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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <math.h> |
57 | #include <math.h> |
| 58 | #include <string.h> |
58 | #include <string.h> |
| 59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
| 61 | #include "i2c.h" |
61 | #include "i2c.h" |
| 62 | #include "timer1.h" |
62 | #include "timer1.h" |
| 63 | #include "led.h" |
63 | #include "led.h" |
| 64 | #include "spi_slave.h" |
64 | #include "spi_slave.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 | 68 | ||
| 69 | u8 NCMAG_Present = 0; |
69 | u8 NCMAG_Present = 0; |
| 70 | u8 NCMAG_IsCalibrated = 0; |
70 | u8 NCMAG_IsCalibrated = 0; |
| 71 | 71 | ||
| 72 | #define MAG_TYPE_NONE 0 |
72 | #define MAG_TYPE_NONE 0 |
| 73 | #define MAG_TYPE_HMC5843 1 |
73 | #define MAG_TYPE_HMC5843 1 |
| 74 | #define MAG_TYPE_LSM303DLH 2 |
74 | #define MAG_TYPE_LSM303DLH 2 |
| 75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
75 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
| 76 | 76 | ||
| 77 | #define CALIBRATION_VERSION 1 |
77 | #define CALIBRATION_VERSION 1 |
| 78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
78 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
| 79 | 79 | ||
| 80 | #define NCMAG_MIN_RAWVALUE -2047 |
80 | #define NCMAG_MIN_RAWVALUE -2047 |
| 81 | #define NCMAG_MAX_RAWVALUE 2047 |
81 | #define NCMAG_MAX_RAWVALUE 2047 |
| 82 | #define NCMAG_INVALID_DATA -4096 |
82 | #define NCMAG_INVALID_DATA -4096 |
| 83 | 83 | ||
| 84 | typedef struct |
84 | typedef struct |
| 85 | { |
85 | { |
| 86 | s16 Range; |
86 | s16 Range; |
| 87 | s16 Offset; |
87 | s16 Offset; |
| 88 | } __attribute__((packed)) Scaling_t; |
88 | } __attribute__((packed)) Scaling_t; |
| 89 | 89 | ||
| 90 | typedef struct |
90 | typedef struct |
| 91 | { |
91 | { |
| 92 | Scaling_t MagX; |
92 | Scaling_t MagX; |
| 93 | Scaling_t MagY; |
93 | Scaling_t MagY; |
| 94 | Scaling_t MagZ; |
94 | Scaling_t MagZ; |
| 95 | u8 Version; |
95 | u8 Version; |
| 96 | u8 crc; |
96 | u8 crc; |
| 97 | } __attribute__((packed)) Calibration_t; |
97 | } __attribute__((packed)) Calibration_t; |
| 98 | 98 | ||
| 99 | Calibration_t Calibration; // calibration data in RAM |
99 | Calibration_t Calibration; // calibration data in RAM |
| 100 | 100 | ||
| 101 | // i2c MAG interface |
101 | // i2c MAG interface |
| 102 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
102 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
| 103 | 103 | ||
| 104 | // register mapping |
104 | // register mapping |
| 105 | #define REG_MAG_CRA 0x00 |
105 | #define REG_MAG_CRA 0x00 |
| 106 | #define REG_MAG_CRB 0x01 |
106 | #define REG_MAG_CRB 0x01 |
| 107 | #define REG_MAG_MODE 0x02 |
107 | #define REG_MAG_MODE 0x02 |
| 108 | #define REG_MAG_DATAX_MSB 0x03 |
108 | #define REG_MAG_DATAX_MSB 0x03 |
| 109 | #define REG_MAG_DATAX_LSB 0x04 |
109 | #define REG_MAG_DATAX_LSB 0x04 |
| 110 | #define REG_MAG_DATAY_MSB 0x05 |
110 | #define REG_MAG_DATAY_MSB 0x05 |
| 111 | #define REG_MAG_DATAY_LSB 0x06 |
111 | #define REG_MAG_DATAY_LSB 0x06 |
| 112 | #define REG_MAG_DATAZ_MSB 0x07 |
112 | #define REG_MAG_DATAZ_MSB 0x07 |
| 113 | #define REG_MAG_DATAZ_LSB 0x08 |
113 | #define REG_MAG_DATAZ_LSB 0x08 |
| 114 | #define REG_MAG_STATUS 0x09 |
114 | #define REG_MAG_STATUS 0x09 |
| 115 | #define REG_MAG_IDA 0x0A |
115 | #define REG_MAG_IDA 0x0A |
| 116 | #define REG_MAG_IDB 0x0B |
116 | #define REG_MAG_IDB 0x0B |
| 117 | #define REG_MAG_IDC 0x0C |
117 | #define REG_MAG_IDC 0x0C |
| 118 | 118 | ||
| 119 | // bit mask for configuration mode |
119 | // bit mask for configuration mode |
| 120 | #define CRA_MODE_MASK 0x03 |
120 | #define CRA_MODE_MASK 0x03 |
| 121 | #define CRA_MODE_NORMAL 0x00 //default |
121 | #define CRA_MODE_NORMAL 0x00 //default |
| 122 | #define CRA_MODE_POSBIAS 0x01 |
122 | #define CRA_MODE_POSBIAS 0x01 |
| 123 | #define CRA_MODE_NEGBIAS 0x02 |
123 | #define CRA_MODE_NEGBIAS 0x02 |
| 124 | #define CRA_MODE_SELFTEST 0x03 |
124 | #define CRA_MODE_SELFTEST 0x03 |
| 125 | 125 | ||
| 126 | // bit mask for measurement mode |
126 | // bit mask for measurement mode |
| 127 | #define MODE_MASK 0xFF |
127 | #define MODE_MASK 0xFF |
| 128 | #define MODE_CONTINUOUS 0x00 |
128 | #define MODE_CONTINUOUS 0x00 |
| 129 | #define MODE_SINGLE 0x01 // default |
129 | #define MODE_SINGLE 0x01 // default |
| 130 | #define MODE_IDLE 0x02 |
130 | #define MODE_IDLE 0x02 |
| 131 | #define MODE_SLEEP 0x03 |
131 | #define MODE_SLEEP 0x03 |
| 132 | 132 | ||
| 133 | // bit mask for rate |
133 | // bit mask for rate |
| 134 | #define CRA_RATE_MASK 0x1C |
134 | #define CRA_RATE_MASK 0x1C |
| 135 | 135 | ||
| 136 | // bit mask for gain |
136 | // bit mask for gain |
| 137 | #define CRB_GAIN_MASK 0xE0 |
137 | #define CRB_GAIN_MASK 0xE0 |
| 138 | 138 | ||
| 139 | // ids |
139 | // ids |
| 140 | #define MAG_IDA 0x48 |
140 | #define MAG_IDA 0x48 |
| 141 | #define MAG_IDB 0x34 |
141 | #define MAG_IDB 0x34 |
| 142 | #define MAG_IDC 0x33 |
142 | #define MAG_IDC 0x33 |
| 143 | 143 | ||
| 144 | // the special HMC5843 interface |
144 | // the special HMC5843 interface |
| 145 | // bit mask for rate |
145 | // bit mask for rate |
| 146 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
146 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
| 147 | #define HMC5843_CRA_RATE_1HZ 0x04 |
147 | #define HMC5843_CRA_RATE_1HZ 0x04 |
| 148 | #define HMC5843_CRA_RATE_2HZ 0x08 |
148 | #define HMC5843_CRA_RATE_2HZ 0x08 |
| 149 | #define HMC5843_CRA_RATE_5HZ 0x0C |
149 | #define HMC5843_CRA_RATE_5HZ 0x0C |
| 150 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
150 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
| 151 | #define HMC5843_CRA_RATE_20HZ 0x14 |
151 | #define HMC5843_CRA_RATE_20HZ 0x14 |
| 152 | #define HMC5843_CRA_RATE_50HZ 0x18 |
152 | #define HMC5843_CRA_RATE_50HZ 0x18 |
| 153 | // bit mask for gain |
153 | // bit mask for gain |
| 154 | #define HMC5843_CRB_GAIN_07GA 0x00 |
154 | #define HMC5843_CRB_GAIN_07GA 0x00 |
| 155 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
155 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
| 156 | #define HMC5843_CRB_GAIN_15GA 0x40 |
156 | #define HMC5843_CRB_GAIN_15GA 0x40 |
| 157 | #define HMC5843_CRB_GAIN_20GA 0x60 |
157 | #define HMC5843_CRB_GAIN_20GA 0x60 |
| 158 | #define HMC5843_CRB_GAIN_32GA 0x80 |
158 | #define HMC5843_CRB_GAIN_32GA 0x80 |
| 159 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
159 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
| 160 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
160 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
| 161 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
161 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
| 162 | // self test value |
162 | // self test value |
| 163 | #define HMC5843_TEST_XSCALE 715 |
163 | #define HMC5843_TEST_XSCALE 715 |
| 164 | #define HMC5843_TEST_YSCALE 715 |
164 | #define HMC5843_TEST_YSCALE 715 |
| 165 | #define HMC5843_TEST_ZSCALE 715 |
165 | #define HMC5843_TEST_ZSCALE 715 |
| 166 | 166 | ||
| 167 | 167 | ||
| 168 | // the special LSM302DLH interface |
168 | // the special LSM302DLH interface |
| 169 | // bit mask for rate |
169 | // bit mask for rate |
| 170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
170 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
| 171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
171 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
| 172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
172 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
| 173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
173 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
| 174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
174 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
| 175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
175 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
| 176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
176 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| 177 | // bit mask for gain |
177 | // bit mask for gain |
| 178 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
178 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| 179 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
179 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| 180 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
180 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
| 181 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
181 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| 182 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
182 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
| 183 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
183 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| 184 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
184 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| 185 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
185 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| 186 | // self test value |
186 | // self test value |
| 187 | #define LSM303DLH_TEST_XSCALE 655 |
187 | #define LSM303DLH_TEST_XSCALE 655 |
| 188 | #define LSM303DLH_TEST_YSCALE 655 |
188 | #define LSM303DLH_TEST_YSCALE 655 |
| 189 | #define LSM303DLH_TEST_ZSCALE 630 |
189 | #define LSM303DLH_TEST_ZSCALE 630 |
| 190 | 190 | ||
| 191 | // the i2c ACC interface |
191 | // the i2c ACC interface |
| 192 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
192 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
| 193 | // register mapping |
193 | // register mapping |
| 194 | #define REG_ACC_CTRL1 0x20 |
194 | #define REG_ACC_CTRL1 0x20 |
| 195 | #define REG_ACC_CTRL2 0x21 |
195 | #define REG_ACC_CTRL2 0x21 |
| 196 | #define REG_ACC_CTRL3 0x22 |
196 | #define REG_ACC_CTRL3 0x22 |
| 197 | #define REG_ACC_CTRL4 0x23 |
197 | #define REG_ACC_CTRL4 0x23 |
| 198 | #define REG_ACC_CTRL5 0x24 |
198 | #define REG_ACC_CTRL5 0x24 |
| 199 | #define REG_ACC_HP_FILTER_RESET 0x25 |
199 | #define REG_ACC_HP_FILTER_RESET 0x25 |
| 200 | #define REG_ACC_REFERENCE 0x26 |
200 | #define REG_ACC_REFERENCE 0x26 |
| 201 | #define REG_ACC_STATUS 0x27 |
201 | #define REG_ACC_STATUS 0x27 |
| 202 | #define REG_ACC_X_LSB 0x28 |
202 | #define REG_ACC_X_LSB 0x28 |
| 203 | #define REG_ACC_X_MSB 0x29 |
203 | #define REG_ACC_X_MSB 0x29 |
| 204 | #define REG_ACC_Y_LSB 0x2A |
204 | #define REG_ACC_Y_LSB 0x2A |
| 205 | #define REG_ACC_Y_MSB 0x2B |
205 | #define REG_ACC_Y_MSB 0x2B |
| 206 | #define REG_ACC_Z_LSB 0x2C |
206 | #define REG_ACC_Z_LSB 0x2C |
| 207 | #define REG_ACC_Z_MSB 0x2D |
207 | #define REG_ACC_Z_MSB 0x2D |
| 208 | 208 | ||
| 209 | 209 | ||
| 210 | 210 | ||
| 211 | typedef struct |
211 | typedef struct |
| 212 | { |
212 | { |
| 213 | u8 A; |
213 | u8 A; |
| 214 | u8 B; |
214 | u8 B; |
| 215 | u8 C; |
215 | u8 C; |
| 216 | } __attribute__((packed)) Identification_t; |
216 | } __attribute__((packed)) Identification_t; |
| 217 | 217 | ||
| 218 | volatile Identification_t NCMAG_Identification; |
218 | volatile Identification_t NCMAG_Identification; |
| 219 | 219 | ||
| 220 | typedef struct |
220 | typedef struct |
| 221 | { |
221 | { |
| 222 | u8 cra; |
222 | u8 cra; |
| 223 | u8 crb; |
223 | u8 crb; |
| 224 | u8 mode; |
224 | u8 mode; |
| 225 | } __attribute__((packed)) MagConfig_t; |
225 | } __attribute__((packed)) MagConfig_t; |
| 226 | 226 | ||
| 227 | volatile MagConfig_t MagConfig; |
227 | volatile MagConfig_t MagConfig; |
| 228 | 228 | ||
| 229 | typedef struct |
229 | typedef struct |
| 230 | { |
230 | { |
| 231 | u8 ctrl_1; |
231 | u8 ctrl_1; |
| 232 | u8 ctrl_2; |
232 | u8 ctrl_2; |
| 233 | u8 ctrl_3; |
233 | u8 ctrl_3; |
| 234 | u8 ctrl_4; |
234 | u8 ctrl_4; |
| 235 | u8 ctrl_5; |
235 | u8 ctrl_5; |
| 236 | } __attribute__((packed)) AccConfig_t; |
236 | } __attribute__((packed)) AccConfig_t; |
| 237 | 237 | ||
| 238 | volatile AccConfig_t AccConfig; |
238 | volatile AccConfig_t AccConfig; |
| 239 | 239 | ||
| 240 | volatile s16vec_t AccRawVector; |
240 | volatile s16vec_t AccRawVector; |
| 241 | volatile s16vec_t MagRawVector; |
241 | volatile s16vec_t MagRawVector; |
| 242 | 242 | ||
| 243 | 243 | ||
| 244 | u8 NCMag_CalibrationWrite(void) |
244 | u8 NCMag_CalibrationWrite(void) |
| 245 | { |
245 | { |
| 246 | u8 i, crc = 0xAA; |
246 | u8 i, crc = 0xAA; |
| 247 | EEPROM_Result_t eres; |
247 | EEPROM_Result_t eres; |
| 248 | u8 *pBuff = (u8*)&Calibration; |
248 | u8 *pBuff = (u8*)&Calibration; |
| 249 | 249 | ||
| 250 | Calibration.Version = CALIBRATION_VERSION; |
250 | Calibration.Version = CALIBRATION_VERSION; |
| 251 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
251 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 252 | { |
252 | { |
| 253 | crc += pBuff[i]; |
253 | crc += pBuff[i]; |
| 254 | } |
254 | } |
| 255 | Calibration.crc = ~crc; |
255 | Calibration.crc = ~crc; |
| 256 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
256 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
| 257 | if(EEPROM_SUCCESS == eres) i = 1; |
257 | if(EEPROM_SUCCESS == eres) i = 1; |
| 258 | else i = 0; |
258 | else i = 0; |
| 259 | return(i); |
259 | return(i); |
| 260 | } |
260 | } |
| 261 | 261 | ||
| 262 | u8 NCMag_CalibrationRead(void) |
262 | u8 NCMag_CalibrationRead(void) |
| 263 | { |
263 | { |
| 264 | u8 i, crc = 0xAA; |
264 | u8 i, crc = 0xAA; |
| 265 | u8 *pBuff = (u8*)&Calibration; |
265 | u8 *pBuff = (u8*)&Calibration; |
| 266 | 266 | ||
| 267 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
267 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
| 268 | { |
268 | { |
| 269 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
269 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 270 | { |
270 | { |
| 271 | crc += pBuff[i]; |
271 | crc += pBuff[i]; |
| 272 | } |
272 | } |
| 273 | crc = ~crc; |
273 | crc = ~crc; |
| 274 | if(Calibration.crc != crc) return(0); // crc mismatch |
274 | if(Calibration.crc != crc) return(0); // crc mismatch |
| 275 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
275 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
| 276 | } |
276 | } |
| 277 | return(0); |
277 | return(0); |
| 278 | } |
278 | } |
| 279 | 279 | ||
| 280 | 280 | ||
| 281 | void NCMAG_Calibrate(void) |
281 | void NCMAG_Calibrate(void) |
| 282 | { |
282 | { |
| 283 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
283 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| 284 | static s16 X = 0, Y = 0, Z = 0; |
284 | static s16 X = 0, Y = 0, Z = 0; |
| 285 | static u8 OldCalState = 0; |
285 | static u8 OldCalState = 0; |
| 286 | 286 | ||
| 287 | X = (4*X + MagRawVector.X + 3)/5; |
287 | X = (4*X + MagRawVector.X + 3)/5; |
| 288 | Y = (4*Y + MagRawVector.Y + 3)/5; |
288 | Y = (4*Y + MagRawVector.Y + 3)/5; |
| 289 | Z = (4*Z + MagRawVector.Z + 3)/5; |
289 | Z = (4*Z + MagRawVector.Z + 3)/5; |
| 290 | 290 | ||
| 291 | switch(Compass_CalState) |
291 | switch(Compass_CalState) |
| 292 | { |
292 | { |
| 293 | case 1: |
293 | case 1: |
| 294 | // 1st step of calibration |
294 | // 1st step of calibration |
| 295 | // initialize ranges |
295 | // initialize ranges |
| 296 | // used to change the orientation of the NC in the horizontal plane |
296 | // used to change the orientation of the NC in the horizontal plane |
| 297 | Xmin = 10000; |
297 | Xmin = 10000; |
| 298 | Xmax = -10000; |
298 | Xmax = -10000; |
| 299 | Ymin = 10000; |
299 | Ymin = 10000; |
| 300 | Ymax = -10000; |
300 | Ymax = -10000; |
| 301 | Zmin = 10000; |
301 | Zmin = 10000; |
| 302 | Zmax = -10000; |
302 | Zmax = -10000; |
| 303 | break; |
303 | break; |
| 304 | 304 | ||
| 305 | case 2: // 2nd step of calibration |
305 | case 2: // 2nd step of calibration |
| 306 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
306 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 307 | if(X < Xmin) Xmin = X; |
307 | if(X < Xmin) Xmin = X; |
| 308 | else if(X > Xmax) Xmax = X; |
308 | else if(X > Xmax) Xmax = X; |
| 309 | if(Y < Ymin) Ymin = Y; |
309 | if(Y < Ymin) Ymin = Y; |
| 310 | else if(Y > Ymax) Ymax = Y; |
310 | else if(Y > Ymax) Ymax = Y; |
| 311 | break; |
311 | break; |
| 312 | 312 | ||
| 313 | case 3: // 3rd step of calibration |
313 | case 3: // 3rd step of calibration |
| 314 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
314 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| 315 | break; |
315 | break; |
| 316 | 316 | ||
| 317 | case 4: |
317 | case 4: |
| 318 | // find Min and Max of the Z-Sensor |
318 | // find Min and Max of the Z-Sensor |
| 319 | if(Z < Zmin) Zmin = Z; |
319 | if(Z < Zmin) Zmin = Z; |
| 320 | else if(Z > Zmax) Zmax = Z; |
320 | else if(Z > Zmax) Zmax = Z; |
| 321 | break; |
321 | break; |
| 322 | 322 | ||
| 323 | case 5: |
323 | case 5: |
| 324 | // Save values |
324 | // Save values |
| 325 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
325 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| 326 | { |
326 | { |
| - | 327 | #define MIN_CALIBRATION 350 |
|
| 327 | Calibration.MagX.Range = Xmax - Xmin; |
328 | Calibration.MagX.Range = Xmax - Xmin; |
| 328 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
329 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| 329 | Calibration.MagY.Range = Ymax - Ymin; |
330 | Calibration.MagY.Range = Ymax - Ymin; |
| 330 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
331 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| 331 | Calibration.MagZ.Range = Zmax - Zmin; |
332 | Calibration.MagZ.Range = Zmax - Zmin; |
| 332 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
333 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| 333 | if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512)) |
334 | if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
| 334 | { |
335 | { |
| 335 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
336 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
| - | 337 | UART1_PutString("\r\n Calibration okay"); |
|
| 336 | } |
338 | } |
| 337 | else |
339 | else |
| 338 | { |
340 | { |
| 339 | // restore old calibration data from eeprom |
341 | // restore old calibration data from eeprom |
| 340 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
342 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| - | 343 | UART1_PutString("\r\n Calibration FAILED - Values too low: "); |
|
| - | 344 | if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
|
| - | 345 | if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("Y! "); |
|
| - | 346 | if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
|
| 341 | } |
347 | } |
| 342 | } |
348 | } |
| 343 | break; |
349 | break; |
| 344 | 350 | ||
| 345 | default: |
351 | default: |
| 346 | break; |
352 | break; |
| 347 | } |
353 | } |
| 348 | OldCalState = Compass_CalState; |
354 | OldCalState = Compass_CalState; |
| 349 | } |
355 | } |
| 350 | 356 | ||
| 351 | // ---------- call back handlers ----------------------------------------- |
357 | // ---------- call back handlers ----------------------------------------- |
| 352 | 358 | ||
| 353 | // rx data handler for id info request |
359 | // rx data handler for id info request |
| 354 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
360 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
| 355 | { // if number of bytes are matching |
361 | { // if number of bytes are matching |
| 356 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
362 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
| 357 | { |
363 | { |
| 358 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
364 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
| 359 | } |
365 | } |
| 360 | } |
366 | } |
| 361 | // rx data handler for magnetic sensor raw data |
367 | // rx data handler for magnetic sensor raw data |
| 362 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
368 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| 363 | { // if number of bytes are matching |
369 | { // if number of bytes are matching |
| 364 | if(RxBufferSize == sizeof(MagRawVector) ) |
370 | if(RxBufferSize == sizeof(MagRawVector) ) |
| 365 | { // byte order from big to little endian |
371 | { // byte order from big to little endian |
| 366 | s16 raw; |
372 | s16 raw; |
| 367 | raw = pRxBuffer[0]<<8; |
373 | raw = pRxBuffer[0]<<8; |
| 368 | raw+= pRxBuffer[1]; |
374 | raw+= pRxBuffer[1]; |
| 369 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
375 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
| 370 | raw = pRxBuffer[2]<<8; |
376 | raw = pRxBuffer[2]<<8; |
| 371 | raw+= pRxBuffer[3]; |
377 | raw+= pRxBuffer[3]; |
| 372 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
378 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw; |
| 373 | raw = pRxBuffer[4]<<8; |
379 | raw = pRxBuffer[4]<<8; |
| 374 | raw+= pRxBuffer[5]; |
380 | raw+= pRxBuffer[5]; |
| 375 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
381 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw; |
| 376 | } |
382 | } |
| 377 | if(Compass_CalState || !NCMAG_IsCalibrated) |
383 | if(Compass_CalState || !NCMAG_IsCalibrated) |
| 378 | { // direct output the raw data |
384 | { // direct output the raw data |
| 379 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
385 | memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector)); |
| 380 | Compass_Heading = -1; |
386 | Compass_Heading = -1; |
| 381 | } |
387 | } |
| 382 | else |
388 | else |
| 383 | { |
389 | { |
| 384 | // update MagVector from MagRaw Vector by Scaling |
390 | // update MagVector from MagRaw Vector by Scaling |
| 385 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
391 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
| 386 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
392 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
| 387 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
393 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
| 388 | 394 | ||
| 389 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
395 | if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) |
| 390 | { |
396 | { |
| 391 | Compass_Heading = -1; |
397 | Compass_Heading = -1; |
| 392 | } |
398 | } |
| 393 | else // fc attitude is avialable |
399 | else // fc attitude is avialable |
| 394 | { |
400 | { |
| 395 | // calculate attitude correction |
401 | // calculate attitude correction |
| 396 | // a float implementation takes too long for an ISR call! |
402 | // a float implementation takes too long for an ISR call! |
| 397 | s16 tmp, Hx, Hy; |
403 | s16 tmp, Hx, Hy; |
| 398 | s32 sinnick, cosnick, sinroll, cosroll; |
404 | s32 sinnick, cosnick, sinroll, cosroll; |
| 399 | 405 | ||
| 400 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
406 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
| 401 | sinnick = (s32)c_sin_8192(tmp); |
407 | sinnick = (s32)c_sin_8192(tmp); |
| 402 | cosnick = (s32)c_cos_8192(tmp); |
408 | cosnick = (s32)c_cos_8192(tmp); |
| 403 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
409 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
| 404 | sinroll = (s32)c_sin_8192(tmp); |
410 | sinroll = (s32)c_sin_8192(tmp); |
| 405 | cosroll = (s32)c_cos_8192(tmp); |
411 | cosroll = (s32)c_cos_8192(tmp); |
| 406 | // tbd. compensation signs and oriantation has to be fixed |
412 | // tbd. compensation signs and oriantation has to be fixed |
| 407 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
413 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
| 408 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
414 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
| 409 | // calculate heading |
415 | // calculate heading |
| 410 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
416 | tmp = (s16)(c_tan2_546(Hy, Hx)/546L); |
| 411 | if (tmp > 0) tmp = 360 - tmp; |
417 | if (tmp > 0) tmp = 360 - tmp; |
| 412 | else tmp = -tmp; |
418 | else tmp = -tmp; |
| 413 | Compass_Heading = tmp; |
419 | Compass_Heading = tmp; |
| 414 | } |
420 | } |
| 415 | } |
421 | } |
| 416 | } |
422 | } |
| 417 | // rx data handler for acceleration raw data |
423 | // rx data handler for acceleration raw data |
| 418 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
424 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| 419 | { // if number of byte are matching |
425 | { // if number of byte are matching |
| 420 | if(RxBufferSize == sizeof(AccRawVector) ) |
426 | if(RxBufferSize == sizeof(AccRawVector) ) |
| 421 | { |
427 | { |
| 422 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
428 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| 423 | } |
429 | } |
| 424 | } |
430 | } |
| 425 | // rx data handler for reading magnetic sensor configuration |
431 | // rx data handler for reading magnetic sensor configuration |
| 426 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
432 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 427 | { // if number of byte are matching |
433 | { // if number of byte are matching |
| 428 | if(RxBufferSize == sizeof(MagConfig) ) |
434 | if(RxBufferSize == sizeof(MagConfig) ) |
| 429 | { |
435 | { |
| 430 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
436 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
| 431 | } |
437 | } |
| 432 | } |
438 | } |
| 433 | // rx data handler for reading acceleration sensor configuration |
439 | // rx data handler for reading acceleration sensor configuration |
| 434 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
440 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 435 | { // if number of byte are matching |
441 | { // if number of byte are matching |
| 436 | if(RxBufferSize == sizeof(AccConfig) ) |
442 | if(RxBufferSize == sizeof(AccConfig) ) |
| 437 | { |
443 | { |
| 438 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
444 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| 439 | } |
445 | } |
| 440 | } |
446 | } |
| 441 | //---------------------------------------------------------------------- |
447 | //---------------------------------------------------------------------- |
| 442 | 448 | ||
| 443 | 449 | ||
| 444 | // --------------------------------------------------------------------- |
450 | // --------------------------------------------------------------------- |
| 445 | u8 NCMAG_SetMagConfig(void) |
451 | u8 NCMAG_SetMagConfig(void) |
| 446 | { |
452 | { |
| 447 | u8 retval = 0; |
453 | u8 retval = 0; |
| 448 | // try to catch the i2c buffer within 100 ms timeout |
454 | // try to catch the i2c buffer within 100 ms timeout |
| 449 | if(I2C_LockBuffer(100)) |
455 | if(I2C_LockBuffer(100)) |
| 450 | { |
456 | { |
| 451 | u8 TxBytes = 0; |
457 | u8 TxBytes = 0; |
| 452 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
458 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 453 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
459 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| 454 | TxBytes += sizeof(MagConfig); |
460 | TxBytes += sizeof(MagConfig); |
| 455 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
461 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 456 | { |
462 | { |
| 457 | if(I2C_WaitForEndOfTransmission(100)) |
463 | if(I2C_WaitForEndOfTransmission(100)) |
| 458 | { |
464 | { |
| 459 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
465 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 460 | } |
466 | } |
| 461 | } |
467 | } |
| 462 | } |
468 | } |
| 463 | return(retval); |
469 | return(retval); |
| 464 | } |
470 | } |
| 465 | 471 | ||
| 466 | // ---------------------------------------------------------------------------------------- |
472 | // ---------------------------------------------------------------------------------------- |
| 467 | u8 NCMAG_GetMagConfig(void) |
473 | u8 NCMAG_GetMagConfig(void) |
| 468 | { |
474 | { |
| 469 | u8 retval = 0; |
475 | u8 retval = 0; |
| 470 | // try to catch the i2c buffer within 100 ms timeout |
476 | // try to catch the i2c buffer within 100 ms timeout |
| 471 | if(I2C_LockBuffer(100)) |
477 | if(I2C_LockBuffer(100)) |
| 472 | { |
478 | { |
| 473 | u8 TxBytes = 0; |
479 | u8 TxBytes = 0; |
| 474 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
480 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 475 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
481 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| 476 | { |
482 | { |
| 477 | if(I2C_WaitForEndOfTransmission(100)) |
483 | if(I2C_WaitForEndOfTransmission(100)) |
| 478 | { |
484 | { |
| 479 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
485 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 480 | } |
486 | } |
| 481 | } |
487 | } |
| 482 | } |
488 | } |
| 483 | return(retval); |
489 | return(retval); |
| 484 | } |
490 | } |
| 485 | 491 | ||
| 486 | // ---------------------------------------------------------------------------------------- |
492 | // ---------------------------------------------------------------------------------------- |
| 487 | u8 NCMAG_SetAccConfig(void) |
493 | u8 NCMAG_SetAccConfig(void) |
| 488 | { |
494 | { |
| 489 | u8 retval = 0; |
495 | u8 retval = 0; |
| 490 | // try to catch the i2c buffer within 100 ms timeout |
496 | // try to catch the i2c buffer within 100 ms timeout |
| 491 | if(I2C_LockBuffer(100)) |
497 | if(I2C_LockBuffer(100)) |
| 492 | { |
498 | { |
| 493 | u8 TxBytes = 0; |
499 | u8 TxBytes = 0; |
| 494 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
500 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 495 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
501 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| 496 | TxBytes += sizeof(AccConfig); |
502 | TxBytes += sizeof(AccConfig); |
| 497 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
503 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 498 | { |
504 | { |
| 499 | if(I2C_WaitForEndOfTransmission(100)) |
505 | if(I2C_WaitForEndOfTransmission(100)) |
| 500 | { |
506 | { |
| 501 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
507 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 502 | } |
508 | } |
| 503 | } |
509 | } |
| 504 | } |
510 | } |
| 505 | return(retval); |
511 | return(retval); |
| 506 | } |
512 | } |
| 507 | 513 | ||
| 508 | // ---------------------------------------------------------------------------------------- |
514 | // ---------------------------------------------------------------------------------------- |
| 509 | u8 NCMAG_GetAccConfig(void) |
515 | u8 NCMAG_GetAccConfig(void) |
| 510 | { |
516 | { |
| 511 | u8 retval = 0; |
517 | u8 retval = 0; |
| 512 | // try to catch the i2c buffer within 100 ms timeout |
518 | // try to catch the i2c buffer within 100 ms timeout |
| 513 | if(I2C_LockBuffer(100)) |
519 | if(I2C_LockBuffer(100)) |
| 514 | { |
520 | { |
| 515 | u8 TxBytes = 0; |
521 | u8 TxBytes = 0; |
| 516 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
522 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 517 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
523 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| 518 | { |
524 | { |
| 519 | if(I2C_WaitForEndOfTransmission(100)) |
525 | if(I2C_WaitForEndOfTransmission(100)) |
| 520 | { |
526 | { |
| 521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
527 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 522 | } |
528 | } |
| 523 | } |
529 | } |
| 524 | } |
530 | } |
| 525 | return(retval); |
531 | return(retval); |
| 526 | } |
532 | } |
| 527 | 533 | ||
| 528 | // ---------------------------------------------------------------------------------------- |
534 | // ---------------------------------------------------------------------------------------- |
| 529 | u8 NCMAG_GetIdentification(void) |
535 | u8 NCMAG_GetIdentification(void) |
| 530 | { |
536 | { |
| 531 | u8 retval = 0; |
537 | u8 retval = 0; |
| 532 | // try to catch the i2c buffer within 100 ms timeout |
538 | // try to catch the i2c buffer within 100 ms timeout |
| 533 | if(I2C_LockBuffer(100)) |
539 | if(I2C_LockBuffer(100)) |
| 534 | { |
540 | { |
| 535 | u16 TxBytes = 0; |
541 | u16 TxBytes = 0; |
| 536 | NCMAG_Identification.A = 0xFF; |
542 | NCMAG_Identification.A = 0xFF; |
| 537 | NCMAG_Identification.B = 0xFF; |
543 | NCMAG_Identification.B = 0xFF; |
| 538 | NCMAG_Identification.C = 0xFF; |
544 | NCMAG_Identification.C = 0xFF; |
| 539 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
545 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
| 540 | // initiate transmission |
546 | // initiate transmission |
| 541 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
547 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| 542 | { |
548 | { |
| 543 | if(I2C_WaitForEndOfTransmission(100)) |
549 | if(I2C_WaitForEndOfTransmission(100)) |
| 544 | { |
550 | { |
| 545 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
551 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 546 | } |
552 | } |
| 547 | } |
553 | } |
| 548 | } |
554 | } |
| 549 | return(retval); |
555 | return(retval); |
| 550 | } |
556 | } |
| 551 | 557 | ||
| 552 | // ---------------------------------------------------------------------------------------- |
558 | // ---------------------------------------------------------------------------------------- |
| 553 | void NCMAG_GetMagVector(void) |
559 | void NCMAG_GetMagVector(void) |
| 554 | { |
560 | { |
| 555 | // try to catch the I2C buffer within 0 ms |
561 | // try to catch the I2C buffer within 0 ms |
| 556 | if(I2C_LockBuffer(0)) |
562 | if(I2C_LockBuffer(0)) |
| 557 | { |
563 | { |
| 558 | u16 TxBytes = 0; |
564 | u16 TxBytes = 0; |
| 559 | // set register pointer |
565 | // set register pointer |
| 560 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
566 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
| 561 | // initiate transmission |
567 | // initiate transmission |
| 562 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
568 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| 563 | } |
569 | } |
| 564 | } |
570 | } |
| 565 | 571 | ||
| 566 | //---------------------------------------------------------------- |
572 | //---------------------------------------------------------------- |
| 567 | void NCMAG_GetAccVector(void) |
573 | void NCMAG_GetAccVector(void) |
| 568 | { |
574 | { |
| 569 | // try to catch the I2C buffer within 0 ms |
575 | // try to catch the I2C buffer within 0 ms |
| 570 | if(I2C_LockBuffer(0)) |
576 | if(I2C_LockBuffer(0)) |
| 571 | { |
577 | { |
| 572 | u16 TxBytes = 0; |
578 | u16 TxBytes = 0; |
| 573 | // set register pointer |
579 | // set register pointer |
| 574 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
580 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
| 575 | // initiate transmission |
581 | // initiate transmission |
| 576 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
582 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| 577 | } |
583 | } |
| 578 | } |
584 | } |
| 579 | 585 | ||
| 580 | // -------------------------------------------------------- |
586 | // -------------------------------------------------------- |
| 581 | void NCMAG_UpdateCompass(void) |
587 | void NCMAG_UpdateCompass(void) |
| 582 | { |
588 | { |
| 583 | static u32 TimerCompassUpdate = 0; |
589 | static u32 TimerCompassUpdate = 0; |
| 584 | 590 | ||
| 585 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
591 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| 586 | { |
592 | { |
| 587 | Compass_Heading = -1; |
593 | Compass_Heading = -1; |
| 588 | return; |
594 | return; |
| 589 | } |
595 | } |
| 590 | 596 | ||
| 591 | if(CheckDelay(TimerCompassUpdate)) |
597 | if(CheckDelay(TimerCompassUpdate)) |
| 592 | { |
598 | { |
| 593 | // check for new calibration state |
599 | // check for new calibration state |
| 594 | Compass_UpdateCalState(); |
600 | Compass_UpdateCalState(); |
| 595 | if(Compass_CalState) NCMAG_Calibrate(); |
601 | if(Compass_CalState) NCMAG_Calibrate(); |
| 596 | NCMAG_GetMagVector(); //Get new data; |
602 | NCMAG_GetMagVector(); //Get new data; |
| 597 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
603 | TimerCompassUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| 598 | } |
604 | } |
| 599 | } |
605 | } |
| 600 | 606 | ||
| 601 | // -------------------------------------------------------- |
607 | // -------------------------------------------------------- |
| 602 | u8 NCMAG_SelfTest(void) |
608 | u8 NCMAG_SelfTest(void) |
| 603 | { |
609 | { |
| 604 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
610 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
| 605 | u32 time; |
611 | u32 time; |
| 606 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
612 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| 607 | s16 xscale, yscale, zscale, scale_min, scale_max; |
613 | s16 xscale, yscale, zscale, scale_min, scale_max; |
| 608 | u8 crb_gain, cra_rate; |
614 | u8 crb_gain, cra_rate; |
| 609 | u8 i = 0, retval = 1; |
615 | u8 i = 0, retval = 1; |
| 610 | 616 | ||
| 611 | switch(NCMAG_MagType) |
617 | switch(NCMAG_MagType) |
| 612 | { |
618 | { |
| 613 | case MAG_TYPE_HMC5843: |
619 | case MAG_TYPE_HMC5843: |
| 614 | crb_gain = HMC5843_CRB_GAIN_10GA; |
620 | crb_gain = HMC5843_CRB_GAIN_10GA; |
| 615 | cra_rate = HMC5843_CRA_RATE_50HZ; |
621 | cra_rate = HMC5843_CRA_RATE_50HZ; |
| 616 | xscale = HMC5843_TEST_XSCALE; |
622 | xscale = HMC5843_TEST_XSCALE; |
| 617 | yscale = HMC5843_TEST_YSCALE; |
623 | yscale = HMC5843_TEST_YSCALE; |
| 618 | zscale = HMC5843_TEST_ZSCALE; |
624 | zscale = HMC5843_TEST_ZSCALE; |
| 619 | break; |
625 | break; |
| 620 | 626 | ||
| 621 | case MAG_TYPE_LSM303DLH: |
627 | case MAG_TYPE_LSM303DLH: |
| 622 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
628 | crb_gain = LSM303DLH_CRB_GAIN_13GA; |
| 623 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
629 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 624 | xscale = LSM303DLH_TEST_XSCALE; |
630 | xscale = LSM303DLH_TEST_XSCALE; |
| 625 | yscale = LSM303DLH_TEST_YSCALE; |
631 | yscale = LSM303DLH_TEST_YSCALE; |
| 626 | zscale = LSM303DLH_TEST_ZSCALE; |
632 | zscale = LSM303DLH_TEST_ZSCALE; |
| 627 | break; |
633 | break; |
| 628 | 634 | ||
| 629 | default: |
635 | default: |
| 630 | return(0); |
636 | return(0); |
| 631 | } |
637 | } |
| 632 | 638 | ||
| 633 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
639 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
| 634 | MagConfig.crb = crb_gain; |
640 | MagConfig.crb = crb_gain; |
| 635 | MagConfig.mode = MODE_CONTINUOUS; |
641 | MagConfig.mode = MODE_CONTINUOUS; |
| 636 | // activate positive bias field |
642 | // activate positive bias field |
| 637 | NCMAG_SetMagConfig(); |
643 | NCMAG_SetMagConfig(); |
| 638 | // wait for stable readings |
644 | // wait for stable readings |
| 639 | time = SetDelay(50); |
645 | time = SetDelay(50); |
| 640 | while(!CheckDelay(time)); |
646 | while(!CheckDelay(time)); |
| 641 | // averaging |
647 | // averaging |
| 642 | #define AVERAGE 20 |
648 | #define AVERAGE 20 |
| 643 | for(i = 0; i<AVERAGE; i++) |
649 | for(i = 0; i<AVERAGE; i++) |
| 644 | { |
650 | { |
| 645 | NCMAG_GetMagVector(); |
651 | NCMAG_GetMagVector(); |
| 646 | time = SetDelay(20); |
652 | time = SetDelay(20); |
| 647 | while(!CheckDelay(time)); |
653 | while(!CheckDelay(time)); |
| 648 | XMax += MagRawVector.X; |
654 | XMax += MagRawVector.X; |
| 649 | YMax += MagRawVector.Y; |
655 | YMax += MagRawVector.Y; |
| 650 | ZMax += MagRawVector.Z; |
656 | ZMax += MagRawVector.Z; |
| 651 | } |
657 | } |
| 652 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
658 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
| 653 | // activate positive bias field |
659 | // activate positive bias field |
| 654 | NCMAG_SetMagConfig(); |
660 | NCMAG_SetMagConfig(); |
| 655 | // wait for stable readings |
661 | // wait for stable readings |
| 656 | time = SetDelay(50); |
662 | time = SetDelay(50); |
| 657 | while(!CheckDelay(time)); |
663 | while(!CheckDelay(time)); |
| 658 | // averaging |
664 | // averaging |
| 659 | for(i = 0; i < AVERAGE; i++) |
665 | for(i = 0; i < AVERAGE; i++) |
| 660 | { |
666 | { |
| 661 | NCMAG_GetMagVector(); |
667 | NCMAG_GetMagVector(); |
| 662 | time = SetDelay(20); |
668 | time = SetDelay(20); |
| 663 | while(!CheckDelay(time)); |
669 | while(!CheckDelay(time)); |
| 664 | XMin += MagRawVector.X; |
670 | XMin += MagRawVector.X; |
| 665 | YMin += MagRawVector.Y; |
671 | YMin += MagRawVector.Y; |
| 666 | ZMin += MagRawVector.Z; |
672 | ZMin += MagRawVector.Z; |
| 667 | } |
673 | } |
| 668 | // setup final configuration |
674 | // setup final configuration |
| 669 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
675 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| 670 | // activate positive bias field |
676 | // activate positive bias field |
| 671 | NCMAG_SetMagConfig(); |
677 | NCMAG_SetMagConfig(); |
| 672 | // prepare scale limits |
678 | // prepare scale limits |
| 673 | LIMITS(xscale, scale_min, scale_max); |
679 | LIMITS(xscale, scale_min, scale_max); |
| 674 | // check scale for all axes |
680 | // check scale for all axes |
| 675 | xscale = (XMax - XMin)/(2*AVERAGE); |
681 | xscale = (XMax - XMin)/(2*AVERAGE); |
| 676 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
682 | if((xscale > scale_max) || (xscale < scale_min)) retval = 0; |
| 677 | LIMITS(yscale, scale_min, scale_max); |
683 | LIMITS(yscale, scale_min, scale_max); |
| 678 | yscale = (YMax - YMin)/(2*AVERAGE); |
684 | yscale = (YMax - YMin)/(2*AVERAGE); |
| 679 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
685 | if((yscale > scale_max) || (yscale < scale_min)) retval = 0; |
| 680 | LIMITS(zscale, scale_min, scale_max); |
686 | LIMITS(zscale, scale_min, scale_max); |
| 681 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
687 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
| 682 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
688 | if((zscale > scale_max) || (zscale < scale_min)) retval = 0; |
| 683 | return(retval); |
689 | return(retval); |
| 684 | } |
690 | } |
| 685 | 691 | ||
| 686 | 692 | ||
| 687 | //---------------------------------------------------------------- |
693 | //---------------------------------------------------------------- |
| 688 | u8 NCMAG_Init(void) |
694 | u8 NCMAG_Init(void) |
| 689 | { |
695 | { |
| 690 | u8 msg[64]; |
696 | u8 msg[64]; |
| 691 | u8 retval = 0; |
697 | u8 retval = 0; |
| 692 | u8 repeat; |
698 | u8 repeat; |
| 693 | 699 | ||
| 694 | NCMAG_Present = 0; |
700 | NCMAG_Present = 0; |
| 695 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
701 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
| 696 | // polling for LSM302DLH option |
702 | // polling for LSM302DLH option |
| 697 | repeat = 0; |
703 | repeat = 0; |
| 698 | do |
704 | do |
| 699 | { |
705 | { |
| 700 | retval = NCMAG_GetAccConfig(); |
706 | retval = NCMAG_GetAccConfig(); |
| 701 | if(retval) break; // break loop on success |
707 | if(retval) break; // break loop on success |
| 702 | UART1_PutString("."); |
708 | UART1_PutString("."); |
| 703 | repeat++; |
709 | repeat++; |
| 704 | }while(repeat < 3); |
710 | }while(repeat < 3); |
| 705 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
711 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
| 706 | // polling of identification |
712 | // polling of identification |
| 707 | repeat = 0; |
713 | repeat = 0; |
| 708 | do |
714 | do |
| 709 | { |
715 | { |
| 710 | retval = NCMAG_GetIdentification(); |
716 | retval = NCMAG_GetIdentification(); |
| 711 | if(retval) break; // break loop on success |
717 | if(retval) break; // break loop on success |
| 712 | UART1_PutString("."); |
718 | UART1_PutString("."); |
| 713 | repeat++; |
719 | repeat++; |
| 714 | }while(repeat < 12); |
720 | }while(repeat < 12); |
| 715 | // if we got an answer to id request |
721 | // if we got an answer to id request |
| 716 | if(retval) |
722 | if(retval) |
| 717 | { |
723 | { |
| 718 | u8 n1[] = "HMC5843"; |
724 | u8 n1[] = "HMC5843"; |
| 719 | u8 n2[] = "LSM303DLH"; |
725 | u8 n2[] = "LSM303DLH"; |
| 720 | u8* pn; |
726 | u8* pn; |
| 721 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
727 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2; |
| 722 | else pn = n1; |
728 | else pn = n1; |
| 723 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
729 | sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C); |
| 724 | UART1_PutString(msg); |
730 | UART1_PutString(msg); |
| 725 | if ( (NCMAG_Identification.A == MAG_IDA) |
731 | if ( (NCMAG_Identification.A == MAG_IDA) |
| 726 | && (NCMAG_Identification.B == MAG_IDB) |
732 | && (NCMAG_Identification.B == MAG_IDB) |
| 727 | && (NCMAG_Identification.C == MAG_IDC)) |
733 | && (NCMAG_Identification.C == MAG_IDC)) |
| 728 | { |
734 | { |
| 729 | if(!NCMAG_SelfTest()) |
735 | if(!NCMAG_SelfTest()) |
| 730 | { |
736 | { |
| 731 | UART1_PutString(" Selftest failed!"); |
737 | UART1_PutString(" Selftest failed!"); |
| 732 | LED_RED_ON; |
738 | LED_RED_ON; |
| 733 | } |
739 | } |
| 734 | else |
740 | else |
| 735 | { |
741 | { |
| 736 | NCMAG_Present = 1; |
742 | NCMAG_Present = 1; |
| 737 | if(EEPROM_Init()) |
743 | if(EEPROM_Init()) |
| 738 | { |
744 | { |
| 739 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
745 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| 740 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
746 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| 741 | } |
747 | } |
| 742 | else UART1_PutString("\r\n Calibration data not available!"); |
748 | else UART1_PutString("\r\n Calibration data not available!"); |
| 743 | } |
749 | } |
| 744 | } |
750 | } |
| 745 | else |
751 | else |
| 746 | { |
752 | { |
| 747 | UART1_PutString("\n\r Not compatible!"); |
753 | UART1_PutString("\n\r Not compatible!"); |
| 748 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
754 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
| 749 | LED_RED_ON; |
755 | LED_RED_ON; |
| 750 | } |
756 | } |
| 751 | } |
757 | } |
| 752 | else // nothing found |
758 | else // nothing found |
| 753 | { |
759 | { |
| 754 | NCMAG_MagType = MAG_TYPE_NONE; |
760 | NCMAG_MagType = MAG_TYPE_NONE; |
| 755 | UART1_PutString("not found!"); |
761 | UART1_PutString("not found!"); |
| 756 | } |
762 | } |
| 757 | return(NCMAG_Present); |
763 | return(NCMAG_Present); |
| 758 | } |
764 | } |
| 759 | 765 | ||
| 760 | 766 | ||