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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 "91x_lib.h" |
56 | #include "91x_lib.h" |
57 | #include "compass.h" |
57 | #include "compass.h" |
58 | #include "mk3mag.h" |
58 | #include "mk3mag.h" |
59 | #include "ncmag.h" |
59 | #include "ncmag.h" |
60 | #include "spi_slave.h" |
60 | #include "spi_slave.h" |
61 | #include "mymath.h" |
61 | #include "mymath.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "fifo.h" |
63 | #include "fifo.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | #include "main.h" |
65 | #include "main.h" |
66 | 66 | ||
67 | u8 CompassCalStateQueue[10]; |
67 | u8 CompassCalStateQueue[10]; |
68 | fifo_t CompassCalcStateFiFo; |
68 | fifo_t CompassCalcStateFiFo; |
69 | 69 | ||
70 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
70 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
- | 71 | volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
|
71 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
72 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
73 | s16 Hx = 0, Hy = 0; |
74 | s16 Hx = 0, Hy = 0; |
74 | s32 EarthMagneticField = 100; |
75 | s32 EarthMagneticField = 100; |
75 | s32 EarthMagneticFieldFiltered = 100; |
76 | s32 EarthMagneticFieldFiltered = 100; |
76 | s32 EarthMagneticInclination = 0; |
77 | s32 EarthMagneticInclination = 0; |
77 | s32 EarthMagneticInclinationFiltered = 0; |
78 | s32 EarthMagneticInclinationFiltered = 0; |
78 | s32 EarthMagneticInclinationTheoretic = 0; |
79 | s32 EarthMagneticInclinationTheoretic = 0; |
79 | u8 ErrorDisturbedEarthMagnetField = 0; |
80 | u8 ErrorDisturbedEarthMagnetField = 0; |
80 | s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil) |
81 | s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil) |
81 | u32 CompassValueErrorCount = 0; |
82 | u32 CompassValueErrorCount = 0; |
82 | 83 | ||
83 | #define COMPASS_NONE 0 |
84 | #define COMPASS_NONE 0 |
84 | #define COMPASS_MK3MAG 1 |
85 | #define COMPASS_MK3MAG 1 |
85 | #define COMPASS_NCMAG 2 |
86 | #define COMPASS_NCMAG 2 |
86 | u8 Compass_Device = COMPASS_NONE; |
87 | u8 Compass_Device = COMPASS_NONE; |
- | 88 | I2C_TypeDef* Compass_I2CPort = I2C1; |
|
87 | 89 | ||
88 | void Compass_Init(void) |
90 | void Compass_Init(void) |
89 | { |
91 | { |
90 | switch(Compass_Device) |
92 | switch(Compass_Device) |
91 | { |
93 | { |
92 | case COMPASS_NONE: |
94 | case COMPASS_NONE: |
93 | UART1_PutString("\r\n Looking for compass"); |
95 | UART1_PutString("\r\n Looking for compass"); |
94 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
96 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
95 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
97 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
96 | - | ||
97 | /* if(Version_HW > 11) |
- | |
98 | { |
- | |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
- | |
100 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
- | |
101 | } |
- | |
102 | else |
- | |
103 | { |
- | |
104 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
- | |
105 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
- | |
106 | } |
- | |
107 | */ |
- | |
108 | break; |
98 | break; |
109 | 99 | ||
110 | case COMPASS_NCMAG: |
100 | case COMPASS_NCMAG: |
111 | UART1_PutString("\r\n Re-Init compass"); |
- | |
112 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
101 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
113 | else Compass_Device = COMPASS_NONE; |
102 | else Compass_Device = COMPASS_NONE; |
114 | break; |
103 | break; |
115 | 104 | ||
116 | case COMPASS_MK3MAG: |
105 | case COMPASS_MK3MAG: |
- | 106 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
|
- | 107 | else Compass_Device = COMPASS_NONE; |
|
- | 108 | break; |
|
- | 109 | ||
117 | default: |
110 | default: |
118 | // nothing to do |
111 | // nothing to do |
119 | break; |
112 | break; |
120 | 113 | ||
121 | } |
114 | } |
122 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
115 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
123 | 116 | ||
124 | if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT; |
117 | if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT; |
- | 118 | ||
- | 119 | MagVector.X = 0; |
|
- | 120 | MagVector.Y = 0; |
|
- | 121 | MagVector.Z = 0; |
|
125 | 122 | Compass_Heading = -1; |
|
126 | } |
123 | } |
127 | 124 | ||
- | 125 | ||
- | 126 | void Compass_Check(void) |
|
- | 127 | { |
|
- | 128 | switch(Compass_Device) |
|
- | 129 | { |
|
- | 130 | case COMPASS_NCMAG: |
|
- | 131 | NCMAG_CheckOrientation(); |
|
- | 132 | break; |
|
- | 133 | ||
- | 134 | case COMPASS_MK3MAG: |
|
- | 135 | case COMPASS_NONE: |
|
- | 136 | default: |
|
- | 137 | // nothing to do |
|
- | 138 | break; |
|
- | 139 | } |
|
- | 140 | } |
|
128 | 141 | ||
129 | void Compass_CalcHeading(void) |
142 | void Compass_CalcHeading(void) |
130 | { |
143 | { |
131 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
144 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
132 | { |
145 | { |
133 | Compass_Heading = -1; |
146 | Compass_Heading = -1; |
134 | } |
147 | } |
135 | else // fc attitude is avialable and no compass calibration active |
148 | else // fc attitude is avialable and no compass calibration active |
136 | { |
149 | { |
137 | // calculate attitude correction |
150 | // calculate attitude correction |
138 | // a float implementation takes too long |
151 | // a float implementation takes too long |
139 | s16 tmp; |
152 | s16 tmp; |
140 | s32 sinnick, cosnick, sinroll, cosroll; |
153 | s32 sinnick, cosnick, sinroll, cosroll; |
141 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
154 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
142 | sinnick = (s32)c_sin_8192(tmp); |
155 | sinnick = (s32)c_sin_8192(tmp); |
143 | cosnick = (s32)c_cos_8192(tmp); |
156 | cosnick = (s32)c_cos_8192(tmp); |
144 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
157 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
145 | sinroll = (s32)c_sin_8192(tmp); |
158 | sinroll = (s32)c_sin_8192(tmp); |
146 | cosroll = (s32)c_cos_8192(tmp); |
159 | cosroll = (s32)c_cos_8192(tmp); |
147 | // tbd. compensation signs and oriantation has to be fixed |
160 | // tbd. compensation signs and oriantation has to be fixed |
148 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
161 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
149 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
162 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
150 | // calculate heading |
163 | // calculate heading |
151 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
164 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
152 | if (tmp > 0) tmp = 360 - tmp; |
165 | if (tmp > 0) tmp = 360 - tmp; |
153 | else tmp = -tmp; |
166 | else tmp = -tmp; |
154 | Compass_Heading = tmp; |
167 | Compass_Heading = tmp; |
155 | } |
168 | } |
156 | } |
169 | } |
157 | 170 | ||
158 | 171 | ||
159 | void Compass_Update(void) |
172 | void Compass_Update(void) |
160 | { |
173 | { |
161 | static s16vec_t old; |
174 | static s16vec_t old; |
162 | static u32 check_value_counter = 0; |
175 | static u32 check_value_counter = 0; |
163 | // check for new cal state |
176 | // check for new cal state |
164 | Compass_UpdateCalState(); |
177 | Compass_UpdateCalState(); |
165 | if(Compass_CalState) FC_is_Calibrated = 0; |
178 | if(Compass_CalState) FC_is_Calibrated = 0; |
166 | // initiate new compass communication |
179 | // initiate new compass communication |
167 | switch(Compass_Device) |
180 | switch(Compass_Device) |
168 | { |
181 | { |
169 | case COMPASS_MK3MAG: |
182 | case COMPASS_MK3MAG: |
170 | MK3MAG_Update(); |
183 | MK3MAG_Update(); |
171 | DebugOut.Analog[24] = MagVector.X; |
- | |
172 | DebugOut.Analog[25] = MagVector.Y; |
- | |
173 | DebugOut.Analog[26] = MagVector.Z; |
- | |
174 | break; |
184 | break; |
175 | case COMPASS_NCMAG: |
185 | case COMPASS_NCMAG: |
176 | if(check_value_counter == 2000) |
- | |
177 | { |
- | |
178 | UART1_PutString("\n\r Init Mag.-Sensor"); |
- | |
179 | InitNC_MagnetSensor(); // 2 seconds no change of the compass value |
- | |
180 | } |
- | |
181 | else NCMAG_Update(0); |
186 | NCMAG_Update(0); |
182 | DebugOut.Analog[24] = MagRawVector.X; |
- | |
183 | DebugOut.Analog[25] = MagRawVector.Y; |
- | |
184 | DebugOut.Analog[26] = MagRawVector.Z; |
187 | break; |
185 | default: |
188 | default: |
186 | break; |
189 | break; |
187 | } |
190 | } |
188 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
- | |
- | 191 | ||
- | 192 | DebugOut.Analog[24] = MagVector.X; |
|
- | 193 | DebugOut.Analog[25] = MagVector.Y; |
|
- | 194 | DebugOut.Analog[26] = MagVector.Z; |
|
- | 195 | ||
- | 196 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing |
|
189 | 197 | ||
190 | if(check_value_counter > 5000) |
198 | if(check_value_counter == 2000) |
- | 199 | { |
|
191 | { |
200 | UART1_PutString("\n\r Init Mag.-Sensor"); |
- | 201 | Compass_Init(); // 2 seconds no change of the compass value |
|
192 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
202 | } |
- | 203 | else if(check_value_counter > 5000) |
|
- | 204 | { |
|
193 | // CompassValueErrorCount = 35; |
205 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
194 | } |
206 | } |
195 | else check_value_counter++; |
207 | else check_value_counter++; |
196 | 208 | ||
197 | old.X = MagVector.X; |
209 | old.X = MagVector.X; |
198 | old.Y = MagVector.Y; |
210 | old.Y = MagVector.Y; |
199 | old.Z = MagVector.Z; |
211 | old.Z = MagVector.Z; |
200 | } |
212 | } |
201 | 213 | ||
202 | // put cal state into fifo |
214 | // put cal state into fifo |
203 | void Compass_SetCalState(u8 CalState) |
215 | void Compass_SetCalState(u8 CalState) |
204 | { |
216 | { |
205 | fifo_put(&CompassCalcStateFiFo, CalState); |
217 | fifo_put(&CompassCalcStateFiFo, CalState); |
206 | } |
218 | } |
207 | 219 | ||
208 | // get cal state from fifo |
220 | // get cal state from fifo |
209 | void Compass_UpdateCalState() |
221 | void Compass_UpdateCalState() |
210 | { |
222 | { |
211 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
223 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
212 | } |
224 | } |
213 | 225 | ||
214 | 226 |