WebSVN - NaviCtrl - Diff - Rev 493 and 530


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <string.h>
#include "91x_lib.h"
#include "mk3mag.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "main.h"
#include "uart1.h"
#include "compass.h"
#include "spi_slave.h"
 
#define MK3MAG_SLAVE_ADDRESS            0x50  // i2C slave address
 
u8 MK3MAG_Present = 0;
 
typedef struct
{
  s16 Nick;
  s16 Roll;
} __attribute__((packed)) MK3MAG_WriteAttitude_t;
 
typedef struct
{
  u8 Major;
  u8 Minor;
  u8 Patch;
  u8 Compatible;
} __attribute__((packed)) MK3MAG_Version_t;
 
typedef struct
{
  u8 CalByte;
  u8 Dummy1;
  u8 Dummy2;
} __attribute__((packed)) MK3MAG_Cal_t;
 
// Transfer buffers
volatile MK3MAG_WriteAttitude_t         MK3MAG_WriteAttitude;
volatile MK3MAG_Version_t                       MK3MAG_Version;
volatile MK3MAG_Cal_t                           MK3MAG_WriteCal;
volatile MK3MAG_Cal_t                           MK3MAG_ReadCal;
 
// -------------------------------------------------------------------------------
// the calculation of the MK3MAG packet checksum
 
// calculate the crc of  bytecount bytes in buffer
u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
{
        u8 i, crc = 0;
        for(i=0; i < bytecount; i++)
        {
                crc += pBuffer[i];
        }
        crc = ~crc;
        return crc;
}
 
// assuming the last byte in buffer is the crc byte
u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
{
        u8 crc = 0, retval = 0;
        if(BuffLen == 0) return(retval);
        crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
        if(crc == pBuffer[BuffLen-1])
        {
                retval = 1;
                DebugOut.Analog[15]++; // count mk3mag ok
        }
        else
        {
                retval = 0;
                DebugOut.Analog[14]++; // count mk3mag crc error
        }
        return(retval);
}
 
// -------------------------------------------------------------------------------
// the I2C rx data handler functions
 
// rx data handler for version info request
void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
        {
                memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
        }
}
 
// rx data handler for calibration request
void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
        {
                memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
        }
}
 
// rx data handler for magnetic vector request
void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if crc is ok and number of byte are matching
        if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
        {
                s16vec_t *pMagVector = (s16vec_t*)pRxBuffer;
                MagVector.X = pMagVector->Y;
                MagVector.Y = pMagVector->X;
                MagVector.Z = -pMagVector->Z;
                Compass_CalcHeading();
        }
}
 
//----------------------------------------------------------------
#define MK3MAG_CMD_VERSION              0x01
#define MK3MAG_CMD_READ_MAGVECT         0x02
#define MK3MAG_CMD_WRITE_CAL            0x04
 
// use I2C1 for communication
void MK3MAG_SendCommand(u8 command)
{
        // try to catch the I2C buffer
        if(I2CBus_LockBuffer(I2C1, 0))
        {
                u8 TxData[100];
                u16 TxBytes = 0;
                u16 RxBytes = 0;
                I2C_pRxHandler_t pRxHandlerFunc = NULL;
 
                // update current command id
                TxData[TxBytes++] = command;
 
                // set pointers to data area with respect to the command id
                switch (command)
                {
                        case MK3MAG_CMD_VERSION:
                                RxBytes = sizeof(MK3MAG_Version)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateVersion;
                                break;
                        case MK3MAG_CMD_WRITE_CAL:
                                RxBytes = sizeof(MK3MAG_ReadCal)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateCalibration;
                                memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
                                TxBytes += sizeof(MK3MAG_WriteCal);
                                break;
                        case MK3MAG_CMD_READ_MAGVECT:
                                RxBytes = sizeof(MagVector)+1;
                                pRxHandlerFunc = &MK3MAG_UpdateMagVector;
                                break;
                        default: // unknown command id
                                RxBytes = 0;
                                pRxHandlerFunc = NULL;
                                break;
                }
                // update packet checksum
                TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes);
                TxBytes++;
                // initiate I2C transmission
                I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes);
        } // EOF I2C_State == I2C_IDLE
}
 
 
//----------------------------------------------------------------
u8 MK3MAG_Init(void)
{
        if(MK3MAG_Present) // do only short init ! , full init was called before
        {
                // try reconnect by reseting the I2C bus
                I2CBus_Deinit(I2C1);
                I2CBus_Init(I2C1);
        }
        else // full init
        {
                u8 msg[64];
                u8 repeat;
                u32 timeout;
 
                Compass_I2CPort = I2C1;
                MK3MAG_Present = 0;
 
                MK3MAG_Version.Major = 0xFF;
                MK3MAG_Version.Minor = 0xFF;
                MK3MAG_Version.Patch = 0xFF;
                MK3MAG_Version.Compatible = 0xFF;
 
                // polling of version info
                repeat = 0;
                do
                {
                        MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
                        if(UART_VersionInfo.HWMajor > 11) timeout = SetDelay(100);
                        else timeout = SetDelay(250);
 
                        do
                        {
                                if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
                        }while (!CheckDelay(timeout));
                        UART1_PutString(".");
                        repeat++;
                }while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
                // if we got it
                if (MK3MAG_Version.Major != 0xFF)
                {
                        sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
                        UART1_PutString(msg);
                        if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
                        {
                                UART1_PutString("\n\r MK3MAG not compatible!");
                                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
                                LED_RED_ON;
                        }
                        else
                        {       // version ok
                                MK3MAG_Present = 1;
                        }
                }
        }
        return(MK3MAG_Present);
}
 
//----------------------------------------------------------------
void MK3MAG_Update(void)
{
        static u32 TimerUpdate = 0;
        static s16 x_max,y_max,z_max,x_min,y_min,z_min;
        static u8 last_state,speak = 0;
        u8 msg[64];
        u16 MinCaclibration = 500;
 
        if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !MK3MAG_Present ) return;
 
        if(CheckDelay(TimerUpdate))
        {
                // check for incomming compass calibration request
                Compass_UpdateCalState();
                MK3MAG_WriteCal.CalByte = Compass_CalState;
 
                if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
                {       // send new calibration state
                        MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
                }
                else
                {       // calibration state matches
                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
 
                        switch(Compass_CalState)
                        {
                                case 1:
                                        if(last_state != Compass_CalState)
                                        {
                                                UART1_PutString("\r\nMK3Mag calibration\n\r");
                                                if(EarthMagneticStrengthTheoretic)
                                                {
                                                        MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
                                                        sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
                                                        UART1_PutString(msg);
                                                }
                                                else UART1_PutString("without GPS\n\r");
                                        }
                                        x_max = -30000; y_max = -30000; z_max = -30000;
                                        x_min = 30000; y_min = 30000; z_min = 30000;
                                        speak = 1;
                                        break;
                                case 2:
                                        if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
 
                                                 if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
                                        else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
                                                 if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
                                        else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
 
                                        break;
                                case 3:
                                        speak = 1;
                                        break;
                                case 4:
                                        if(speak) SpeakHoTT = SPEAK_CALIBRATE;  speak = 0;
                                                 if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
                                        else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
                                        break;
                                case 5:
                                    if(last_state == Compass_CalState) break;
                                        if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
                                        {
                                                BeepTime = 2500;
                                                UART1_PutString("\r\n-> Calibration okay <-\n\r");
                                                SpeakHoTT = SPEAK_MIKROKOPTER;
                                        }
                                        else
                                        {
                                                UART1_PutString("\r\nCalibration FAILED - Values too low: ");
                                            if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
                                            if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
                                            if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
                                                UART1_PutString("\r\n");
                                                SpeakHoTT = SPEAK_ERR_CALIBARTION;
                                        }
                                        UART1_PutString(msg);
                                        sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
                                        UART1_PutString(msg);
                                        sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
                                        UART1_PutString(msg);
                                        break;
                                default:
                                        break;
                        }
                        last_state = Compass_CalState;
                }
                TimerUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 

Rev 493	Rev 530
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + www.MikroKopter.com	5	// + www.MikroKopter.com
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	// + Software Nutzungsbedingungen (english version: see below)	7	// + Software Nutzungsbedingungen (english version: see below)
8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -	8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den	9	// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool	10	// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.	11	// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.	12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.	15	// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie	16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.	17	// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren	18	// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren	20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand	21	// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
22	// + des Mitverschuldens offen.	22	// + des Mitverschuldens offen.
23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.	23	// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.	24	// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.	25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang	26	// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.	27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.	28	// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'	29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.	30	// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Software LICENSING TERMS	32	// + Software LICENSING TERMS
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware	35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.	36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
37	// + The Software may only be used with the Licensor's products.	37	// + The Software may only be used with the Licensor's products.
38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this	38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this	39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
40	// + agreement shall be the property of the Licensor.	40	// + agreement shall be the property of the Licensor.
41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other	41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
42	// + features that can be used to identify the program may not be altered or defaced by the customer.	42	// + features that can be used to identify the program may not be altered or defaced by the customer.
43	// + The customer shall be responsible for taking reasonable precautions	43	// + The customer shall be responsible for taking reasonable precautions
44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the	44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and	45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product	46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.	47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test	48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.	49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data	50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.	51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.	52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
53	// + #### END OF LICENSING TERMS ####	53	// + #### END OF LICENSING TERMS ####
54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.	54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
56	#include <stdio.h>	56	#include <stdio.h>
57	#include <string.h>	57	#include <string.h>
58	#include "91x_lib.h"	58	#include "91x_lib.h"
59	#include "mk3mag.h"	59	#include "mk3mag.h"
60	#include "i2c.h"	60	#include "i2c.h"
61	#include "timer1.h"	61	#include "timer1.h"
62	#include "led.h"	62	#include "led.h"
63	#include "main.h"	63	#include "main.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "compass.h"	65	#include "compass.h"
66	#include "spi_slave.h"	66	#include "spi_slave.h"
67		67
68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address	68	#define MK3MAG_SLAVE_ADDRESS 0x50 // i2C slave address
69		69
70	u8 MK3MAG_Present = 0;	70	u8 MK3MAG_Present = 0;
71		71
72	typedef struct	72	typedef struct
73	{	73	{
74	s16 Nick;	74	s16 Nick;
75	s16 Roll;	75	s16 Roll;
76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;	76	} __attribute__((packed)) MK3MAG_WriteAttitude_t;
77		77
78	typedef struct	78	typedef struct
79	{	79	{
80	u8 Major;	80	u8 Major;
81	u8 Minor;	81	u8 Minor;
82	u8 Patch;	82	u8 Patch;
83	u8 Compatible;	83	u8 Compatible;
84	} __attribute__((packed)) MK3MAG_Version_t;	84	} __attribute__((packed)) MK3MAG_Version_t;
85		85
86	typedef struct	86	typedef struct
87	{	87	{
88	u8 CalByte;	88	u8 CalByte;
89	u8 Dummy1;	89	u8 Dummy1;
90	u8 Dummy2;	90	u8 Dummy2;
91	} __attribute__((packed)) MK3MAG_Cal_t;	91	} __attribute__((packed)) MK3MAG_Cal_t;
92		92
93	// Transfer buffers	93	// Transfer buffers
94	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;	94	volatile MK3MAG_WriteAttitude_t MK3MAG_WriteAttitude;
95	volatile MK3MAG_Version_t MK3MAG_Version;	95	volatile MK3MAG_Version_t MK3MAG_Version;
96	volatile MK3MAG_Cal_t MK3MAG_WriteCal;	96	volatile MK3MAG_Cal_t MK3MAG_WriteCal;
97	volatile MK3MAG_Cal_t MK3MAG_ReadCal;	97	volatile MK3MAG_Cal_t MK3MAG_ReadCal;
98		98
99	// -------------------------------------------------------------------------------	99	// -------------------------------------------------------------------------------
100	// the calculation of the MK3MAG packet checksum	100	// the calculation of the MK3MAG packet checksum
101		101
102	// calculate the crc of bytecount bytes in buffer	102	// calculate the crc of bytecount bytes in buffer
103	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)	103	u8 MK3MAG_CalcCRC(u8* pBuffer, u8 bytecount)
104	{	104	{
105	u8 i, crc = 0;	105	u8 i, crc = 0;
106	for(i=0; i < bytecount; i++)	106	for(i=0; i < bytecount; i++)
107	{	107	{
108	crc += pBuffer[i];	108	crc += pBuffer[i];
109	}	109	}
110	crc = ~crc;	110	crc = ~crc;
111	return crc;	111	return crc;
112	}	112	}
113		113
114	// assuming the last byte in buffer is the crc byte	114	// assuming the last byte in buffer is the crc byte
115	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)	115	u8 MK3MAG_CheckCRC(u8* pBuffer, u8 BuffLen)
116	{	116	{
117	u8 crc = 0, retval = 0;	117	u8 crc = 0, retval = 0;
118	if(BuffLen == 0) return(retval);	118	if(BuffLen == 0) return(retval);
119	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);	119	crc = MK3MAG_CalcCRC(pBuffer, BuffLen-1);
120	if(crc == pBuffer[BuffLen-1])	120	if(crc == pBuffer[BuffLen-1])
121	{	121	{
122	retval = 1;	122	retval = 1;
123	DebugOut.Analog[15]++; // count mk3mag ok	123	DebugOut.Analog[15]++; // count mk3mag ok
124	}	124	}
125	else	125	else
126	{	126	{
127	retval = 0;	127	retval = 0;
128	DebugOut.Analog[14]++; // count mk3mag crc error	128	DebugOut.Analog[14]++; // count mk3mag crc error
129	}	129	}
130	return(retval);	130	return(retval);
131	}	131	}
132		132
133	// -------------------------------------------------------------------------------	133	// -------------------------------------------------------------------------------
134	// the I2C rx data handler functions	134	// the I2C rx data handler functions
135		135
136	// rx data handler for version info request	136	// rx data handler for version info request
137	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)	137	void MK3MAG_UpdateVersion(u8* pRxBuffer, u8 RxBufferSize)
138	{ // if crc is ok and number of byte are matching	138	{ // if crc is ok and number of byte are matching
139	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )	139	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
140	{	140	{
141	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));	141	memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
142	}	142	}
143	}	143	}
144		144
145	// rx data handler for calibration request	145	// rx data handler for calibration request
146	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)	146	void MK3MAG_UpdateCalibration(u8* pRxBuffer, u8 RxBufferSize)
147	{ // if crc is ok and number of byte are matching	147	{ // if crc is ok and number of byte are matching
148	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )	148	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
149	{	149	{
150	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));	150	memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
151	}	151	}
152	}	152	}
153		153
154	// rx data handler for magnetic vector request	154	// rx data handler for magnetic vector request
155	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	155	void MK3MAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
156	{ // if crc is ok and number of byte are matching	156	{ // if crc is ok and number of byte are matching
157	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )	157	if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MagVector)+1)) )
158	{	158	{
159	s16vec_t pMagVector = (s16vec_t)pRxBuffer;	159	s16vec_t pMagVector = (s16vec_t)pRxBuffer;
160	MagVector.X = pMagVector->Y;	160	MagVector.X = pMagVector->Y;
161	MagVector.Y = pMagVector->X;	161	MagVector.Y = pMagVector->X;
162	MagVector.Z = -pMagVector->Z;	162	MagVector.Z = -pMagVector->Z;
163	Compass_CalcHeading();	163	Compass_CalcHeading();
164	}	164	}
165	}	165	}
166		166
167	//----------------------------------------------------------------	167	//----------------------------------------------------------------
168	#define MK3MAG_CMD_VERSION 0x01	168	#define MK3MAG_CMD_VERSION 0x01
169	#define MK3MAG_CMD_READ_MAGVECT 0x02	169	#define MK3MAG_CMD_READ_MAGVECT 0x02
170	#define MK3MAG_CMD_WRITE_CAL 0x04	170	#define MK3MAG_CMD_WRITE_CAL 0x04
171		171
172	// use I2C1 for communication	172	// use I2C1 for communication
173	void MK3MAG_SendCommand(u8 command)	173	void MK3MAG_SendCommand(u8 command)
174	{	174	{
175	// try to catch the I2C buffer	175	// try to catch the I2C buffer
176	if(I2CBus_LockBuffer(I2C1, 0))	176	if(I2CBus_LockBuffer(I2C1, 0))
177	{	177	{
178	u8 TxData[100];	178	u8 TxData[100];
179	u16 TxBytes = 0;	179	u16 TxBytes = 0;
180	u16 RxBytes = 0;	180	u16 RxBytes = 0;
181	I2C_pRxHandler_t pRxHandlerFunc = NULL;	181	I2C_pRxHandler_t pRxHandlerFunc = NULL;
182		182
183	// update current command id	183	// update current command id
184	TxData[TxBytes++] = command;	184	TxData[TxBytes++] = command;
185		185
186	// set pointers to data area with respect to the command id	186	// set pointers to data area with respect to the command id
187	switch (command)	187	switch (command)
188	{	188	{
189	case MK3MAG_CMD_VERSION:	189	case MK3MAG_CMD_VERSION:
190	RxBytes = sizeof(MK3MAG_Version)+1;	190	RxBytes = sizeof(MK3MAG_Version)+1;
191	pRxHandlerFunc = &MK3MAG_UpdateVersion;	191	pRxHandlerFunc = &MK3MAG_UpdateVersion;
192	break;	192	break;
193	case MK3MAG_CMD_WRITE_CAL:	193	case MK3MAG_CMD_WRITE_CAL:
194	RxBytes = sizeof(MK3MAG_ReadCal)+1;	194	RxBytes = sizeof(MK3MAG_ReadCal)+1;
195	pRxHandlerFunc = &MK3MAG_UpdateCalibration;	195	pRxHandlerFunc = &MK3MAG_UpdateCalibration;
196	memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));	196	memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
197	TxBytes += sizeof(MK3MAG_WriteCal);	197	TxBytes += sizeof(MK3MAG_WriteCal);
198	break;	198	break;
199	case MK3MAG_CMD_READ_MAGVECT:	199	case MK3MAG_CMD_READ_MAGVECT:
200	RxBytes = sizeof(MagVector)+1;	200	RxBytes = sizeof(MagVector)+1;
201	pRxHandlerFunc = &MK3MAG_UpdateMagVector;	201	pRxHandlerFunc = &MK3MAG_UpdateMagVector;
202	break;	202	break;
203	default: // unknown command id	203	default: // unknown command id
204	RxBytes = 0;	204	RxBytes = 0;
205	pRxHandlerFunc = NULL;	205	pRxHandlerFunc = NULL;
206	break;	206	break;
207	}	207	}
208	// update packet checksum	208	// update packet checksum
209	TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes);	209	TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes);
210	TxBytes++;	210	TxBytes++;
211	// initiate I2C transmission	211	// initiate I2C transmission
212	I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes);	212	I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes);
213	} // EOF I2C_State == I2C_IDLE	213	} // EOF I2C_State == I2C_IDLE
214	}	214	}
215		215
216		216
217	//----------------------------------------------------------------	217	//----------------------------------------------------------------
218	u8 MK3MAG_Init(void)	218	u8 MK3MAG_Init(void)
219	{	219	{
220	if(MK3MAG_Present) // do only short init ! , full init was called before	220	if(MK3MAG_Present) // do only short init ! , full init was called before
221	{	221	{
222	// try reconnect by reseting the I2C bus	222	// try reconnect by reseting the I2C bus
223	I2CBus_Deinit(I2C1);	223	I2CBus_Deinit(I2C1);
224	I2CBus_Init(I2C1);	224	I2CBus_Init(I2C1);
225	}	225	}
226	else // full init	226	else // full init
227	{	227	{
228	u8 msg[64];	228	u8 msg[64];
229	u8 repeat;	229	u8 repeat;
230	u32 timeout;	230	u32 timeout;
231		231
232	Compass_I2CPort = I2C1;	232	Compass_I2CPort = I2C1;
233	MK3MAG_Present = 0;	233	MK3MAG_Present = 0;
234		234
235	MK3MAG_Version.Major = 0xFF;	235	MK3MAG_Version.Major = 0xFF;
236	MK3MAG_Version.Minor = 0xFF;	236	MK3MAG_Version.Minor = 0xFF;
237	MK3MAG_Version.Patch = 0xFF;	237	MK3MAG_Version.Patch = 0xFF;
238	MK3MAG_Version.Compatible = 0xFF;	238	MK3MAG_Version.Compatible = 0xFF;
239		239
240	// polling of version info	240	// polling of version info
241	repeat = 0;	241	repeat = 0;
242	do	242	do
243	{	243	{
244	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);	244	MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
245	if((Version_HW & 0x7F) > 11) timeout = SetDelay(100);	245	if(UART_VersionInfo.HWMajor > 11) timeout = SetDelay(100);
246	else timeout = SetDelay(250);	246	else timeout = SetDelay(250);
247		247
248	do	248	do
249	{	249	{
250	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success	250	if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
251	}while (!CheckDelay(timeout));	251	}while (!CheckDelay(timeout));
252	UART1_PutString(".");	252	UART1_PutString(".");
253	repeat++;	253	repeat++;
254	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s	254	}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
255	// if we got it	255	// if we got it
256	if (MK3MAG_Version.Major != 0xFF)	256	if (MK3MAG_Version.Major != 0xFF)
257	{	257	{
258	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);	258	sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
259	UART1_PutString(msg);	259	UART1_PutString(msg);
260	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	260	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
261	{	261	{
262	UART1_PutString("\n\r MK3MAG not compatible!");	262	UART1_PutString("\n\r MK3MAG not compatible!");
263	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;	263	UART_VersionInfo.HardwareError[0] \|= NC_ERROR0_COMPASS_INCOMPATIBLE;
264	LED_RED_ON;	264	LED_RED_ON;
265	}	265	}
266	else	266	else
267	{ // version ok	267	{ // version ok
268	MK3MAG_Present = 1;	268	MK3MAG_Present = 1;
269	}	269	}
270	}	270	}
271	}	271	}
272	return(MK3MAG_Present);	272	return(MK3MAG_Present);
273	}	273	}
274		274
275	//----------------------------------------------------------------	275	//----------------------------------------------------------------
276	void MK3MAG_Update(void)	276	void MK3MAG_Update(void)
277	{	277	{
278	static u32 TimerUpdate = 0;	278	static u32 TimerUpdate = 0;
279	static s16 x_max,y_max,z_max,x_min,y_min,z_min;	279	static s16 x_max,y_max,z_max,x_min,y_min,z_min;
280	static u8 last_state,speak = 0;	280	static u8 last_state,speak = 0;
281	u8 msg[64];	281	u8 msg[64];
282	u16 MinCaclibration = 500;	282	u16 MinCaclibration = 500;
283		283
284	if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) \|\| !MK3MAG_Present ) return;	284	if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) \|\| !MK3MAG_Present ) return;
285		285
286	if(CheckDelay(TimerUpdate))	286	if(CheckDelay(TimerUpdate))
287	{	287	{
288	// check for incomming compass calibration request	288	// check for incomming compass calibration request
289	Compass_UpdateCalState();	289	Compass_UpdateCalState();
290	MK3MAG_WriteCal.CalByte = Compass_CalState;	290	MK3MAG_WriteCal.CalByte = Compass_CalState;
291		291
292	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)	292	if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
293	{ // send new calibration state	293	{ // send new calibration state
294	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);	294	MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
295	}	295	}
296	else	296	else
297	{ // calibration state matches	297	{ // calibration state matches
298	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer	298	MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
299		299
300	switch(Compass_CalState)	300	switch(Compass_CalState)
301	{	301	{
302	case 1:	302	case 1:
303	if(last_state != Compass_CalState)	303	if(last_state != Compass_CalState)
304	{	304	{
305	UART1_PutString("\r\nMK3Mag calibration\n\r");	305	UART1_PutString("\r\nMK3Mag calibration\n\r");
306	if(EarthMagneticStrengthTheoretic)	306	if(EarthMagneticStrengthTheoretic)
307	{	307	{
308	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;	308	MinCaclibration = (MinCaclibration * EarthMagneticStrengthTheoretic) / 50;
309	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);	309	sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
310	UART1_PutString(msg);	310	UART1_PutString(msg);
311	}	311	}
312	else UART1_PutString("without GPS\n\r");	312	else UART1_PutString("without GPS\n\r");
313	}	313	}
314	x_max = -30000; y_max = -30000; z_max = -30000;	314	x_max = -30000; y_max = -30000; z_max = -30000;
315	x_min = 30000; y_min = 30000; z_min = 30000;	315	x_min = 30000; y_min = 30000; z_min = 30000;
316	speak = 1;	316	speak = 1;
317	break;	317	break;
318	case 2:	318	case 2:
319	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;	319	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
320		320
321	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }	321	if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 60; }
322	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }	322	else if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 20; }
323	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }	323	if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 60; }
324	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }	324	else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
325		325
326	break;	326	break;
327	case 3:	327	case 3:
328	speak = 1;	328	speak = 1;
329	break;	329	break;
330	case 4:	330	case 4:
331	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;	331	if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
332	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }	332	if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 80; }
333	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }	333	else if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 80; }
334	break;	334	break;
335	case 5:	335	case 5:
336	if(last_state == Compass_CalState) break;	336	if(last_state == Compass_CalState) break;
337	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))	337	if(((x_max - x_min) > MinCaclibration) && ((y_max - y_min) > MinCaclibration) && ((z_max - z_min) > MinCaclibration))
338	{	338	{
339	BeepTime = 2500;	339	BeepTime = 2500;
340	UART1_PutString("\r\n-> Calibration okay <-\n\r");	340	UART1_PutString("\r\n-> Calibration okay <-\n\r");
341	SpeakHoTT = SPEAK_MIKROKOPTER;	341	SpeakHoTT = SPEAK_MIKROKOPTER;
342	}	342	}
343	else	343	else
344	{	344	{
345	UART1_PutString("\r\nCalibration FAILED - Values too low: ");	345	UART1_PutString("\r\nCalibration FAILED - Values too low: ");
346	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");	346	if((x_max - x_min) < MinCaclibration) UART1_PutString("X! ");
347	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");	347	if((y_max - y_min) < MinCaclibration) UART1_PutString("Y! ");
348	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");	348	if((z_max - z_min) < MinCaclibration) UART1_PutString("Z! ");
349	UART1_PutString("\r\n");	349	UART1_PutString("\r\n");
350	SpeakHoTT = SPEAK_ERR_CALIBARTION;	350	SpeakHoTT = SPEAK_ERR_CALIBARTION;
351	}	351	}
352	UART1_PutString(msg);	352	UART1_PutString(msg);
353	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);	353	sprintf(msg, "\r\nX: (%i - %i = %i)\r\n",x_max,x_min,x_max - x_min);
354	UART1_PutString(msg);	354	UART1_PutString(msg);
355	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);	355	sprintf(msg, "Y: (%i - %i = %i)\r\n",y_max,y_min,y_max - y_min);
356	UART1_PutString(msg);	356	UART1_PutString(msg);
357	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);	357	sprintf(msg, "Z: (%i - %i = %i)\r\n",z_max,z_min,z_max - z_min);
358	UART1_PutString(msg);	358	UART1_PutString(msg);
359	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);	359	sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCaclibration);
360	UART1_PutString(msg);	360	UART1_PutString(msg);
361	break;	361	break;
362	default:	362	default:
363	break;	363	break;
364	}	364	}
365	last_state = Compass_CalState;	365	last_state = Compass_CalState;
366	}	366	}
367	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz	367	TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz
368	}	368	}
369	}	369	}
370		370

Subversion Repositories NaviCtrl

(root)/tags/V2.10e/mk3mag.c @ 667 - Rev 493 → 530