WebSVN - NaviCtrl - Diff - Rev 257 and 264


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2010 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <math.h>
#include <string.h>
#include "91x_lib.h"
#include "ncmag.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "spi_slave.h"
#include "uart1.h"
#include "eeprom.h"
#include "mymath.h"
 
u8 NCMAG_Present = 0;
u8 NCMAG_IsCalibrated = 0;
 
#define MAG_TYPE_NONE           0
#define MAG_TYPE_HMC5843        1
#define MAG_TYPE_LSM303DLH      2
u8 NCMAG_MagType = MAG_TYPE_NONE;
 
#define CALIBRATION_VERSION 1
#define EEPROM_ADR_MAG_CALIBRATION 50
 
#define NCMAG_MIN_RAWVALUE -2047
#define NCMAG_MAX_RAWVALUE  2047
#define NCMAG_INVALID_DATA -4096
 
typedef struct
{
        s16 Range;
        s16 Offset;
} __attribute__((packed)) Scaling_t;
 
typedef struct
{
        Scaling_t MagX;
        Scaling_t MagY;
        Scaling_t MagZ;
        u8 Version;
        u8 crc;
} __attribute__((packed)) Calibration_t;
 
Calibration_t Calibration;              // calibration data in RAM 
 
// i2c MAG interface
#define MAG_SLAVE_ADDRESS       0x3C    // i2C slave address mag. sensor registers
 
// register mapping
#define REG_MAG_CRA                     0x00
#define REG_MAG_CRB                     0x01
#define REG_MAG_MODE            0x02
#define REG_MAG_DATAX_MSB       0x03
#define REG_MAG_DATAX_LSB       0x04
#define REG_MAG_DATAY_MSB       0x05
#define REG_MAG_DATAY_LSB       0x06
#define REG_MAG_DATAZ_MSB       0x07
#define REG_MAG_DATAZ_LSB       0x08
#define REG_MAG_STATUS          0x09
#define REG_MAG_IDA                     0x0A
#define REG_MAG_IDB                     0x0B
#define REG_MAG_IDC                     0x0C
 
// bit mask for configuration mode
#define CRA_MODE_MASK           0x03
#define CRA_MODE_NORMAL         0x00    //default
#define CRA_MODE_POSBIAS        0x01
#define CRA_MODE_NEGBIAS        0x02
#define CRA_MODE_SELFTEST       0x03
 
// bit mask for measurement mode
#define MODE_MASK                       0xFF
#define MODE_CONTINUOUS         0x00
#define MODE_SINGLE                     0x01    // default
#define MODE_IDLE                       0x02
#define MODE_SLEEP                      0x03
 
// bit mask for rate
#define CRA_RATE_MASK           0x1C
 
// bit mask for gain
#define CRB_GAIN_MASK           0xE0
 
// ids
#define MAG_IDA         0x48
#define MAG_IDB         0x34
#define MAG_IDC         0x33
 
// the special HMC5843 interface
// bit mask for rate
#define HMC5843_CRA_RATE_0_5HZ          0x00
#define HMC5843_CRA_RATE_1HZ            0x04
#define HMC5843_CRA_RATE_2HZ            0x08
#define HMC5843_CRA_RATE_5HZ            0x0C
#define HMC5843_CRA_RATE_10HZ           0x10    //default
#define HMC5843_CRA_RATE_20HZ           0x14
#define HMC5843_CRA_RATE_50HZ           0x18
// bit mask for gain
#define HMC5843_CRB_GAIN_07GA           0x00
#define HMC5843_CRB_GAIN_10GA           0x20    //default
#define HMC5843_CRB_GAIN_15GA           0x40
#define HMC5843_CRB_GAIN_20GA           0x60
#define HMC5843_CRB_GAIN_32GA           0x80
#define HMC5843_CRB_GAIN_38GA           0xA0
#define HMC5843_CRB_GAIN_45GA           0xC0
#define HMC5843_CRB_GAIN_65GA           0xE0
// self test value
#define HMC5843_TEST_XSCALE             715
#define HMC5843_TEST_YSCALE             715
#define HMC5843_TEST_ZSCALE             715
 
 
// the special LSM302DLH interface
// bit mask for rate
#define LSM303DLH_CRA_RATE_0_75HZ       0x00
#define LSM303DLH_CRA_RATE_1_5HZ        0x04
#define LSM303DLH_CRA_RATE_3_0HZ        0x08
#define LSM303DLH_CRA_RATE_7_5HZ        0x0C
#define LSM303DLH_CRA_RATE_15HZ         0x10    //default
#define LSM303DLH_CRA_RATE_30HZ         0x14
#define LSM303DLH_CRA_RATE_75HZ         0x18
// bit mask for gain
#define LSM303DLH_CRB_GAIN_XXGA         0x00
#define LSM303DLH_CRB_GAIN_13GA         0x20    //default
#define LSM303DLH_CRB_GAIN_19GA         0x40
#define LSM303DLH_CRB_GAIN_25GA         0x60
#define LSM303DLH_CRB_GAIN_40GA         0x80
#define LSM303DLH_CRB_GAIN_47GA         0xA0
#define LSM303DLH_CRB_GAIN_56GA         0xC0
#define LSM303DLH_CRB_GAIN_81GA         0xE0
// self test value
#define LSM303DLH_TEST_XSCALE   655
#define LSM303DLH_TEST_YSCALE   655
#define LSM303DLH_TEST_ZSCALE   630
 
// the i2c ACC interface
#define ACC_SLAVE_ADDRESS               0x30    // i2c slave for acc. sensor registers
// register mapping
#define REG_ACC_CTRL1                   0x20
#define REG_ACC_CTRL2                   0x21
#define REG_ACC_CTRL3                   0x22
#define REG_ACC_CTRL4                   0x23
#define REG_ACC_CTRL5                   0x24
#define REG_ACC_HP_FILTER_RESET 0x25
#define REG_ACC_REFERENCE               0x26
#define REG_ACC_STATUS                  0x27
#define REG_ACC_X_LSB                   0x28
#define REG_ACC_X_MSB                   0x29
#define REG_ACC_Y_LSB                   0x2A
#define REG_ACC_Y_MSB                   0x2B
#define REG_ACC_Z_LSB                   0x2C
#define REG_ACC_Z_MSB                   0x2D
 
 
 
typedef struct
{
        u8 A;
        u8 B;
        u8 C;
} __attribute__((packed)) Identification_t;
 
volatile Identification_t NCMAG_Identification;
 
typedef struct
{
        u8 cra;
        u8 crb;
        u8 mode;
} __attribute__((packed)) MagConfig_t;
 
volatile MagConfig_t MagConfig;
 
typedef struct
{
        u8 ctrl_1;
        u8 ctrl_2;
        u8 ctrl_3;
        u8 ctrl_4;
        u8 ctrl_5;
} __attribute__((packed)) AccConfig_t;
 
volatile AccConfig_t AccConfig;
 
volatile s16vec_t AccRawVector;
volatile s16vec_t MagRawVector;
 
 
u8 NCMag_CalibrationWrite(void)
{
        u8 i, crc = 0xAA;
        EEPROM_Result_t eres;
        u8 *pBuff = (u8*)&Calibration;
 
        Calibration.Version = CALIBRATION_VERSION;
        for(i = 0; i<(sizeof(Calibration)-1); i++)
        {
                crc += pBuff[i];        
        }
        Calibration.crc = ~crc;
        eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration));
        if(EEPROM_SUCCESS == eres) i = 1;
        else i = 0;
        return(i);     
}
 
u8 NCMag_CalibrationRead(void)
{
        u8 i, crc = 0xAA;
        u8 *pBuff = (u8*)&Calibration;
 
        if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)))
        {
                for(i = 0; i<(sizeof(Calibration)-1); i++)
                {
                        crc += pBuff[i];        
                }
                crc = ~crc;
                if(Calibration.crc != crc) return(0); // crc mismatch
                if(Calibration.Version == CALIBRATION_VERSION) return(1);
        }
        return(0);
}
 
 
void NCMAG_Calibrate(void)
{
        static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
        static s16 X = 0, Y = 0, Z = 0;
        static u8 OldCalState = 0;     
 
        X = (4*X + MagRawVector.X + 3)/5;
        Y = (4*Y + MagRawVector.Y + 3)/5;
        Z = (4*Z + MagRawVector.Z + 3)/5;
 
        switch(Compass_CalState)
        {
                case 1:
                        // 1st step of calibration
                        // initialize ranges
                        // used to change the orientation of the NC in the horizontal plane
                        Xmin =  10000;
                        Xmax = -10000;
                        Ymin =  10000;
                        Ymax = -10000;
                        Zmin =  10000;
                        Zmax = -10000;
                        break;
               
                case 2: // 2nd step of calibration
                        // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
                        if(X < Xmin) Xmin = X;
                        else if(X > Xmax) Xmax = X;
                        if(Y < Ymin) Ymin = Y;
                        else if(Y > Ymax) Ymax = Y;
                        break;
 
                case 3: // 3rd step of calibration
                        // used to change the orientation of the MK3MAG vertical to the horizontal plane
                        break;
 
                case 4:
                        // find Min and Max of the Z-Sensor
                        if(Z < Zmin) Zmin = Z;
                        else if(Z > Zmax) Zmax = Z;
                        break;
               
                case 5:
                        // Save values
                        if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!
                        {
                                Calibration.MagX.Range = Xmax - Xmin;
                                Calibration.MagX.Offset = (Xmin + Xmax) / 2;
                                Calibration.MagY.Range = Ymax - Ymin;
                                Calibration.MagY.Offset = (Ymin + Ymax) / 2;
                                Calibration.MagZ.Range = Zmax - Zmin;
                                Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
                                if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512))
                                {
                                        NCMAG_IsCalibrated = NCMag_CalibrationWrite();
                                }
                                else
                                {
                                        // restore old calibration data from eeprom
                                        NCMAG_IsCalibrated = NCMag_CalibrationRead();
                                }
                        }
                        break;
                       
                default:
                        break; 
        }
        OldCalState = Compass_CalState;
}
 
// ---------- call back handlers -----------------------------------------
 
// rx data handler for id info request
void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of bytes are matching
        if(RxBufferSize == sizeof(NCMAG_Identification) )
        {
                memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification));
        }
}
// rx data handler for magnetic sensor raw data
void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of bytes are matching
        if(RxBufferSize == sizeof(MagRawVector) )
        {       // byte order from big to little endian
                s16 raw;
                raw = pRxBuffer[0]<<8;
                raw+= pRxBuffer[1];
                if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw;
                raw = pRxBuffer[2]<<8;
                raw+= pRxBuffer[3];
                if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw;
                raw = pRxBuffer[4]<<8;
                raw+= pRxBuffer[5];
                if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw;
        }
        if(Compass_CalState || !NCMAG_IsCalibrated)
        {       // direct output the raw data
                memcpy((u8*)&MagVector,(u8*)&MagRawVector, sizeof(MagVector));
                Compass_Heading = -1;
        }
        else
        {
                // update MagVector from MagRaw Vector by Scaling
                MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range);
                MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range);
                MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range);
               
                if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX)
                {
                        Compass_Heading = -1;
                }
                else // fc attitude is avialable
                {
                        // calculate attitude correction
                        // a float implementation takes too long for an ISR call!
                        s16 tmp, Hx, Hy;
                        s32 sinnick, cosnick, sinroll, cosroll;
                       
                        tmp = FromFlightCtrl.AngleNick/10; // in deg 
                        sinnick = (s32)c_sin_8192(tmp);
                        cosnick = (s32)c_cos_8192(tmp);
                        tmp = FromFlightCtrl.AngleRoll/10; // in deg 
                        sinroll = (s32)c_sin_8192(tmp);
                        cosroll = (s32)c_cos_8192(tmp);
                        // tbd. compensation signs and oriantation has to be fixed 
                        Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
                        Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);             
                        // calculate heading
                        tmp = (s16)(c_tan2_546(Hy, Hx)/546L);
                        if (tmp > 0) tmp = 360 - tmp;
                        else tmp = -tmp;
                        Compass_Heading = tmp;
                }
        }
}
// rx data handler  for acceleration raw data
void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of byte are matching
        if(RxBufferSize == sizeof(AccRawVector) )
        {
                memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector));
        }
}
// rx data handler for reading magnetic sensor configuration
void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of byte are matching
        if(RxBufferSize == sizeof(MagConfig) )
        {
                memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig));
        }
}
// rx data handler for reading acceleration sensor configuration
void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize)
{       // if number of byte are matching
        if(RxBufferSize == sizeof(AccConfig) )
        {
                memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig));
        }
}
//----------------------------------------------------------------------
 
 
// ---------------------------------------------------------------------
u8 NCMAG_SetMagConfig(void)
{
        u8 retval = 0;
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u8 TxBytes = 0;
                I2C_Buffer[TxBytes++] = REG_MAG_CRA;    
                memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig));
                TxBytes += sizeof(MagConfig);
                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);        
}
 
// ----------------------------------------------------------------------------------------
u8 NCMAG_GetMagConfig(void)
{
        u8 retval = 0;
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u8 TxBytes = 0;
                I2C_Buffer[TxBytes++] = REG_MAG_CRA;
                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);        
}
 
// ----------------------------------------------------------------------------------------
u8 NCMAG_SetAccConfig(void)
{
        u8 retval = 0;
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u8 TxBytes = 0;
                I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;  
                memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig));
                TxBytes += sizeof(AccConfig);
                if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);        
}
 
// ----------------------------------------------------------------------------------------
u8 NCMAG_GetAccConfig(void)
{
        u8 retval = 0;
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u8 TxBytes = 0;
                I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;
                if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig)))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);        
}
 
// ----------------------------------------------------------------------------------------
u8 NCMAG_GetIdentification(void)
{
        u8 retval = 0;
        // try to catch the i2c buffer within 100 ms timeout
        if(I2C_LockBuffer(100))
        {
                u16 TxBytes = 0;
                NCMAG_Identification.A = 0xFF;
                NCMAG_Identification.B = 0xFF;
                NCMAG_Identification.C = 0xFF;
                I2C_Buffer[TxBytes++] = REG_MAG_IDA;
                // initiate transmission
                if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification)))
                {
                        if(I2C_WaitForEndOfTransmission(100))
                        {
                                if(I2C_Error == I2C_ERROR_NONE) retval = 1;
                        }
                }
        }
        return(retval);
}
 
// ----------------------------------------------------------------------------------------
void NCMAG_GetMagVector(void)
{
        // try to catch the I2C buffer within 0 ms
        if(I2C_LockBuffer(0))
        {
                u16 TxBytes = 0;
                // set register pointer
                I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB;
                // initiate transmission
                I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector));
        }
}
 
//----------------------------------------------------------------
void NCMAG_GetAccVector(void)
{
        // try to catch the I2C buffer within 0 ms
        if(I2C_LockBuffer(0))
        {
                u16 TxBytes = 0;
                // set register pointer
                I2C_Buffer[TxBytes++] = REG_ACC_X_LSB;
                // initiate transmission
                I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector));
        }
}
 
// --------------------------------------------------------
void NCMAG_UpdateCompass(void)
{
        static u32 TimerCompassUpdate = 0;
 
        if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present )
        {
                Compass_Heading = -1;
                return;
        }
 
        if(CheckDelay(TimerCompassUpdate))
        {
                // check for new calibration state
                Compass_UpdateCalState();
                if(Compass_CalState) NCMAG_Calibrate();
                NCMAG_GetMagVector(); //Get new data;
                TimerCompassUpdate = SetDelay(20);    // every 20 ms are 50 Hz
        }
}
 
// --------------------------------------------------------
u8 NCMAG_SelfTest(void)
{
        #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;}
        u32 time;
        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
        s16 xscale, yscale, zscale, scale_min, scale_max;
        u8 crb_gain, cra_rate;
        u8 i = 0, retval = 1;
 
        switch(NCMAG_MagType)
        {
                case MAG_TYPE_HMC5843:
                        crb_gain = HMC5843_CRB_GAIN_10GA;
                        cra_rate = HMC5843_CRA_RATE_50HZ;
                        xscale = HMC5843_TEST_XSCALE;
                        yscale = HMC5843_TEST_YSCALE;
                        zscale = HMC5843_TEST_ZSCALE;
                        break;
 
                case MAG_TYPE_LSM303DLH:
                        crb_gain = LSM303DLH_CRB_GAIN_13GA;
                        cra_rate = LSM303DLH_CRA_RATE_75HZ;
                        xscale = LSM303DLH_TEST_XSCALE;
                        yscale = LSM303DLH_TEST_YSCALE;
                        zscale = LSM303DLH_TEST_ZSCALE;
                        break;
 
                default:
                return(0);
        }
 
        MagConfig.cra = cra_rate|CRA_MODE_POSBIAS;
        MagConfig.crb = crb_gain;
        MagConfig.mode = MODE_CONTINUOUS;
        // activate positive bias field
        NCMAG_SetMagConfig();
        // wait for stable readings
        time = SetDelay(50);
        while(!CheckDelay(time));
        // averaging
        #define AVERAGE 20
        for(i = 0; i<AVERAGE; i++)
        {
                NCMAG_GetMagVector();
                time = SetDelay(20);
        while(!CheckDelay(time));
                XMax += MagRawVector.X;
                YMax += MagRawVector.Y;
                ZMax += MagRawVector.Z;
        }
        MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS;
        // activate positive bias field
        NCMAG_SetMagConfig();
    // wait for stable readings
        time = SetDelay(50);
        while(!CheckDelay(time));
        // averaging
        for(i = 0; i < AVERAGE; i++)
        {
                NCMAG_GetMagVector();
                time = SetDelay(20);
        while(!CheckDelay(time));
                XMin += MagRawVector.X;
                YMin += MagRawVector.Y;
                ZMin += MagRawVector.Z;
        }
        // setup final configuration
        MagConfig.cra = cra_rate|CRA_MODE_NORMAL;
        // activate positive bias field
        NCMAG_SetMagConfig();
        // prepare scale limits
        LIMITS(xscale, scale_min, scale_max);
        // check scale for all axes
        xscale = (XMax - XMin)/(2*AVERAGE);
        if((xscale > scale_max) || (xscale < scale_min)) retval = 0;
        LIMITS(yscale, scale_min, scale_max);
        yscale = (YMax - YMin)/(2*AVERAGE);
        if((yscale > scale_max) || (yscale < scale_min)) retval = 0;
        LIMITS(zscale, scale_min, scale_max);
        zscale = (ZMax - ZMin)/(2*AVERAGE);
        if((zscale > scale_max) || (zscale < scale_min)) retval = 0;
        return(retval);
}
 
 
//----------------------------------------------------------------
u8 NCMAG_Init(void)
{
        u8 msg[64];
        u8 retval = 0;
        u8 repeat;
 
        NCMAG_Present = 0;
        NCMAG_MagType = MAG_TYPE_HMC5843;       // assuming having an HMC5843
        // polling for LSM302DLH option
        repeat = 0;
        do
        {
                retval = NCMAG_GetAccConfig();
                if(retval) break; // break loop on success
                UART1_PutString(".");
                repeat++;
        }while(repeat < 3);
        if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH
        // polling of identification
        repeat = 0;
        do
        {
                retval = NCMAG_GetIdentification();
                if(retval) break; // break loop on success
                UART1_PutString(".");
                repeat++;
        }while(repeat < 12);
        // if we got an answer to id request
        if(retval)
        {
                u8 n1[] = "HMC5843";
                u8 n2[] = "LSM303DLH";
                u8* pn;
                if(NCMAG_MagType == MAG_TYPE_LSM303DLH) pn = n2;
                else pn = n1;
                sprintf(msg, " %s ID%d/%d/%d", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C);
                UART1_PutString(msg);
                if (    (NCMAG_Identification.A == MAG_IDA)
                     && (NCMAG_Identification.B == MAG_IDB)
                         && (NCMAG_Identification.C == MAG_IDC))
                {
                        if(!NCMAG_SelfTest())
                        {
                                UART1_PutString(" Selftest failed!");
                                LED_RED_ON;
                        }
                        else
                        {
                                NCMAG_Present = 1;
                                if(EEPROM_Init())
                                {
                                        NCMAG_IsCalibrated = NCMag_CalibrationRead();
                                        if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!");
                                }
                                else UART1_PutString("\r\n Calibration data not available!");
                        }
                }
                else
                {
                        UART1_PutString("\n\r Not compatible!");
                        UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
                        LED_RED_ON;
                }
        }
        else // nothing found
        {
                NCMAG_MagType = MAG_TYPE_NONE;
                UART1_PutString("not found!");  
        }
        return(NCMAG_Present);
}
 
 

Rev 257	Rev 264
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
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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.
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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	Calibration.MagX.Range = Xmax - Xmin;	327	Calibration.MagX.Range = Xmax - Xmin;
328	Calibration.MagX.Offset = (Xmin + Xmax) / 2;	328	Calibration.MagX.Offset = (Xmin + Xmax) / 2;
329	Calibration.MagY.Range = Ymax - Ymin;	329	Calibration.MagY.Range = Ymax - Ymin;
330	Calibration.MagY.Offset = (Ymin + Ymax) / 2;	330	Calibration.MagY.Offset = (Ymin + Ymax) / 2;
331	Calibration.MagZ.Range = Zmax - Zmin;	331	Calibration.MagZ.Range = Zmax - Zmin;
332	Calibration.MagZ.Offset = (Zmin + Zmax) / 2;	332	Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
333	if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512))	333	if((Calibration.MagX.Range > 512) && (Calibration.MagY.Range > 512) && (Calibration.MagZ.Range > 512))
334	{	334	{
335	NCMAG_IsCalibrated = NCMag_CalibrationWrite();	335	NCMAG_IsCalibrated = NCMag_CalibrationWrite();
336	}	336	}
337	else	337	else
338	{	338	{
339	// restore old calibration data from eeprom	339	// restore old calibration data from eeprom
340	NCMAG_IsCalibrated = NCMag_CalibrationRead();	340	NCMAG_IsCalibrated = NCMag_CalibrationRead();
341	}	341	}
342	}	342	}
343	break;	343	break;
344		344
345	default:	345	default:
346	break;	346	break;
347	}	347	}
348	OldCalState = Compass_CalState;	348	OldCalState = Compass_CalState;
349	}	349	}
350		350
351	// ---------- call back handlers -----------------------------------------	351	// ---------- call back handlers -----------------------------------------
352		352
353	// rx data handler for id info request	353	// rx data handler for id info request
354	void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)	354	void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize)
355	{ // if number of bytes are matching	355	{ // if number of bytes are matching
356	if(RxBufferSize == sizeof(NCMAG_Identification) )	356	if(RxBufferSize == sizeof(NCMAG_Identification) )
357	{	357	{
358	memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification));	358	memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification));
359	}	359	}
360	}	360	}
361	// rx data handler for magnetic sensor raw data	361	// rx data handler for magnetic sensor raw data
362	void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)	362	void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize)
363	{ // if number of bytes are matching	363	{ // if number of bytes are matching
364	if(RxBufferSize == sizeof(MagRawVector) )	364	if(RxBufferSize == sizeof(MagRawVector) )
365	{ // byte order from big to little endian	365	{ // byte order from big to little endian
366	s16 raw;	366	s16 raw;
367	raw = pRxBuffer[0]<<8;	367	raw = pRxBuffer[0]<<8;
368	raw+= pRxBuffer[1];	368	raw+= pRxBuffer[1];
369	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw;	369	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw;
370	raw = pRxBuffer[2]<<8;	370	raw = pRxBuffer[2]<<8;
371	raw+= pRxBuffer[3];	371	raw+= pRxBuffer[3];
372	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw;	372	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Y = raw;
373	raw = pRxBuffer[4]<<8;	373	raw = pRxBuffer[4]<<8;
374	raw+= pRxBuffer[5];	374	raw+= pRxBuffer[5];
375	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw;	375	if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.Z = raw;
376	}	376	}
377	if(Compass_CalState \|\| !NCMAG_IsCalibrated)	377	if(Compass_CalState \|\| !NCMAG_IsCalibrated)
378	{ // direct output the raw data	378	{ // direct output the raw data
379	memcpy((u8)&MagVector,(u8)&MagRawVector, sizeof(MagVector));	379	memcpy((u8)&MagVector,(u8)&MagRawVector, sizeof(MagVector));
380	Compass_Heading = -1;	380	Compass_Heading = -1;
381	}	381	}
382	else	382	else
383	{	383	{
384	// update MagVector from MagRaw Vector by Scaling	384	// update MagVector from MagRaw Vector by Scaling
385	MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range);	385	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);	386	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);	387	MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range);
388		388
389	if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX)	389	if(UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX)
390	{	390	{
391	Compass_Heading = -1;	391	Compass_Heading = -1;
392	}	392	}
393	else // fc attitude is avialable	393	else // fc attitude is avialable
394	{	394	{
395	// calculate attitude correction	395	// calculate attitude correction
396	// a float implementation takes too long for an ISR call!	396	// a float implementation takes too long for an ISR call!
397	s16 tmp, Hx, Hy;	397	s16 tmp, Hx, Hy;
398	s32 sinnick, cosnick, sinroll, cosroll;	398	s32 sinnick, cosnick, sinroll, cosroll;
399		399
400	tmp = FromFlightCtrl.AngleNick/10; // in deg	400	tmp = FromFlightCtrl.AngleNick/10; // in deg
401	sinnick = (s32)c_sin_8192(tmp);	401	sinnick = (s32)c_sin_8192(tmp);
402	cosnick = (s32)c_cos_8192(tmp);	402	cosnick = (s32)c_cos_8192(tmp);
403	tmp = FromFlightCtrl.AngleRoll/10; // in deg	403	tmp = FromFlightCtrl.AngleRoll/10; // in deg
404	sinroll = (s32)c_sin_8192(tmp);	404	sinroll = (s32)c_sin_8192(tmp);
405	cosroll = (s32)c_cos_8192(tmp);	405	cosroll = (s32)c_cos_8192(tmp);
406	// tbd. compensation signs and oriantation has to be fixed	406	// tbd. compensation signs and oriantation has to be fixed
407	Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);	407	Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
408	Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);	408	Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
409	// calculate heading	409	// calculate heading
410	tmp = (s16)(c_tan2_546(Hy, Hx)/546L);	410	tmp = (s16)(c_tan2_546(Hy, Hx)/546L);
411	if (tmp > 0) tmp = 360 - tmp;	411	if (tmp > 0) tmp = 360 - tmp;
412	else tmp = -tmp;	412	else tmp = -tmp;
413	Compass_Heading = tmp;	413	Compass_Heading = tmp;
414	}	414	}
415	}	415	}
416	}	416	}
417	// rx data handler for acceleration raw data	417	// rx data handler for acceleration raw data
418	void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize)	418	void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize)
419	{ // if number of byte are matching	419	{ // if number of byte are matching
420	if(RxBufferSize == sizeof(AccRawVector) )	420	if(RxBufferSize == sizeof(AccRawVector) )
421	{	421	{
422	memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector));	422	memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector));
423	}	423	}
424	}	424	}
425	// rx data handler for reading magnetic sensor configuration	425	// rx data handler for reading magnetic sensor configuration
426	void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize)	426	void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize)
427	{ // if number of byte are matching	427	{ // if number of byte are matching
428	if(RxBufferSize == sizeof(MagConfig) )	428	if(RxBufferSize == sizeof(MagConfig) )
429	{	429	{
430	memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig));	430	memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig));
431	}	431	}
432	}	432	}
433	// rx data handler for reading acceleration sensor configuration	433	// rx data handler for reading acceleration sensor configuration
434	void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize)	434	void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize)
435	{ // if number of byte are matching	435	{ // if number of byte are matching
436	if(RxBufferSize == sizeof(AccConfig) )	436	if(RxBufferSize == sizeof(AccConfig) )
437	{	437	{
438	memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig));	438	memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig));
439	}	439	}
440	}	440	}
441	//----------------------------------------------------------------------	441	//----------------------------------------------------------------------
442		442
443		443
444	// ---------------------------------------------------------------------	444	// ---------------------------------------------------------------------
445	u8 NCMAG_SetMagConfig(void)	445	u8 NCMAG_SetMagConfig(void)
446	{	446	{
447	u8 retval = 0;	447	u8 retval = 0;
448	// try to catch the i2c buffer within 100 ms timeout	448	// try to catch the i2c buffer within 100 ms timeout
449	if(I2C_LockBuffer(100))	449	if(I2C_LockBuffer(100))
450	{	450	{
451	u8 TxBytes = 0;	451	u8 TxBytes = 0;
452	I2C_Buffer[TxBytes++] = REG_MAG_CRA;	452	I2C_Buffer[TxBytes++] = REG_MAG_CRA;
453	memcpy((u8)(&I2C_Buffer[TxBytes]), (u8)&MagConfig, sizeof(MagConfig));	453	memcpy((u8)(&I2C_Buffer[TxBytes]), (u8)&MagConfig, sizeof(MagConfig));
454	TxBytes += sizeof(MagConfig);	454	TxBytes += sizeof(MagConfig);
455	if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0))	455	if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0))
456	{	456	{
457	if(I2C_WaitForEndOfTransmission(100))	457	if(I2C_WaitForEndOfTransmission(100))
458	{	458	{
459	if(I2C_Error == I2C_ERROR_NONE) retval = 1;	459	if(I2C_Error == I2C_ERROR_NONE) retval = 1;
460	}	460	}
461	}	461	}
462	}	462	}
463	return(retval);	463	return(retval);
464	}	464	}
465		465
466	// ----------------------------------------------------------------------------------------	466	// ----------------------------------------------------------------------------------------
467	u8 NCMAG_GetMagConfig(void)	467	u8 NCMAG_GetMagConfig(void)
468	{	468	{
469	u8 retval = 0;	469	u8 retval = 0;
470	// try to catch the i2c buffer within 100 ms timeout	470	// try to catch the i2c buffer within 100 ms timeout
471	if(I2C_LockBuffer(100))	471	if(I2C_LockBuffer(100))
472	{	472	{
473	u8 TxBytes = 0;	473	u8 TxBytes = 0;
474	I2C_Buffer[TxBytes++] = REG_MAG_CRA;	474	I2C_Buffer[TxBytes++] = REG_MAG_CRA;
475	if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))	475	if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))
476	{	476	{
477	if(I2C_WaitForEndOfTransmission(100))	477	if(I2C_WaitForEndOfTransmission(100))
478	{	478	{
479	if(I2C_Error == I2C_ERROR_NONE) retval = 1;	479	if(I2C_Error == I2C_ERROR_NONE) retval = 1;
480	}	480	}
481	}	481	}
482	}	482	}
483	return(retval);	483	return(retval);
484	}	484	}
485		485
486	// ----------------------------------------------------------------------------------------	486	// ----------------------------------------------------------------------------------------
487	u8 NCMAG_SetAccConfig(void)	487	u8 NCMAG_SetAccConfig(void)
488	{	488	{
489	u8 retval = 0;	489	u8 retval = 0;
490	// try to catch the i2c buffer within 100 ms timeout	490	// try to catch the i2c buffer within 100 ms timeout
491	if(I2C_LockBuffer(100))	491	if(I2C_LockBuffer(100))
492	{	492	{
493	u8 TxBytes = 0;	493	u8 TxBytes = 0;
494	I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;	494	I2C_Buffer[TxBytes++] = REG_ACC_CTRL1;
495	memcpy((u8)(&I2C_Buffer[TxBytes]), (u8)&AccConfig, sizeof(AccConfig));	495	memcpy((u8)(&I2C_Buffer[TxBytes]), (u8)&AccConfig, sizeof(AccConfig));
496	TxBytes += sizeof(AccConfig);	496	TxBytes += sizeof(AccConfig);
497	if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0))	497	if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0))
498	{	498	{
499	if(I2C_WaitForEndOfTransmission(100))	499	if(I2C_WaitForEndOfTransmission(100))
500	{	500	{

Subversion Repositories NaviCtrl

(root)/tags/V2.14d/ncmag.c @ 815 - Rev 257 → 264