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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <math.h> |
56 | #include <math.h> |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "i2c1.h" |
61 | #include "i2c1.h" |
62 | #include "i2c0.h" |
62 | #include "i2c0.h" |
63 | 63 | ||
64 | #include "timer1.h" |
64 | #include "timer1.h" |
65 | #include "led.h" |
65 | #include "led.h" |
66 | #include "uart1.h" |
66 | #include "uart1.h" |
67 | #include "eeprom.h" |
67 | #include "eeprom.h" |
68 | #include "mymath.h" |
68 | #include "mymath.h" |
69 | #include "main.h" |
69 | #include "main.h" |
70 | #include "spi_slave.h" |
70 | #include "spi_slave.h" |
71 | 71 | ||
72 | u8 NCMAG_Present = 0; |
72 | u8 NCMAG_Present = 0; |
73 | u8 NCMAG_IsCalibrated = 0; |
73 | u8 NCMAG_IsCalibrated = 0; |
74 | 74 | ||
75 | u8 I2C_CompassPort = 1; |
75 | u8 I2C_CompassPort = 1; |
76 | u8 ExtCompassOrientation = 0; |
76 | u8 ExtCompassOrientation = 0; |
77 | 77 | ||
78 | u8 *I2C_BufferPnt; |
78 | u8 *I2C_BufferPnt; |
79 | u8 *I2C_ErrorPnt; |
79 | u8 *I2C_ErrorPnt; |
80 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
80 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
81 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
81 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
82 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
82 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
83 | 83 | ||
84 | 84 | ||
85 | // supported magnetic sensor types |
85 | // supported magnetic sensor types |
86 | #define TYPE_NONE 0 |
86 | #define TYPE_NONE 0 |
87 | #define TYPE_HMC5843 1 |
87 | #define TYPE_HMC5843 1 |
88 | #define TYPE_LSM303DLH 2 |
88 | #define TYPE_LSM303DLH 2 |
89 | #define TYPE_LSM303DLM 3 |
89 | #define TYPE_LSM303DLM 3 |
90 | 90 | ||
91 | u8 NCMAG_SensorType = TYPE_NONE; |
91 | u8 NCMAG_SensorType = TYPE_NONE; |
92 | 92 | ||
93 | Calibration_t Calibration; // calibration data in RAM |
93 | Calibration_t Calibration; // calibration data in RAM |
94 | volatile s16vec_t AccRawVector; |
94 | volatile s16vec_t AccRawVector; |
95 | volatile s16vec_t MagRawVector; |
95 | volatile s16vec_t MagRawVector; |
96 | 96 | ||
97 | // i2c MAG interface |
97 | // i2c MAG interface |
98 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
98 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
99 | 99 | ||
100 | // register mapping |
100 | // register mapping |
101 | #define REG_MAG_CRA 0x00 |
101 | #define REG_MAG_CRA 0x00 |
102 | #define REG_MAG_CRB 0x01 |
102 | #define REG_MAG_CRB 0x01 |
103 | #define REG_MAG_MODE 0x02 |
103 | #define REG_MAG_MODE 0x02 |
104 | #define REG_MAG_DATAX_MSB 0x03 |
104 | #define REG_MAG_DATAX_MSB 0x03 |
105 | #define REG_MAG_DATAX_LSB 0x04 |
105 | #define REG_MAG_DATAX_LSB 0x04 |
106 | #define REG_MAG_DATAY_MSB 0x05 |
106 | #define REG_MAG_DATAY_MSB 0x05 |
107 | #define REG_MAG_DATAY_LSB 0x06 |
107 | #define REG_MAG_DATAY_LSB 0x06 |
108 | #define REG_MAG_DATAZ_MSB 0x07 |
108 | #define REG_MAG_DATAZ_MSB 0x07 |
109 | #define REG_MAG_DATAZ_LSB 0x08 |
109 | #define REG_MAG_DATAZ_LSB 0x08 |
110 | #define REG_MAG_STATUS 0x09 |
110 | #define REG_MAG_STATUS 0x09 |
111 | 111 | ||
112 | #define REG_MAG_IDA 0x0A |
112 | #define REG_MAG_IDA 0x0A |
113 | #define REG_MAG_IDB 0x0B |
113 | #define REG_MAG_IDB 0x0B |
114 | #define REG_MAG_IDC 0x0C |
114 | #define REG_MAG_IDC 0x0C |
115 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
115 | #define REG_MAG_IDF 0x0F // WHO_AM_I _M = 0x03c when LSM303DLM is connected |
116 | 116 | ||
117 | // bit mask for configuration mode |
117 | // bit mask for configuration mode |
118 | #define CRA_MODE_MASK 0x03 |
118 | #define CRA_MODE_MASK 0x03 |
119 | #define CRA_MODE_NORMAL 0x00 //default |
119 | #define CRA_MODE_NORMAL 0x00 //default |
120 | #define CRA_MODE_POSBIAS 0x01 |
120 | #define CRA_MODE_POSBIAS 0x01 |
121 | #define CRA_MODE_NEGBIAS 0x02 |
121 | #define CRA_MODE_NEGBIAS 0x02 |
122 | #define CRA_MODE_SELFTEST 0x03 |
122 | #define CRA_MODE_SELFTEST 0x03 |
123 | 123 | ||
124 | // bit mask for measurement mode |
124 | // bit mask for measurement mode |
125 | #define MODE_MASK 0xFF |
125 | #define MODE_MASK 0xFF |
126 | #define MODE_CONTINUOUS 0x00 |
126 | #define MODE_CONTINUOUS 0x00 |
127 | #define MODE_SINGLE 0x01 // default |
127 | #define MODE_SINGLE 0x01 // default |
128 | #define MODE_IDLE 0x02 |
128 | #define MODE_IDLE 0x02 |
129 | #define MODE_SLEEP 0x03 |
129 | #define MODE_SLEEP 0x03 |
130 | 130 | ||
131 | // bit mask for rate |
131 | // bit mask for rate |
132 | #define CRA_RATE_MASK 0x1C |
132 | #define CRA_RATE_MASK 0x1C |
133 | 133 | ||
134 | // bit mask for gain |
134 | // bit mask for gain |
135 | #define CRB_GAIN_MASK 0xE0 |
135 | #define CRB_GAIN_MASK 0xE0 |
136 | 136 | ||
137 | // ids |
137 | // ids |
138 | #define MAG_IDA 0x48 |
138 | #define MAG_IDA 0x48 |
139 | #define MAG_IDB 0x34 |
139 | #define MAG_IDB 0x34 |
140 | #define MAG_IDC 0x33 |
140 | #define MAG_IDC 0x33 |
141 | #define MAG_IDF_LSM303DLM 0x3C |
141 | #define MAG_IDF_LSM303DLM 0x3C |
142 | 142 | ||
143 | // the special HMC5843 interface |
143 | // the special HMC5843 interface |
144 | // bit mask for rate |
144 | // bit mask for rate |
145 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
145 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
146 | #define HMC5843_CRA_RATE_1HZ 0x04 |
146 | #define HMC5843_CRA_RATE_1HZ 0x04 |
147 | #define HMC5843_CRA_RATE_2HZ 0x08 |
147 | #define HMC5843_CRA_RATE_2HZ 0x08 |
148 | #define HMC5843_CRA_RATE_5HZ 0x0C |
148 | #define HMC5843_CRA_RATE_5HZ 0x0C |
149 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
149 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
150 | #define HMC5843_CRA_RATE_20HZ 0x14 |
150 | #define HMC5843_CRA_RATE_20HZ 0x14 |
151 | #define HMC5843_CRA_RATE_50HZ 0x18 |
151 | #define HMC5843_CRA_RATE_50HZ 0x18 |
152 | // bit mask for gain |
152 | // bit mask for gain |
153 | #define HMC5843_CRB_GAIN_07GA 0x00 |
153 | #define HMC5843_CRB_GAIN_07GA 0x00 |
154 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
154 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
155 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
155 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
156 | #define HMC5843_CRB_GAIN_20GA 0x60 |
156 | #define HMC5843_CRB_GAIN_20GA 0x60 |
157 | #define HMC5843_CRB_GAIN_32GA 0x80 |
157 | #define HMC5843_CRB_GAIN_32GA 0x80 |
158 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
158 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
159 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
159 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
160 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
160 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
161 | // self test value |
161 | // self test value |
162 | #define HMC5843_TEST_XSCALE 555 |
162 | #define HMC5843_TEST_XSCALE 555 |
163 | #define HMC5843_TEST_YSCALE 555 |
163 | #define HMC5843_TEST_YSCALE 555 |
164 | #define HMC5843_TEST_ZSCALE 555 |
164 | #define HMC5843_TEST_ZSCALE 555 |
165 | // calibration range |
165 | // calibration range |
166 | #define HMC5843_CALIBRATION_RANGE 600 |
166 | #define HMC5843_CALIBRATION_RANGE 600 |
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 | 177 | ||
178 | // bit mask for gain |
178 | // bit mask for gain |
179 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
179 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
180 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
180 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
181 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
181 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
182 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
182 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
183 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
183 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
184 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
184 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
185 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
185 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
186 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
186 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
187 | 187 | ||
188 | typedef struct |
188 | typedef struct |
189 | { |
189 | { |
190 | u8 A; |
190 | u8 A; |
191 | u8 B; |
191 | u8 B; |
192 | u8 C; |
192 | u8 C; |
193 | } __attribute__((packed)) Identification_t; |
193 | } __attribute__((packed)) Identification_t; |
194 | volatile Identification_t NCMAG_Identification; |
194 | volatile Identification_t NCMAG_Identification; |
195 | 195 | ||
196 | typedef struct |
196 | typedef struct |
197 | { |
197 | { |
198 | u8 Sub; |
198 | u8 Sub; |
199 | } __attribute__((packed)) Identification2_t; |
199 | } __attribute__((packed)) Identification2_t; |
200 | volatile Identification2_t NCMAG_Identification2; |
200 | volatile Identification2_t NCMAG_Identification2; |
201 | 201 | ||
202 | typedef struct |
202 | typedef struct |
203 | { |
203 | { |
204 | u8 cra; |
204 | u8 cra; |
205 | u8 crb; |
205 | u8 crb; |
206 | u8 mode; |
206 | u8 mode; |
207 | } __attribute__((packed)) MagConfig_t; |
207 | } __attribute__((packed)) MagConfig_t; |
208 | 208 | ||
209 | volatile MagConfig_t MagConfig; |
209 | volatile MagConfig_t MagConfig; |
210 | 210 | ||
211 | 211 | ||
212 | 212 | ||
213 | 213 | ||
214 | 214 | ||
215 | // self test value |
215 | // self test value |
216 | #define LSM303DLH_TEST_XSCALE 495 |
216 | #define LSM303DLH_TEST_XSCALE 495 |
217 | #define LSM303DLH_TEST_YSCALE 495 |
217 | #define LSM303DLH_TEST_YSCALE 495 |
218 | #define LSM303DLH_TEST_ZSCALE 470 |
218 | #define LSM303DLH_TEST_ZSCALE 470 |
219 | // clibration range |
219 | // clibration range |
220 | #define LSM303_CALIBRATION_RANGE 550 |
220 | #define LSM303_CALIBRATION_RANGE 550 |
221 | 221 | ||
222 | // the i2c ACC interface |
222 | // the i2c ACC interface |
223 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
223 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
224 | 224 | ||
225 | // multiple byte read/write mask |
225 | // multiple byte read/write mask |
226 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
226 | #define REG_ACC_MASK_AUTOINCREMENT 0x80 |
227 | 227 | ||
228 | // register mapping |
228 | // register mapping |
229 | #define REG_ACC_CTRL1 0x20 |
229 | #define REG_ACC_CTRL1 0x20 |
230 | #define REG_ACC_CTRL2 0x21 |
230 | #define REG_ACC_CTRL2 0x21 |
231 | #define REG_ACC_CTRL3 0x22 |
231 | #define REG_ACC_CTRL3 0x22 |
232 | #define REG_ACC_CTRL4 0x23 |
232 | #define REG_ACC_CTRL4 0x23 |
233 | #define REG_ACC_CTRL5 0x24 |
233 | #define REG_ACC_CTRL5 0x24 |
234 | #define REG_ACC_HP_FILTER_RESET 0x25 |
234 | #define REG_ACC_HP_FILTER_RESET 0x25 |
235 | #define REG_ACC_REFERENCE 0x26 |
235 | #define REG_ACC_REFERENCE 0x26 |
236 | #define REG_ACC_STATUS 0x27 |
236 | #define REG_ACC_STATUS 0x27 |
237 | #define REG_ACC_X_LSB 0x28 |
237 | #define REG_ACC_X_LSB 0x28 |
238 | #define REG_ACC_X_MSB 0x29 |
238 | #define REG_ACC_X_MSB 0x29 |
239 | #define REG_ACC_Y_LSB 0x2A |
239 | #define REG_ACC_Y_LSB 0x2A |
240 | #define REG_ACC_Y_MSB 0x2B |
240 | #define REG_ACC_Y_MSB 0x2B |
241 | #define REG_ACC_Z_LSB 0x2C |
241 | #define REG_ACC_Z_LSB 0x2C |
242 | #define REG_ACC_Z_MSB 0x2D |
242 | #define REG_ACC_Z_MSB 0x2D |
243 | 243 | ||
244 | #define ACC_CRTL1_PM_DOWN 0x00 |
244 | #define ACC_CRTL1_PM_DOWN 0x00 |
245 | #define ACC_CRTL1_PM_NORMAL 0x20 |
245 | #define ACC_CRTL1_PM_NORMAL 0x20 |
246 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
246 | #define ACC_CRTL1_PM_LOW_0_5HZ 0x40 |
247 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
247 | #define ACC_CRTL1_PM_LOW_1HZ 0x60 |
248 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
248 | #define ACC_CRTL1_PM_LOW_2HZ 0x80 |
249 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
249 | #define ACC_CRTL1_PM_LOW_5HZ 0xA0 |
250 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
250 | #define ACC_CRTL1_PM_LOW_10HZ 0xC0 |
251 | // Output data rate in normal power mode |
251 | // Output data rate in normal power mode |
252 | #define ACC_CRTL1_DR_50HZ 0x00 |
252 | #define ACC_CRTL1_DR_50HZ 0x00 |
253 | #define ACC_CRTL1_DR_100HZ 0x08 |
253 | #define ACC_CRTL1_DR_100HZ 0x08 |
254 | #define ACC_CRTL1_DR_400HZ 0x10 |
254 | #define ACC_CRTL1_DR_400HZ 0x10 |
255 | #define ACC_CRTL1_DR_1000HZ 0x18 |
255 | #define ACC_CRTL1_DR_1000HZ 0x18 |
256 | // axis anable flags |
256 | // axis anable flags |
257 | #define ACC_CRTL1_XEN 0x01 |
257 | #define ACC_CRTL1_XEN 0x01 |
258 | #define ACC_CRTL1_YEN 0x02 |
258 | #define ACC_CRTL1_YEN 0x02 |
259 | #define ACC_CRTL1_ZEN 0x04 |
259 | #define ACC_CRTL1_ZEN 0x04 |
260 | 260 | ||
261 | #define ACC_CRTL2_FILTER8 0x10 |
261 | #define ACC_CRTL2_FILTER8 0x10 |
262 | #define ACC_CRTL2_FILTER16 0x11 |
262 | #define ACC_CRTL2_FILTER16 0x11 |
263 | #define ACC_CRTL2_FILTER32 0x12 |
263 | #define ACC_CRTL2_FILTER32 0x12 |
264 | #define ACC_CRTL2_FILTER64 0x13 |
264 | #define ACC_CRTL2_FILTER64 0x13 |
265 | 265 | ||
266 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
266 | #define ACC_CTRL4_BDU 0x80 // Block data update, (0: continuos update; 1: output registers not updated between MSB and LSB reading) |
267 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
267 | #define ACC_CTRL4_BLE 0x40 // Big/little endian, (0: data LSB @ lower address; 1: data MSB @ lower address) |
268 | #define ACC_CTRL4_FS_2G 0x00 |
268 | #define ACC_CTRL4_FS_2G 0x00 |
269 | #define ACC_CTRL4_FS_4G 0x10 |
269 | #define ACC_CTRL4_FS_4G 0x10 |
270 | #define ACC_CTRL4_FS_8G 0x30 |
270 | #define ACC_CTRL4_FS_8G 0x30 |
271 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
271 | #define ACC_CTRL4_STSIGN_PLUS 0x00 |
272 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
272 | #define ACC_CTRL4_STSIGN_MINUS 0x08 |
273 | #define ACC_CTRL4_ST_ENABLE 0x02 |
273 | #define ACC_CTRL4_ST_ENABLE 0x02 |
274 | 274 | ||
275 | #define ACC_CTRL5_STW_ON 0x03 |
275 | #define ACC_CTRL5_STW_ON 0x03 |
276 | #define ACC_CTRL5_STW_OFF 0x00 |
276 | #define ACC_CTRL5_STW_OFF 0x00 |
277 | 277 | ||
278 | typedef struct |
278 | typedef struct |
279 | { |
279 | { |
280 | u8 ctrl_1; |
280 | u8 ctrl_1; |
281 | u8 ctrl_2; |
281 | u8 ctrl_2; |
282 | u8 ctrl_3; |
282 | u8 ctrl_3; |
283 | u8 ctrl_4; |
283 | u8 ctrl_4; |
284 | u8 ctrl_5; |
284 | u8 ctrl_5; |
285 | } __attribute__((packed)) AccConfig_t; |
285 | } __attribute__((packed)) AccConfig_t; |
286 | 286 | ||
287 | volatile AccConfig_t AccConfig; |
287 | volatile AccConfig_t AccConfig; |
288 | 288 | ||
289 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
289 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
290 | { |
290 | { |
291 | u16 address; |
291 | u16 address; |
292 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
292 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
293 | EEPROM_Result_t eres; |
293 | EEPROM_Result_t eres; |
294 | u8 *pBuff = (u8*)&Calibration; |
294 | u8 *pBuff = (u8*)&Calibration; |
295 | Calibration.Version = CALIBRATION_VERSION; |
295 | Calibration.Version = CALIBRATION_VERSION; |
296 | 296 | ||
297 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
297 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
298 | else |
298 | else |
299 | { |
299 | { |
300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
301 | Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
301 | Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
302 | } |
302 | } |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
304 | { |
304 | { |
305 | crc += pBuff[i]; |
305 | crc += pBuff[i]; |
306 | } |
306 | } |
307 | Calibration.crc = ~crc; |
307 | Calibration.crc = ~crc; |
308 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
308 | eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration)); |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
309 | if(EEPROM_SUCCESS == eres) i = 1; |
310 | else i = 0; |
310 | else i = 0; |
311 | return(i); |
311 | return(i); |
312 | } |
312 | } |
313 | 313 | ||
314 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
314 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
315 | { |
315 | { |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
317 | u8 *pBuff = (u8*)&Calibration; |
317 | u8 *pBuff = (u8*)&Calibration; |
318 | u16 address; |
318 | u16 address; |
319 | 319 | ||
320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
322 | 322 | ||
323 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
323 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
324 | { |
324 | { |
325 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
325 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
326 | { |
326 | { |
327 | crc += pBuff[i]; |
327 | crc += pBuff[i]; |
328 | } |
328 | } |
329 | crc = ~crc; |
329 | crc = ~crc; |
330 | if(Calibration.crc != crc) return(0); // crc mismatch |
330 | if(Calibration.crc != crc) return(0); // crc mismatch |
331 | if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
331 | if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
332 | } |
332 | } |
333 | return(0); |
333 | return(0); |
334 | } |
334 | } |
335 | 335 | ||
336 | 336 | ||
337 | void NCMAG_Calibrate(void) |
337 | void NCMAG_Calibrate(void) |
338 | { |
338 | { |
339 | u8 msg[64]; |
339 | u8 msg[64]; |
340 | static u8 speak = 0; |
340 | static u8 speak = 0; |
341 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0; |
341 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0; |
342 | static s16 X = 0, Y = 0, Z = 0; |
342 | static s16 X = 0, Y = 0, Z = 0; |
343 | static u8 OldCalState = 0; |
343 | static u8 OldCalState = 0; |
344 | s16 MinCalibration = 450; |
344 | s16 MinCalibration = 450; |
345 | 345 | ||
346 | X = (4*X + MagRawVector.X + 3)/5; |
346 | X = (4*X + MagRawVector.X + 3)/5; |
347 | Y = (4*Y + MagRawVector.Y + 3)/5; |
347 | Y = (4*Y + MagRawVector.Y + 3)/5; |
348 | Z = (4*Z + MagRawVector.Z + 3)/5; |
348 | Z = (4*Z + MagRawVector.Z + 3)/5; |
349 | 349 | ||
350 | switch(Compass_CalState) |
350 | switch(Compass_CalState) |
351 | { |
351 | { |
352 | case 1: |
352 | case 1: |
353 | // 1st step of calibration |
353 | // 1st step of calibration |
354 | // initialize ranges |
354 | // initialize ranges |
355 | // used to change the orientation of the NC in the horizontal plane |
355 | // used to change the orientation of the NC in the horizontal plane |
356 | Xmin = 10000; |
356 | Xmin = 10000; |
357 | Xmax = -10000; |
357 | Xmax = -10000; |
358 | Ymin = 10000; |
358 | Ymin = 10000; |
359 | Ymax = -10000; |
359 | Ymax = -10000; |
360 | Zmin = 10000; |
360 | Zmin = 10000; |
361 | Zmax = -10000; |
361 | Zmax = -10000; |
362 | speak = 1; |
362 | speak = 1; |
363 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
363 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
364 | { |
364 | { |
365 | UART1_PutString("\r\nStarting compass calibration"); |
365 | UART1_PutString("\r\nStarting compass calibration"); |
366 | if(I2C_CompassPort == I2C_EXTERN_0) |
366 | if(I2C_CompassPort == I2C_EXTERN_0) |
367 | { |
367 | { |
368 | if(!ExtCompassOrientation) ExtCompassOrientation = GetExtCompassOrientation(); |
368 | if(!ExtCompassOrientation) ExtCompassOrientation = GetExtCompassOrientation(); |
369 | UART1_PutString(" - External sensor "); |
369 | UART1_PutString(" - External sensor "); |
370 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation); |
370 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation); |
371 | UART1_PutString(msg); |
371 | UART1_PutString(msg); |
372 | } |
372 | } |
373 | else UART1_PutString(" - Internal sensor "); |
373 | else UART1_PutString(" - Internal sensor "); |
374 | } |
374 | } |
375 | break; |
375 | break; |
376 | case 2: // 2nd step of calibration |
376 | case 2: // 2nd step of calibration |
377 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
377 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
378 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
378 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
379 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
379 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
380 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
380 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
381 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
381 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
382 | if(Z < Zmin) { Zmin = Z; } // silent |
382 | if(Z < Zmin) { Zmin = Z; } // silent |
383 | else if(Z > Zmax) { Zmax = Z; } |
383 | else if(Z > Zmax) { Zmax = Z; } |
384 | 384 | ||
385 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
385 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
386 | break; |
386 | break; |
387 | 387 | ||
388 | case 3: // 3rd step of calibration |
388 | case 3: // 3rd step of calibration |
389 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
389 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
390 | speak = 1; |
390 | speak = 1; |
391 | break; |
391 | break; |
392 | 392 | ||
393 | case 4: |
393 | case 4: |
394 | // find Min and Max of the Z-Sensor |
394 | // find Min and Max of the Z-Sensor |
395 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
395 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
396 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
396 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
397 | 397 | ||
398 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
398 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
399 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
399 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
400 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
400 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
401 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
401 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
402 | 402 | ||
403 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
403 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
404 | break; |
404 | break; |
405 | 405 | ||
406 | case 5: |
406 | case 5: |
407 | // Save values |
407 | // Save values |
408 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
408 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
409 | { |
409 | { |
410 | switch(NCMAG_SensorType) |
410 | switch(NCMAG_SensorType) |
411 | { |
411 | { |
412 | case TYPE_HMC5843: |
412 | case TYPE_HMC5843: |
413 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
413 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
414 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
414 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
415 | break; |
415 | break; |
416 | 416 | ||
417 | case TYPE_LSM303DLH: |
417 | case TYPE_LSM303DLH: |
418 | case TYPE_LSM303DLM: |
418 | case TYPE_LSM303DLM: |
419 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
419 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
420 | MinCalibration = LSM303_CALIBRATION_RANGE; |
420 | MinCalibration = LSM303_CALIBRATION_RANGE; |
421 | break; |
421 | break; |
422 | } |
422 | } |
423 | if(EarthMagneticStrengthTheoretic) |
423 | if(EarthMagneticStrengthTheoretic) |
424 | { |
424 | { |
425 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
425 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
426 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
426 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
427 | UART1_PutString(msg); |
427 | UART1_PutString(msg); |
428 | } |
428 | } |
429 | else UART1_PutString("without GPS\n\r"); |
429 | else UART1_PutString("without GPS\n\r"); |
430 | 430 | ||
431 | if(Zmin2 < Zmin) { Zmin = Zmin2; } |
431 | if(Zmin2 < Zmin) { Zmin = Zmin2; } |
432 | else if(Zmax2 > Zmax) { Zmax = Zmax2; } |
432 | else if(Zmax2 > Zmax) { Zmax = Zmax2; } |
433 | 433 | ||
434 | Calibration.MagX.Range = Xmax - Xmin; |
434 | Calibration.MagX.Range = Xmax - Xmin; |
435 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
435 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
436 | Calibration.MagY.Range = Ymax - Ymin; |
436 | Calibration.MagY.Range = Ymax - Ymin; |
437 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
437 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
438 | Calibration.MagZ.Range = Zmax - Zmin; |
438 | Calibration.MagZ.Range = Zmax - Zmin; |
439 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
439 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
440 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
440 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
441 | { |
441 | { |
442 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
442 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
443 | BeepTime = 2500; |
443 | BeepTime = 2500; |
444 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
444 | UART1_PutString("\r\n-> Calibration okay <-\n\r"); |
445 | SpeakHoTT = SPEAK_MIKROKOPTER; |
445 | SpeakHoTT = SPEAK_MIKROKOPTER; |
446 | } |
446 | } |
447 | else |
447 | else |
448 | { |
448 | { |
449 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
449 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
450 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
450 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
451 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
451 | if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! "); |
452 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
452 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
453 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
453 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
454 | UART1_PutString("\r\n"); |
454 | UART1_PutString("\r\n"); |
455 | 455 | ||
456 | // restore old calibration data from eeprom |
456 | // restore old calibration data from eeprom |
457 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
457 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
458 | } |
458 | } |
459 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
459 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
460 | UART1_PutString(msg); |
460 | UART1_PutString(msg); |
461 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
461 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
462 | UART1_PutString(msg); |
462 | UART1_PutString(msg); |
463 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
463 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
464 | UART1_PutString(msg); |
464 | UART1_PutString(msg); |
465 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
465 | sprintf(msg, "(Minimum ampilitude is: %i)\r\n",MinCalibration); |
466 | UART1_PutString(msg); |
466 | UART1_PutString(msg); |
467 | } |
467 | } |
468 | break; |
468 | break; |
469 | 469 | ||
470 | default: |
470 | default: |
471 | break; |
471 | break; |
472 | } |
472 | } |
473 | OldCalState = Compass_CalState; |
473 | OldCalState = Compass_CalState; |
474 | } |
474 | } |
475 | 475 | ||
476 | // ---------- call back handlers ----------------------------------------- |
476 | // ---------- call back handlers ----------------------------------------- |
477 | 477 | ||
478 | // rx data handler for id info request |
478 | // rx data handler for id info request |
479 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
479 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
480 | { // if number of bytes are matching |
480 | { // if number of bytes are matching |
481 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
481 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
482 | { |
482 | { |
483 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
483 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
484 | } |
484 | } |
485 | } |
485 | } |
486 | 486 | ||
487 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
487 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
488 | { // if number of bytes are matching |
488 | { // if number of bytes are matching |
489 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
489 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
490 | { |
490 | { |
491 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
491 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
492 | } |
492 | } |
493 | } |
493 | } |
494 | 494 | ||
495 | // rx data handler for magnetic sensor raw data |
495 | // rx data handler for magnetic sensor raw data |
496 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
496 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
497 | { // if number of bytes are matching |
497 | { // if number of bytes are matching |
498 | if(RxBufferSize == sizeof(MagRawVector) ) |
498 | if(RxBufferSize == sizeof(MagRawVector) ) |
499 | { // byte order from big to little endian |
499 | { // byte order from big to little endian |
500 | s16 raw, X = 0, Y = 0, Z = 0; |
500 | s16 raw, X = 0, Y = 0, Z = 0; |
501 | raw = pRxBuffer[0]<<8; |
501 | raw = pRxBuffer[0]<<8; |
502 | raw+= pRxBuffer[1]; |
502 | raw+= pRxBuffer[1]; |
503 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
503 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw; |
- | 504 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
- | 505 | ||
504 | raw = pRxBuffer[2]<<8; |
506 | raw = pRxBuffer[2]<<8; |
505 | raw+= pRxBuffer[3]; |
507 | raw+= pRxBuffer[3]; |
506 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
508 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
507 | { |
509 | { |
508 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
510 | if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged |
509 | else Y = raw; |
511 | else Y = raw; |
510 | } |
512 | } |
- | 513 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
- | 514 | ||
511 | raw = pRxBuffer[4]<<8; |
515 | raw = pRxBuffer[4]<<8; |
512 | raw+= pRxBuffer[5]; |
516 | raw+= pRxBuffer[5]; |
513 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
517 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
514 | { |
518 | { |
515 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
519 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
516 | else Z = raw; |
520 | else Z = raw; |
517 | } |
521 | } |
- | 522 | else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data |
|
- | 523 | ||
518 | switch(ExtCompassOrientation) |
524 | switch(ExtCompassOrientation) |
519 | { |
525 | { |
520 | case 0: |
526 | case 0: |
521 | case 1: |
527 | case 1: |
522 | default: |
528 | default: |
523 | MagRawVector.X = X; |
529 | MagRawVector.X = X; |
524 | MagRawVector.Y = Y; |
530 | MagRawVector.Y = Y; |
525 | MagRawVector.Z = Z; |
531 | MagRawVector.Z = Z; |
526 | break; |
532 | break; |
527 | case 2: |
533 | case 2: |
528 | MagRawVector.X = -X; |
534 | MagRawVector.X = -X; |
529 | MagRawVector.Y = Y; |
535 | MagRawVector.Y = Y; |
530 | MagRawVector.Z = -Z; |
536 | MagRawVector.Z = -Z; |
531 | break; |
537 | break; |
532 | case 3: |
538 | case 3: |
533 | MagRawVector.X = -Z; |
539 | MagRawVector.X = -Z; |
534 | MagRawVector.Y = Y; |
540 | MagRawVector.Y = Y; |
535 | MagRawVector.Z = X; |
541 | MagRawVector.Z = X; |
536 | break; |
542 | break; |
537 | case 4: |
543 | case 4: |
538 | MagRawVector.X = Z; |
544 | MagRawVector.X = Z; |
539 | MagRawVector.Y = Y; |
545 | MagRawVector.Y = Y; |
540 | MagRawVector.Z = -X; |
546 | MagRawVector.Z = -X; |
541 | break; |
547 | break; |
542 | case 5: |
548 | case 5: |
543 | MagRawVector.X = X; |
549 | MagRawVector.X = X; |
544 | MagRawVector.Y = -Z; |
550 | MagRawVector.Y = -Z; |
545 | MagRawVector.Z = Y; |
551 | MagRawVector.Z = Y; |
546 | break; |
552 | break; |
547 | case 6: |
553 | case 6: |
548 | MagRawVector.X = -X; |
554 | MagRawVector.X = -X; |
549 | MagRawVector.Y = -Z; |
555 | MagRawVector.Y = -Z; |
550 | MagRawVector.Z = -Y; |
556 | MagRawVector.Z = -Y; |
551 | break; |
557 | break; |
552 | } |
558 | } |
553 | } |
559 | } |
554 | if(Compass_CalState || !NCMAG_IsCalibrated) |
560 | if(Compass_CalState || !NCMAG_IsCalibrated) |
555 | { // mark out data invalid |
561 | { // mark out data invalid |
556 | MagVector.X = MagRawVector.X; |
562 | MagVector.X = MagRawVector.X; |
557 | MagVector.Y = MagRawVector.Y; |
563 | MagVector.Y = MagRawVector.Y; |
558 | MagVector.Z = MagRawVector.Z; |
564 | MagVector.Z = MagRawVector.Z; |
559 | Compass_Heading = -1; |
565 | Compass_Heading = -1; |
560 | } |
566 | } |
561 | else |
567 | else |
562 | { |
568 | { |
563 | // update MagVector from MagRaw Vector by Scaling |
569 | // update MagVector from MagRaw Vector by Scaling |
564 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
570 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
565 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
571 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
566 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
572 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
567 | Compass_CalcHeading(); |
573 | Compass_CalcHeading(); |
568 | } |
574 | } |
569 | } |
575 | } |
570 | // rx data handler for acceleration raw data |
576 | // rx data handler for acceleration raw data |
571 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
577 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
572 | { // if number of byte are matching |
578 | { // if number of byte are matching |
573 | if(RxBufferSize == sizeof(AccRawVector) ) |
579 | if(RxBufferSize == sizeof(AccRawVector) ) |
574 | { |
580 | { |
575 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
581 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
576 | } |
582 | } |
577 | } |
583 | } |
578 | 584 | ||
579 | u8 GetExtCompassOrientation(void) |
585 | u8 GetExtCompassOrientation(void) |
580 | { |
586 | { |
581 | if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
587 | if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
582 | 588 | ||
583 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
589 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
584 | { |
590 | { |
585 | // UART1_PutString("\r\nTilted"); |
591 | // UART1_PutString("\r\nTilted"); |
586 | return(0); |
592 | return(0); |
587 | } |
593 | } |
588 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
594 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
589 | else |
595 | else |
590 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
596 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
591 | else |
597 | else |
592 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
598 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
593 | else |
599 | else |
594 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
600 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
595 | else |
601 | else |
596 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
602 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
597 | else |
603 | else |
598 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
604 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
599 | return(0); |
605 | return(0); |
600 | } |
606 | } |
601 | 607 | ||
602 | // rx data handler for reading magnetic sensor configuration |
608 | // rx data handler for reading magnetic sensor configuration |
603 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
609 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
604 | { // if number of byte are matching |
610 | { // if number of byte are matching |
605 | if(RxBufferSize == sizeof(MagConfig) ) |
611 | if(RxBufferSize == sizeof(MagConfig) ) |
606 | { |
612 | { |
607 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
613 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
608 | } |
614 | } |
609 | } |
615 | } |
610 | // rx data handler for reading acceleration sensor configuration |
616 | // rx data handler for reading acceleration sensor configuration |
611 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
617 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
612 | { // if number of byte are matching |
618 | { // if number of byte are matching |
613 | if(RxBufferSize == sizeof(AccConfig) ) |
619 | if(RxBufferSize == sizeof(AccConfig) ) |
614 | { |
620 | { |
615 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
621 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
616 | } |
622 | } |
617 | } |
623 | } |
618 | //---------------------------------------------------------------------- |
624 | //---------------------------------------------------------------------- |
619 | 625 | ||
620 | 626 | ||
621 | // --------------------------------------------------------------------- |
627 | // --------------------------------------------------------------------- |
622 | u8 NCMAG_SetMagConfig(void) |
628 | u8 NCMAG_SetMagConfig(void) |
623 | { |
629 | { |
624 | u8 retval = 0; |
630 | u8 retval = 0; |
625 | // try to catch the i2c buffer within 100 ms timeout |
631 | // try to catch the i2c buffer within 100 ms timeout |
626 | if(I2C_LockBufferFunc(100)) |
632 | if(I2C_LockBufferFunc(100)) |
627 | { |
633 | { |
628 | u8 TxBytes = 0; |
634 | u8 TxBytes = 0; |
629 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
635 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
630 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
636 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
631 | TxBytes += sizeof(MagConfig); |
637 | TxBytes += sizeof(MagConfig); |
632 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
638 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
633 | { |
639 | { |
634 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
640 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
635 | { |
641 | { |
636 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
642 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
637 | } |
643 | } |
638 | } |
644 | } |
639 | } |
645 | } |
640 | return(retval); |
646 | return(retval); |
641 | } |
647 | } |
642 | 648 | ||
643 | // ---------------------------------------------------------------------------------------- |
649 | // ---------------------------------------------------------------------------------------- |
644 | u8 NCMAG_GetMagConfig(void) |
650 | u8 NCMAG_GetMagConfig(void) |
645 | { |
651 | { |
646 | u8 retval = 0; |
652 | u8 retval = 0; |
647 | // try to catch the i2c buffer within 100 ms timeout |
653 | // try to catch the i2c buffer within 100 ms timeout |
648 | if(I2C_LockBufferFunc(100)) |
654 | if(I2C_LockBufferFunc(100)) |
649 | { |
655 | { |
650 | u8 TxBytes = 0; |
656 | u8 TxBytes = 0; |
651 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
657 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
652 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
658 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
653 | { |
659 | { |
654 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
660 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
655 | { |
661 | { |
656 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
662 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
657 | } |
663 | } |
658 | } |
664 | } |
659 | } |
665 | } |
660 | return(retval); |
666 | return(retval); |
661 | } |
667 | } |
662 | 668 | ||
663 | // ---------------------------------------------------------------------------------------- |
669 | // ---------------------------------------------------------------------------------------- |
664 | u8 NCMAG_SetAccConfig(void) |
670 | u8 NCMAG_SetAccConfig(void) |
665 | { |
671 | { |
666 | u8 retval = 0; |
672 | u8 retval = 0; |
667 | // try to catch the i2c buffer within 100 ms timeout |
673 | // try to catch the i2c buffer within 100 ms timeout |
668 | if(I2C_LockBufferFunc(50)) |
674 | if(I2C_LockBufferFunc(50)) |
669 | { |
675 | { |
670 | u8 TxBytes = 0; |
676 | u8 TxBytes = 0; |
671 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
677 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
672 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
678 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
673 | TxBytes += sizeof(AccConfig); |
679 | TxBytes += sizeof(AccConfig); |
674 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
680 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
675 | { |
681 | { |
676 | if(I2C_WaitForEndOfTransmissionFunc(50)) |
682 | if(I2C_WaitForEndOfTransmissionFunc(50)) |
677 | { |
683 | { |
678 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
684 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
679 | } |
685 | } |
680 | } |
686 | } |
681 | } |
687 | } |
682 | return(retval); |
688 | return(retval); |
683 | } |
689 | } |
684 | 690 | ||
685 | // ---------------------------------------------------------------------------------------- |
691 | // ---------------------------------------------------------------------------------------- |
686 | u8 NCMAG_GetAccConfig(void) |
692 | u8 NCMAG_GetAccConfig(void) |
687 | { |
693 | { |
688 | u8 retval = 0; |
694 | u8 retval = 0; |
689 | // try to catch the i2c buffer within 100 ms timeout |
695 | // try to catch the i2c buffer within 100 ms timeout |
690 | if(I2C_LockBufferFunc(100)) |
696 | if(I2C_LockBufferFunc(100)) |
691 | { |
697 | { |
692 | u8 TxBytes = 0; |
698 | u8 TxBytes = 0; |
693 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
699 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
694 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
700 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
695 | { |
701 | { |
696 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
702 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
697 | { |
703 | { |
698 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
704 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
699 | } |
705 | } |
700 | } |
706 | } |
701 | } |
707 | } |
702 | return(retval); |
708 | return(retval); |
703 | } |
709 | } |
704 | 710 | ||
705 | // ---------------------------------------------------------------------------------------- |
711 | // ---------------------------------------------------------------------------------------- |
706 | u8 NCMAG_GetIdentification(void) |
712 | u8 NCMAG_GetIdentification(void) |
707 | { |
713 | { |
708 | u8 retval = 0; |
714 | u8 retval = 0; |
709 | // try to catch the i2c buffer within 100 ms timeout |
715 | // try to catch the i2c buffer within 100 ms timeout |
710 | if(I2C_LockBufferFunc(100)) |
716 | if(I2C_LockBufferFunc(100)) |
711 | { |
717 | { |
712 | u16 TxBytes = 0; |
718 | u16 TxBytes = 0; |
713 | NCMAG_Identification.A = 0xFF; |
719 | NCMAG_Identification.A = 0xFF; |
714 | NCMAG_Identification.B = 0xFF; |
720 | NCMAG_Identification.B = 0xFF; |
715 | NCMAG_Identification.C = 0xFF; |
721 | NCMAG_Identification.C = 0xFF; |
716 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
722 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
717 | // initiate transmission |
723 | // initiate transmission |
718 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
724 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
719 | { |
725 | { |
720 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
726 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
721 | { |
727 | { |
722 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
728 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
723 | } |
729 | } |
724 | } |
730 | } |
725 | } |
731 | } |
726 | return(retval); |
732 | return(retval); |
727 | } |
733 | } |
728 | 734 | ||
729 | u8 NCMAG_GetIdentification_Sub(void) |
735 | u8 NCMAG_GetIdentification_Sub(void) |
730 | { |
736 | { |
731 | u8 retval = 0; |
737 | u8 retval = 0; |
732 | // try to catch the i2c buffer within 100 ms timeout |
738 | // try to catch the i2c buffer within 100 ms timeout |
733 | if(I2C_LockBufferFunc(100)) |
739 | if(I2C_LockBufferFunc(100)) |
734 | { |
740 | { |
735 | u16 TxBytes = 0; |
741 | u16 TxBytes = 0; |
736 | NCMAG_Identification2.Sub = 0xFF; |
742 | NCMAG_Identification2.Sub = 0xFF; |
737 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
743 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
738 | // initiate transmission |
744 | // initiate transmission |
739 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
745 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
740 | { |
746 | { |
741 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
747 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
742 | { |
748 | { |
743 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
749 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
744 | } |
750 | } |
745 | } |
751 | } |
746 | } |
752 | } |
747 | return(retval); |
753 | return(retval); |
748 | } |
754 | } |
749 | 755 | ||
750 | 756 | ||
751 | // ---------------------------------------------------------------------------------------- |
757 | // ---------------------------------------------------------------------------------------- |
752 | void NCMAG_GetMagVector(void) |
758 | void NCMAG_GetMagVector(void) |
753 | { |
759 | { |
754 | // try to catch the I2C buffer within 0 ms |
760 | // try to catch the I2C buffer within 0 ms |
755 | if(I2C_LockBufferFunc(5)) |
761 | if(I2C_LockBufferFunc(5)) |
756 | { |
762 | { |
757 | u16 TxBytes = 0; |
763 | u16 TxBytes = 0; |
758 | // set register pointer |
764 | // set register pointer |
759 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
765 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
760 | // initiate transmission |
766 | // initiate transmission |
761 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
767 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
762 | } |
768 | } |
763 | } |
769 | } |
764 | 770 | ||
765 | //---------------------------------------------------------------- |
771 | //---------------------------------------------------------------- |
766 | void NCMAG_GetAccVector(u8 timeout) |
772 | void NCMAG_GetAccVector(u8 timeout) |
767 | { |
773 | { |
768 | // try to catch the I2C buffer within 0 ms |
774 | // try to catch the I2C buffer within 0 ms |
769 | if(I2C_LockBufferFunc(timeout)) |
775 | if(I2C_LockBufferFunc(timeout)) |
770 | { |
776 | { |
771 | u16 TxBytes = 0; |
777 | u16 TxBytes = 0; |
772 | // set register pointer |
778 | // set register pointer |
773 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
779 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
774 | // initiate transmission |
780 | // initiate transmission |
775 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
781 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
776 | //DebugOut.Analog[16] = AccRawVector.X; |
782 | //DebugOut.Analog[16] = AccRawVector.X; |
777 | //DebugOut.Analog[17] = AccRawVector.Y; |
783 | //DebugOut.Analog[17] = AccRawVector.Y; |
778 | //DebugOut.Analog[18] = AccRawVector.Z; |
784 | //DebugOut.Analog[18] = AccRawVector.Z; |
779 | } |
785 | } |
780 | } |
786 | } |
781 | 787 | ||
782 | //---------------------------------------------------------------- |
788 | //---------------------------------------------------------------- |
783 | u8 InitNC_MagnetSensor(void) |
789 | u8 InitNC_MagnetSensor(void) |
784 | { |
790 | { |
785 | u8 crb_gain, cra_rate; |
791 | u8 crb_gain, cra_rate; |
786 | 792 | ||
787 | switch(NCMAG_SensorType) |
793 | switch(NCMAG_SensorType) |
788 | { |
794 | { |
789 | case TYPE_HMC5843: |
795 | case TYPE_HMC5843: |
790 | crb_gain = HMC5843_CRB_GAIN_15GA; |
796 | crb_gain = HMC5843_CRB_GAIN_15GA; |
791 | cra_rate = HMC5843_CRA_RATE_50HZ; |
797 | cra_rate = HMC5843_CRA_RATE_50HZ; |
792 | break; |
798 | break; |
793 | 799 | ||
794 | case TYPE_LSM303DLH: |
800 | case TYPE_LSM303DLH: |
795 | case TYPE_LSM303DLM: |
801 | case TYPE_LSM303DLM: |
796 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
802 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
797 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
803 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
798 | break; |
804 | break; |
799 | 805 | ||
800 | default: |
806 | default: |
801 | return(0); |
807 | return(0); |
802 | } |
808 | } |
803 | 809 | ||
804 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
810 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
805 | MagConfig.crb = crb_gain; |
811 | MagConfig.crb = crb_gain; |
806 | MagConfig.mode = MODE_CONTINUOUS; |
812 | MagConfig.mode = MODE_CONTINUOUS; |
807 | return(NCMAG_SetMagConfig()); |
813 | return(NCMAG_SetMagConfig()); |
808 | } |
814 | } |
809 | 815 | ||
810 | 816 | ||
811 | //---------------------------------------------------------------- |
817 | //---------------------------------------------------------------- |
812 | u8 NCMAG_Init_ACCSensor(void) |
818 | u8 NCMAG_Init_ACCSensor(void) |
813 | { |
819 | { |
814 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
820 | AccConfig.ctrl_1 = ACC_CRTL1_PM_NORMAL|ACC_CRTL1_DR_50HZ|ACC_CRTL1_XEN|ACC_CRTL1_YEN|ACC_CRTL1_ZEN; |
815 | AccConfig.ctrl_2 = 0; |
821 | AccConfig.ctrl_2 = 0; |
816 | AccConfig.ctrl_3 = 0x00; |
822 | AccConfig.ctrl_3 = 0x00; |
817 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
823 | AccConfig.ctrl_4 = ACC_CTRL4_BDU | ACC_CTRL4_FS_8G; |
818 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
824 | AccConfig.ctrl_5 = ACC_CTRL5_STW_OFF; |
819 | return(NCMAG_SetAccConfig()); |
825 | return(NCMAG_SetAccConfig()); |
820 | } |
826 | } |
821 | // -------------------------------------------------------- |
827 | // -------------------------------------------------------- |
822 | void NCMAG_Update(u8 init) |
828 | void NCMAG_Update(u8 init) |
823 | { |
829 | { |
824 | static u32 TimerUpdate = 0; |
830 | static u32 TimerUpdate = 0; |
825 | static s8 send_config = 0; |
831 | static s8 send_config = 0; |
826 | u32 delay = 20; |
832 | u32 delay = 20; |
827 | if(init) TimerUpdate = SetDelay(10); |
833 | if(init) TimerUpdate = SetDelay(10); |
828 | 834 | ||
829 | // todo State Handling for both busses !! |
835 | // todo State Handling for both busses !! |
830 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF)/* || !NCMAG_Present*/ ) |
836 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF)/* || !NCMAG_Present*/ ) |
831 | { |
837 | { |
832 | Compass_Heading = -1; |
838 | Compass_Heading = -1; |
833 | DebugOut.Analog[14]++; // count I2C error |
839 | DebugOut.Analog[14]++; // count I2C error |
834 | TimerUpdate = SetDelay(10); |
840 | TimerUpdate = SetDelay(10); |
835 | return; |
841 | return; |
836 | } |
842 | } |
837 | if(CheckDelay(TimerUpdate))// && I2C0_State == I2C_STATE_IDLE && I2C1_State == I2C_STATE_IDLE) |
843 | if(CheckDelay(TimerUpdate))// && I2C0_State == I2C_STATE_IDLE && I2C1_State == I2C_STATE_IDLE) |
838 | { |
844 | { |
839 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
845 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
840 | if(++send_config == 25) // 500ms |
846 | if(++send_config == 25) // 500ms |
841 | { |
847 | { |
842 | send_config = -25; // next try after 1 second |
848 | send_config = -25; // next try after 1 second |
843 | InitNC_MagnetSensor(); |
849 | InitNC_MagnetSensor(); |
844 | TimerUpdate = SetDelay(20); // back into the old time-slot |
850 | TimerUpdate = SetDelay(20); // back into the old time-slot |
845 | } |
851 | } |
846 | else |
852 | else |
847 | { |
853 | { |
848 | static u8 s = 0; |
854 | static u8 s = 0; |
849 | // check for new calibration state |
855 | // check for new calibration state |
850 | Compass_UpdateCalState(); |
856 | Compass_UpdateCalState(); |
851 | if(Compass_CalState) NCMAG_Calibrate(); |
857 | if(Compass_CalState) NCMAG_Calibrate(); |
852 | 858 | ||
853 | // in case of LSM303 type |
859 | // in case of LSM303 type |
854 | switch(NCMAG_SensorType) |
860 | switch(NCMAG_SensorType) |
855 | { |
861 | { |
856 | case TYPE_HMC5843: |
862 | case TYPE_HMC5843: |
857 | NCMAG_GetMagVector(); |
863 | NCMAG_GetMagVector(); |
858 | delay = 20; |
864 | delay = 20; |
859 | break; |
865 | break; |
860 | case TYPE_LSM303DLH: |
866 | case TYPE_LSM303DLH: |
861 | case TYPE_LSM303DLM: |
867 | case TYPE_LSM303DLM: |
862 | delay = 20; |
868 | delay = 20; |
863 | //delay = 2; |
869 | //delay = 2; |
864 | if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
870 | if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
865 | else |
871 | else |
866 | { |
872 | { |
867 | if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
873 | if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
868 | NCMAG_GetAccVector(5); |
874 | NCMAG_GetAccVector(5); |
869 | delay = 10; |
875 | delay = 10; |
870 | s = 40; // about 0,8 sec |
876 | s = 40; // about 0,8 sec |
871 | }; |
877 | }; |
872 | if(!s) delay = 10; // ACC-Reading in the next step after 10ms |
878 | if(!s) delay = 10; // ACC-Reading in the next step after 10ms |
873 | //if(!s) delay = 2; // ACC-Reading in the next step after 10ms |
879 | //if(!s) delay = 2; // ACC-Reading in the next step after 10ms |
874 | break; |
880 | break; |
875 | } |
881 | } |
876 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
882 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
877 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
883 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
878 | } |
884 | } |
879 | } |
885 | } |
880 | } |
886 | } |
881 | 887 | ||
882 | 888 | ||
883 | // -------------------------------------------------------- |
889 | // -------------------------------------------------------- |
884 | u8 NCMAG_SelfTest(void) |
890 | u8 NCMAG_SelfTest(void) |
885 | { |
891 | { |
886 | u8 msg[64]; |
892 | u8 msg[64]; |
887 | static u8 done = 0; |
893 | static u8 done = 0; |
888 | 894 | ||
889 | if(done) return(1); // just make it once |
895 | if(done) return(1); // just make it once |
890 | 896 | ||
891 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
897 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
892 | u32 time; |
898 | u32 time; |
893 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
899 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
894 | s16 xscale, yscale, zscale, scale_min, scale_max; |
900 | s16 xscale, yscale, zscale, scale_min, scale_max; |
895 | u8 crb_gain, cra_rate; |
901 | u8 crb_gain, cra_rate; |
896 | u8 i = 0, retval = 1; |
902 | u8 i = 0, retval = 1; |
897 | 903 | ||
898 | switch(NCMAG_SensorType) |
904 | switch(NCMAG_SensorType) |
899 | { |
905 | { |
900 | case TYPE_HMC5843: |
906 | case TYPE_HMC5843: |
901 | crb_gain = HMC5843_CRB_GAIN_15GA; |
907 | crb_gain = HMC5843_CRB_GAIN_15GA; |
902 | cra_rate = HMC5843_CRA_RATE_50HZ; |
908 | cra_rate = HMC5843_CRA_RATE_50HZ; |
903 | xscale = HMC5843_TEST_XSCALE; |
909 | xscale = HMC5843_TEST_XSCALE; |
904 | yscale = HMC5843_TEST_YSCALE; |
910 | yscale = HMC5843_TEST_YSCALE; |
905 | zscale = HMC5843_TEST_ZSCALE; |
911 | zscale = HMC5843_TEST_ZSCALE; |
906 | break; |
912 | break; |
907 | 913 | ||
908 | case TYPE_LSM303DLH: |
914 | case TYPE_LSM303DLH: |
909 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
915 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
910 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
916 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
911 | xscale = LSM303DLH_TEST_XSCALE; |
917 | xscale = LSM303DLH_TEST_XSCALE; |
912 | yscale = LSM303DLH_TEST_YSCALE; |
918 | yscale = LSM303DLH_TEST_YSCALE; |
913 | zscale = LSM303DLH_TEST_ZSCALE; |
919 | zscale = LSM303DLH_TEST_ZSCALE; |
914 | break; |
920 | break; |
915 | 921 | ||
916 | case TYPE_LSM303DLM: |
922 | case TYPE_LSM303DLM: |
917 | // does not support self test feature |
923 | // does not support self test feature |
918 | done = retval; |
924 | done = retval; |
919 | return(retval); |
925 | return(retval); |
920 | break; |
926 | break; |
921 | 927 | ||
922 | default: |
928 | default: |
923 | return(0); |
929 | return(0); |
924 | } |
930 | } |
925 | 931 | ||
926 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
932 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
927 | MagConfig.crb = crb_gain; |
933 | MagConfig.crb = crb_gain; |
928 | MagConfig.mode = MODE_CONTINUOUS; |
934 | MagConfig.mode = MODE_CONTINUOUS; |
929 | // activate positive bias field |
935 | // activate positive bias field |
930 | NCMAG_SetMagConfig(); |
936 | NCMAG_SetMagConfig(); |
931 | // wait for stable readings |
937 | // wait for stable readings |
932 | time = SetDelay(50); |
938 | time = SetDelay(50); |
933 | while(!CheckDelay(time)); |
939 | while(!CheckDelay(time)); |
934 | // averaging |
940 | // averaging |
935 | #define AVERAGE 20 |
941 | #define AVERAGE 20 |
936 | for(i = 0; i<AVERAGE; i++) |
942 | for(i = 0; i<AVERAGE; i++) |
937 | { |
943 | { |
938 | NCMAG_GetMagVector(); |
944 | NCMAG_GetMagVector(); |
939 | time = SetDelay(20); |
945 | time = SetDelay(20); |
940 | while(!CheckDelay(time)); |
946 | while(!CheckDelay(time)); |
941 | XMax += MagRawVector.X; |
947 | XMax += MagRawVector.X; |
942 | YMax += MagRawVector.Y; |
948 | YMax += MagRawVector.Y; |
943 | ZMax += MagRawVector.Z; |
949 | ZMax += MagRawVector.Z; |
944 | } |
950 | } |
945 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
951 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
946 | // activate positive bias field |
952 | // activate positive bias field |
947 | NCMAG_SetMagConfig(); |
953 | NCMAG_SetMagConfig(); |
948 | // wait for stable readings |
954 | // wait for stable readings |
949 | time = SetDelay(50); |
955 | time = SetDelay(50); |
950 | while(!CheckDelay(time)); |
956 | while(!CheckDelay(time)); |
951 | // averaging |
957 | // averaging |
952 | for(i = 0; i < AVERAGE; i++) |
958 | for(i = 0; i < AVERAGE; i++) |
953 | { |
959 | { |
954 | NCMAG_GetMagVector(); |
960 | NCMAG_GetMagVector(); |
955 | time = SetDelay(20); |
961 | time = SetDelay(20); |
956 | while(!CheckDelay(time)); |
962 | while(!CheckDelay(time)); |
957 | XMin += MagRawVector.X; |
963 | XMin += MagRawVector.X; |
958 | YMin += MagRawVector.Y; |
964 | YMin += MagRawVector.Y; |
959 | ZMin += MagRawVector.Z; |
965 | ZMin += MagRawVector.Z; |
960 | } |
966 | } |
961 | // setup final configuration |
967 | // setup final configuration |
962 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
968 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
963 | // activate positive bias field |
969 | // activate positive bias field |
964 | NCMAG_SetMagConfig(); |
970 | NCMAG_SetMagConfig(); |
965 | // check scale for all axes |
971 | // check scale for all axes |
966 | // prepare scale limits |
972 | // prepare scale limits |
967 | LIMITS(xscale, scale_min, scale_max); |
973 | LIMITS(xscale, scale_min, scale_max); |
968 | xscale = (XMax - XMin)/(2*AVERAGE); |
974 | xscale = (XMax - XMin)/(2*AVERAGE); |
969 | if((xscale > scale_max) || (xscale < scale_min)) |
975 | if((xscale > scale_max) || (xscale < scale_min)) |
970 | { |
976 | { |
971 | retval = 0; |
977 | retval = 0; |
972 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
978 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
973 | UART1_PutString(msg); |
979 | UART1_PutString(msg); |
974 | } |
980 | } |
975 | LIMITS(yscale, scale_min, scale_max); |
981 | LIMITS(yscale, scale_min, scale_max); |
976 | yscale = (YMax - YMin)/(2*AVERAGE); |
982 | yscale = (YMax - YMin)/(2*AVERAGE); |
977 | if((yscale > scale_max) || (yscale < scale_min)) |
983 | if((yscale > scale_max) || (yscale < scale_min)) |
978 | { |
984 | { |
979 | retval = 0; |
985 | retval = 0; |
980 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
986 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
981 | UART1_PutString(msg); |
987 | UART1_PutString(msg); |
982 | } |
988 | } |
983 | LIMITS(zscale, scale_min, scale_max); |
989 | LIMITS(zscale, scale_min, scale_max); |
984 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
990 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
985 | if((zscale > scale_max) || (zscale < scale_min)) |
991 | if((zscale > scale_max) || (zscale < scale_min)) |
986 | { |
992 | { |
987 | retval = 0; |
993 | retval = 0; |
988 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
994 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
989 | UART1_PutString(msg); |
995 | UART1_PutString(msg); |
990 | } |
996 | } |
991 | done = retval; |
997 | done = retval; |
992 | return(retval); |
998 | return(retval); |
993 | } |
999 | } |
994 | 1000 | ||
995 | 1001 | ||
996 | //---------------------------------------------------------------- |
1002 | //---------------------------------------------------------------- |
997 | void NCMAG_SelectI2CBus(u8 busno) |
1003 | void NCMAG_SelectI2CBus(u8 busno) |
998 | { |
1004 | { |
999 | if (busno == 0) |
1005 | if (busno == 0) |
1000 | { |
1006 | { |
1001 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
1007 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
1002 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
1008 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
1003 | I2C_TransmissionFunc = &I2C0_Transmission; |
1009 | I2C_TransmissionFunc = &I2C0_Transmission; |
1004 | I2C_BufferPnt = I2C0_Buffer; |
1010 | I2C_BufferPnt = I2C0_Buffer; |
1005 | I2C_ErrorPnt = &I2C0_Error; |
1011 | I2C_ErrorPnt = &I2C0_Error; |
1006 | } |
1012 | } |
1007 | else |
1013 | else |
1008 | { |
1014 | { |
1009 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
1015 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
1010 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
1016 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
1011 | I2C_TransmissionFunc = &I2C1_Transmission; |
1017 | I2C_TransmissionFunc = &I2C1_Transmission; |
1012 | I2C_BufferPnt = I2C1_Buffer; |
1018 | I2C_BufferPnt = I2C1_Buffer; |
1013 | I2C_ErrorPnt = &I2C1_Error; |
1019 | I2C_ErrorPnt = &I2C1_Error; |
1014 | } |
1020 | } |
1015 | } |
1021 | } |
1016 | 1022 | ||
1017 | //---------------------------------------------------------------- |
1023 | //---------------------------------------------------------------- |
1018 | u8 NCMAG_Init(void) |
1024 | u8 NCMAG_Init(void) |
1019 | { |
1025 | { |
1020 | u8 msg[64]; |
1026 | u8 msg[64]; |
1021 | u8 retval = 0; |
1027 | u8 retval = 0; |
1022 | u8 repeat = 0; |
1028 | u8 repeat = 0; |
1023 | 1029 | ||
1024 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1030 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1025 | // Search external sensor |
1031 | // Search external sensor |
1026 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1032 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1027 | I2C_CompassPort = I2C_EXTERN_0; |
1033 | I2C_CompassPort = I2C_EXTERN_0; |
1028 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1034 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1029 | 1035 | ||
1030 | // get id bytes |
1036 | // get id bytes |
1031 | retval = 0; |
1037 | retval = 0; |
1032 | for(repeat = 0; repeat < 5; repeat++) |
1038 | for(repeat = 0; repeat < 5; repeat++) |
1033 | { |
1039 | { |
1034 | // retval = NCMAG_GetIdentification(); |
1040 | // retval = NCMAG_GetIdentification(); |
1035 | retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
1041 | retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
1036 | if(retval) break; // break loop on success |
1042 | if(retval) break; // break loop on success |
1037 | UART1_PutString("_"); |
1043 | UART1_PutString("_"); |
1038 | } |
1044 | } |
1039 | //retval = 1; |
1045 | //retval = 1; |
1040 | if(!retval) |
1046 | if(!retval) |
1041 | { |
1047 | { |
1042 | UART1_PutString(" internal sensor "); |
1048 | UART1_PutString(" internal sensor "); |
1043 | I2C_CompassPort = I2C_INTERN_1; |
1049 | I2C_CompassPort = I2C_INTERN_1; |
1044 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1050 | NCMAG_SelectI2CBus(I2C_CompassPort); |
1045 | } |
1051 | } |
1046 | else |
1052 | else |
1047 | { |
1053 | { |
1048 | UART1_PutString(" external sensor "); |
1054 | UART1_PutString(" external sensor "); |
1049 | NCMAG_Init_ACCSensor(); |
1055 | NCMAG_Init_ACCSensor(); |
1050 | 1056 | ||
1051 | for(repeat = 0; repeat < 100; repeat++) |
1057 | for(repeat = 0; repeat < 100; repeat++) |
1052 | { |
1058 | { |
1053 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1059 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1054 | ExtCompassOrientation = GetExtCompassOrientation(); |
1060 | ExtCompassOrientation = GetExtCompassOrientation(); |
1055 | if(ExtCompassOrientation && (ExtCompassOrientation == Calibration.Version / 16)) break; |
1061 | if(ExtCompassOrientation && (ExtCompassOrientation == Calibration.Version / 16)) break; |
1056 | //UART1_Putchar('-'); |
1062 | //UART1_Putchar('-'); |
1057 | } |
1063 | } |
1058 | //DebugOut.Analog[19] = repeat; |
1064 | //DebugOut.Analog[19] = repeat; |
1059 | 1065 | ||
1060 | if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
1066 | if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
1061 | else |
1067 | else |
1062 | { |
1068 | { |
1063 | NCMag_CalibrationRead(I2C_CompassPort); |
1069 | NCMag_CalibrationRead(I2C_CompassPort); |
1064 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
1070 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
1065 | UART1_PutString(msg); |
1071 | UART1_PutString(msg); |
1066 | if(ExtCompassOrientation != Calibration.Version / 16) |
1072 | if(ExtCompassOrientation != Calibration.Version / 16) |
1067 | { |
1073 | { |
1068 | sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version / 16); |
1074 | sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version / 16); |
1069 | UART1_PutString(msg); |
1075 | UART1_PutString(msg); |
1070 | } |
1076 | } |
1071 | else UART1_PutString("ok "); |
1077 | else UART1_PutString("ok "); |
1072 | } |
1078 | } |
1073 | 1079 | ||
1074 | } |
1080 | } |
1075 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1081 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1076 | 1082 | ||
1077 | NCMAG_Present = 0; |
1083 | NCMAG_Present = 0; |
1078 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1084 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
1079 | // polling for LSM302DLH/DLM option by ACC address ack |
1085 | // polling for LSM302DLH/DLM option by ACC address ack |
1080 | for(repeat = 0; repeat < 3; repeat++) |
1086 | for(repeat = 0; repeat < 3; repeat++) |
1081 | { |
1087 | { |
1082 | retval = NCMAG_GetAccConfig(); |
1088 | retval = NCMAG_GetAccConfig(); |
1083 | if(retval) break; // break loop on success |
1089 | if(retval) break; // break loop on success |
1084 | } |
1090 | } |
1085 | if(retval) |
1091 | if(retval) |
1086 | { |
1092 | { |
1087 | // initialize ACC sensor |
1093 | // initialize ACC sensor |
1088 | NCMAG_Init_ACCSensor(); |
1094 | NCMAG_Init_ACCSensor(); |
1089 | 1095 | ||
1090 | NCMAG_SensorType = TYPE_LSM303DLH; |
1096 | NCMAG_SensorType = TYPE_LSM303DLH; |
1091 | // polling of sub identification |
1097 | // polling of sub identification |
1092 | for(repeat = 0; repeat < 12; repeat++) |
1098 | for(repeat = 0; repeat < 12; repeat++) |
1093 | { |
1099 | { |
1094 | retval = NCMAG_GetIdentification_Sub(); |
1100 | retval = NCMAG_GetIdentification_Sub(); |
1095 | if(retval) break; // break loop on success |
1101 | if(retval) break; // break loop on success |
1096 | } |
1102 | } |
1097 | if(retval) |
1103 | if(retval) |
1098 | { |
1104 | { |
1099 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1105 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1100 | } |
1106 | } |
1101 | } |
1107 | } |
1102 | // get id bytes |
1108 | // get id bytes |
1103 | for(repeat = 0; repeat < 3; repeat++) |
1109 | for(repeat = 0; repeat < 3; repeat++) |
1104 | { |
1110 | { |
1105 | retval = NCMAG_GetIdentification(); |
1111 | retval = NCMAG_GetIdentification(); |
1106 | if(retval) break; // break loop on success |
1112 | if(retval) break; // break loop on success |
1107 | } |
1113 | } |
1108 | 1114 | ||
1109 | // if we got an answer to id request |
1115 | // if we got an answer to id request |
1110 | if(retval) |
1116 | if(retval) |
1111 | { |
1117 | { |
1112 | u8 n1[] = "\n\r HMC5843"; |
1118 | u8 n1[] = "\n\r HMC5843"; |
1113 | u8 n2[] = "\n\r LSM303DLH"; |
1119 | u8 n2[] = "\n\r LSM303DLH"; |
1114 | u8 n3[] = "\n\r LSM303DLM"; |
1120 | u8 n3[] = "\n\r LSM303DLM"; |
1115 | u8* pn = n1; |
1121 | u8* pn = n1; |
1116 | 1122 | ||
1117 | switch(NCMAG_SensorType) |
1123 | switch(NCMAG_SensorType) |
1118 | { |
1124 | { |
1119 | case TYPE_HMC5843: |
1125 | case TYPE_HMC5843: |
1120 | pn = n1; |
1126 | pn = n1; |
1121 | break; |
1127 | break; |
1122 | case TYPE_LSM303DLH: |
1128 | case TYPE_LSM303DLH: |
1123 | pn = n2; |
1129 | pn = n2; |
1124 | break; |
1130 | break; |
1125 | case TYPE_LSM303DLM: |
1131 | case TYPE_LSM303DLM: |
1126 | pn = n3; |
1132 | pn = n3; |
1127 | break; |
1133 | break; |
1128 | } |
1134 | } |
1129 | 1135 | ||
1130 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1136 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1131 | UART1_PutString(msg); |
1137 | UART1_PutString(msg); |
1132 | if ( (NCMAG_Identification.A == MAG_IDA) |
1138 | if ( (NCMAG_Identification.A == MAG_IDA) |
1133 | && (NCMAG_Identification.B == MAG_IDB) |
1139 | && (NCMAG_Identification.B == MAG_IDB) |
1134 | && (NCMAG_Identification.C == MAG_IDC)) |
1140 | && (NCMAG_Identification.C == MAG_IDC)) |
1135 | { |
1141 | { |
1136 | NCMAG_Present = 1; |
1142 | NCMAG_Present = 1; |
1137 | 1143 | ||
1138 | if(EEPROM_Init()) |
1144 | if(EEPROM_Init()) |
1139 | { |
1145 | { |
1140 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
1146 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
1141 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1147 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1142 | } |
1148 | } |
1143 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1149 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1144 | // perform self test |
1150 | // perform self test |
1145 | if(!NCMAG_SelfTest()) |
1151 | if(!NCMAG_SelfTest()) |
1146 | { |
1152 | { |
1147 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1153 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1148 | LED_RED_ON; |
1154 | LED_RED_ON; |
1149 | // NCMAG_IsCalibrated = 0; |
1155 | // NCMAG_IsCalibrated = 0; |
1150 | } |
1156 | } |
1151 | else UART1_PutString("\r\n Selftest ok"); |
1157 | else UART1_PutString("\r\n Selftest ok"); |
1152 | 1158 | ||
1153 | // initialize magnetic sensor configuration |
1159 | // initialize magnetic sensor configuration |
1154 | InitNC_MagnetSensor(); |
1160 | InitNC_MagnetSensor(); |
1155 | } |
1161 | } |
1156 | else |
1162 | else |
1157 | { |
1163 | { |
1158 | UART1_PutString("\n\r Not compatible!"); |
1164 | UART1_PutString("\n\r Not compatible!"); |
1159 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1165 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1160 | LED_RED_ON; |
1166 | LED_RED_ON; |
1161 | } |
1167 | } |
1162 | } |
1168 | } |
1163 | else // nothing found |
1169 | else // nothing found |
1164 | { |
1170 | { |
1165 | NCMAG_SensorType = TYPE_NONE; |
1171 | NCMAG_SensorType = TYPE_NONE; |
1166 | UART1_PutString("not found!"); |
1172 | UART1_PutString("not found!"); |
1167 | } |
1173 | } |
1168 | return(NCMAG_Present); |
1174 | return(NCMAG_Present); |
1169 | } |
1175 | } |
1170 | 1176 | ||
1171 | 1177 |