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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <math.h> |
56 | #include <math.h> |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "i2c.h" |
61 | #include "i2c.h" |
62 | #include "timer1.h" |
62 | #include "timer1.h" |
63 | #include "led.h" |
63 | #include "led.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "eeprom.h" |
65 | #include "eeprom.h" |
66 | #include "mymath.h" |
66 | #include "mymath.h" |
67 | #include "main.h" |
67 | #include "main.h" |
68 | 68 | ||
69 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
- | 71 | ||
71 | 72 | // supported magnetic sensor types |
|
72 | #define MAG_TYPE_NONE 0 |
73 | #define TYPE_NONE 0 |
73 | #define MAG_TYPE_HMC5843 1 |
74 | #define TYPE_HMC5843 1 |
- | 75 | #define TYPE_LSM303DLH 2 |
|
- | 76 | #define TYPE_LSM303DLM 3 |
|
74 | #define MAG_TYPE_LSM303DLH 2 |
77 | |
75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
- | |
76 | 78 | u8 NCMAG_SensorType = TYPE_NONE; |
|
- | 79 | ||
77 | #define CALIBRATION_VERSION 1 |
80 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
81 | #define CALIBRATION_VERSION 1 |
79 | #define MAG_CALIBRATION_COMPATIBEL 0xA2 |
82 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
80 | 83 | ||
81 | #define NCMAG_MIN_RAWVALUE -2047 |
84 | #define NCMAG_MIN_RAWVALUE -2047 |
82 | #define NCMAG_MAX_RAWVALUE 2047 |
85 | #define NCMAG_MAX_RAWVALUE 2047 |
83 | #define NCMAG_INVALID_DATA -4096 |
86 | #define NCMAG_INVALID_DATA -4096 |
84 | 87 | ||
85 | typedef struct |
88 | typedef struct |
86 | { |
89 | { |
87 | s16 Range; |
90 | s16 Range; |
88 | s16 Offset; |
91 | s16 Offset; |
89 | } __attribute__((packed)) Scaling_t; |
92 | } __attribute__((packed)) Scaling_t; |
90 | 93 | ||
91 | typedef struct |
94 | typedef struct |
92 | { |
95 | { |
93 | Scaling_t MagX; |
96 | Scaling_t MagX; |
94 | Scaling_t MagY; |
97 | Scaling_t MagY; |
95 | Scaling_t MagZ; |
98 | Scaling_t MagZ; |
96 | u8 Version; |
99 | u8 Version; |
97 | u8 crc; |
100 | u8 crc; |
98 | } __attribute__((packed)) Calibration_t; |
101 | } __attribute__((packed)) Calibration_t; |
99 | 102 | ||
100 | Calibration_t Calibration; // calibration data in RAM |
103 | Calibration_t Calibration; // calibration data in RAM |
101 | volatile s16vec_t AccRawVector; |
104 | volatile s16vec_t AccRawVector; |
102 | volatile s16vec_t MagRawVector; |
105 | volatile s16vec_t MagRawVector; |
103 | 106 | ||
104 | // i2c MAG interface |
107 | // i2c MAG interface |
105 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
108 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
106 | 109 | ||
107 | // register mapping |
110 | // register mapping |
108 | #define REG_MAG_CRA 0x00 |
111 | #define REG_MAG_CRA 0x00 |
109 | #define REG_MAG_CRB 0x01 |
112 | #define REG_MAG_CRB 0x01 |
110 | #define REG_MAG_MODE 0x02 |
113 | #define REG_MAG_MODE 0x02 |
111 | #define REG_MAG_DATAX_MSB 0x03 |
114 | #define REG_MAG_DATAX_MSB 0x03 |
112 | #define REG_MAG_DATAX_LSB 0x04 |
115 | #define REG_MAG_DATAX_LSB 0x04 |
113 | #define REG_MAG_DATAY_MSB 0x05 |
116 | #define REG_MAG_DATAY_MSB 0x05 |
114 | #define REG_MAG_DATAY_LSB 0x06 |
117 | #define REG_MAG_DATAY_LSB 0x06 |
115 | #define REG_MAG_DATAZ_MSB 0x07 |
118 | #define REG_MAG_DATAZ_MSB 0x07 |
116 | #define REG_MAG_DATAZ_LSB 0x08 |
119 | #define REG_MAG_DATAZ_LSB 0x08 |
117 | #define REG_MAG_STATUS 0x09 |
120 | #define REG_MAG_STATUS 0x09 |
118 | 121 | ||
119 | #define REG_MAG_IDA 0x0A |
122 | #define REG_MAG_IDA 0x0A |
120 | #define REG_MAG_IDB 0x0B |
123 | #define REG_MAG_IDB 0x0B |
121 | #define REG_MAG_IDC 0x0C |
124 | #define REG_MAG_IDC 0x0C |
122 | #define REG_MAG_IDF 0x0F |
125 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
123 | 126 | ||
124 | // bit mask for configuration mode |
127 | // bit mask for configuration mode |
125 | #define CRA_MODE_MASK 0x03 |
128 | #define CRA_MODE_MASK 0x03 |
126 | #define CRA_MODE_NORMAL 0x00 //default |
129 | #define CRA_MODE_NORMAL 0x00 //default |
127 | #define CRA_MODE_POSBIAS 0x01 |
130 | #define CRA_MODE_POSBIAS 0x01 |
128 | #define CRA_MODE_NEGBIAS 0x02 |
131 | #define CRA_MODE_NEGBIAS 0x02 |
129 | #define CRA_MODE_SELFTEST 0x03 |
132 | #define CRA_MODE_SELFTEST 0x03 |
130 | 133 | ||
131 | // bit mask for measurement mode |
134 | // bit mask for measurement mode |
132 | #define MODE_MASK 0xFF |
135 | #define MODE_MASK 0xFF |
133 | #define MODE_CONTINUOUS 0x00 |
136 | #define MODE_CONTINUOUS 0x00 |
134 | #define MODE_SINGLE 0x01 // default |
137 | #define MODE_SINGLE 0x01 // default |
135 | #define MODE_IDLE 0x02 |
138 | #define MODE_IDLE 0x02 |
136 | #define MODE_SLEEP 0x03 |
139 | #define MODE_SLEEP 0x03 |
137 | 140 | ||
138 | // bit mask for rate |
141 | // bit mask for rate |
139 | #define CRA_RATE_MASK 0x1C |
142 | #define CRA_RATE_MASK 0x1C |
140 | 143 | ||
141 | // bit mask for gain |
144 | // bit mask for gain |
142 | #define CRB_GAIN_MASK 0xE0 |
145 | #define CRB_GAIN_MASK 0xE0 |
143 | 146 | ||
144 | // ids |
147 | // ids |
145 | #define MAG_IDA 0x48 |
148 | #define MAG_IDA 0x48 |
146 | #define MAG_IDB 0x34 |
149 | #define MAG_IDB 0x34 |
147 | #define MAG_IDC 0x33 |
150 | #define MAG_IDC 0x33 |
- | 151 | #define MAG_IDF_LSM303DLM 0x3C |
|
148 | 152 | ||
149 | // the special HMC5843 interface |
153 | // the special HMC5843 interface |
150 | // bit mask for rate |
154 | // bit mask for rate |
151 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
155 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
152 | #define HMC5843_CRA_RATE_1HZ 0x04 |
156 | #define HMC5843_CRA_RATE_1HZ 0x04 |
153 | #define HMC5843_CRA_RATE_2HZ 0x08 |
157 | #define HMC5843_CRA_RATE_2HZ 0x08 |
154 | #define HMC5843_CRA_RATE_5HZ 0x0C |
158 | #define HMC5843_CRA_RATE_5HZ 0x0C |
155 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
159 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
156 | #define HMC5843_CRA_RATE_20HZ 0x14 |
160 | #define HMC5843_CRA_RATE_20HZ 0x14 |
157 | #define HMC5843_CRA_RATE_50HZ 0x18 |
161 | #define HMC5843_CRA_RATE_50HZ 0x18 |
158 | // bit mask for gain |
162 | // bit mask for gain |
159 | #define HMC5843_CRB_GAIN_07GA 0x00 |
163 | #define HMC5843_CRB_GAIN_07GA 0x00 |
160 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
164 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
161 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
165 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
162 | #define HMC5843_CRB_GAIN_20GA 0x60 |
166 | #define HMC5843_CRB_GAIN_20GA 0x60 |
163 | #define HMC5843_CRB_GAIN_32GA 0x80 |
167 | #define HMC5843_CRB_GAIN_32GA 0x80 |
164 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
168 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
165 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
169 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
166 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
170 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
167 | // self test value |
171 | // self test value |
168 | #define HMC5843_TEST_XSCALE 555 |
172 | #define HMC5843_TEST_XSCALE 555 |
169 | #define HMC5843_TEST_YSCALE 555 |
173 | #define HMC5843_TEST_YSCALE 555 |
170 | #define HMC5843_TEST_ZSCALE 555 |
174 | #define HMC5843_TEST_ZSCALE 555 |
171 | // clibration range |
175 | // calibration range |
172 | #define HMC5843_CALIBRATION_RANGE 600 |
176 | #define HMC5843_CALIBRATION_RANGE 600 |
173 | 177 | ||
174 | // the special LSM302DLH interface |
178 | // the special LSM302DLH interface |
175 | // bit mask for rate |
179 | // bit mask for rate |
176 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
180 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
177 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
181 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
178 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
182 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
179 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
183 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
180 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
184 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
181 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
185 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
182 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
186 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
183 | 187 | ||
184 | // bit mask for gain |
188 | // bit mask for gain |
185 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
189 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
186 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
190 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
187 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
191 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
188 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
192 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
189 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
193 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
190 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
194 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
191 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
195 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
192 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
196 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
- | 197 | ||
- | 198 | typedef struct |
|
- | 199 | { |
|
- | 200 | u8 A; |
|
- | 201 | u8 B; |
|
- | 202 | u8 C; |
|
- | 203 | } __attribute__((packed)) Identification_t; |
|
- | 204 | volatile Identification_t NCMAG_Identification; |
|
- | 205 | ||
- | 206 | typedef struct |
|
- | 207 | { |
|
- | 208 | u8 Sub; |
|
- | 209 | } __attribute__((packed)) Identification2_t; |
|
- | 210 | volatile Identification2_t NCMAG_Identification2; |
|
- | 211 | ||
- | 212 | typedef struct |
|
- | 213 | { |
|
- | 214 | u8 cra; |
|
- | 215 | u8 crb; |
|
- | 216 | u8 mode; |
|
- | 217 | } __attribute__((packed)) MagConfig_t; |
|
- | 218 | ||
- | 219 | volatile MagConfig_t MagConfig; |
|
- | 220 | ||
- | 221 | ||
193 | // self test value |
222 | // self test value |
194 | #define LSM303DLH_TEST_XSCALE 495 |
223 | #define LSM303DLH_TEST_XSCALE 495 |
195 | #define LSM303DLH_TEST_YSCALE 495 |
224 | #define LSM303DLH_TEST_YSCALE 495 |
196 | #define LSM303DLH_TEST_ZSCALE 470 |
225 | #define LSM303DLH_TEST_ZSCALE 470 |
197 | // clibration range |
226 | // clibration range |
198 | #define LSM303_CALIBRATION_RANGE 550 |
227 | #define LSM303_CALIBRATION_RANGE 550 |
199 | 228 | ||
200 | // the i2c ACC interface |
229 | // the i2c ACC interface |
201 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
230 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
- | 231 | ||
- | 232 | // multiple byte read/write mask |
|
- | 233 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
|
- | 234 | ||
202 | // register mapping |
235 | // register mapping |
203 | #define REG_ACC_CTRL1 0x20 |
236 | #define REG_ACC_CTRL1 0x20 |
204 | #define REG_ACC_CTRL2 0x21 |
237 | #define REG_ACC_CTRL2 0x21 |
205 | #define REG_ACC_CTRL3 0x22 |
238 | #define REG_ACC_CTRL3 0x22 |
206 | #define REG_ACC_CTRL4 0x23 |
239 | #define REG_ACC_CTRL4 0x23 |
207 | #define REG_ACC_CTRL5 0x24 |
240 | #define REG_ACC_CTRL5 0x24 |
208 | #define REG_ACC_HP_FILTER_RESET 0x25 |
241 | #define REG_ACC_HP_FILTER_RESET 0x25 |
209 | #define REG_ACC_REFERENCE 0x26 |
242 | #define REG_ACC_REFERENCE 0x26 |
210 | #define REG_ACC_STATUS 0x27 |
243 | #define REG_ACC_STATUS 0x27 |
211 | #define REG_ACC_X_LSB 0x28 |
244 | #define REG_ACC_X_LSB 0x28 |
212 | #define REG_ACC_X_MSB 0x29 |
245 | #define REG_ACC_X_MSB 0x29 |
213 | #define REG_ACC_Y_LSB 0x2A |
246 | #define REG_ACC_Y_LSB 0x2A |
214 | #define REG_ACC_Y_MSB 0x2B |
247 | #define REG_ACC_Y_MSB 0x2B |
215 | #define REG_ACC_Z_LSB 0x2C |
248 | #define REG_ACC_Z_LSB 0x2C |
216 | #define REG_ACC_Z_MSB 0x2D |
249 | #define REG_ACC_Z_MSB 0x2D |
- | 250 | ||
- | 251 | #define ACC_CRTL1_PM_DOWN 0x00 |
|
- | 252 | #define ACC_CRTL1_PM_NORMAL 0x20 |
|
- | 253 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
|
- | 254 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
|
- | 255 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
|
- | 256 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
|
- | 257 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
|
- | 258 | // Output data rate in normal power mode |
|
- | 259 | #define ACC_CRTL1_DR_50HZ 0x00 |
|
- | 260 | #define ACC_CRTL1_DR_100HZ 0x08 |
|
- | 261 | #define ACC_CRTL1_DR_400HZ 0x10 |
|
- | 262 | #define ACC_CRTL1_DR_1000HZ 0x18 |
|
- | 263 | // axis anable flags |
|
- | 264 | #define ACC_CRTL1_XEN 0x01 |
|
- | 265 | #define ACC_CRTL1_YEN 0x02 |
|
- | 266 | #define ACC_CRTL1_ZEN 0x04 |
|
- | 267 | ||
- | 268 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
|
- | 269 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
|
- | 270 | #define ACC_CTRL4_FS_2G 0x00 |
|
- | 271 | #define ACC_CTRL4_FS_4G 0x10 |
|
- | 272 | #define ACC_CTRL4_FS_8G 0x30 |
|
- | 273 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
|
- | 274 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
|
217 | - | ||
218 | - | ||
219 | - | ||
220 | typedef struct |
- | |
221 | { |
- | |
222 | u8 A; |
- | |
223 | u8 B; |
- | |
224 | u8 C; |
- | |
225 | } __attribute__((packed)) Identification_t; |
- | |
226 | volatile Identification_t NCMAG_Identification; |
- | |
227 | - | ||
228 | typedef struct |
- | |
229 | { |
- | |
230 | u8 Sub; |
- | |
231 | } __attribute__((packed)) Identification2_t; |
- | |
232 | volatile Identification2_t NCMAG_Identification2; |
- | |
233 | - | ||
234 | typedef struct |
- | |
235 | { |
- | |
236 | u8 cra; |
- | |
237 | u8 crb; |
275 | #define ACC_CTRL4_ST_ENABLE 0x02 |
238 | u8 mode; |
- | |
239 | } __attribute__((packed)) MagConfig_t; |
276 | |
240 | 277 | #define ACC_CTRL5_STW_ON 0x03 |
|
241 | volatile MagConfig_t MagConfig; |
278 | #define ACC_CTRL5_STW_OFF 0x00 |
242 | 279 | ||
243 | typedef struct |
280 | typedef struct |
244 | { |
281 | { |
245 | u8 ctrl_1; |
282 | u8 ctrl_1; |
246 | u8 ctrl_2; |
283 | u8 ctrl_2; |
247 | u8 ctrl_3; |
284 | u8 ctrl_3; |
248 | u8 ctrl_4; |
285 | u8 ctrl_4; |
249 | u8 ctrl_5; |
286 | u8 ctrl_5; |
250 | } __attribute__((packed)) AccConfig_t; |
287 | } __attribute__((packed)) AccConfig_t; |
251 | 288 | ||
252 | volatile AccConfig_t AccConfig; |
289 | volatile AccConfig_t AccConfig; |
253 | 290 | ||
254 | u8 NCMag_CalibrationWrite(void) |
291 | u8 NCMag_CalibrationWrite(void) |
255 | { |
292 | { |
256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
293 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
257 | EEPROM_Result_t eres; |
294 | EEPROM_Result_t eres; |
258 | u8 *pBuff = (u8*)&Calibration; |
295 | u8 *pBuff = (u8*)&Calibration; |
259 | 296 | ||
260 | Calibration.Version = CALIBRATION_VERSION; |
297 | Calibration.Version = CALIBRATION_VERSION; |
261 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
298 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
262 | { |
299 | { |
263 | crc += pBuff[i]; |
300 | crc += pBuff[i]; |
264 | } |
301 | } |
265 | Calibration.crc = ~crc; |
302 | Calibration.crc = ~crc; |
266 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
303 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
267 | if(EEPROM_SUCCESS == eres) i = 1; |
304 | if(EEPROM_SUCCESS == eres) i = 1; |
268 | else i = 0; |
305 | else i = 0; |
269 | return(i); |
306 | return(i); |
270 | } |
307 | } |
271 | 308 | ||
272 | u8 NCMag_CalibrationRead(void) |
309 | u8 NCMag_CalibrationRead(void) |
273 | { |
310 | { |
274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
311 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
275 | u8 *pBuff = (u8*)&Calibration; |
312 | u8 *pBuff = (u8*)&Calibration; |
276 | 313 | ||
277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
314 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
278 | { |
315 | { |
279 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
316 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
280 | { |
317 | { |
281 | crc += pBuff[i]; |
318 | crc += pBuff[i]; |
282 | } |
319 | } |
283 | crc = ~crc; |
320 | crc = ~crc; |
284 | if(Calibration.crc != crc) return(0); // crc mismatch |
321 | if(Calibration.crc != crc) return(0); // crc mismatch |
285 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
322 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
286 | } |
323 | } |
287 | return(0); |
324 | return(0); |
288 | } |
325 | } |
289 | 326 | ||
290 | 327 | ||
291 | void NCMAG_Calibrate(void) |
328 | void NCMAG_Calibrate(void) |
292 | { |
329 | { |
293 | u8 msg[64]; |
330 | u8 msg[64]; |
294 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
331 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
295 | static s16 X = 0, Y = 0, Z = 0; |
332 | static s16 X = 0, Y = 0, Z = 0; |
296 | static u8 OldCalState = 0; |
333 | static u8 OldCalState = 0; |
297 | s16 MinCaclibration = 450; |
334 | s16 MinCalibration = 450; |
298 | 335 | ||
299 | X = (4*X + MagRawVector.X + 3)/5; |
336 | X = (4*X + MagRawVector.X + 3)/5; |
300 | Y = (4*Y + MagRawVector.Y + 3)/5; |
337 | Y = (4*Y + MagRawVector.Y + 3)/5; |
301 | Z = (4*Z + MagRawVector.Z + 3)/5; |
338 | Z = (4*Z + MagRawVector.Z + 3)/5; |
302 | 339 | ||
303 | switch(Compass_CalState) |
340 | switch(Compass_CalState) |
304 | { |
341 | { |
305 | case 1: |
342 | case 1: |
306 | // 1st step of calibration |
343 | // 1st step of calibration |
307 | // initialize ranges |
344 | // initialize ranges |
308 | // used to change the orientation of the NC in the horizontal plane |
345 | // used to change the orientation of the NC in the horizontal plane |
309 | Xmin = 10000; |
346 | Xmin = 10000; |
310 | Xmax = -10000; |
347 | Xmax = -10000; |
311 | Ymin = 10000; |
348 | Ymin = 10000; |
312 | Ymax = -10000; |
349 | Ymax = -10000; |
313 | Zmin = 10000; |
350 | Zmin = 10000; |
314 | Zmax = -10000; |
351 | Zmax = -10000; |
315 | break; |
352 | break; |
316 | 353 | ||
317 | case 2: // 2nd step of calibration |
354 | case 2: // 2nd step of calibration |
318 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
355 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
319 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
356 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
320 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
357 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
321 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
358 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
322 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
359 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
323 | break; |
360 | break; |
324 | 361 | ||
325 | case 3: // 3rd step of calibration |
362 | case 3: // 3rd step of calibration |
326 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
363 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
327 | break; |
364 | break; |
328 | 365 | ||
329 | case 4: |
366 | case 4: |
330 | // find Min and Max of the Z-Sensor |
367 | // find Min and Max of the Z-Sensor |
331 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
368 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
332 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
369 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
333 | break; |
370 | break; |
334 | 371 | ||
335 | case 5: |
372 | case 5: |
336 | // Save values |
373 | // Save values |
337 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
374 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
338 | { |
375 | { |
339 | // #define MIN_CALIBRATION 256 |
- | |
340 | if(NCMAG_MagType == MAG_TYPE_HMC5843) |
376 | switch(NCMAG_SensorType) |
341 | { |
377 | { |
- | 378 | case TYPE_HMC5843: |
|
342 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
379 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
343 | MinCaclibration = HMC5843_CALIBRATION_RANGE; |
380 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
344 | } |
381 | break; |
- | 382 | ||
345 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
383 | case TYPE_LSM303DLH: |
346 | { |
384 | case TYPE_LSM303DLM: |
347 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
385 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
348 | MinCaclibration =LSM303_CALIBRATION_RANGE; |
386 | MinCalibration = LSM303_CALIBRATION_RANGE; |
- | 387 | break; |
|
349 | } |
388 | } |
350 | if(EarthMagneticStrengthTheoretic) |
389 | if(EarthMagneticStrengthTheoretic) |
351 | { |
390 | { |
352 | MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50; |
391 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
353 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
392 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
354 | UART1_PutString(msg); |
393 | UART1_PutString(msg); |
355 | } |
394 | } |
356 | else UART1_PutString("without GPS\n\r"); |
395 | else UART1_PutString("without GPS\n\r"); |
357 | 396 | ||
358 | Calibration.MagX.Range = Xmax - Xmin; |
397 | Calibration.MagX.Range = Xmax - Xmin; |
359 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
398 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
360 | Calibration.MagY.Range = Ymax - Ymin; |
399 | Calibration.MagY.Range = Ymax - Ymin; |
361 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
400 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
362 | Calibration.MagZ.Range = Zmax - Zmin; |
401 | Calibration.MagZ.Range = Zmax - Zmin; |
363 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
402 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
364 | if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
403 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
365 | { |
404 | { |
366 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
405 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
367 | BeepTime = 2500; |
406 | BeepTime = 2500; |
368 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
407 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
369 | } |
408 | } |
370 | else |
409 | else |
371 | { |
410 | { |
372 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
411 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
373 | if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
412 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
374 | if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("Y! "); |
413 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
375 | if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
414 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
376 | UART1_PutString("\r\n"); |
415 | UART1_PutString("\r\n"); |
377 | 416 | ||
378 | // restore old calibration data from eeprom |
417 | // restore old calibration data from eeprom |
379 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
418 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
380 | } |
419 | } |
381 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
420 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
382 | UART1_PutString(msg); |
421 | UART1_PutString(msg); |
383 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
422 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
384 | UART1_PutString(msg); |
423 | UART1_PutString(msg); |
385 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
424 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
386 | UART1_PutString(msg); |
425 | UART1_PutString(msg); |
387 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration); |
426 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
388 | UART1_PutString(msg); |
427 | UART1_PutString(msg); |
389 | } |
428 | } |
390 | break; |
429 | break; |
391 | 430 | ||
392 | default: |
431 | default: |
393 | break; |
432 | break; |
394 | } |
433 | } |
395 | OldCalState = Compass_CalState; |
434 | OldCalState = Compass_CalState; |
396 | } |
435 | } |
397 | 436 | ||
398 | // ---------- call back handlers ----------------------------------------- |
437 | // ---------- call back handlers ----------------------------------------- |
399 | 438 | ||
400 | // rx data handler for id info request |
439 | // rx data handler for id info request |
401 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
440 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
402 | { // if number of bytes are matching |
441 | { // if number of bytes are matching |
403 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
442 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
404 | { |
443 | { |
405 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
444 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
406 | } |
445 | } |
407 | } |
446 | } |
408 | 447 | ||
409 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
448 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
410 | { // if number of bytes are matching |
449 | { // if number of bytes are matching |
411 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
450 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
412 | { |
451 | { |
413 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
452 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
414 | } |
453 | } |
415 | } |
454 | } |
416 | 455 | ||
417 | // rx data handler for magnetic sensor raw data |
456 | // rx data handler for magnetic sensor raw data |
418 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
457 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
419 | { // if number of bytes are matching |
458 | { // if number of bytes are matching |
420 | if(RxBufferSize == sizeof(MagRawVector) ) |
459 | if(RxBufferSize == sizeof(MagRawVector) ) |
421 | { // byte order from big to little endian |
460 | { // byte order from big to little endian |
422 | s16 raw; |
461 | s16 raw; |
423 | raw = pRxBuffer[0]<<8; |
462 | raw = pRxBuffer[0]<<8; |
424 | raw+= pRxBuffer[1]; |
463 | raw+= pRxBuffer[1]; |
425 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
464 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
426 | raw = pRxBuffer[2]<<8; |
465 | raw = pRxBuffer[2]<<8; |
427 | raw+= pRxBuffer[3]; |
466 | raw+= pRxBuffer[3]; |
428 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
467 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
429 | { |
468 | { |
430 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
469 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Z = raw; // here Z and Y are exchanged |
431 | else MagRawVector.Y = raw; |
470 | else MagRawVector.Y = raw; |
432 | } |
471 | } |
433 | raw = pRxBuffer[4]<<8; |
472 | raw = pRxBuffer[4]<<8; |
434 | raw+= pRxBuffer[5]; |
473 | raw+= pRxBuffer[5]; |
435 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
474 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
436 | { |
475 | { |
437 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
476 | if(NCMAG_SensorType == TYPE_LSM303DLM) MagRawVector.Y = raw; // here Z and Y are exchanged |
438 | else MagRawVector.Z = raw; |
477 | else MagRawVector.Z = raw; |
439 | } |
478 | } |
440 | //MagRawVector.X += 2 * ((s32) FC.Poti[7] - 128); |
- | |
441 | } |
479 | } |
442 | if(Compass_CalState || !NCMAG_IsCalibrated) |
480 | if(Compass_CalState || !NCMAG_IsCalibrated) |
443 | { // mark out data invalid |
481 | { // mark out data invalid |
444 | MagVector.X = MagRawVector.X; |
482 | MagVector.X = MagRawVector.X; |
445 | MagVector.Y = MagRawVector.Y; |
483 | MagVector.Y = MagRawVector.Y; |
446 | MagVector.Z = MagRawVector.Z; |
484 | MagVector.Z = MagRawVector.Z; |
447 | Compass_Heading = -1; |
485 | Compass_Heading = -1; |
448 | } |
486 | } |
449 | else |
487 | else |
450 | { |
488 | { |
451 | // update MagVector from MagRaw Vector by Scaling |
489 | // update MagVector from MagRaw Vector by Scaling |
452 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
490 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
453 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
491 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
454 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
492 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
455 | Compass_CalcHeading(); |
493 | Compass_CalcHeading(); |
456 | } |
494 | } |
457 | } |
495 | } |
458 | // rx data handler for acceleration raw data |
496 | // rx data handler for acceleration raw data |
459 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
497 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
460 | { // if number of byte are matching |
498 | { // if number of byte are matching |
461 | if(RxBufferSize == sizeof(AccRawVector) ) |
499 | if(RxBufferSize == sizeof(AccRawVector) ) |
462 | { |
500 | { |
463 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
501 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
464 | } |
502 | } |
- | 503 | DebugOut.Analog[16] = AccRawVector.X; |
|
- | 504 | DebugOut.Analog[17] = AccRawVector.Y; |
|
- | 505 | DebugOut.Analog[18] = AccRawVector.Z; |
|
465 | } |
506 | } |
466 | // rx data handler for reading magnetic sensor configuration |
507 | // rx data handler for reading magnetic sensor configuration |
467 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
508 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
468 | { // if number of byte are matching |
509 | { // if number of byte are matching |
469 | if(RxBufferSize == sizeof(MagConfig) ) |
510 | if(RxBufferSize == sizeof(MagConfig) ) |
470 | { |
511 | { |
471 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
512 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
472 | } |
513 | } |
473 | } |
514 | } |
474 | // rx data handler for reading acceleration sensor configuration |
515 | // rx data handler for reading acceleration sensor configuration |
475 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
516 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
476 | { // if number of byte are matching |
517 | { // if number of byte are matching |
477 | if(RxBufferSize == sizeof(AccConfig) ) |
518 | if(RxBufferSize == sizeof(AccConfig) ) |
478 | { |
519 | { |
479 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
520 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
480 | } |
521 | } |
481 | } |
522 | } |
482 | //---------------------------------------------------------------------- |
523 | //---------------------------------------------------------------------- |
483 | 524 | ||
484 | 525 | ||
485 | // --------------------------------------------------------------------- |
526 | // --------------------------------------------------------------------- |
486 | u8 NCMAG_SetMagConfig(void) |
527 | u8 NCMAG_SetMagConfig(void) |
487 | { |
528 | { |
488 | u8 retval = 0; |
529 | u8 retval = 0; |
489 | // try to catch the i2c buffer within 100 ms timeout |
530 | // try to catch the i2c buffer within 100 ms timeout |
490 | if(I2C_LockBuffer(100)) |
531 | if(I2C_LockBuffer(100)) |
491 | { |
532 | { |
492 | u8 TxBytes = 0; |
533 | u8 TxBytes = 0; |
493 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
534 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
494 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
535 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
495 | TxBytes += sizeof(MagConfig); |
536 | TxBytes += sizeof(MagConfig); |
496 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
537 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
497 | { |
538 | { |
498 | if(I2C_WaitForEndOfTransmission(100)) |
539 | if(I2C_WaitForEndOfTransmission(100)) |
499 | { |
540 | { |
500 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
541 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
501 | } |
542 | } |
502 | } |
543 | } |
503 | } |
544 | } |
504 | return(retval); |
545 | return(retval); |
505 | } |
546 | } |
506 | 547 | ||
507 | // ---------------------------------------------------------------------------------------- |
548 | // ---------------------------------------------------------------------------------------- |
508 | u8 NCMAG_GetMagConfig(void) |
549 | u8 NCMAG_GetMagConfig(void) |
509 | { |
550 | { |
510 | u8 retval = 0; |
551 | u8 retval = 0; |
511 | // try to catch the i2c buffer within 100 ms timeout |
552 | // try to catch the i2c buffer within 100 ms timeout |
512 | if(I2C_LockBuffer(100)) |
553 | if(I2C_LockBuffer(100)) |
513 | { |
554 | { |
514 | u8 TxBytes = 0; |
555 | u8 TxBytes = 0; |
515 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
556 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
516 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
557 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
517 | { |
558 | { |
518 | if(I2C_WaitForEndOfTransmission(100)) |
559 | if(I2C_WaitForEndOfTransmission(100)) |
519 | { |
560 | { |
520 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
561 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
521 | } |
562 | } |
522 | } |
563 | } |
523 | } |
564 | } |
524 | return(retval); |
565 | return(retval); |
525 | } |
566 | } |
526 | 567 | ||
527 | // ---------------------------------------------------------------------------------------- |
568 | // ---------------------------------------------------------------------------------------- |
528 | u8 NCMAG_SetAccConfig(void) |
569 | u8 NCMAG_SetAccConfig(void) |
529 | { |
570 | { |
530 | u8 retval = 0; |
571 | u8 retval = 0; |
531 | // try to catch the i2c buffer within 100 ms timeout |
572 | // try to catch the i2c buffer within 100 ms timeout |
532 | if(I2C_LockBuffer(100)) |
573 | if(I2C_LockBuffer(100)) |
533 | { |
574 | { |
534 | u8 TxBytes = 0; |
575 | u8 TxBytes = 0; |
535 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
576 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
536 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
577 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
537 | TxBytes += sizeof(AccConfig); |
578 | TxBytes += sizeof(AccConfig); |
538 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
579 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
539 | { |
580 | { |
540 | if(I2C_WaitForEndOfTransmission(100)) |
581 | if(I2C_WaitForEndOfTransmission(100)) |
541 | { |
582 | { |
542 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
583 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
543 | } |
584 | } |
544 | } |
585 | } |
545 | } |
586 | } |
546 | return(retval); |
587 | return(retval); |
547 | } |
588 | } |
548 | 589 | ||
549 | // ---------------------------------------------------------------------------------------- |
590 | // ---------------------------------------------------------------------------------------- |
550 | u8 NCMAG_GetAccConfig(void) |
591 | u8 NCMAG_GetAccConfig(void) |
551 | { |
592 | { |
552 | u8 retval = 0; |
593 | u8 retval = 0; |
553 | // try to catch the i2c buffer within 100 ms timeout |
594 | // try to catch the i2c buffer within 100 ms timeout |
554 | if(I2C_LockBuffer(100)) |
595 | if(I2C_LockBuffer(100)) |
555 | { |
596 | { |
556 | u8 TxBytes = 0; |
597 | u8 TxBytes = 0; |
557 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
598 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
558 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
599 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
559 | { |
600 | { |
560 | if(I2C_WaitForEndOfTransmission(100)) |
601 | if(I2C_WaitForEndOfTransmission(100)) |
561 | { |
602 | { |
562 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
603 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
563 | } |
604 | } |
564 | } |
605 | } |
565 | } |
606 | } |
566 | return(retval); |
607 | return(retval); |
567 | } |
608 | } |
568 | 609 | ||
569 | // ---------------------------------------------------------------------------------------- |
610 | // ---------------------------------------------------------------------------------------- |
570 | u8 NCMAG_GetIdentification(void) |
611 | u8 NCMAG_GetIdentification(void) |
571 | { |
612 | { |
572 | u8 retval = 0; |
613 | u8 retval = 0; |
573 | // try to catch the i2c buffer within 100 ms timeout |
614 | // try to catch the i2c buffer within 100 ms timeout |
574 | if(I2C_LockBuffer(100)) |
615 | if(I2C_LockBuffer(100)) |
575 | { |
616 | { |
576 | u16 TxBytes = 0; |
617 | u16 TxBytes = 0; |
577 | NCMAG_Identification.A = 0xFF; |
618 | NCMAG_Identification.A = 0xFF; |
578 | NCMAG_Identification.B = 0xFF; |
619 | NCMAG_Identification.B = 0xFF; |
579 | NCMAG_Identification.C = 0xFF; |
620 | NCMAG_Identification.C = 0xFF; |
580 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
621 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
581 | // initiate transmission |
622 | // initiate transmission |
582 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
623 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
583 | { |
624 | { |
584 | if(I2C_WaitForEndOfTransmission(100)) |
625 | if(I2C_WaitForEndOfTransmission(100)) |
585 | { |
626 | { |
586 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
627 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
587 | } |
628 | } |
588 | } |
629 | } |
589 | } |
630 | } |
590 | return(retval); |
631 | return(retval); |
591 | } |
632 | } |
592 | 633 | ||
593 | u8 NCMAG_GetIdentification_Sub(void) |
634 | u8 NCMAG_GetIdentification_Sub(void) |
594 | { |
635 | { |
595 | u8 retval = 0; |
636 | u8 retval = 0; |
596 | // try to catch the i2c buffer within 100 ms timeout |
637 | // try to catch the i2c buffer within 100 ms timeout |
597 | if(I2C_LockBuffer(100)) |
638 | if(I2C_LockBuffer(100)) |
598 | { |
639 | { |
599 | u16 TxBytes = 0; |
640 | u16 TxBytes = 0; |
600 | NCMAG_Identification2.Sub = 0xFF; |
641 | NCMAG_Identification2.Sub = 0xFF; |
601 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
642 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
602 | // initiate transmission |
643 | // initiate transmission |
603 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
644 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
604 | { |
645 | { |
605 | if(I2C_WaitForEndOfTransmission(100)) |
646 | if(I2C_WaitForEndOfTransmission(100)) |
606 | { |
647 | { |
607 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
648 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
608 | } |
649 | } |
609 | } |
650 | } |
610 | } |
651 | } |
611 | return(retval); |
652 | return(retval); |
612 | } |
653 | } |
613 | 654 | ||
614 | 655 | ||
615 | // ---------------------------------------------------------------------------------------- |
656 | // ---------------------------------------------------------------------------------------- |
616 | void NCMAG_GetMagVector(void) |
657 | void NCMAG_GetMagVector(void) |
617 | { |
658 | { |
618 | // try to catch the I2C buffer within 0 ms |
659 | // try to catch the I2C buffer within 0 ms |
619 | if(I2C_LockBuffer(0)) |
660 | if(I2C_LockBuffer(0)) |
620 | { |
661 | { |
621 | // s16 tmp; |
- | |
622 | u16 TxBytes = 0; |
662 | u16 TxBytes = 0; |
623 | // set register pointer |
663 | // set register pointer |
624 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
664 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
625 | // initiate transmission |
665 | // initiate transmission |
626 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
666 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
627 | } |
667 | } |
628 | } |
668 | } |
629 | 669 | ||
630 | //---------------------------------------------------------------- |
670 | //---------------------------------------------------------------- |
631 | void NCMAG_GetAccVector(void) |
671 | void NCMAG_GetAccVector(void) |
632 | { |
672 | { |
633 | // try to catch the I2C buffer within 0 ms |
673 | // try to catch the I2C buffer within 0 ms |
634 | if(I2C_LockBuffer(0)) |
674 | if(I2C_LockBuffer(0)) |
635 | { |
675 | { |
636 | u16 TxBytes = 0; |
676 | u16 TxBytes = 0; |
637 | // set register pointer |
677 | // set register pointer |
638 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
678 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
639 | // initiate transmission |
679 | // initiate transmission |
640 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
680 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
641 | } |
681 | } |
642 | } |
682 | } |
643 | 683 | ||
644 | //---------------------------------------------------------------- |
684 | //---------------------------------------------------------------- |
645 | void InitNC_MagnetSensor(void) |
685 | u8 InitNC_MagnetSensor(void) |
646 | { |
686 | { |
647 | s16 xscale, yscale, zscale; |
- | |
648 | u8 crb_gain, cra_rate; |
687 | u8 crb_gain, cra_rate; |
649 | // u8 retval = 1; |
- | |
650 | 688 | ||
651 | switch(NCMAG_MagType) |
689 | switch(NCMAG_SensorType) |
652 | { |
690 | { |
653 | case MAG_TYPE_HMC5843: |
691 | case TYPE_HMC5843: |
654 | crb_gain = HMC5843_CRB_GAIN_15GA; |
692 | crb_gain = HMC5843_CRB_GAIN_15GA; |
655 | cra_rate = HMC5843_CRA_RATE_50HZ; |
- | |
656 | xscale = HMC5843_TEST_XSCALE; |
- | |
657 | yscale = HMC5843_TEST_YSCALE; |
- | |
658 | zscale = HMC5843_TEST_ZSCALE; |
693 | cra_rate = HMC5843_CRA_RATE_50HZ; |
659 | break; |
694 | break; |
- | 695 | ||
660 | 696 | case TYPE_LSM303DLH: |
|
661 | case MAG_TYPE_LSM303DLH: |
697 | case TYPE_LSM303DLM: |
662 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
- | |
663 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
- | |
664 | xscale = LSM303DLH_TEST_XSCALE; |
- | |
665 | yscale = LSM303DLH_TEST_YSCALE; |
698 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
666 | zscale = LSM303DLH_TEST_ZSCALE; |
699 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
667 | break; |
700 | break; |
668 | 701 | ||
669 | default: |
702 | default: |
670 | return; |
703 | return(0); |
671 | } |
704 | } |
672 | 705 | ||
673 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
706 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
674 | MagConfig.crb = crb_gain; |
707 | MagConfig.crb = crb_gain; |
675 | MagConfig.mode = MODE_CONTINUOUS; |
708 | MagConfig.mode = MODE_CONTINUOUS; |
676 | NCMAG_SetMagConfig(); |
709 | return(NCMAG_SetMagConfig()); |
677 | } |
710 | } |
- | 711 | ||
- | 712 | //---------------------------------------------------------------- |
|
678 | 713 | u8 NCMAG_Init_ACCSensor(void) |
|
- | 714 | { |
|
- | 715 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_400HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
|
- | 716 | AccConfig.ctrl_2 = 0x00; |
|
- | 717 | AccConfig.ctrl_3 = 0x00; |
|
- | 718 | AccConfig.ctrl_4 = ACC_CTRL4_BDU|ACC_CTRL4_FS_2G; |
|
- | 719 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
|
- | 720 | return(NCMAG_SetAccConfig()); |
|
679 | 721 | } |
|
680 | // -------------------------------------------------------- |
722 | // -------------------------------------------------------- |
681 | void NCMAG_Update(void) |
723 | void NCMAG_Update(void) |
682 | { |
724 | { |
683 | static u32 TimerUpdate = 0; |
725 | static u32 TimerUpdate = 0; |
684 | static u8 send_config = 0; |
726 | static u8 send_config = 0; |
- | 727 | u32 delay = 20; |
|
685 | 728 | ||
686 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
729 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
687 | { |
730 | { |
688 | Compass_Heading = -1; |
731 | Compass_Heading = -1; |
689 | DebugOut.Analog[14]++; // count I2C error |
732 | DebugOut.Analog[14]++; // count I2C error |
690 | return; |
733 | return; |
691 | } |
734 | } |
692 | if(CheckDelay(TimerUpdate)) |
735 | if(CheckDelay(TimerUpdate)) |
693 | { |
736 | { |
694 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
737 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
695 | if(++send_config == 25) // 500ms |
738 | if(++send_config == 25) // 500ms |
696 | { |
739 | { |
697 | send_config = 0; |
740 | send_config = 0; |
698 | InitNC_MagnetSensor(); |
741 | InitNC_MagnetSensor(); |
699 | TimerUpdate = SetDelay(15); // back into the old time-slot |
742 | TimerUpdate = SetDelay(15); // back into the old time-slot |
700 | } |
743 | } |
701 | else |
744 | else |
702 | { |
745 | { |
- | 746 | static u8 s = 0; |
|
703 | // check for new calibration state |
747 | // check for new calibration state |
704 | Compass_UpdateCalState(); |
748 | Compass_UpdateCalState(); |
705 | if(Compass_CalState) NCMAG_Calibrate(); |
749 | if(Compass_CalState) NCMAG_Calibrate(); |
- | 750 | ||
- | 751 | // in case of LSM303 type |
|
- | 752 | switch(NCMAG_SensorType) |
|
- | 753 | { |
|
- | 754 | case TYPE_HMC5843: |
|
- | 755 | NCMAG_GetMagVector(); |
|
- | 756 | delay = 20; |
|
- | 757 | break; |
|
- | 758 | case TYPE_LSM303DLH: |
|
- | 759 | case TYPE_LSM303DLM: |
|
706 | NCMAG_GetMagVector(); //Get new data; |
760 | if(s){ NCMAG_GetMagVector(); s = 0;} |
- | 761 | else { NCMAG_GetAccVector(); s = 1;} |
|
- | 762 | delay = 10; |
|
- | 763 | break; |
|
- | 764 | } |
|
707 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
765 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
708 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
766 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
709 | } |
767 | } |
710 | } |
768 | } |
711 | } |
769 | } |
712 | 770 | ||
713 | 771 | ||
714 | // -------------------------------------------------------- |
772 | // -------------------------------------------------------- |
715 | u8 NCMAG_SelfTest(void) |
773 | u8 NCMAG_SelfTest(void) |
716 | { |
774 | { |
717 | u8 msg[64]; |
775 | u8 msg[64]; |
718 | static u8 done = 0; |
776 | static u8 done = 0; |
719 | 777 | ||
720 | if(done) return(1); // just make it once |
778 | if(done) return(1); // just make it once |
721 | 779 | ||
722 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
780 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
723 | u32 time; |
781 | u32 time; |
724 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
782 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
725 | s16 xscale, yscale, zscale, scale_min, scale_max; |
783 | s16 xscale, yscale, zscale, scale_min, scale_max; |
726 | u8 crb_gain, cra_rate; |
784 | u8 crb_gain, cra_rate; |
727 | u8 i = 0, retval = 1; |
785 | u8 i = 0, retval = 1; |
728 | 786 | ||
729 | switch(NCMAG_MagType) |
787 | switch(NCMAG_SensorType) |
730 | { |
788 | { |
731 | case MAG_TYPE_HMC5843: |
789 | case TYPE_HMC5843: |
732 | crb_gain = HMC5843_CRB_GAIN_15GA; |
790 | crb_gain = HMC5843_CRB_GAIN_15GA; |
733 | cra_rate = HMC5843_CRA_RATE_50HZ; |
791 | cra_rate = HMC5843_CRA_RATE_50HZ; |
734 | xscale = HMC5843_TEST_XSCALE; |
792 | xscale = HMC5843_TEST_XSCALE; |
735 | yscale = HMC5843_TEST_YSCALE; |
793 | yscale = HMC5843_TEST_YSCALE; |
736 | zscale = HMC5843_TEST_ZSCALE; |
794 | zscale = HMC5843_TEST_ZSCALE; |
737 | break; |
795 | break; |
738 | 796 | ||
739 | case MAG_TYPE_LSM303DLH: |
797 | case TYPE_LSM303DLH: |
740 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
798 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
741 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
799 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
742 | xscale = LSM303DLH_TEST_XSCALE; |
800 | xscale = LSM303DLH_TEST_XSCALE; |
743 | yscale = LSM303DLH_TEST_YSCALE; |
801 | yscale = LSM303DLH_TEST_YSCALE; |
744 | zscale = LSM303DLH_TEST_ZSCALE; |
802 | zscale = LSM303DLH_TEST_ZSCALE; |
745 | break; |
803 | break; |
- | 804 | ||
- | 805 | case TYPE_LSM303DLM: |
|
- | 806 | // does not support self test feature |
|
- | 807 | done = retval; |
|
- | 808 | return(retval); |
|
- | 809 | break; |
|
746 | 810 | ||
747 | default: |
811 | default: |
748 | return(0); |
812 | return(0); |
749 | } |
813 | } |
750 | 814 | ||
751 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
815 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
752 | MagConfig.crb = crb_gain; |
816 | MagConfig.crb = crb_gain; |
753 | MagConfig.mode = MODE_CONTINUOUS; |
817 | MagConfig.mode = MODE_CONTINUOUS; |
754 | // activate positive bias field |
818 | // activate positive bias field |
755 | NCMAG_SetMagConfig(); |
819 | NCMAG_SetMagConfig(); |
756 | // wait for stable readings |
820 | // wait for stable readings |
757 | time = SetDelay(50); |
821 | time = SetDelay(50); |
758 | while(!CheckDelay(time)); |
822 | while(!CheckDelay(time)); |
759 | // averaging |
823 | // averaging |
760 | #define AVERAGE 20 |
824 | #define AVERAGE 20 |
761 | for(i = 0; i<AVERAGE; i++) |
825 | for(i = 0; i<AVERAGE; i++) |
762 | { |
826 | { |
763 | NCMAG_GetMagVector(); |
827 | NCMAG_GetMagVector(); |
764 | time = SetDelay(20); |
828 | time = SetDelay(20); |
765 | while(!CheckDelay(time)); |
829 | while(!CheckDelay(time)); |
766 | XMax += MagRawVector.X; |
830 | XMax += MagRawVector.X; |
767 | YMax += MagRawVector.Y; |
831 | YMax += MagRawVector.Y; |
768 | ZMax += MagRawVector.Z; |
832 | ZMax += MagRawVector.Z; |
769 | } |
833 | } |
770 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
834 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
771 | // activate positive bias field |
835 | // activate positive bias field |
772 | NCMAG_SetMagConfig(); |
836 | NCMAG_SetMagConfig(); |
773 | // wait for stable readings |
837 | // wait for stable readings |
774 | time = SetDelay(50); |
838 | time = SetDelay(50); |
775 | while(!CheckDelay(time)); |
839 | while(!CheckDelay(time)); |
776 | // averaging |
840 | // averaging |
777 | for(i = 0; i < AVERAGE; i++) |
841 | for(i = 0; i < AVERAGE; i++) |
778 | { |
842 | { |
779 | NCMAG_GetMagVector(); |
843 | NCMAG_GetMagVector(); |
780 | time = SetDelay(20); |
844 | time = SetDelay(20); |
781 | while(!CheckDelay(time)); |
845 | while(!CheckDelay(time)); |
782 | XMin += MagRawVector.X; |
846 | XMin += MagRawVector.X; |
783 | YMin += MagRawVector.Y; |
847 | YMin += MagRawVector.Y; |
784 | ZMin += MagRawVector.Z; |
848 | ZMin += MagRawVector.Z; |
785 | } |
849 | } |
786 | // setup final configuration |
850 | // setup final configuration |
787 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
851 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
788 | // activate positive bias field |
852 | // activate positive bias field |
789 | NCMAG_SetMagConfig(); |
853 | NCMAG_SetMagConfig(); |
790 | // check scale for all axes |
854 | // check scale for all axes |
791 | // prepare scale limits |
855 | // prepare scale limits |
792 | LIMITS(xscale, scale_min, scale_max); |
856 | LIMITS(xscale, scale_min, scale_max); |
793 | xscale = (XMax - XMin)/(2*AVERAGE); |
857 | xscale = (XMax - XMin)/(2*AVERAGE); |
794 | if((xscale > scale_max) || (xscale < scale_min)) |
858 | if((xscale > scale_max) || (xscale < scale_min)) |
795 | { |
859 | { |
796 | retval = 0; |
860 | retval = 0; |
797 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
861 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
798 | UART1_PutString(msg); |
862 | UART1_PutString(msg); |
799 | } |
863 | } |
800 | LIMITS(yscale, scale_min, scale_max); |
864 | LIMITS(yscale, scale_min, scale_max); |
801 | yscale = (YMax - YMin)/(2*AVERAGE); |
865 | yscale = (YMax - YMin)/(2*AVERAGE); |
802 | if((yscale > scale_max) || (yscale < scale_min)) |
866 | if((yscale > scale_max) || (yscale < scale_min)) |
803 | { |
867 | { |
804 | retval = 0; |
868 | retval = 0; |
805 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
869 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
806 | UART1_PutString(msg); |
870 | UART1_PutString(msg); |
807 | } |
871 | } |
808 | LIMITS(zscale, scale_min, scale_max); |
872 | LIMITS(zscale, scale_min, scale_max); |
809 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
873 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
810 | if((zscale > scale_max) || (zscale < scale_min)) |
874 | if((zscale > scale_max) || (zscale < scale_min)) |
811 | { |
875 | { |
812 | retval = 0; |
876 | retval = 0; |
813 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
877 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
814 | UART1_PutString(msg); |
878 | UART1_PutString(msg); |
815 | } |
879 | } |
816 | done = retval; |
880 | done = retval; |
817 | return(retval); |
881 | return(retval); |
818 | } |
882 | } |
819 | 883 | ||
820 | 884 | ||
821 | //---------------------------------------------------------------- |
885 | //---------------------------------------------------------------- |
822 | u8 NCMAG_Init(void) |
886 | u8 NCMAG_Init(void) |
823 | { |
887 | { |
824 | u8 msg[64]; |
888 | u8 msg[64]; |
825 | u8 retval = 0; |
889 | u8 retval = 0; |
826 | u8 repeat; |
890 | u8 repeat; |
827 | 891 | ||
828 | NCMAG_Present = 0; |
892 | NCMAG_Present = 0; |
829 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
893 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
830 | // polling for LSM302DLH option |
894 | // polling for LSM302DLH/DLM option by ACC address ack |
831 | repeat = 0; |
895 | repeat = 0; |
832 | do |
896 | do |
833 | { |
897 | { |
834 | retval = NCMAG_GetAccConfig(); |
898 | retval = NCMAG_GetAccConfig(); |
835 | if(retval) break; // break loop on success |
899 | if(retval) break; // break loop on success |
836 | UART1_PutString("."); |
900 | UART1_PutString("."); |
837 | repeat++; |
901 | repeat++; |
838 | }while(repeat < 3); |
902 | }while(repeat < 3); |
839 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
- | |
840 | // polling of identification |
- | |
841 | repeat = 0; |
903 | if(retval) |
842 | do |
- | |
843 | { |
904 | { |
- | 905 | // initialize ACC sensor |
|
- | 906 | NCMAG_Init_ACCSensor(); |
|
- | 907 | ||
- | 908 | NCMAG_SensorType = TYPE_LSM303DLH; |
|
- | 909 | // polling of sub identification |
|
- | 910 | repeat = 0; |
|
- | 911 | do |
|
- | 912 | { |
|
844 | retval = NCMAG_GetIdentification_Sub(); |
913 | retval = NCMAG_GetIdentification_Sub(); |
845 | if(retval) break; // break loop on success |
914 | if(retval) break; // break loop on success |
846 | UART1_PutString("."); |
915 | UART1_PutString("."); |
847 | repeat++; |
916 | repeat++; |
848 | }while(repeat < 12); |
917 | }while(repeat < 12); |
- | 918 | if(retval) |
|
- | 919 | { |
|
- | 920 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
|
- | 921 | } |
|
- | 922 | } |
|
- | 923 | // get id bytes |
|
849 | retval = 0; |
924 | retval = 0; |
850 | do |
925 | do |
851 | { |
926 | { |
852 | retval = NCMAG_GetIdentification(); |
927 | retval = NCMAG_GetIdentification(); |
853 | if(retval) break; // break loop on success |
928 | if(retval) break; // break loop on success |
854 | UART1_PutString("."); |
929 | UART1_PutString("."); |
855 | repeat++; |
930 | repeat++; |
856 | }while(repeat < 12); |
931 | }while(repeat < 12); |
857 | 932 | ||
858 | // if we got an answer to id request |
933 | // if we got an answer to id request |
859 | if(retval) |
934 | if(retval) |
860 | { |
935 | { |
861 | u8 n1[] = "\n\r HMC5843"; |
936 | u8 n1[] = "\n\r HMC5843"; |
862 | u8 n2[] = "\n\r LSM303DLH"; |
937 | u8 n2[] = "\n\r LSM303DLH"; |
863 | u8 n3[] = "\n\r LSM303DLM"; |
938 | u8 n3[] = "\n\r LSM303DLM"; |
864 | u8* pn; |
939 | u8* pn = n1; |
865 | - | ||
866 | pn = n1; |
940 | |
867 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
941 | switch(NCMAG_SensorType) |
- | 942 | { |
|
- | 943 | case TYPE_HMC5843: |
|
- | 944 | pn = n1; |
|
868 | { |
945 | break; |
869 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
946 | case TYPE_LSM303DLH: |
- | 947 | pn = n2; |
|
- | 948 | break; |
|
- | 949 | case TYPE_LSM303DLM: |
|
- | 950 | pn = n3; |
|
870 | else pn = n2; |
951 | break; |
871 | } |
952 | } |
872 | 953 | ||
873 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
954 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
874 | UART1_PutString(msg); |
955 | UART1_PutString(msg); |
875 | if ( (NCMAG_Identification.A == MAG_IDA) |
956 | if ( (NCMAG_Identification.A == MAG_IDA) |
876 | && (NCMAG_Identification.B == MAG_IDB) |
957 | && (NCMAG_Identification.B == MAG_IDB) |
877 | && (NCMAG_Identification.C == MAG_IDC)) |
958 | && (NCMAG_Identification.C == MAG_IDC)) |
878 | { |
959 | { |
879 | NCMAG_Present = 1; |
960 | NCMAG_Present = 1; |
880 | 961 | ||
881 | if(EEPROM_Init()) |
962 | if(EEPROM_Init()) |
882 | { |
- | |
883 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
- | |
884 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
- | |
885 | } |
- | |
886 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
- | |
887 | - | ||
888 | if(NCMAG_Identification2.Sub == 0x00) |
- | |
889 | { |
963 | { |
- | 964 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
|
- | 965 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
|
- | 966 | } |
|
- | 967 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
|
- | 968 | // perform self test |
|
890 | if(!NCMAG_SelfTest()) |
969 | if(!NCMAG_SelfTest()) |
891 | { |
970 | { |
892 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
971 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
893 | LED_RED_ON; |
972 | LED_RED_ON; |
894 | NCMAG_IsCalibrated = 0; |
973 | NCMAG_IsCalibrated = 0; |
- | 974 | } |
|
895 | } else UART1_PutString("\r\n Selftest ok"); |
975 | else UART1_PutString("\r\n Selftest ok"); |
896 | } |
976 | |
- | 977 | // initialize magnetic sensor configuration |
|
897 | else InitNC_MagnetSensor(); |
978 | InitNC_MagnetSensor(); |
898 | } |
979 | } |
899 | else |
980 | else |
900 | { |
981 | { |
901 | UART1_PutString("\n\r Not compatible!"); |
982 | UART1_PutString("\n\r Not compatible!"); |
902 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
983 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
903 | LED_RED_ON; |
984 | LED_RED_ON; |
904 | } |
985 | } |
905 | } |
986 | } |
906 | else // nothing found |
987 | else // nothing found |
907 | { |
988 | { |
908 | NCMAG_MagType = MAG_TYPE_NONE; |
989 | NCMAG_SensorType = TYPE_NONE; |
909 | UART1_PutString("not found!"); |
990 | UART1_PutString("not found!"); |
910 | } |
991 | } |
911 | return(NCMAG_Present); |
992 | return(NCMAG_Present); |
912 | } |
993 | } |
913 | 994 | ||
914 | 995 |