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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 <stdlib.h> |
58 | #include <stdlib.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "ncmag.h" |
61 | #include "ncmag.h" |
62 | #include "i2c.h" |
62 | #include "i2c.h" |
63 | #include "timer1.h" |
63 | #include "timer1.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | #include "uart1.h" |
65 | #include "uart1.h" |
66 | #include "eeprom.h" |
66 | #include "eeprom.h" |
67 | #include "mymath.h" |
67 | #include "mymath.h" |
68 | #include "main.h" |
68 | #include "main.h" |
69 | #include "spi_slave.h" |
69 | #include "spi_slave.h" |
70 | 70 | ||
71 | u8 NCMAG_Present = 0; |
71 | u8 NCMAG_Present = 0; |
72 | u8 NCMAG_IsCalibrated = 0; |
72 | u8 NCMAG_IsCalibrated = 0; |
73 | 73 | ||
74 | 74 | ||
75 | // supported magnetic sensor types |
75 | // supported magnetic sensor types |
76 | #define TYPE_NONE 0 |
76 | #define TYPE_NONE 0 |
77 | #define TYPE_HMC5843 1 |
77 | #define TYPE_HMC5843 1 |
78 | #define TYPE_LSM303DLH 2 |
78 | #define TYPE_LSM303DLH 2 |
79 | #define TYPE_LSM303DLM 3 |
79 | #define TYPE_LSM303DLM 3 |
80 | 80 | ||
81 | u8 NCMAG_SensorType = TYPE_NONE; |
81 | u8 NCMAG_SensorType = TYPE_NONE; |
82 | u8 NCMAG_Orientation = 0; // 0 means unknown! |
82 | u8 NCMAG_Orientation = 0; // 0 means unknown! |
83 | 83 | ||
84 | // two calibrtion sets for extern and intern sensor |
84 | // two calibrtion sets for extern and intern sensor |
85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
87 | 87 | ||
88 | #define CALIBRATION_VERSION 1 |
88 | #define CALIBRATION_VERSION 1 |
89 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
89 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
90 | 90 | ||
91 | #define NCMAG_MIN_RAWVALUE -2047 |
91 | #define NCMAG_MIN_RAWVALUE -2047 |
92 | #define NCMAG_MAX_RAWVALUE 2047 |
92 | #define NCMAG_MAX_RAWVALUE 2047 |
93 | #define NCMAG_INVALID_DATA -4096 |
93 | #define NCMAG_INVALID_DATA -4096 |
94 | 94 | ||
95 | typedef struct |
95 | typedef struct |
96 | { |
96 | { |
97 | s16 Range; |
97 | s16 Range; |
98 | s16 Offset; |
98 | s16 Offset; |
99 | } __attribute__((packed)) Scaling_t; |
99 | } __attribute__((packed)) Scaling_t; |
100 | 100 | ||
101 | typedef struct |
101 | typedef struct |
102 | { |
102 | { |
103 | Scaling_t MagX; |
103 | Scaling_t MagX; |
104 | Scaling_t MagY; |
104 | Scaling_t MagY; |
105 | Scaling_t MagZ; |
105 | Scaling_t MagZ; |
106 | u8 Version; |
106 | u8 Version; |
107 | u8 crc; |
107 | u8 crc; |
108 | } __attribute__((packed)) Calibration_t; |
108 | } __attribute__((packed)) Calibration_t; |
109 | 109 | ||
110 | Calibration_t Calibration; // calibration data in RAM |
110 | Calibration_t Calibration; // calibration data in RAM |
111 | volatile s16vec_t AccRawVector; |
111 | volatile s16vec_t AccRawVector; |
112 | volatile s16vec_t MagRawVector; |
112 | volatile s16vec_t MagRawVector; |
113 | 113 | ||
114 | // i2c MAG interface |
114 | // i2c MAG interface |
115 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
115 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
116 | 116 | ||
117 | // register mapping |
117 | // register mapping |
118 | #define REG_MAG_CRA 0x00 |
118 | #define REG_MAG_CRA 0x00 |
119 | #define REG_MAG_CRB 0x01 |
119 | #define REG_MAG_CRB 0x01 |
120 | #define REG_MAG_MODE 0x02 |
120 | #define REG_MAG_MODE 0x02 |
121 | #define REG_MAG_DATAX_MSB 0x03 |
121 | #define REG_MAG_DATAX_MSB 0x03 |
122 | #define REG_MAG_DATAX_LSB 0x04 |
122 | #define REG_MAG_DATAX_LSB 0x04 |
123 | #define REG_MAG_DATAY_MSB 0x05 |
123 | #define REG_MAG_DATAY_MSB 0x05 |
124 | #define REG_MAG_DATAY_LSB 0x06 |
124 | #define REG_MAG_DATAY_LSB 0x06 |
125 | #define REG_MAG_DATAZ_MSB 0x07 |
125 | #define REG_MAG_DATAZ_MSB 0x07 |
126 | #define REG_MAG_DATAZ_LSB 0x08 |
126 | #define REG_MAG_DATAZ_LSB 0x08 |
127 | #define REG_MAG_STATUS 0x09 |
127 | #define REG_MAG_STATUS 0x09 |
128 | 128 | ||
129 | #define REG_MAG_IDA 0x0A |
129 | #define REG_MAG_IDA 0x0A |
130 | #define REG_MAG_IDB 0x0B |
130 | #define REG_MAG_IDB 0x0B |
131 | #define REG_MAG_IDC 0x0C |
131 | #define REG_MAG_IDC 0x0C |
132 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
132 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
133 | 133 | ||
134 | // bit mask for configuration mode |
134 | // bit mask for configuration mode |
135 | #define CRA_MODE_MASK 0x03 |
135 | #define CRA_MODE_MASK 0x03 |
136 | #define CRA_MODE_NORMAL 0x00 //default |
136 | #define CRA_MODE_NORMAL 0x00 //default |
137 | #define CRA_MODE_POSBIAS 0x01 |
137 | #define CRA_MODE_POSBIAS 0x01 |
138 | #define CRA_MODE_NEGBIAS 0x02 |
138 | #define CRA_MODE_NEGBIAS 0x02 |
139 | #define CRA_MODE_SELFTEST 0x03 |
139 | #define CRA_MODE_SELFTEST 0x03 |
140 | 140 | ||
141 | // bit mask for measurement mode |
141 | // bit mask for measurement mode |
142 | #define MODE_MASK 0xFF |
142 | #define MODE_MASK 0xFF |
143 | #define MODE_CONTINUOUS 0x00 |
143 | #define MODE_CONTINUOUS 0x00 |
144 | #define MODE_SINGLE 0x01 // default |
144 | #define MODE_SINGLE 0x01 // default |
145 | #define MODE_IDLE 0x02 |
145 | #define MODE_IDLE 0x02 |
146 | #define MODE_SLEEP 0x03 |
146 | #define MODE_SLEEP 0x03 |
147 | 147 | ||
148 | // bit mask for rate |
148 | // bit mask for rate |
149 | #define CRA_RATE_MASK 0x1C |
149 | #define CRA_RATE_MASK 0x1C |
150 | 150 | ||
151 | // bit mask for gain |
151 | // bit mask for gain |
152 | #define CRB_GAIN_MASK 0xE0 |
152 | #define CRB_GAIN_MASK 0xE0 |
153 | 153 | ||
154 | // ids |
154 | // ids |
155 | #define MAG_IDA 0x48 |
155 | #define MAG_IDA 0x48 |
156 | #define MAG_IDB 0x34 |
156 | #define MAG_IDB 0x34 |
157 | #define MAG_IDC 0x33 |
157 | #define MAG_IDC 0x33 |
158 | #define MAG_IDF_LSM303DLM 0x3C |
158 | #define MAG_IDF_LSM303DLM 0x3C |
159 | 159 | ||
160 | // the special HMC5843 interface |
160 | // the special HMC5843 interface |
161 | // bit mask for rate |
161 | // bit mask for rate |
162 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
162 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
163 | #define HMC5843_CRA_RATE_1HZ 0x04 |
163 | #define HMC5843_CRA_RATE_1HZ 0x04 |
164 | #define HMC5843_CRA_RATE_2HZ 0x08 |
164 | #define HMC5843_CRA_RATE_2HZ 0x08 |
165 | #define HMC5843_CRA_RATE_5HZ 0x0C |
165 | #define HMC5843_CRA_RATE_5HZ 0x0C |
166 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
166 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
167 | #define HMC5843_CRA_RATE_20HZ 0x14 |
167 | #define HMC5843_CRA_RATE_20HZ 0x14 |
168 | #define HMC5843_CRA_RATE_50HZ 0x18 |
168 | #define HMC5843_CRA_RATE_50HZ 0x18 |
169 | // bit mask for gain |
169 | // bit mask for gain |
170 | #define HMC5843_CRB_GAIN_07GA 0x00 |
170 | #define HMC5843_CRB_GAIN_07GA 0x00 |
171 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
171 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
172 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
172 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
173 | #define HMC5843_CRB_GAIN_20GA 0x60 |
173 | #define HMC5843_CRB_GAIN_20GA 0x60 |
174 | #define HMC5843_CRB_GAIN_32GA 0x80 |
174 | #define HMC5843_CRB_GAIN_32GA 0x80 |
175 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
175 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
176 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
176 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
177 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
177 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
178 | // self test value |
178 | // self test value |
179 | #define HMC5843_TEST_XSCALE 555 |
179 | #define HMC5843_TEST_XSCALE 555 |
180 | #define HMC5843_TEST_YSCALE 555 |
180 | #define HMC5843_TEST_YSCALE 555 |
181 | #define HMC5843_TEST_ZSCALE 555 |
181 | #define HMC5843_TEST_ZSCALE 555 |
182 | // calibration range |
182 | // calibration range |
183 | #define HMC5843_CALIBRATION_RANGE 600 |
183 | #define HMC5843_CALIBRATION_RANGE 600 |
184 | 184 | ||
185 | // the special LSM302DLH interface |
185 | // the special LSM302DLH interface |
186 | // bit mask for rate |
186 | // bit mask for rate |
187 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
187 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
188 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
188 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
189 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
189 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
190 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
190 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
191 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
191 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
192 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
192 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
193 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
193 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
194 | 194 | ||
195 | // bit mask for gain |
195 | // bit mask for gain |
196 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
196 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
197 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
197 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
198 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
199 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
200 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
201 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
202 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
202 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
203 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
203 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
204 | 204 | ||
205 | typedef struct |
205 | typedef struct |
206 | { |
206 | { |
207 | u8 A; |
207 | u8 A; |
208 | u8 B; |
208 | u8 B; |
209 | u8 C; |
209 | u8 C; |
210 | } __attribute__((packed)) Identification_t; |
210 | } __attribute__((packed)) Identification_t; |
211 | volatile Identification_t NCMAG_Identification; |
211 | volatile Identification_t NCMAG_Identification; |
212 | 212 | ||
213 | typedef struct |
213 | typedef struct |
214 | { |
214 | { |
215 | u8 Sub; |
215 | u8 Sub; |
216 | } __attribute__((packed)) Identification2_t; |
216 | } __attribute__((packed)) Identification2_t; |
217 | volatile Identification2_t NCMAG_Identification2; |
217 | volatile Identification2_t NCMAG_Identification2; |
218 | 218 | ||
219 | typedef struct |
219 | typedef struct |
220 | { |
220 | { |
221 | u8 cra; |
221 | u8 cra; |
222 | u8 crb; |
222 | u8 crb; |
223 | u8 mode; |
223 | u8 mode; |
224 | } __attribute__((packed)) MagConfig_t; |
224 | } __attribute__((packed)) MagConfig_t; |
225 | 225 | ||
226 | volatile MagConfig_t MagConfig; |
226 | volatile MagConfig_t MagConfig; |
227 | 227 | ||
228 | // self test value |
228 | // self test value |
229 | #define LSM303DLH_TEST_XSCALE 495 |
229 | #define LSM303DLH_TEST_XSCALE 495 |
230 | #define LSM303DLH_TEST_YSCALE 495 |
230 | #define LSM303DLH_TEST_YSCALE 495 |
231 | #define LSM303DLH_TEST_ZSCALE 470 |
231 | #define LSM303DLH_TEST_ZSCALE 470 |
232 | // clibration range |
232 | // clibration range |
233 | #define LSM303_CALIBRATION_RANGE 550 |
233 | #define LSM303_CALIBRATION_RANGE 550 |
234 | 234 | ||
235 | // the i2c ACC interface |
235 | // the i2c ACC interface |
236 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
236 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
237 | 237 | ||
238 | // multiple byte read/write mask |
238 | // multiple byte read/write mask |
239 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
239 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
240 | 240 | ||
241 | // register mapping |
241 | // register mapping |
242 | #define REG_ACC_CTRL1 0x20 |
242 | #define REG_ACC_CTRL1 0x20 |
243 | #define REG_ACC_CTRL2 0x21 |
243 | #define REG_ACC_CTRL2 0x21 |
244 | #define REG_ACC_CTRL3 0x22 |
244 | #define REG_ACC_CTRL3 0x22 |
245 | #define REG_ACC_CTRL4 0x23 |
245 | #define REG_ACC_CTRL4 0x23 |
246 | #define REG_ACC_CTRL5 0x24 |
246 | #define REG_ACC_CTRL5 0x24 |
247 | #define REG_ACC_HP_FILTER_RESET 0x25 |
247 | #define REG_ACC_HP_FILTER_RESET 0x25 |
248 | #define REG_ACC_REFERENCE 0x26 |
248 | #define REG_ACC_REFERENCE 0x26 |
249 | #define REG_ACC_STATUS 0x27 |
249 | #define REG_ACC_STATUS 0x27 |
250 | #define REG_ACC_X_LSB 0x28 |
250 | #define REG_ACC_X_LSB 0x28 |
251 | #define REG_ACC_X_MSB 0x29 |
251 | #define REG_ACC_X_MSB 0x29 |
252 | #define REG_ACC_Y_LSB 0x2A |
252 | #define REG_ACC_Y_LSB 0x2A |
253 | #define REG_ACC_Y_MSB 0x2B |
253 | #define REG_ACC_Y_MSB 0x2B |
254 | #define REG_ACC_Z_LSB 0x2C |
254 | #define REG_ACC_Z_LSB 0x2C |
255 | #define REG_ACC_Z_MSB 0x2D |
255 | #define REG_ACC_Z_MSB 0x2D |
256 | 256 | ||
257 | #define ACC_CRTL1_PM_DOWN 0x00 |
257 | #define ACC_CRTL1_PM_DOWN 0x00 |
258 | #define ACC_CRTL1_PM_NORMAL 0x20 |
258 | #define ACC_CRTL1_PM_NORMAL 0x20 |
259 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
259 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
260 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
260 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
261 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
261 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
262 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
262 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
263 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
263 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
264 | // Output data rate in normal power mode |
264 | // Output data rate in normal power mode |
265 | #define ACC_CRTL1_DR_50HZ 0x00 |
265 | #define ACC_CRTL1_DR_50HZ 0x00 |
266 | #define ACC_CRTL1_DR_100HZ 0x08 |
266 | #define ACC_CRTL1_DR_100HZ 0x08 |
267 | #define ACC_CRTL1_DR_400HZ 0x10 |
267 | #define ACC_CRTL1_DR_400HZ 0x10 |
268 | #define ACC_CRTL1_DR_1000HZ 0x18 |
268 | #define ACC_CRTL1_DR_1000HZ 0x18 |
269 | // axis anable flags |
269 | // axis anable flags |
270 | #define ACC_CRTL1_XEN 0x01 |
270 | #define ACC_CRTL1_XEN 0x01 |
271 | #define ACC_CRTL1_YEN 0x02 |
271 | #define ACC_CRTL1_YEN 0x02 |
272 | #define ACC_CRTL1_ZEN 0x04 |
272 | #define ACC_CRTL1_ZEN 0x04 |
273 | 273 | ||
274 | #define ACC_CRTL2_FILTER8 0x10 |
274 | #define ACC_CRTL2_FILTER8 0x10 |
275 | #define ACC_CRTL2_FILTER16 0x11 |
275 | #define ACC_CRTL2_FILTER16 0x11 |
276 | #define ACC_CRTL2_FILTER32 0x12 |
276 | #define ACC_CRTL2_FILTER32 0x12 |
277 | #define ACC_CRTL2_FILTER64 0x13 |
277 | #define ACC_CRTL2_FILTER64 0x13 |
278 | 278 | ||
279 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
279 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
280 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
280 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
281 | #define ACC_CTRL4_FS_2G 0x00 |
281 | #define ACC_CTRL4_FS_2G 0x00 |
282 | #define ACC_CTRL4_FS_4G 0x10 |
282 | #define ACC_CTRL4_FS_4G 0x10 |
283 | #define ACC_CTRL4_FS_8G 0x30 |
283 | #define ACC_CTRL4_FS_8G 0x30 |
284 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
284 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
285 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
285 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
286 | #define ACC_CTRL4_ST_ENABLE 0x02 |
286 | #define ACC_CTRL4_ST_ENABLE 0x02 |
287 | 287 | ||
288 | #define ACC_CTRL5_STW_ON 0x03 |
288 | #define ACC_CTRL5_STW_ON 0x03 |
289 | #define ACC_CTRL5_STW_OFF 0x00 |
289 | #define ACC_CTRL5_STW_OFF 0x00 |
290 | 290 | ||
291 | typedef struct |
291 | typedef struct |
292 | { |
292 | { |
293 | u8 ctrl_1; |
293 | u8 ctrl_1; |
294 | u8 ctrl_2; |
294 | u8 ctrl_2; |
295 | u8 ctrl_3; |
295 | u8 ctrl_3; |
296 | u8 ctrl_4; |
296 | u8 ctrl_4; |
297 | u8 ctrl_5; |
297 | u8 ctrl_5; |
298 | } __attribute__((packed)) AccConfig_t; |
298 | } __attribute__((packed)) AccConfig_t; |
299 | 299 | ||
300 | volatile AccConfig_t AccConfig; |
300 | volatile AccConfig_t AccConfig; |
301 | 301 | ||
302 | // write calibration data for external and internal sensor seperately |
302 | // write calibration data for external and internal sensor seperately |
303 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
303 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
304 | { |
304 | { |
305 | u16 address; |
305 | u16 address; |
306 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
306 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
307 | EEPROM_Result_t eres; |
307 | EEPROM_Result_t eres; |
308 | u8 *pBuff = (u8*)&Calibration; |
308 | u8 *pBuff = (u8*)&Calibration; |
309 | 309 | ||
310 | if (I2Cx == NCMAG_PORT_EXTERN) |
310 | if (I2Cx == NCMAG_PORT_EXTERN) |
311 | { |
311 | { |
312 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
312 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
313 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
313 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
314 | } |
314 | } |
315 | else if (I2Cx == NCMAG_PORT_INTERN) |
315 | else if (I2Cx == NCMAG_PORT_INTERN) |
316 | { |
316 | { |
317 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
317 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
318 | Calibration.Version = CALIBRATION_VERSION; |
318 | Calibration.Version = CALIBRATION_VERSION; |
319 | } |
319 | } |
320 | else return(i); |
320 | else return(i); |
321 | 321 | ||
322 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
322 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
323 | { |
323 | { |
324 | crc += pBuff[i]; |
324 | crc += pBuff[i]; |
325 | } |
325 | } |
326 | Calibration.crc = ~crc; |
326 | Calibration.crc = ~crc; |
327 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
327 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
328 | if(EEPROM_SUCCESS == eres) i = 1; |
328 | if(EEPROM_SUCCESS == eres) i = 1; |
329 | else i = 0; |
329 | else i = 0; |
330 | return(i); |
330 | return(i); |
331 | } |
331 | } |
332 | 332 | ||
333 | // read calibration data for external and internal sensor seperately |
333 | // read calibration data for external and internal sensor seperately |
334 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
334 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
335 | { |
335 | { |
336 | u8 address; |
336 | u8 address; |
337 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
337 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
338 | u8 *pBuff = (u8*)&Calibration; |
338 | u8 *pBuff = (u8*)&Calibration; |
339 | 339 | ||
340 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
340 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
341 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
341 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
342 | else return(0); |
342 | else return(0); |
343 | 343 | ||
344 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
344 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
345 | { |
345 | { |
346 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
346 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
347 | { |
347 | { |
348 | crc += pBuff[i]; |
348 | crc += pBuff[i]; |
349 | } |
349 | } |
350 | crc = ~crc; |
350 | crc = ~crc; |
351 | if(Calibration.crc != crc) return(0); // crc mismatch |
351 | if(Calibration.crc != crc) return(0); // crc mismatch |
352 | if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
352 | if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
353 | } |
353 | } |
354 | return(0); |
354 | return(0); |
355 | } |
355 | } |
356 | 356 | ||
357 | 357 | ||
358 | void NCMAG_Calibrate(void) |
358 | void NCMAG_Calibrate(void) |
359 | { |
359 | { |
360 | u8 msg[64]; |
360 | u8 msg[64]; |
361 | static u8 speak = 0; |
361 | static u8 speak = 0; |
362 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
362 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;; |
363 | static s16 X = 0, Y = 0, Z = 0; |
363 | static s16 X = 0, Y = 0, Z = 0; |
364 | static u8 OldCalState = 0; |
364 | static u8 OldCalState = 0; |
365 | s16 MinCalibration = 450; |
365 | s16 MinCalibration = 450; |
366 | 366 | ||
367 | X = (X + MagRawVector.X)/2; |
367 | X = (X + MagRawVector.X)/2; |
368 | Y = (Y + MagRawVector.Y)/2; |
368 | Y = (Y + MagRawVector.Y)/2; |
369 | Z = (Z + MagRawVector.Z)/2; |
369 | Z = (Z + MagRawVector.Z)/2; |
370 | 370 | ||
371 | switch(Compass_CalState) |
371 | switch(Compass_CalState) |
372 | { |
372 | { |
373 | case 1: |
373 | case 1: |
374 | // 1st step of calibration |
374 | // 1st step of calibration |
375 | // initialize ranges |
375 | // initialize ranges |
376 | // used to change the orientation of the NC in the horizontal plane |
376 | // used to change the orientation of the NC in the horizontal plane |
377 | Xmin = 10000; |
377 | Xmin = 10000; |
378 | Xmax = -10000; |
378 | Xmax = -10000; |
379 | Ymin = 10000; |
379 | Ymin = 10000; |
380 | Ymax = -10000; |
380 | Ymax = -10000; |
381 | Zmin = 10000; |
381 | Zmin = 10000; |
382 | Zmax = -10000; |
382 | Zmax = -10000; |
383 | speak = 1; |
383 | speak = 1; |
384 | CompassValueErrorCount = 0; |
384 | CompassValueErrorCount = 0; |
385 | if(Compass_CalState != OldCalState) // only once per state |
385 | if(Compass_CalState != OldCalState) // only once per state |
386 | { |
386 | { |
387 | UART1_PutString("\r\nStarting compass calibration"); |
387 | UART1_PutString("\r\nStarting compass calibration"); |
388 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
388 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
389 | { |
389 | { |
390 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
390 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
391 | UART1_PutString(" - External sensor "); |
391 | UART1_PutString(" - External sensor "); |
392 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
392 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
393 | UART1_PutString(msg); |
393 | UART1_PutString(msg); |
394 | } |
394 | } |
395 | else UART1_PutString(" - Internal sensor "); |
395 | else UART1_PutString(" - Internal sensor "); |
396 | } |
396 | } |
397 | break; |
397 | break; |
398 | 398 | ||
399 | case 2: // 2nd step of calibration |
399 | case 2: // 2nd step of calibration |
400 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
400 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
401 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
401 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
402 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
402 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
403 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
403 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
404 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
404 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
405 | if(Z < Zmin) { Zmin = Z; } // silent |
405 | if(Z < Zmin) { Zmin = Z; } // silent |
406 | else if(Z > Zmax) { Zmax = Z; } |
406 | else if(Z > Zmax) { Zmax = Z; } |
407 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
407 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
408 | break; |
408 | break; |
409 | 409 | ||
410 | case 3: // 3rd step of calibration |
410 | case 3: // 3rd step of calibration |
411 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
411 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
412 | speak = 1; |
412 | speak = 1; |
413 | break; |
413 | break; |
414 | 414 | ||
415 | case 4: |
415 | case 4: |
416 | // find Min and Max of the Z-Sensor |
416 | // find Min and Max of the Z-Sensor |
417 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
417 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
418 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
418 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
419 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
419 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
420 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
420 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
421 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
421 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
422 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
422 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
423 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
423 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
424 | break; |
424 | break; |
425 | 425 | ||
426 | case 5: |
426 | case 5: |
427 | // Save values |
427 | // Save values |
428 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
428 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
429 | { |
429 | { |
430 | switch(NCMAG_SensorType) |
430 | switch(NCMAG_SensorType) |
431 | { |
431 | { |
432 | case TYPE_HMC5843: |
432 | case TYPE_HMC5843: |
433 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
433 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
434 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
434 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
435 | break; |
435 | break; |
436 | 436 | ||
437 | case TYPE_LSM303DLH: |
437 | case TYPE_LSM303DLH: |
438 | case TYPE_LSM303DLM: |
438 | case TYPE_LSM303DLM: |
439 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
439 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
440 | MinCalibration = LSM303_CALIBRATION_RANGE; |
440 | MinCalibration = LSM303_CALIBRATION_RANGE; |
441 | break; |
441 | break; |
442 | } |
442 | } |
443 | if(EarthMagneticStrengthTheoretic) |
443 | if(EarthMagneticStrengthTheoretic) |
444 | { |
444 | { |
445 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
445 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
446 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
446 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
447 | UART1_PutString(msg); |
447 | UART1_PutString(msg); |
448 | } |
448 | } |
449 | else UART1_PutString("without GPS\n\r"); |
449 | else UART1_PutString("without GPS\n\r"); |
450 | 450 | ||
451 | if(Zmin2 < Zmin) Zmin = Zmin2; |
451 | if(Zmin2 < Zmin) Zmin = Zmin2; |
452 | if(Zmax2 > Zmax) Zmax = Zmax2; |
452 | if(Zmax2 > Zmax) Zmax = Zmax2; |
453 | Calibration.MagX.Range = Xmax - Xmin; |
453 | Calibration.MagX.Range = Xmax - Xmin; |
454 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
454 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
455 | Calibration.MagY.Range = Ymax - Ymin; |
455 | Calibration.MagY.Range = Ymax - Ymin; |
456 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
456 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
457 | Calibration.MagZ.Range = Zmax - Zmin; |
457 | Calibration.MagZ.Range = Zmax - Zmin; |
458 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
458 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
459 | if(CompassValueErrorCount) |
459 | if(CompassValueErrorCount) |
460 | { |
460 | { |
461 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
461 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
462 | UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
462 | UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n "); |
463 | 463 | ||
464 | } |
464 | } |
465 | else |
465 | else |
466 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
466 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
467 | { |
467 | { |
468 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
468 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
469 | BeepTime = 2500; |
469 | BeepTime = 2500; |
470 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
470 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
471 | SpeakHoTT = SPEAK_MIKROKOPTER; |
471 | SpeakHoTT = SPEAK_MIKROKOPTER; |
472 | } |
472 | } |
473 | else |
473 | else |
474 | { |
474 | { |
475 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
475 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
476 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
476 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
477 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
477 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
478 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
478 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
479 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
479 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
480 | UART1_PutString("\r\n"); |
480 | UART1_PutString("\r\n"); |
481 | 481 | ||
482 | // restore old calibration data from eeprom |
482 | // restore old calibration data from eeprom |
483 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
483 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
484 | } |
484 | } |
485 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
485 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
486 | UART1_PutString(msg); |
486 | UART1_PutString(msg); |
487 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
487 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
488 | UART1_PutString(msg); |
488 | UART1_PutString(msg); |
489 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
489 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
490 | UART1_PutString(msg); |
490 | UART1_PutString(msg); |
491 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
491 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
492 | UART1_PutString(msg); |
492 | UART1_PutString(msg); |
493 | } |
493 | } |
494 | break; |
494 | break; |
495 | 495 | ||
496 | default: |
496 | default: |
497 | break; |
497 | break; |
498 | } |
498 | } |
499 | OldCalState = Compass_CalState; |
499 | OldCalState = Compass_CalState; |
500 | } |
500 | } |
501 | 501 | ||
502 | // ---------- call back handlers ----------------------------------------- |
502 | // ---------- call back handlers ----------------------------------------- |
503 | 503 | ||
504 | // rx data handler for id info request |
504 | // rx data handler for id info request |
505 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
505 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
506 | { // if number of bytes are matching |
506 | { // if number of bytes are matching |
507 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
507 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
508 | { |
508 | { |
509 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
509 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
510 | } |
510 | } |
511 | } |
511 | } |
512 | 512 | ||
513 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
513 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
514 | { // if number of bytes are matching |
514 | { // if number of bytes are matching |
515 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
515 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
516 | { |
516 | { |
517 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
517 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
518 | } |
518 | } |
519 | } |
519 | } |
520 | 520 | ||
521 | // rx data handler for magnetic sensor raw data |
521 | // rx data handler for magnetic sensor raw data |
522 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
522 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
523 | { // if number of bytes are matching |
523 | { // if number of bytes are matching |
524 | if(RxBufferSize == sizeof(MagRawVector) ) |
524 | if(RxBufferSize == sizeof(MagRawVector) ) |
525 | { // byte order from big to little endian |
525 | { // byte order from big to little endian |
526 | s16 raw, X = 0, Y = 0, Z = 0; |
526 | s16 raw, X = 0, Y = 0, Z = 0; |
527 | raw = pRxBuffer[0]<<8; |
527 | raw = pRxBuffer[0]<<8; |
528 | raw+= pRxBuffer[1]; |
528 | raw+= pRxBuffer[1]; |
529 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
529 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
530 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
530 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
531 | 531 | ||
532 | raw = pRxBuffer[2]<<8; |
532 | raw = pRxBuffer[2]<<8; |
533 | raw+= pRxBuffer[3]; |
533 | raw+= pRxBuffer[3]; |
534 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
534 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
535 | { |
535 | { |
536 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
536 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
537 | else Y = raw; |
537 | else Y = raw; |
538 | } |
538 | } |
539 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
539 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
540 | 540 | ||
541 | raw = pRxBuffer[4]<<8; |
541 | raw = pRxBuffer[4]<<8; |
542 | raw+= pRxBuffer[5]; |
542 | raw+= pRxBuffer[5]; |
543 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
543 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
544 | { |
544 | { |
545 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
545 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
546 | else Z = raw; |
546 | else Z = raw; |
547 | } |
547 | } |
548 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
548 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
549 | 549 | ||
550 | // correct compass orientation |
550 | // correct compass orientation |
551 | switch(NCMAG_Orientation) |
551 | switch(NCMAG_Orientation) |
552 | { |
552 | { |
553 | case 0: |
553 | case 0: |
554 | case 1: |
554 | case 1: |
555 | default: |
555 | default: |
556 | // 1:1 Mapping |
556 | // 1:1 Mapping |
557 | MagRawVector.X = X; |
557 | MagRawVector.X = X; |
558 | MagRawVector.Y = Y; |
558 | MagRawVector.Y = Y; |
559 | MagRawVector.Z = Z; |
559 | MagRawVector.Z = Z; |
560 | break; |
560 | break; |
561 | case 2: |
561 | case 2: |
562 | MagRawVector.X = -X; |
562 | MagRawVector.X = -X; |
563 | MagRawVector.Y = Y; |
563 | MagRawVector.Y = Y; |
564 | MagRawVector.Z = -Z; |
564 | MagRawVector.Z = -Z; |
565 | break; |
565 | break; |
566 | case 3: |
566 | case 3: |
567 | MagRawVector.X = -Z; |
567 | MagRawVector.X = -Z; |
568 | MagRawVector.Y = Y; |
568 | MagRawVector.Y = Y; |
569 | MagRawVector.Z = X; |
569 | MagRawVector.Z = X; |
570 | break; |
570 | break; |
571 | case 4: |
571 | case 4: |
572 | MagRawVector.X = Z; |
572 | MagRawVector.X = Z; |
573 | MagRawVector.Y = Y; |
573 | MagRawVector.Y = Y; |
574 | MagRawVector.Z = -X; |
574 | MagRawVector.Z = -X; |
575 | break; |
575 | break; |
576 | case 5: |
576 | case 5: |
577 | MagRawVector.X = X; |
577 | MagRawVector.X = X; |
578 | MagRawVector.Y = -Z; |
578 | MagRawVector.Y = -Z; |
579 | MagRawVector.Z = Y; |
579 | MagRawVector.Z = Y; |
580 | break; |
580 | break; |
581 | case 6: |
581 | case 6: |
582 | MagRawVector.X = -X; |
582 | MagRawVector.X = -X; |
583 | MagRawVector.Y = -Z; |
583 | MagRawVector.Y = -Z; |
584 | MagRawVector.Z = -Y; |
584 | MagRawVector.Z = -Y; |
585 | break; |
585 | break; |
586 | } |
586 | } |
587 | } |
587 | } |
588 | if(Compass_CalState || !NCMAG_IsCalibrated) |
588 | if(Compass_CalState || !NCMAG_IsCalibrated) |
589 | { // mark out data invalid |
589 | { // mark out data invalid |
590 | MagVector.X = MagRawVector.X; |
590 | MagVector.X = MagRawVector.X; |
591 | MagVector.Y = MagRawVector.Y; |
591 | MagVector.Y = MagRawVector.Y; |
592 | MagVector.Z = MagRawVector.Z; |
592 | MagVector.Z = MagRawVector.Z; |
593 | Compass_Heading = -1; |
593 | Compass_Heading = -1; |
594 | } |
594 | } |
595 | else |
595 | else |
596 | { |
596 | { |
597 | // update MagVector from MagRaw Vector by Scaling |
597 | // update MagVector from MagRaw Vector by Scaling |
598 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
598 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
599 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
599 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
600 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
600 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
601 | Compass_CalcHeading(); |
601 | Compass_CalcHeading(); |
602 | } |
602 | } |
603 | } |
603 | } |
604 | // rx data handler for acceleration raw data |
604 | // rx data handler for acceleration raw data |
605 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
605 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
606 | { // if number of bytes are matching |
606 | { // if number of bytes are matching |
607 | if(RxBufferSize == sizeof(AccRawVector) ) |
607 | if(RxBufferSize == sizeof(AccRawVector) ) |
608 | { |
608 | { |
609 | // copy from I2C buffer |
609 | // copy from I2C buffer |
610 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
610 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
611 | // scale and update Acc Vector, at the moment simply 1:1 |
611 | // scale and update Acc Vector, at the moment simply 1:1 |
612 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
612 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
613 | } |
613 | } |
614 | } |
614 | } |
615 | // rx data handler for reading magnetic sensor configuration |
615 | // rx data handler for reading magnetic sensor configuration |
616 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
616 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
617 | { // if number of byte are matching |
617 | { // if number of byte are matching |
618 | if(RxBufferSize == sizeof(MagConfig) ) |
618 | if(RxBufferSize == sizeof(MagConfig) ) |
619 | { |
619 | { |
620 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
620 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
621 | } |
621 | } |
622 | } |
622 | } |
623 | // rx data handler for reading acceleration sensor configuration |
623 | // rx data handler for reading acceleration sensor configuration |
624 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
624 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
625 | { // if number of byte are matching |
625 | { // if number of byte are matching |
626 | if(RxBufferSize == sizeof(AccConfig) ) |
626 | if(RxBufferSize == sizeof(AccConfig) ) |
627 | { |
627 | { |
628 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
628 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
629 | } |
629 | } |
630 | } |
630 | } |
631 | //---------------------------------------------------------------------- |
631 | //---------------------------------------------------------------------- |
632 | 632 | ||
633 | u8 NCMAG_GetOrientationFromAcc(void) |
633 | u8 NCMAG_GetOrientationFromAcc(void) |
634 | { |
634 | { |
635 | // only if external compass connected |
635 | // only if external compass connected |
636 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
636 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
637 | // MK must not be tilted |
637 | // MK must not be tilted |
638 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
638 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
639 | { |
639 | { |
640 | // UART1_PutString("\r\nTilted"); |
640 | // UART1_PutString("\r\nTilted"); |
641 | return(0); |
641 | return(0); |
642 | } |
642 | } |
643 | // select orientation |
643 | // select orientation |
644 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
644 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
645 | else |
645 | else |
646 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
646 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
647 | else |
647 | else |
648 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
648 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
649 | else |
649 | else |
650 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
650 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
651 | else |
651 | else |
652 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
652 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
653 | else |
653 | else |
654 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
654 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
655 | return(0); |
655 | return(0); |
656 | } |
656 | } |
657 | 657 | ||
658 | // --------------------------------------------------------------------- |
658 | // --------------------------------------------------------------------- |
659 | u8 NCMAG_SetMagConfig(void) |
659 | u8 NCMAG_SetMagConfig(void) |
660 | { |
660 | { |
661 | u8 retval = 0; |
661 | u8 retval = 0; |
662 | 662 | ||
663 | // try to catch the i2c buffer within 100 ms timeout |
663 | // try to catch the i2c buffer within 100 ms timeout |
664 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
664 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
665 | { |
665 | { |
666 | u8 TxBytes = 0; |
666 | u8 TxBytes = 0; |
667 | u8 TxData[sizeof(MagConfig) + 3]; |
667 | u8 TxData[sizeof(MagConfig) + 3]; |
668 | 668 | ||
669 | TxData[TxBytes++] = REG_MAG_CRA; |
669 | TxData[TxBytes++] = REG_MAG_CRA; |
670 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
670 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
671 | TxBytes += sizeof(MagConfig); |
671 | TxBytes += sizeof(MagConfig); |
672 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
672 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
673 | { |
673 | { |
674 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
674 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
675 | { |
675 | { |
676 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
676 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
677 | } |
677 | } |
678 | } |
678 | } |
679 | } |
679 | } |
680 | return(retval); |
680 | return(retval); |
681 | } |
681 | } |
682 | 682 | ||
683 | // ---------------------------------------------------------------------------------------- |
683 | // ---------------------------------------------------------------------------------------- |
684 | u8 NCMAG_GetMagConfig(void) |
684 | u8 NCMAG_GetMagConfig(void) |
685 | { |
685 | { |
686 | u8 retval = 0; |
686 | u8 retval = 0; |
687 | // try to catch the i2c buffer within 100 ms timeout |
687 | // try to catch the i2c buffer within 100 ms timeout |
688 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
688 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
689 | { |
689 | { |
690 | u8 TxBytes = 0; |
690 | u8 TxBytes = 0; |
691 | u8 TxData[3]; |
691 | u8 TxData[3]; |
692 | TxData[TxBytes++] = REG_MAG_CRA; |
692 | TxData[TxBytes++] = REG_MAG_CRA; |
693 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
693 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
694 | { |
694 | { |
695 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
695 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
696 | { |
696 | { |
697 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
697 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
698 | } |
698 | } |
699 | } |
699 | } |
700 | } |
700 | } |
701 | return(retval); |
701 | return(retval); |
702 | } |
702 | } |
703 | 703 | ||
704 | // ---------------------------------------------------------------------------------------- |
704 | // ---------------------------------------------------------------------------------------- |
705 | u8 NCMAG_SetAccConfig(void) |
705 | u8 NCMAG_SetAccConfig(void) |
706 | { |
706 | { |
707 | u8 retval = 0; |
707 | u8 retval = 0; |
708 | // try to catch the i2c buffer within 50 ms timeout |
708 | // try to catch the i2c buffer within 50 ms timeout |
709 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
709 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
710 | { |
710 | { |
711 | u8 TxBytes = 0; |
711 | u8 TxBytes = 0; |
712 | u8 TxData[sizeof(AccConfig) + 3]; |
712 | u8 TxData[sizeof(AccConfig) + 3]; |
713 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
713 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
714 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
714 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
715 | TxBytes += sizeof(AccConfig); |
715 | TxBytes += sizeof(AccConfig); |
716 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
716 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
717 | { |
717 | { |
718 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
718 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
719 | { |
719 | { |
720 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
720 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
721 | } |
721 | } |
722 | } |
722 | } |
723 | } |
723 | } |
724 | return(retval); |
724 | return(retval); |
725 | } |
725 | } |
726 | 726 | ||
727 | // ---------------------------------------------------------------------------------------- |
727 | // ---------------------------------------------------------------------------------------- |
728 | u8 NCMAG_GetAccConfig(void) |
728 | u8 NCMAG_GetAccConfig(void) |
729 | { |
729 | { |
730 | u8 retval = 0; |
730 | u8 retval = 0; |
731 | // try to catch the i2c buffer within 100 ms timeout |
731 | // try to catch the i2c buffer within 100 ms timeout |
732 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
732 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
733 | { |
733 | { |
734 | u8 TxBytes = 0; |
734 | u8 TxBytes = 0; |
735 | u8 TxData[3]; |
735 | u8 TxData[3]; |
736 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
736 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
737 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
737 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
738 | { |
738 | { |
739 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
739 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
740 | { |
740 | { |
741 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
741 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
742 | } |
742 | } |
743 | } |
743 | } |
744 | } |
744 | } |
745 | return(retval); |
745 | return(retval); |
746 | } |
746 | } |
747 | 747 | ||
748 | // ---------------------------------------------------------------------------------------- |
748 | // ---------------------------------------------------------------------------------------- |
749 | u8 NCMAG_GetIdentification(void) |
749 | u8 NCMAG_GetIdentification(void) |
750 | { |
750 | { |
751 | u8 retval = 0; |
751 | u8 retval = 0; |
752 | // try to catch the i2c buffer within 100 ms timeout |
752 | // try to catch the i2c buffer within 100 ms timeout |
753 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
753 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
754 | { |
754 | { |
755 | u8 TxBytes = 0; |
755 | u8 TxBytes = 0; |
756 | u8 TxData[3]; |
756 | u8 TxData[3]; |
757 | NCMAG_Identification.A = 0xFF; |
757 | NCMAG_Identification.A = 0xFF; |
758 | NCMAG_Identification.B = 0xFF; |
758 | NCMAG_Identification.B = 0xFF; |
759 | NCMAG_Identification.C = 0xFF; |
759 | NCMAG_Identification.C = 0xFF; |
760 | TxData[TxBytes++] = REG_MAG_IDA; |
760 | TxData[TxBytes++] = REG_MAG_IDA; |
761 | // initiate transmission |
761 | // initiate transmission |
762 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
762 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
763 | { |
763 | { |
764 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
764 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
765 | { |
765 | { |
766 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
766 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
767 | } |
767 | } |
768 | } |
768 | } |
769 | } |
769 | } |
770 | return(retval); |
770 | return(retval); |
771 | } |
771 | } |
772 | 772 | ||
773 | u8 NCMAG_GetIdentification_Sub(void) |
773 | u8 NCMAG_GetIdentification_Sub(void) |
774 | { |
774 | { |
775 | u8 retval = 0; |
775 | u8 retval = 0; |
776 | // try to catch the i2c buffer within 100 ms timeout |
776 | // try to catch the i2c buffer within 100 ms timeout |
777 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
777 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
778 | { |
778 | { |
779 | u8 TxBytes = 0; |
779 | u8 TxBytes = 0; |
780 | u8 TxData[3]; |
780 | u8 TxData[3]; |
781 | NCMAG_Identification2.Sub = 0xFF; |
781 | NCMAG_Identification2.Sub = 0xFF; |
782 | TxData[TxBytes++] = REG_MAG_IDF; |
782 | TxData[TxBytes++] = REG_MAG_IDF; |
783 | // initiate transmission |
783 | // initiate transmission |
784 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
784 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
785 | { |
785 | { |
786 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
786 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
787 | { |
787 | { |
788 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
788 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
789 | } |
789 | } |
790 | } |
790 | } |
791 | } |
791 | } |
792 | return(retval); |
792 | return(retval); |
793 | } |
793 | } |
794 | 794 | ||
795 | 795 | ||
796 | // ---------------------------------------------------------------------------------------- |
796 | // ---------------------------------------------------------------------------------------- |
797 | void NCMAG_GetMagVector(u8 timeout) |
797 | void NCMAG_GetMagVector(u8 timeout) |
798 | { |
798 | { |
799 | // try to catch the I2C buffer within timeout ms |
799 | // try to catch the I2C buffer within timeout ms |
800 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
800 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
801 | { |
801 | { |
802 | u8 TxBytes = 0; |
802 | u8 TxBytes = 0; |
803 | u8 TxData[3]; |
803 | u8 TxData[3]; |
804 | // set register pointer |
804 | // set register pointer |
805 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
805 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
806 | // initiate transmission |
806 | // initiate transmission |
807 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
807 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
808 | } |
808 | } |
809 | } |
809 | } |
810 | 810 | ||
811 | //---------------------------------------------------------------- |
811 | //---------------------------------------------------------------- |
812 | void NCMAG_GetAccVector(u8 timeout) |
812 | void NCMAG_GetAccVector(u8 timeout) |
813 | { |
813 | { |
814 | // try to catch the I2C buffer within timeout ms |
814 | // try to catch the I2C buffer within timeout ms |
815 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
815 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
816 | { |
816 | { |
817 | u8 TxBytes = 0; |
817 | u8 TxBytes = 0; |
818 | u8 TxData[3]; |
818 | u8 TxData[3]; |
819 | // set register pointer |
819 | // set register pointer |
820 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
820 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
821 | // initiate transmission |
821 | // initiate transmission |
822 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
822 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
823 | } |
823 | } |
824 | } |
824 | } |
825 | 825 | ||
826 | //---------------------------------------------------------------- |
826 | //---------------------------------------------------------------- |
827 | u8 NCMAG_ConfigureSensor(void) |
827 | u8 NCMAG_ConfigureSensor(void) |
828 | { |
828 | { |
829 | u8 crb_gain, cra_rate; |
829 | u8 crb_gain, cra_rate; |
830 | 830 | ||
831 | switch(NCMAG_SensorType) |
831 | switch(NCMAG_SensorType) |
832 | { |
832 | { |
833 | case TYPE_HMC5843: |
833 | case TYPE_HMC5843: |
834 | crb_gain = HMC5843_CRB_GAIN_15GA; |
834 | crb_gain = HMC5843_CRB_GAIN_15GA; |
835 | cra_rate = HMC5843_CRA_RATE_50HZ; |
835 | cra_rate = HMC5843_CRA_RATE_50HZ; |
836 | break; |
836 | break; |
837 | 837 | ||
838 | case TYPE_LSM303DLH: |
838 | case TYPE_LSM303DLH: |
839 | case TYPE_LSM303DLM: |
839 | case TYPE_LSM303DLM: |
840 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
840 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
841 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
841 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
842 | break; |
842 | break; |
843 | 843 | ||
844 | default: |
844 | default: |
845 | return(0); |
845 | return(0); |
846 | } |
846 | } |
847 | 847 | ||
848 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
848 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
849 | MagConfig.crb = crb_gain; |
849 | MagConfig.crb = crb_gain; |
850 | MagConfig.mode = MODE_CONTINUOUS; |
850 | MagConfig.mode = MODE_CONTINUOUS; |
851 | return(NCMAG_SetMagConfig()); |
851 | return(NCMAG_SetMagConfig()); |
852 | } |
852 | } |
853 | 853 | ||
854 | 854 | ||
855 | //---------------------------------------------------------------- |
855 | //---------------------------------------------------------------- |
856 | u8 NCMAG_Init_ACCSensor(void) |
856 | u8 NCMAG_Init_ACCSensor(void) |
857 | { |
857 | { |
858 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
858 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
859 | AccConfig.ctrl_2 = 0; |
859 | AccConfig.ctrl_2 = 0; |
860 | AccConfig.ctrl_3 = 0x00; |
860 | AccConfig.ctrl_3 = 0x00; |
861 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
861 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
862 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
862 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
863 | return(NCMAG_SetAccConfig()); |
863 | return(NCMAG_SetAccConfig()); |
864 | } |
864 | } |
865 | // -------------------------------------------------------- |
865 | // -------------------------------------------------------- |
866 | void NCMAG_Update(u8 init) |
866 | void NCMAG_Update(u8 init) |
867 | { |
867 | { |
868 | static u32 TimerUpdate = 0; |
868 | static u32 TimerUpdate = 0; |
869 | static s8 send_config = 0; |
869 | static s8 send_config = 0; |
870 | u32 delay = 20; |
870 | u32 delay = 20; |
871 | 871 | ||
872 | if(init) TimerUpdate = SetDelay(10); |
872 | if(init) TimerUpdate = SetDelay(10); |
873 | 873 | ||
874 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
874 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
875 | { |
875 | { |
876 | Compass_Heading = -1; |
876 | Compass_Heading = -1; |
877 | DebugOut.Analog[14]++; // count I2C error |
877 | DebugOut.Analog[14]++; // count I2C error |
878 | TimerUpdate = SetDelay(10); |
878 | TimerUpdate = SetDelay(10); |
879 | return; |
879 | return; |
880 | } |
880 | } |
881 | if(CheckDelay(TimerUpdate)) |
881 | if(CheckDelay(TimerUpdate)) |
882 | { |
882 | { |
883 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
883 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
884 | if(++send_config == 25) // 500ms |
884 | if(++send_config == 25) // 500ms |
885 | { |
885 | { |
886 | send_config = -25; // next try after 1 second |
886 | send_config = -25; // next try after 1 second |
887 | NCMAG_ConfigureSensor(); |
887 | NCMAG_ConfigureSensor(); |
888 | TimerUpdate = SetDelay(20); // back into the old time-slot |
888 | TimerUpdate = SetDelay(20); // back into the old time-slot |
889 | } |
889 | } |
890 | else |
890 | else |
891 | { |
891 | { |
892 | static u8 s = 0; |
892 | static u8 s = 0; |
893 | // check for new calibration state |
893 | // check for new calibration state |
894 | Compass_UpdateCalState(); |
894 | Compass_UpdateCalState(); |
895 | if(Compass_CalState) NCMAG_Calibrate(); |
895 | if(Compass_CalState) NCMAG_Calibrate(); |
896 | 896 | ||
897 | // in case of LSM303 type |
897 | // in case of LSM303 type |
898 | switch(NCMAG_SensorType) |
898 | switch(NCMAG_SensorType) |
899 | { |
899 | { |
900 | case TYPE_HMC5843: |
900 | case TYPE_HMC5843: |
901 | delay = 20; // next cycle after 20 ms |
901 | delay = 20; // next cycle after 20 ms |
902 | NCMAG_GetMagVector(5); |
902 | NCMAG_GetMagVector(5); |
903 | break; |
903 | break; |
904 | case TYPE_LSM303DLH: |
904 | case TYPE_LSM303DLH: |
905 | case TYPE_LSM303DLM: |
905 | case TYPE_LSM303DLM: |
906 | - | ||
- | 906 | delay = 20; // next cycle after 20 ms |
|
907 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
907 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
908 | { |
908 | { |
909 | delay = 20; // next cycle after 20 ms |
- | |
910 | NCMAG_GetMagVector(5); |
909 | NCMAG_GetMagVector(5); |
911 | } |
910 | } |
912 | else // having an external compass, read every 50th cycle the ACC vec |
911 | else // having an external compass, read every 50th cycle the ACC vec |
913 | { // try to initialize if no data are there |
912 | { // try to initialize if no data are there |
914 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
913 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
915 | // get new data |
914 | // get new data |
916 | NCMAG_GetAccVector(5); |
915 | NCMAG_GetAccVector(5); |
917 | delay = 10; // next cycle after 10 ms |
916 | delay = 10; // next cycle after 10 ms |
918 | s = 40; //reset downconter about 0,8 sec |
917 | s = 40; //reset downconter about 0,8 sec |
919 | } |
918 | } |
920 | break; |
919 | break; |
921 | } |
920 | } |
922 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
921 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
923 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
922 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
924 | } |
923 | } |
925 | } |
924 | } |
926 | } |
925 | } |
927 | 926 | ||
928 | 927 | ||
929 | // -------------------------------------------------------- |
928 | // -------------------------------------------------------- |
930 | u8 NCMAG_SelfTest(void) |
929 | u8 NCMAG_SelfTest(void) |
931 | { |
930 | { |
932 | u8 msg[64]; |
931 | u8 msg[64]; |
933 | static u8 done = 0; |
932 | static u8 done = 0; |
934 | 933 | ||
935 | if(done) return(1); // just make it once |
934 | if(done) return(1); // just make it once |
936 | 935 | ||
937 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
936 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
938 | u32 time; |
937 | u32 time; |
939 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
938 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
940 | s16 xscale, yscale, zscale, scale_min, scale_max; |
939 | s16 xscale, yscale, zscale, scale_min, scale_max; |
941 | u8 crb_gain, cra_rate; |
940 | u8 crb_gain, cra_rate; |
942 | u8 i = 0, retval = 1; |
941 | u8 i = 0, retval = 1; |
943 | 942 | ||
944 | switch(NCMAG_SensorType) |
943 | switch(NCMAG_SensorType) |
945 | { |
944 | { |
946 | case TYPE_HMC5843: |
945 | case TYPE_HMC5843: |
947 | crb_gain = HMC5843_CRB_GAIN_15GA; |
946 | crb_gain = HMC5843_CRB_GAIN_15GA; |
948 | cra_rate = HMC5843_CRA_RATE_50HZ; |
947 | cra_rate = HMC5843_CRA_RATE_50HZ; |
949 | xscale = HMC5843_TEST_XSCALE; |
948 | xscale = HMC5843_TEST_XSCALE; |
950 | yscale = HMC5843_TEST_YSCALE; |
949 | yscale = HMC5843_TEST_YSCALE; |
951 | zscale = HMC5843_TEST_ZSCALE; |
950 | zscale = HMC5843_TEST_ZSCALE; |
952 | break; |
951 | break; |
953 | 952 | ||
954 | case TYPE_LSM303DLH: |
953 | case TYPE_LSM303DLH: |
955 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
954 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
956 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
955 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
957 | xscale = LSM303DLH_TEST_XSCALE; |
956 | xscale = LSM303DLH_TEST_XSCALE; |
958 | yscale = LSM303DLH_TEST_YSCALE; |
957 | yscale = LSM303DLH_TEST_YSCALE; |
959 | zscale = LSM303DLH_TEST_ZSCALE; |
958 | zscale = LSM303DLH_TEST_ZSCALE; |
960 | break; |
959 | break; |
961 | 960 | ||
962 | case TYPE_LSM303DLM: |
961 | case TYPE_LSM303DLM: |
963 | // does not support self test feature |
962 | // does not support self test feature |
964 | done = 1; |
963 | done = 1; |
965 | return(1); // always return success |
964 | return(1); // always return success |
966 | break; |
965 | break; |
967 | 966 | ||
968 | default: |
967 | default: |
969 | return(0); |
968 | return(0); |
970 | } |
969 | } |
971 | 970 | ||
972 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
971 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
973 | MagConfig.crb = crb_gain; |
972 | MagConfig.crb = crb_gain; |
974 | MagConfig.mode = MODE_CONTINUOUS; |
973 | MagConfig.mode = MODE_CONTINUOUS; |
975 | // activate positive bias field |
974 | // activate positive bias field |
976 | NCMAG_SetMagConfig(); |
975 | NCMAG_SetMagConfig(); |
977 | // wait for stable readings |
976 | // wait for stable readings |
978 | time = SetDelay(50); |
977 | time = SetDelay(50); |
979 | while(!CheckDelay(time)); |
978 | while(!CheckDelay(time)); |
980 | // averaging |
979 | // averaging |
981 | #define AVERAGE 20 |
980 | #define AVERAGE 20 |
982 | for(i = 0; i<AVERAGE; i++) |
981 | for(i = 0; i<AVERAGE; i++) |
983 | { |
982 | { |
984 | NCMAG_GetMagVector(5); |
983 | NCMAG_GetMagVector(5); |
985 | time = SetDelay(20); |
984 | time = SetDelay(20); |
986 | while(!CheckDelay(time)); |
985 | while(!CheckDelay(time)); |
987 | XMax += MagRawVector.X; |
986 | XMax += MagRawVector.X; |
988 | YMax += MagRawVector.Y; |
987 | YMax += MagRawVector.Y; |
989 | ZMax += MagRawVector.Z; |
988 | ZMax += MagRawVector.Z; |
990 | } |
989 | } |
991 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
990 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
992 | // activate positive bias field |
991 | // activate positive bias field |
993 | NCMAG_SetMagConfig(); |
992 | NCMAG_SetMagConfig(); |
994 | // wait for stable readings |
993 | // wait for stable readings |
995 | time = SetDelay(50); |
994 | time = SetDelay(50); |
996 | while(!CheckDelay(time)); |
995 | while(!CheckDelay(time)); |
997 | // averaging |
996 | // averaging |
998 | for(i = 0; i < AVERAGE; i++) |
997 | for(i = 0; i < AVERAGE; i++) |
999 | { |
998 | { |
1000 | NCMAG_GetMagVector(5); |
999 | NCMAG_GetMagVector(5); |
1001 | time = SetDelay(20); |
1000 | time = SetDelay(20); |
1002 | while(!CheckDelay(time)); |
1001 | while(!CheckDelay(time)); |
1003 | XMin += MagRawVector.X; |
1002 | XMin += MagRawVector.X; |
1004 | YMin += MagRawVector.Y; |
1003 | YMin += MagRawVector.Y; |
1005 | ZMin += MagRawVector.Z; |
1004 | ZMin += MagRawVector.Z; |
1006 | } |
1005 | } |
1007 | // setup final configuration |
1006 | // setup final configuration |
1008 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
1007 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
1009 | // activate positive bias field |
1008 | // activate positive bias field |
1010 | NCMAG_SetMagConfig(); |
1009 | NCMAG_SetMagConfig(); |
1011 | // check scale for all axes |
1010 | // check scale for all axes |
1012 | // prepare scale limits |
1011 | // prepare scale limits |
1013 | LIMITS(xscale, scale_min, scale_max); |
1012 | LIMITS(xscale, scale_min, scale_max); |
1014 | xscale = (XMax - XMin)/(2*AVERAGE); |
1013 | xscale = (XMax - XMin)/(2*AVERAGE); |
1015 | if((xscale > scale_max) || (xscale < scale_min)) |
1014 | if((xscale > scale_max) || (xscale < scale_min)) |
1016 | { |
1015 | { |
1017 | retval = 0; |
1016 | retval = 0; |
1018 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
1017 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
1019 | UART1_PutString(msg); |
1018 | UART1_PutString(msg); |
1020 | } |
1019 | } |
1021 | LIMITS(yscale, scale_min, scale_max); |
1020 | LIMITS(yscale, scale_min, scale_max); |
1022 | yscale = (YMax - YMin)/(2*AVERAGE); |
1021 | yscale = (YMax - YMin)/(2*AVERAGE); |
1023 | if((yscale > scale_max) || (yscale < scale_min)) |
1022 | if((yscale > scale_max) || (yscale < scale_min)) |
1024 | { |
1023 | { |
1025 | retval = 0; |
1024 | retval = 0; |
1026 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
1025 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
1027 | UART1_PutString(msg); |
1026 | UART1_PutString(msg); |
1028 | } |
1027 | } |
1029 | LIMITS(zscale, scale_min, scale_max); |
1028 | LIMITS(zscale, scale_min, scale_max); |
1030 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
1029 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
1031 | if((zscale > scale_max) || (zscale < scale_min)) |
1030 | if((zscale > scale_max) || (zscale < scale_min)) |
1032 | { |
1031 | { |
1033 | retval = 0; |
1032 | retval = 0; |
1034 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
1033 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
1035 | UART1_PutString(msg); |
1034 | UART1_PutString(msg); |
1036 | } |
1035 | } |
1037 | done = retval; |
1036 | done = retval; |
1038 | return(retval); |
1037 | return(retval); |
1039 | } |
1038 | } |
1040 | 1039 | ||
1041 | 1040 | ||
1042 | void NCMAG_CheckOrientation(void) |
1041 | void NCMAG_CheckOrientation(void) |
1043 | { // only for external sensor |
1042 | { // only for external sensor |
1044 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
1043 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
1045 | { |
1044 | { |
1046 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
1045 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
1047 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
1046 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
1048 | else NCMAG_IsCalibrated = 1; |
1047 | else NCMAG_IsCalibrated = 1; |
1049 | } |
1048 | } |
1050 | } |
1049 | } |
1051 | //---------------------------------------------------------------- |
1050 | //---------------------------------------------------------------- |
1052 | u8 NCMAG_Init(void) |
1051 | u8 NCMAG_Init(void) |
1053 | { |
1052 | { |
1054 | MagRawVector.X = 0; |
1053 | MagRawVector.X = 0; |
1055 | MagRawVector.Y = 0; |
1054 | MagRawVector.Y = 0; |
1056 | MagRawVector.Z = 0; |
1055 | MagRawVector.Z = 0; |
1057 | AccRawVector.X = 0; |
1056 | AccRawVector.X = 0; |
1058 | AccRawVector.Y = 0; |
1057 | AccRawVector.Y = 0; |
1059 | AccRawVector.Z = 0; |
1058 | AccRawVector.Z = 0; |
1060 | 1059 | ||
1061 | if(NCMAG_Present) // do only short init ! , full init was called before |
1060 | if(NCMAG_Present) // do only short init ! , full init was called before |
1062 | { |
1061 | { |
1063 | // reset I2C Bus |
1062 | // reset I2C Bus |
1064 | I2CBus_Deinit(Compass_I2CPort); |
1063 | //I2CBus_Deinit(Compass_I2CPort); |
1065 | I2CBus_Init(Compass_I2CPort); |
1064 | //I2CBus_Init(Compass_I2CPort); |
1066 | // try to reconfigure senor |
1065 | // try to reconfigure senor |
1067 | NCMAG_ConfigureSensor(); |
1066 | NCMAG_ConfigureSensor(); |
1068 | NCMAG_Update(1); |
1067 | //NCMAG_Update(1); |
1069 | } |
1068 | } |
1070 | else // full init |
1069 | else // full init |
1071 | { |
1070 | { |
1072 | u8 msg[64]; |
1071 | u8 msg[64]; |
1073 | u8 retval = 0; |
1072 | u8 retval = 0; |
1074 | u8 repeat = 0; |
1073 | u8 repeat = 0; |
1075 | 1074 | ||
1076 | //-------------------------------------------- |
1075 | //-------------------------------------------- |
1077 | // search external sensor first |
1076 | // search external sensor first |
1078 | //-------------------------------------------- |
1077 | //-------------------------------------------- |
1079 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
1078 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
1080 | // get id bytes |
1079 | // get id bytes |
1081 | retval = 0; |
1080 | retval = 0; |
1082 | for(repeat = 0; repeat < 5; repeat++) |
1081 | for(repeat = 0; repeat < 5; repeat++) |
1083 | { |
1082 | { |
1084 | //retval = NCMAG_GetIdentification(); |
1083 | //retval = NCMAG_GetIdentification(); |
1085 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
1084 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
1086 | if(retval) break; // break loop on success |
1085 | if(retval) break; // break loop on success |
1087 | UART1_PutString("_"); |
1086 | UART1_PutString("_"); |
1088 | } |
1087 | } |
1089 | // Extenal sensor not found? |
1088 | // Extenal sensor not found? |
1090 | if(!retval) |
1089 | if(!retval) |
1091 | { |
1090 | { |
1092 | // search internal sensor afterwards |
1091 | // search internal sensor afterwards |
1093 | UART1_PutString(" internal sensor"); |
1092 | UART1_PutString(" internal sensor"); |
1094 | Compass_I2CPort = NCMAG_PORT_INTERN; |
1093 | Compass_I2CPort = NCMAG_PORT_INTERN; |
1095 | } |
1094 | } |
1096 | else |
1095 | else |
1097 | { |
1096 | { |
1098 | UART1_PutString(" external sensor"); |
1097 | UART1_PutString(" external sensor"); |
1099 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
1098 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
1100 | } |
1099 | } |
1101 | //------------------------------------------- |
1100 | //------------------------------------------- |
1102 | 1101 | ||
1103 | NCMAG_Present = 0; |
1102 | NCMAG_Present = 0; |
1104 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1103 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1105 | // polling for LSM302DLH/DLM option by ACC address ack |
1104 | // polling for LSM302DLH/DLM option by ACC address ack |
1106 | repeat = 0; |
1105 | repeat = 0; |
1107 | for(repeat = 0; repeat < 3; repeat++) |
1106 | for(repeat = 0; repeat < 3; repeat++) |
1108 | { |
1107 | { |
1109 | retval = NCMAG_GetAccConfig(); |
1108 | retval = NCMAG_GetAccConfig(); |
1110 | if(retval) break; // break loop on success |
1109 | if(retval) break; // break loop on success |
1111 | } |
1110 | } |
1112 | if(retval) |
1111 | if(retval) |
1113 | { |
1112 | { |
1114 | // initialize ACC sensor |
1113 | // initialize ACC sensor |
1115 | NCMAG_Init_ACCSensor(); |
1114 | NCMAG_Init_ACCSensor(); |
1116 | 1115 | ||
1117 | NCMAG_SensorType = TYPE_LSM303DLH; |
1116 | NCMAG_SensorType = TYPE_LSM303DLH; |
1118 | // polling of sub identification |
1117 | // polling of sub identification |
1119 | repeat = 0; |
1118 | repeat = 0; |
1120 | for(repeat = 0; repeat < 12; repeat++) |
1119 | for(repeat = 0; repeat < 12; repeat++) |
1121 | { |
1120 | { |
1122 | retval = NCMAG_GetIdentification_Sub(); |
1121 | retval = NCMAG_GetIdentification_Sub(); |
1123 | if(retval) break; // break loop on success |
1122 | if(retval) break; // break loop on success |
1124 | } |
1123 | } |
1125 | if(retval) |
1124 | if(retval) |
1126 | { |
1125 | { |
1127 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1126 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1128 | } |
1127 | } |
1129 | } |
1128 | } |
1130 | // get id bytes |
1129 | // get id bytes |
1131 | retval = 0; |
1130 | retval = 0; |
1132 | for(repeat = 0; repeat < 3; repeat++) |
1131 | for(repeat = 0; repeat < 3; repeat++) |
1133 | { |
1132 | { |
1134 | retval = NCMAG_GetIdentification(); |
1133 | retval = NCMAG_GetIdentification(); |
1135 | if(retval) break; // break loop on success |
1134 | if(retval) break; // break loop on success |
1136 | } |
1135 | } |
1137 | 1136 | ||
1138 | // if we got an answer to id request |
1137 | // if we got an answer to id request |
1139 | if(retval) |
1138 | if(retval) |
1140 | { |
1139 | { |
1141 | u8 n1[] = "\n\r HMC5843"; |
1140 | u8 n1[] = "\n\r HMC5843"; |
1142 | u8 n2[] = "\n\r LSM303DLH"; |
1141 | u8 n2[] = "\n\r LSM303DLH"; |
1143 | u8 n3[] = "\n\r LSM303DLM"; |
1142 | u8 n3[] = "\n\r LSM303DLM"; |
1144 | u8* pn = n1; |
1143 | u8* pn = n1; |
1145 | 1144 | ||
1146 | switch(NCMAG_SensorType) |
1145 | switch(NCMAG_SensorType) |
1147 | { |
1146 | { |
1148 | case TYPE_HMC5843: |
1147 | case TYPE_HMC5843: |
1149 | pn = n1; |
1148 | pn = n1; |
1150 | break; |
1149 | break; |
1151 | case TYPE_LSM303DLH: |
1150 | case TYPE_LSM303DLH: |
1152 | pn = n2; |
1151 | pn = n2; |
1153 | break; |
1152 | break; |
1154 | case TYPE_LSM303DLM: |
1153 | case TYPE_LSM303DLM: |
1155 | pn = n3; |
1154 | pn = n3; |
1156 | break; |
1155 | break; |
1157 | } |
1156 | } |
1158 | 1157 | ||
1159 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1158 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1160 | UART1_PutString(msg); |
1159 | UART1_PutString(msg); |
1161 | if ( (NCMAG_Identification.A == MAG_IDA) |
1160 | if ( (NCMAG_Identification.A == MAG_IDA) |
1162 | && (NCMAG_Identification.B == MAG_IDB) |
1161 | && (NCMAG_Identification.B == MAG_IDB) |
1163 | && (NCMAG_Identification.C == MAG_IDC)) |
1162 | && (NCMAG_Identification.C == MAG_IDC)) |
1164 | { |
1163 | { |
1165 | NCMAG_Present = 1; |
1164 | NCMAG_Present = 1; |
1166 | 1165 | ||
1167 | if(EEPROM_Init()) |
1166 | if(EEPROM_Init()) |
1168 | { |
1167 | { |
1169 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
1168 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
1170 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1169 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1171 | } |
1170 | } |
1172 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1171 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1173 | 1172 | ||
1174 | // in case of an external sensor, try to get the orientation by acc readings |
1173 | // in case of an external sensor, try to get the orientation by acc readings |
1175 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
1174 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
1176 | { |
1175 | { |
1177 | // try to get orientation by acc sensor values |
1176 | // try to get orientation by acc sensor values |
1178 | for(repeat = 0; repeat < 100; repeat++) |
1177 | for(repeat = 0; repeat < 100; repeat++) |
1179 | { |
1178 | { |
1180 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1179 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1181 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
1180 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
1182 | if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
1181 | if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break; |
1183 | } |
1182 | } |
1184 | // check orientation result if available |
1183 | // check orientation result if available |
1185 | sprintf(msg, "\r\n Orientation: "); |
1184 | sprintf(msg, "\r\n Orientation: "); |
1186 | UART1_PutString(msg); |
1185 | UART1_PutString(msg); |
1187 | if(NCMAG_Orientation) |
1186 | if(NCMAG_Orientation) |
1188 | { |
1187 | { |
1189 | sprintf(msg, "%d ", NCMAG_Orientation); |
1188 | sprintf(msg, "%d ", NCMAG_Orientation); |
1190 | UART1_PutString(msg); |
1189 | UART1_PutString(msg); |
1191 | if(NCMAG_IsCalibrated) // check against calibration data orientation |
1190 | if(NCMAG_IsCalibrated) // check against calibration data orientation |
1192 | { |
1191 | { |
1193 | if(NCMAG_Orientation != Calibration.Version >> 4) |
1192 | if(NCMAG_Orientation != Calibration.Version >> 4) |
1194 | { |
1193 | { |
1195 | sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
1194 | sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
1196 | UART1_PutString(msg); |
1195 | UART1_PutString(msg); |
1197 | } |
1196 | } |
1198 | } |
1197 | } |
1199 | } |
1198 | } |
1200 | else |
1199 | else |
1201 | { |
1200 | { |
1202 | UART1_PutString("unknown!"); |
1201 | UART1_PutString("unknown!"); |
1203 | } |
1202 | } |
1204 | } |
1203 | } |
1205 | 1204 | ||
1206 | 1205 | ||
1207 | // perform self test |
1206 | // perform self test |
1208 | if(!NCMAG_SelfTest()) |
1207 | if(!NCMAG_SelfTest()) |
1209 | { |
1208 | { |
1210 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1209 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1211 | LED_RED_ON; |
1210 | LED_RED_ON; |
1212 | //NCMAG_IsCalibrated = 0; |
1211 | //NCMAG_IsCalibrated = 0; |
1213 | } |
1212 | } |
1214 | else UART1_PutString("\r\n Selftest ok"); |
1213 | else UART1_PutString("\r\n Selftest ok"); |
1215 | 1214 | ||
1216 | // initialize magnetic sensor configuration |
1215 | // initialize magnetic sensor configuration |
1217 | NCMAG_ConfigureSensor(); |
1216 | NCMAG_ConfigureSensor(); |
1218 | } |
1217 | } |
1219 | else |
1218 | else |
1220 | { |
1219 | { |
1221 | UART1_PutString("\n\r Not compatible!"); |
1220 | UART1_PutString("\n\r Not compatible!"); |
1222 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1221 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1223 | LED_RED_ON; |
1222 | LED_RED_ON; |
1224 | } |
1223 | } |
1225 | } |
1224 | } |
1226 | else // nothing found |
1225 | else // nothing found |
1227 | { |
1226 | { |
1228 | NCMAG_SensorType = TYPE_NONE; |
1227 | NCMAG_SensorType = TYPE_NONE; |
1229 | UART1_PutString("not found!"); |
1228 | UART1_PutString("not found!"); |
1230 | } |
1229 | } |
1231 | } |
1230 | } |
1232 | return(NCMAG_Present); |
1231 | return(NCMAG_Present); |
1233 | } |
1232 | } |
1234 | 1233 | ||
1235 | 1234 |