179	I2C_pRxHandler_t pRxHandlerFunc = NULL;	181	I2C_pRxHandler_t pRxHandlerFunc = NULL;
180		182
181	// update current command id	183	// update current command id
182	I2C_Buffer[TxBytes++] = command;	184	I2C_Buffer[TxBytes++] = command;
183		185
184	// set pointers to data area with respect to the command id	186	// set pointers to data area with respect to the command id
185	switch (command)	187	switch (command)
186	{	188	{
187	case MK3MAG_CMD_VERSION:	189	case MK3MAG_CMD_VERSION:
188	RxBytes = sizeof(MK3MAG_Version)+1;	190	RxBytes = sizeof(MK3MAG_Version)+1;
189	pRxHandlerFunc = &MK3MAG_UpdateVersion;	191	pRxHandlerFunc = &MK3MAG_UpdateVersion;
190	break;	192	break;
191	case MK3MAG_CMD_WRITE_CAL:	193	case MK3MAG_CMD_WRITE_CAL:
192	RxBytes = sizeof(MK3MAG_ReadCal)+1;	194	RxBytes = sizeof(MK3MAG_ReadCal)+1;
193	pRxHandlerFunc = &MK3MAG_UpdateCalibration;	195	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
194	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));	196	memcpy((u8)I2C_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
195	TxBytes += sizeof(MK3MAG_WriteCal);	197	TxBytes += sizeof(MK3MAG_WriteCal);
196	break;	198	break;
197	case MK3MAG_CMD_READ_MAGVECT:	199	case MK3MAG_CMD_READ_MAGVECT:
198	RxBytes = sizeof(MagVector)+1;	200	RxBytes = sizeof(MagVector)+1;
199	pRxHandlerFunc = &MK3MAG_UpdateMagVector;	201	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
200	break;	202	break;
201	default: // unknown command id	203	default: // unknown command id
202	RxBytes = 0;	204	RxBytes = 0;
203	pRxHandlerFunc = NULL;	205	pRxHandlerFunc = NULL;
204	break;	206	break;
205	}	207	}
206	// update packet checksum	208	// update packet checksum
207	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);	209	I2C_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C_Buffer, TxBytes);
208	TxBytes++;	210	TxBytes++;
209	// initiate I2C transmission	211	// initiate I2C transmission
210	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);	212	I2C_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
211	} // EOF I2C_State == I2C_IDLE	213	} // EOF I2C_State == I2C_IDLE
212	}	214	}
-		215
-		216	// use I2C0 for communication
-		217	void MK3MAG_SendCommandI2C0(u8 command)
-		218	{
-		219	// try to catch the I2C buffer
-		220	if(I2C0_LockBuffer(0))
-		221	{
-		222	u16 TxBytes = 0;
-		223	u16 RxBytes = 0;
-		224	I2C_pRxHandler_t pRxHandlerFunc = NULL;
-		225
-		226	// update current command id
-		227	I2C0_Buffer[TxBytes++] = command;
-		228
-		229	// set pointers to data area with respect to the command id
-		230	switch (command)
-		231	{
-		232	case MK3MAG_CMD_VERSION:
-		233	RxBytes = sizeof(MK3MAG_Version)+1;
-		234	pRxHandlerFunc = &MK3MAG_UpdateVersion;
-		235	break;
-		236	case MK3MAG_CMD_WRITE_CAL:
-		237	RxBytes = sizeof(MK3MAG_ReadCal)+1;
-		238	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
-		239	memcpy((u8)I2C0_Buffer+1, (u8)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
-		240	TxBytes += sizeof(MK3MAG_WriteCal);
-		241	break;
-		242	case MK3MAG_CMD_READ_MAGVECT:
-		243	RxBytes = sizeof(MagVector)+1;
-		244	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
-		245	break;
-		246	default: // unknown command id
-		247	RxBytes = 0;
-		248	pRxHandlerFunc = NULL;
-		249	break;
-		250	}
-		251	// update packet checksum
-		252	I2C0_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C0_Buffer, TxBytes);
-		253	TxBytes++;
-		254	// initiate I2C transmission
-		255	I2C0_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
-		256	} // EOF I2C_State == I2C_IDLE
-		257	}
-		258
-		259	void MK3MAG_SendCommand(u8 command)
-		260	{
-		261	// MK3MAG_SendCommandI2C1(command);
-		262	MK3MAG_SendCommandI2C0(command);
213		263	}
214		264
215	//----------------------------------------------------------------	265	//----------------------------------------------------------------
216	u8 MK3MAG_Init(void)	266	u8 MK3MAG_Init(void)
217	{	267	{
218	u8 msg[64];	268	u8 msg[64];
219	u8 repeat;	269	u8 repeat;
220	u32 timeout;	270	u32 timeout;
221		271
222	MK3MAG_Present = 0;	272	MK3MAG_Present = 0;
223		273
224	MK3MAG_Version.Major = 0xFF;	274	MK3MAG_Version.Major = 0xFF;
225	MK3MAG_Version.Minor = 0xFF;	275	MK3MAG_Version.Minor = 0xFF;
226	MK3MAG_Version.Patch = 0xFF;	276	MK3MAG_Version.Patch = 0xFF;
227	MK3MAG_Version.Compatible = 0xFF;	277	MK3MAG_Version.Compatible = 0xFF;
228		278
229	Compass_Heading = -1;	279	Compass_Heading = -1;
230		280
231	// polling of version info	281	// polling of version info
232	repeat = 0;	282	repeat = 0;
233	do	283	do
234	{	284	{
235	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);	285	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
236	if(Version_HW > 11) timeout = SetDelay(100);	286	if(Version_HW > 11) timeout = SetDelay(100);
237	else timeout = SetDelay(250);	287	else timeout = SetDelay(250);
238		288
239	do	289	do
240	{	290	{
241	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	291	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
242	}while (!CheckDelay(timeout));	292	}while (!CheckDelay(timeout));
243	UART1_PutString(".");	293	UART1_PutString(".");
244	repeat++;	294	repeat++;
245	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	295	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
246	// if we got it	296	// if we got it
247	if (MK3MAG_Version.Major != 0xFF)	297	if (MK3MAG_Version.Major != 0xFF)
248	{	298	{
249	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	299	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
250	UART1_PutString(msg);	300	UART1_PutString(msg);
251	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	301	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
252	{	302	{
253	UART1_PutString("\n\r MK3MAG not compatible!");	303	UART1_PutString("\n\r MK3MAG not compatible!");
254	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	304	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
255	LED_RED_ON;	305	LED_RED_ON;
256	}	306	}
257	else	307	else
258	{ // version ok	308	{ // version ok
259	MK3MAG_Present = 1;	309	MK3MAG_Present = 1;
260	}	310	}
261	}	311	}
262	return(MK3MAG_Present);	312	return(MK3MAG_Present);
263	}	313	}
264		314
265	//----------------------------------------------------------------	315	//----------------------------------------------------------------
266	void MK3MAG_Update(void)	316	void MK3MAG_Update(void)
267	{	317	{
268	static u32 TimerUpdate = 0;	318	static u32 TimerUpdate = 0;
269	static s16 x_max,y_max,z_max,x_min,y_min,z_min;	319	static s16 x_max,y_max,z_max,x_min,y_min,z_min;
270	static u8 last_state,speak = 0;	320	static u8 last_state,speak = 0;
271	u8 msg[64];	321	u8 msg[64];
272	u16 MinCaclibration = 500;	322	u16 MinCaclibration = 500;
273		323
274	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;	324	if( (I2C_State == I2C_STATE_OFF) \|\| !MK3MAG_Present ) return;
275		325
276	if(CheckDelay(TimerUpdate))	326	if(CheckDelay(TimerUpdate))
277	{	327	{
278	// check for incomming compass calibration request	328	// check for incomming compass calibration request
279	Compass_UpdateCalState();	329	Compass_UpdateCalState();
280	MK3MAG_WriteCal.CalByte = Compass_CalState;	330	MK3MAG_WriteCal.CalByte = Compass_CalState;
281		331
282	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	332	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
283	{ // send new calibration state	333	{ // send new calibration state
284	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);	334	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
285	}	335	}
286	else	336	else
287	{ // calibration state matches	337	{ // calibration state matches
288	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer	338	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
289		339
290	switch(Compass_CalState)	340	switch(Compass_CalState)
291	{	341	{
292	case 1:	342	case 1:
293	if(last_state != Compass_CalState)	343	if(last_state != Compass_CalState)
294	{	344	{
295	UART1_PutString("\r\nMK3Mag calibration\n\r");	345	UART1_PutString("\r\nMK3Mag calibration\n\r");
296	if(EarthMagneticStrengthTheoretic)	346	if(EarthMagneticStrengthTheoretic)
297	{	347	{
298	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;	348	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
299	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);	349	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
300	UART1_PutString(msg);	350	UART1_PutString(msg);
301	}	351	}
302	else UART1_PutString("without GPS\n\r");	352	else UART1_PutString("without GPS\n\r");
303	}	353	}
304	x_max = -30000; y_max = -30000; z_max = -30000;	354	x_max = -30000; y_max = -30000; z_max = -30000;
305	x_min = 30000; y_min = 30000; z_min = 30000;	355	x_min = 30000; y_min = 30000; z_min = 30000;
306	speak = 1;	356	speak = 1;
307	break;	357	break;
308	case 2:	358	case 2:
309	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;	359	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
310		360
311	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }	361	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
312	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }	362	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
313	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }	363	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
314	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }	364	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
315		365
316	break;	366	break;
317	case 3:	367	case 3:
318	speak = 1;	368	speak = 1;
319	break;	369	break;
320	case 4:	370	case 4:
321	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;	371	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
322	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }	372	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
323	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }	373	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
324	break;	374	break;
325	case 5:	375	case 5:
326	if(last_state == Compass_CalState) break;	376	if(last_state == Compass_CalState) break;
327	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))	377	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
328	{	378	{
329	BeepTime = 2500;	379	BeepTime = 2500;
330	UART1_PutString("\r\n-> Calibration okay <-\n\r");	380	UART1_PutString("\r\n-> Calibration okay <-\n\r");
331	SpeakHoTT = SPEAK_MIKROKOPTER;	381	SpeakHoTT = SPEAK_MIKROKOPTER;
332	}	382	}
333	else	383	else
334	{	384	{
335	UART1_PutString("\r\nCalibration FAILED - Values too low: ");	385	UART1_PutString("\r\nCalibration FAILED - Values too low: ");
336	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");	386	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
337	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");	387	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
338	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");	388	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
339	UART1_PutString("\r\n");	389	UART1_PutString("\r\n");
340	SpeakHoTT = SPEAK_ERR_CALIBARTION;	390	SpeakHoTT = SPEAK_ERR_CALIBARTION;
341	}	391	}
342	UART1_PutString(msg);	392	UART1_PutString(msg);
343	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);	393	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
344	UART1_PutString(msg);	394	UART1_PutString(msg);
345	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);	395	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
346	UART1_PutString(msg);	396	UART1_PutString(msg);
347	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);	397	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
348	UART1_PutString(msg);	398	UART1_PutString(msg);
349	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);	399	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
350	UART1_PutString(msg);	400	UART1_PutString(msg);
351	break;	401	break;
352	default:	402	default:
353	break;	403	break;
354	}	404	}
355	last_state = Compass_CalState;	405	last_state = Compass_CalState;
356	}	406	}
357	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz	407	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz
358	}	408	}
359	}	409	}
360		410

Subversion Repositories NaviCtrl

(root)/tags/V2.06b/mk3mag.c @ 658 - Rev 454 → 464