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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <math.h> |
57 | #include <math.h> |
| 58 | #include <stdio.h> |
58 | #include <stdio.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 61 | #include "ncmag.h" |
61 | #include "ncmag.h" |
| 62 | #include "i2c.h" |
62 | #include "i2c.h" |
| 63 | #include "timer1.h" |
63 | #include "timer1.h" |
| 64 | #include "led.h" |
64 | #include "led.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 | #include "main.h" |
68 | #include "main.h" |
| 69 | 69 | ||
| 70 | u8 NCMAG_Present = 0; |
70 | u8 NCMAG_Present = 0; |
| 71 | u8 NCMAG_IsCalibrated = 0; |
71 | u8 NCMAG_IsCalibrated = 0; |
| 72 | 72 | ||
| 73 | #define MAG_TYPE_NONE 0 |
73 | #define MAG_TYPE_NONE 0 |
| 74 | #define MAG_TYPE_HMC5843 1 |
74 | #define MAG_TYPE_HMC5843 1 |
| 75 | #define MAG_TYPE_LSM303DLH 2 |
75 | #define MAG_TYPE_LSM303DLH 2 |
| 76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
76 | u8 NCMAG_MagType = MAG_TYPE_NONE; |
| 77 | 77 | ||
| 78 | #define CALIBRATION_VERSION 1 |
78 | #define CALIBRATION_VERSION 1 |
| 79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
79 | #define EEPROM_ADR_MAG_CALIBRATION 50 |
| 80 | #define MAG_CALIBRATION_COMPATIBEL 0xA1 |
80 | #define MAG_CALIBRATION_COMPATIBEL 0xA2 |
| 81 | 81 | ||
| 82 | #define NCMAG_MIN_RAWVALUE -2047 |
82 | #define NCMAG_MIN_RAWVALUE -2047 |
| 83 | #define NCMAG_MAX_RAWVALUE 2047 |
83 | #define NCMAG_MAX_RAWVALUE 2047 |
| 84 | #define NCMAG_INVALID_DATA -4096 |
84 | #define NCMAG_INVALID_DATA -4096 |
| 85 | 85 | ||
| 86 | typedef struct |
86 | typedef struct |
| 87 | { |
87 | { |
| 88 | s16 Range; |
88 | s16 Range; |
| 89 | s16 Offset; |
89 | s16 Offset; |
| 90 | } __attribute__((packed)) Scaling_t; |
90 | } __attribute__((packed)) Scaling_t; |
| 91 | 91 | ||
| 92 | typedef struct |
92 | typedef struct |
| 93 | { |
93 | { |
| 94 | Scaling_t MagX; |
94 | Scaling_t MagX; |
| 95 | Scaling_t MagY; |
95 | Scaling_t MagY; |
| 96 | Scaling_t MagZ; |
96 | Scaling_t MagZ; |
| 97 | u8 Version; |
97 | u8 Version; |
| 98 | u8 crc; |
98 | u8 crc; |
| 99 | } __attribute__((packed)) Calibration_t; |
99 | } __attribute__((packed)) Calibration_t; |
| 100 | 100 | ||
| 101 | Calibration_t Calibration; // calibration data in RAM |
101 | Calibration_t Calibration; // calibration data in RAM |
| - | 102 | volatile s16vec_t AccRawVector; |
|
| - | 103 | volatile s16vec_t MagRawVector; |
|
| 102 | 104 | ||
| 103 | // i2c MAG interface |
105 | // i2c MAG interface |
| 104 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
106 | #define MAG_SLAVE_ADDRESS 0x3C // i2C slave address mag. sensor registers |
| 105 | 107 | ||
| 106 | // register mapping |
108 | // register mapping |
| 107 | #define REG_MAG_CRA 0x00 |
109 | #define REG_MAG_CRA 0x00 |
| 108 | #define REG_MAG_CRB 0x01 |
110 | #define REG_MAG_CRB 0x01 |
| 109 | #define REG_MAG_MODE 0x02 |
111 | #define REG_MAG_MODE 0x02 |
| 110 | #define REG_MAG_DATAX_MSB 0x03 |
112 | #define REG_MAG_DATAX_MSB 0x03 |
| 111 | #define REG_MAG_DATAX_LSB 0x04 |
113 | #define REG_MAG_DATAX_LSB 0x04 |
| 112 | #define REG_MAG_DATAY_MSB 0x05 |
114 | #define REG_MAG_DATAY_MSB 0x05 |
| 113 | #define REG_MAG_DATAY_LSB 0x06 |
115 | #define REG_MAG_DATAY_LSB 0x06 |
| 114 | #define REG_MAG_DATAZ_MSB 0x07 |
116 | #define REG_MAG_DATAZ_MSB 0x07 |
| 115 | #define REG_MAG_DATAZ_LSB 0x08 |
117 | #define REG_MAG_DATAZ_LSB 0x08 |
| 116 | #define REG_MAG_STATUS 0x09 |
118 | #define REG_MAG_STATUS 0x09 |
| 117 | 119 | ||
| 118 | #define REG_MAG_IDA 0x0A |
120 | #define REG_MAG_IDA 0x0A |
| 119 | #define REG_MAG_IDB 0x0B |
121 | #define REG_MAG_IDB 0x0B |
| 120 | #define REG_MAG_IDC 0x0C |
122 | #define REG_MAG_IDC 0x0C |
| 121 | #define REG_MAG_IDF 0x0F |
123 | #define REG_MAG_IDF 0x0F |
| 122 | 124 | ||
| 123 | // bit mask for configuration mode |
125 | // bit mask for configuration mode |
| 124 | #define CRA_MODE_MASK 0x03 |
126 | #define CRA_MODE_MASK 0x03 |
| 125 | #define CRA_MODE_NORMAL 0x00 //default |
127 | #define CRA_MODE_NORMAL 0x00 //default |
| 126 | #define CRA_MODE_POSBIAS 0x01 |
128 | #define CRA_MODE_POSBIAS 0x01 |
| 127 | #define CRA_MODE_NEGBIAS 0x02 |
129 | #define CRA_MODE_NEGBIAS 0x02 |
| 128 | #define CRA_MODE_SELFTEST 0x03 |
130 | #define CRA_MODE_SELFTEST 0x03 |
| 129 | 131 | ||
| 130 | // bit mask for measurement mode |
132 | // bit mask for measurement mode |
| 131 | #define MODE_MASK 0xFF |
133 | #define MODE_MASK 0xFF |
| 132 | #define MODE_CONTINUOUS 0x00 |
134 | #define MODE_CONTINUOUS 0x00 |
| 133 | #define MODE_SINGLE 0x01 // default |
135 | #define MODE_SINGLE 0x01 // default |
| 134 | #define MODE_IDLE 0x02 |
136 | #define MODE_IDLE 0x02 |
| 135 | #define MODE_SLEEP 0x03 |
137 | #define MODE_SLEEP 0x03 |
| 136 | 138 | ||
| 137 | // bit mask for rate |
139 | // bit mask for rate |
| 138 | #define CRA_RATE_MASK 0x1C |
140 | #define CRA_RATE_MASK 0x1C |
| 139 | 141 | ||
| 140 | // bit mask for gain |
142 | // bit mask for gain |
| 141 | #define CRB_GAIN_MASK 0xE0 |
143 | #define CRB_GAIN_MASK 0xE0 |
| 142 | 144 | ||
| 143 | // ids |
145 | // ids |
| 144 | #define MAG_IDA 0x48 |
146 | #define MAG_IDA 0x48 |
| 145 | #define MAG_IDB 0x34 |
147 | #define MAG_IDB 0x34 |
| 146 | #define MAG_IDC 0x33 |
148 | #define MAG_IDC 0x33 |
| 147 | 149 | ||
| 148 | // the special HMC5843 interface |
150 | // the special HMC5843 interface |
| 149 | // bit mask for rate |
151 | // bit mask for rate |
| 150 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
152 | #define HMC5843_CRA_RATE_0_5HZ 0x00 |
| 151 | #define HMC5843_CRA_RATE_1HZ 0x04 |
153 | #define HMC5843_CRA_RATE_1HZ 0x04 |
| 152 | #define HMC5843_CRA_RATE_2HZ 0x08 |
154 | #define HMC5843_CRA_RATE_2HZ 0x08 |
| 153 | #define HMC5843_CRA_RATE_5HZ 0x0C |
155 | #define HMC5843_CRA_RATE_5HZ 0x0C |
| 154 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
156 | #define HMC5843_CRA_RATE_10HZ 0x10 //default |
| 155 | #define HMC5843_CRA_RATE_20HZ 0x14 |
157 | #define HMC5843_CRA_RATE_20HZ 0x14 |
| 156 | #define HMC5843_CRA_RATE_50HZ 0x18 |
158 | #define HMC5843_CRA_RATE_50HZ 0x18 |
| 157 | // bit mask for gain |
159 | // bit mask for gain |
| 158 | #define HMC5843_CRB_GAIN_07GA 0x00 |
160 | #define HMC5843_CRB_GAIN_07GA 0x00 |
| 159 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
161 | #define HMC5843_CRB_GAIN_10GA 0x20 //default |
| 160 | #define HMC5843_CRB_GAIN_15GA 0x40 |
162 | #define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this |
| 161 | #define HMC5843_CRB_GAIN_20GA 0x60 |
163 | #define HMC5843_CRB_GAIN_20GA 0x60 |
| 162 | #define HMC5843_CRB_GAIN_32GA 0x80 |
164 | #define HMC5843_CRB_GAIN_32GA 0x80 |
| 163 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
165 | #define HMC5843_CRB_GAIN_38GA 0xA0 |
| 164 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
166 | #define HMC5843_CRB_GAIN_45GA 0xC0 |
| 165 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
167 | #define HMC5843_CRB_GAIN_65GA 0xE0 |
| 166 | // self test value |
168 | // self test value |
| 167 | #define HMC5843_TEST_XSCALE 715 |
169 | #define HMC5843_TEST_XSCALE 555 |
| 168 | #define HMC5843_TEST_YSCALE 715 |
170 | #define HMC5843_TEST_YSCALE 555 |
| 169 | #define HMC5843_TEST_ZSCALE 715 |
171 | #define HMC5843_TEST_ZSCALE 555 |
| 170 | - | ||
| - | 172 | // clibration range |
|
| - | 173 | #define HMC5843_CALIBRATION_RANGE 550 |
|
| 171 | 174 | ||
| 172 | // the special LSM302DLH interface |
175 | // the special LSM302DLH interface |
| 173 | // bit mask for rate |
176 | // bit mask for rate |
| 174 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
177 | #define LSM303DLH_CRA_RATE_0_75HZ 0x00 |
| 175 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
178 | #define LSM303DLH_CRA_RATE_1_5HZ 0x04 |
| 176 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
179 | #define LSM303DLH_CRA_RATE_3_0HZ 0x08 |
| 177 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
180 | #define LSM303DLH_CRA_RATE_7_5HZ 0x0C |
| 178 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
181 | #define LSM303DLH_CRA_RATE_15HZ 0x10 //default |
| 179 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
182 | #define LSM303DLH_CRA_RATE_30HZ 0x14 |
| 180 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
183 | #define LSM303DLH_CRA_RATE_75HZ 0x18 |
| 181 | 184 | ||
| 182 | // bit mask for gain |
185 | // bit mask for gain |
| 183 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
186 | #define LSM303DLH_CRB_GAIN_XXGA 0x00 |
| 184 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
187 | #define LSM303DLH_CRB_GAIN_13GA 0x20 //default |
| 185 | #define LSM303DLH_CRB_GAIN_19GA 0x40 |
188 | #define LSM303DLH_CRB_GAIN_19GA 0x40 // <--- we use this |
| 186 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
189 | #define LSM303DLH_CRB_GAIN_25GA 0x60 |
| 187 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
190 | #define LSM303DLH_CRB_GAIN_40GA 0x80 |
| 188 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
191 | #define LSM303DLH_CRB_GAIN_47GA 0xA0 |
| 189 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
192 | #define LSM303DLH_CRB_GAIN_56GA 0xC0 |
| 190 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
193 | #define LSM303DLH_CRB_GAIN_81GA 0xE0 |
| 191 | // self test value |
194 | // self test value |
| 192 | #define LSM303DLH_TEST_XSCALE 495 |
195 | #define LSM303DLH_TEST_XSCALE 495 |
| 193 | #define LSM303DLH_TEST_YSCALE 495 |
196 | #define LSM303DLH_TEST_YSCALE 495 |
| 194 | #define LSM303DLH_TEST_ZSCALE 470 |
197 | #define LSM303DLH_TEST_ZSCALE 470 |
| - | 198 | // clibration range |
|
| - | 199 | #define LSM303_CALIBRATION_RANGE 500 |
|
| 195 | 200 | ||
| 196 | // the i2c ACC interface |
201 | // the i2c ACC interface |
| 197 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
202 | #define ACC_SLAVE_ADDRESS 0x30 // i2c slave for acc. sensor registers |
| 198 | // register mapping |
203 | // register mapping |
| 199 | #define REG_ACC_CTRL1 0x20 |
204 | #define REG_ACC_CTRL1 0x20 |
| 200 | #define REG_ACC_CTRL2 0x21 |
205 | #define REG_ACC_CTRL2 0x21 |
| 201 | #define REG_ACC_CTRL3 0x22 |
206 | #define REG_ACC_CTRL3 0x22 |
| 202 | #define REG_ACC_CTRL4 0x23 |
207 | #define REG_ACC_CTRL4 0x23 |
| 203 | #define REG_ACC_CTRL5 0x24 |
208 | #define REG_ACC_CTRL5 0x24 |
| 204 | #define REG_ACC_HP_FILTER_RESET 0x25 |
209 | #define REG_ACC_HP_FILTER_RESET 0x25 |
| 205 | #define REG_ACC_REFERENCE 0x26 |
210 | #define REG_ACC_REFERENCE 0x26 |
| 206 | #define REG_ACC_STATUS 0x27 |
211 | #define REG_ACC_STATUS 0x27 |
| 207 | #define REG_ACC_X_LSB 0x28 |
212 | #define REG_ACC_X_LSB 0x28 |
| 208 | #define REG_ACC_X_MSB 0x29 |
213 | #define REG_ACC_X_MSB 0x29 |
| 209 | #define REG_ACC_Y_LSB 0x2A |
214 | #define REG_ACC_Y_LSB 0x2A |
| 210 | #define REG_ACC_Y_MSB 0x2B |
215 | #define REG_ACC_Y_MSB 0x2B |
| 211 | #define REG_ACC_Z_LSB 0x2C |
216 | #define REG_ACC_Z_LSB 0x2C |
| 212 | #define REG_ACC_Z_MSB 0x2D |
217 | #define REG_ACC_Z_MSB 0x2D |
| 213 | 218 | ||
| 214 | 219 | ||
| 215 | 220 | ||
| 216 | typedef struct |
221 | typedef struct |
| 217 | { |
222 | { |
| 218 | u8 A; |
223 | u8 A; |
| 219 | u8 B; |
224 | u8 B; |
| 220 | u8 C; |
225 | u8 C; |
| 221 | } __attribute__((packed)) Identification_t; |
226 | } __attribute__((packed)) Identification_t; |
| 222 | volatile Identification_t NCMAG_Identification; |
227 | volatile Identification_t NCMAG_Identification; |
| 223 | 228 | ||
| 224 | typedef struct |
229 | typedef struct |
| 225 | { |
230 | { |
| 226 | u8 Sub; |
231 | u8 Sub; |
| 227 | } __attribute__((packed)) Identification2_t; |
232 | } __attribute__((packed)) Identification2_t; |
| 228 | volatile Identification2_t NCMAG_Identification2; |
233 | volatile Identification2_t NCMAG_Identification2; |
| 229 | 234 | ||
| 230 | typedef struct |
235 | typedef struct |
| 231 | { |
236 | { |
| 232 | u8 cra; |
237 | u8 cra; |
| 233 | u8 crb; |
238 | u8 crb; |
| 234 | u8 mode; |
239 | u8 mode; |
| 235 | } __attribute__((packed)) MagConfig_t; |
240 | } __attribute__((packed)) MagConfig_t; |
| 236 | 241 | ||
| 237 | volatile MagConfig_t MagConfig; |
242 | volatile MagConfig_t MagConfig; |
| 238 | 243 | ||
| 239 | typedef struct |
244 | typedef struct |
| 240 | { |
245 | { |
| 241 | u8 ctrl_1; |
246 | u8 ctrl_1; |
| 242 | u8 ctrl_2; |
247 | u8 ctrl_2; |
| 243 | u8 ctrl_3; |
248 | u8 ctrl_3; |
| 244 | u8 ctrl_4; |
249 | u8 ctrl_4; |
| 245 | u8 ctrl_5; |
250 | u8 ctrl_5; |
| 246 | } __attribute__((packed)) AccConfig_t; |
251 | } __attribute__((packed)) AccConfig_t; |
| 247 | 252 | ||
| 248 | volatile AccConfig_t AccConfig; |
253 | volatile AccConfig_t AccConfig; |
| 249 | - | ||
| 250 | volatile s16vec_t AccRawVector; |
- | |
| 251 | volatile s16vec_t MagRawVector; |
- | |
| 252 | - | ||
| 253 | 254 | ||
| 254 | u8 NCMag_CalibrationWrite(void) |
255 | u8 NCMag_CalibrationWrite(void) |
| 255 | { |
256 | { |
| 256 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
257 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
| 257 | EEPROM_Result_t eres; |
258 | EEPROM_Result_t eres; |
| 258 | u8 *pBuff = (u8*)&Calibration; |
259 | u8 *pBuff = (u8*)&Calibration; |
| 259 | 260 | ||
| 260 | Calibration.Version = CALIBRATION_VERSION; |
261 | Calibration.Version = CALIBRATION_VERSION; |
| 261 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
262 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 262 | { |
263 | { |
| 263 | crc += pBuff[i]; |
264 | crc += pBuff[i]; |
| 264 | } |
265 | } |
| 265 | Calibration.crc = ~crc; |
266 | Calibration.crc = ~crc; |
| 266 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
267 | eres = EEPROM_WriteBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration)); |
| 267 | if(EEPROM_SUCCESS == eres) i = 1; |
268 | if(EEPROM_SUCCESS == eres) i = 1; |
| 268 | else i = 0; |
269 | else i = 0; |
| 269 | return(i); |
270 | return(i); |
| 270 | } |
271 | } |
| 271 | 272 | ||
| 272 | u8 NCMag_CalibrationRead(void) |
273 | u8 NCMag_CalibrationRead(void) |
| 273 | { |
274 | { |
| 274 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
275 | u8 i, crc = MAG_CALIBRATION_COMPATIBEL; |
| 275 | u8 *pBuff = (u8*)&Calibration; |
276 | u8 *pBuff = (u8*)&Calibration; |
| 276 | 277 | ||
| 277 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
278 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(EEPROM_ADR_MAG_CALIBRATION, pBuff, sizeof(Calibration))) |
| 278 | { |
279 | { |
| 279 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
280 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 280 | { |
281 | { |
| 281 | crc += pBuff[i]; |
282 | crc += pBuff[i]; |
| 282 | } |
283 | } |
| 283 | crc = ~crc; |
284 | crc = ~crc; |
| 284 | if(Calibration.crc != crc) return(0); // crc mismatch |
285 | if(Calibration.crc != crc) return(0); // crc mismatch |
| 285 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
286 | if(Calibration.Version == CALIBRATION_VERSION) return(1); |
| 286 | } |
287 | } |
| 287 | return(0); |
288 | return(0); |
| 288 | } |
289 | } |
| 289 | 290 | ||
| 290 | 291 | ||
| 291 | void NCMAG_Calibrate(void) |
292 | void NCMAG_Calibrate(void) |
| 292 | { |
293 | { |
| 293 | u8 msg[64]; |
294 | u8 msg[64]; |
| 294 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
295 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| 295 | static s16 X = 0, Y = 0, Z = 0; |
296 | static s16 X = 0, Y = 0, Z = 0; |
| 296 | static u8 OldCalState = 0; |
297 | static u8 OldCalState = 0; |
| - | 298 | s16 MinCaclibration = 450; |
|
| 297 | 299 | ||
| 298 | X = (4*X + MagRawVector.X + 3)/5; |
300 | X = (4*X + MagRawVector.X + 3)/5; |
| 299 | Y = (4*Y + MagRawVector.Y + 3)/5; |
301 | Y = (4*Y + MagRawVector.Y + 3)/5; |
| 300 | Z = (4*Z + MagRawVector.Z + 3)/5; |
302 | Z = (4*Z + MagRawVector.Z + 3)/5; |
| 301 | 303 | ||
| 302 | switch(Compass_CalState) |
304 | switch(Compass_CalState) |
| 303 | { |
305 | { |
| 304 | case 1: |
306 | case 1: |
| 305 | // 1st step of calibration |
307 | // 1st step of calibration |
| 306 | // initialize ranges |
308 | // initialize ranges |
| 307 | // used to change the orientation of the NC in the horizontal plane |
309 | // used to change the orientation of the NC in the horizontal plane |
| 308 | Xmin = 10000; |
310 | Xmin = 10000; |
| 309 | Xmax = -10000; |
311 | Xmax = -10000; |
| 310 | Ymin = 10000; |
312 | Ymin = 10000; |
| 311 | Ymax = -10000; |
313 | Ymax = -10000; |
| 312 | Zmin = 10000; |
314 | Zmin = 10000; |
| 313 | Zmax = -10000; |
315 | Zmax = -10000; |
| 314 | break; |
316 | break; |
| 315 | 317 | ||
| 316 | case 2: // 2nd step of calibration |
318 | case 2: // 2nd step of calibration |
| 317 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
319 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 318 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
320 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| 319 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
321 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| 320 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
322 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| 321 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
323 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
| 322 | break; |
324 | break; |
| 323 | 325 | ||
| 324 | case 3: // 3rd step of calibration |
326 | case 3: // 3rd step of calibration |
| 325 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
327 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| 326 | break; |
328 | break; |
| 327 | 329 | ||
| 328 | case 4: |
330 | case 4: |
| 329 | // find Min and Max of the Z-Sensor |
331 | // find Min and Max of the Z-Sensor |
| 330 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
332 | if(Z < Zmin) { Zmin = Z; BeepTime = 80;} |
| 331 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
333 | else if(Z > Zmax) { Zmax = Z; BeepTime = 80;} |
| 332 | break; |
334 | break; |
| 333 | 335 | ||
| 334 | case 5: |
336 | case 5: |
| 335 | // Save values |
337 | // Save values |
| 336 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
338 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| 337 | { |
339 | { |
| 338 | // #define MIN_CALIBRATION 256 |
340 | // #define MIN_CALIBRATION 256 |
| - | 341 | if(NCMAG_MagType == MAG_TYPE_HMC5843) |
|
| - | 342 | { |
|
| - | 343 | UART1_PutString("\r\nHMC5843 calibration\n\r"); |
|
| - | 344 | MinCaclibration = HMC5843_CALIBRATION_RANGE; |
|
| - | 345 | } |
|
| - | 346 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
|
| - | 347 | { |
|
| - | 348 | UART1_PutString("\r\n\r\nLSM303 calibration\n\r"); |
|
| 339 | #define MIN_CALIBRATION 450 |
349 | MinCaclibration =LSM303_CALIBRATION_RANGE; |
| - | 350 | } |
|
| - | 351 | ||
| 340 | Calibration.MagX.Range = Xmax - Xmin; |
352 | Calibration.MagX.Range = Xmax - Xmin; |
| 341 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
353 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| 342 | Calibration.MagY.Range = Ymax - Ymin; |
354 | Calibration.MagY.Range = Ymax - Ymin; |
| 343 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
355 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| 344 | Calibration.MagZ.Range = Zmax - Zmin; |
356 | Calibration.MagZ.Range = Zmax - Zmin; |
| 345 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
357 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| 346 | if((Calibration.MagX.Range > MIN_CALIBRATION) && (Calibration.MagY.Range > MIN_CALIBRATION) && (Calibration.MagZ.Range > MIN_CALIBRATION)) |
358 | if((Calibration.MagX.Range > MinCaclibration) && (Calibration.MagY.Range > MinCaclibration) && (Calibration.MagZ.Range > MinCaclibration)) |
| 347 | { |
359 | { |
| 348 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
360 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(); |
| 349 | BeepTime = 2500; |
361 | BeepTime = 2500; |
| 350 | UART1_PutString("\r\n Calibration okay\n\r"); |
362 | UART1_PutString("\r\n Calibration okay\n\r"); |
| 351 | } |
363 | } |
| 352 | else |
364 | else |
| 353 | { |
365 | { |
| 354 | UART1_PutString("\r\n Calibration FAILED - Values too low"); |
366 | UART1_PutString("\r\nCalibration FAILED - Values too low: "); |
| 355 | if(Calibration.MagX.Range < MIN_CALIBRATION) UART1_PutString("X! "); |
367 | if(Calibration.MagX.Range < MinCaclibration) UART1_PutString("X! "); |
| 356 | if(Calibration.MagY.Range < MIN_CALIBRATION) UART1_PutString("y! "); |
368 | if(Calibration.MagY.Range < MinCaclibration) UART1_PutString("y! "); |
| 357 | if(Calibration.MagZ.Range < MIN_CALIBRATION) UART1_PutString("Z! "); |
369 | if(Calibration.MagZ.Range < MinCaclibration) UART1_PutString("Z! "); |
| 358 | UART1_PutString("\r\n"); |
370 | UART1_PutString("\r\n"); |
| - | 371 | sprintf(msg, "Minimum is: %i \r\n",MinCaclibration); |
|
| - | 372 | UART1_PutString(msg); |
|
| - | 373 | ||
| 359 | // restore old calibration data from eeprom |
374 | // restore old calibration data from eeprom |
| 360 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
375 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| 361 | } |
376 | } |
| 362 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
377 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
| 363 | UART1_PutString(msg); |
378 | UART1_PutString(msg); |
| 364 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
379 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
| 365 | UART1_PutString(msg); |
380 | UART1_PutString(msg); |
| 366 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
381 | sprintf(msg, "Z: (%i - %i = %i)\r\n",Zmax,Zmin,Zmax - Zmin); |
| 367 | UART1_PutString(msg); |
382 | UART1_PutString(msg); |
| 368 | } |
383 | } |
| 369 | break; |
384 | break; |
| 370 | 385 | ||
| 371 | default: |
386 | default: |
| 372 | break; |
387 | break; |
| 373 | } |
388 | } |
| 374 | OldCalState = Compass_CalState; |
389 | OldCalState = Compass_CalState; |
| 375 | } |
390 | } |
| 376 | 391 | ||
| 377 | // ---------- call back handlers ----------------------------------------- |
392 | // ---------- call back handlers ----------------------------------------- |
| 378 | 393 | ||
| 379 | // rx data handler for id info request |
394 | // rx data handler for id info request |
| 380 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
395 | void NCMAG_UpdateIdentification(u8* pRxBuffer, u8 RxBufferSize) |
| 381 | { // if number of bytes are matching |
396 | { // if number of bytes are matching |
| 382 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
397 | if(RxBufferSize == sizeof(NCMAG_Identification) ) |
| 383 | { |
398 | { |
| 384 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
399 | memcpy((u8 *)&NCMAG_Identification, pRxBuffer, sizeof(NCMAG_Identification)); |
| 385 | } |
400 | } |
| 386 | } |
401 | } |
| 387 | 402 | ||
| 388 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
403 | void NCMAG_UpdateIdentification_Sub(u8* pRxBuffer, u8 RxBufferSize) |
| 389 | { // if number of bytes are matching |
404 | { // if number of bytes are matching |
| 390 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
405 | if(RxBufferSize == sizeof(NCMAG_Identification2)) |
| 391 | { |
406 | { |
| 392 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
407 | memcpy((u8 *)&NCMAG_Identification2, pRxBuffer, sizeof(NCMAG_Identification2)); |
| 393 | } |
408 | } |
| 394 | } |
409 | } |
| 395 | 410 | ||
| 396 | // rx data handler for magnetic sensor raw data |
411 | // rx data handler for magnetic sensor raw data |
| 397 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
412 | void NCMAG_UpdateMagVector(u8* pRxBuffer, u8 RxBufferSize) |
| 398 | { // if number of bytes are matching |
413 | { // if number of bytes are matching |
| 399 | if(RxBufferSize == sizeof(MagRawVector) ) |
414 | if(RxBufferSize == sizeof(MagRawVector) ) |
| 400 | { // byte order from big to little endian |
415 | { // byte order from big to little endian |
| 401 | s16 raw; |
416 | s16 raw; |
| 402 | raw = pRxBuffer[0]<<8; |
417 | raw = pRxBuffer[0]<<8; |
| 403 | raw+= pRxBuffer[1]; |
418 | raw+= pRxBuffer[1]; |
| 404 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
419 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) MagRawVector.X = raw; |
| 405 | raw = pRxBuffer[2]<<8; |
420 | raw = pRxBuffer[2]<<8; |
| 406 | raw+= pRxBuffer[3]; |
421 | raw+= pRxBuffer[3]; |
| 407 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
422 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| 408 | { |
423 | { |
| 409 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
424 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Z = raw; // here Z and Y are exchanged |
| 410 | else MagRawVector.Y = raw; |
425 | else MagRawVector.Y = raw; |
| 411 | } |
426 | } |
| 412 | raw = pRxBuffer[4]<<8; |
427 | raw = pRxBuffer[4]<<8; |
| 413 | raw+= pRxBuffer[5]; |
428 | raw+= pRxBuffer[5]; |
| 414 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
429 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| 415 | { |
430 | { |
| 416 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
431 | if(NCMAG_Identification2.Sub == 0x3c) MagRawVector.Y = raw; // here Z and Y are exchanged |
| 417 | else MagRawVector.Z = raw; |
432 | else MagRawVector.Z = raw; |
| 418 | } |
433 | } |
| 419 | 434 | ||
| 420 | } |
435 | } |
| 421 | if(Compass_CalState || !NCMAG_IsCalibrated) |
436 | if(Compass_CalState || !NCMAG_IsCalibrated) |
| 422 | { // mark out data invalid |
437 | { // mark out data invalid |
| 423 | MagVector.X = MagRawVector.X; |
438 | MagVector.X = MagRawVector.X; |
| 424 | MagVector.Y = MagRawVector.Y; |
439 | MagVector.Y = MagRawVector.Y; |
| 425 | MagVector.Z = MagRawVector.Z; |
440 | MagVector.Z = MagRawVector.Z; |
| 426 | Compass_Heading = -1; |
441 | Compass_Heading = -1; |
| 427 | } |
442 | } |
| 428 | else |
443 | else |
| 429 | { |
444 | { |
| 430 | // update MagVector from MagRaw Vector by Scaling |
445 | // update MagVector from MagRaw Vector by Scaling |
| 431 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
446 | MagVector.X = (s16)((1024L*(s32)(MagRawVector.X - Calibration.MagX.Offset))/Calibration.MagX.Range); |
| 432 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
447 | MagVector.Y = (s16)((1024L*(s32)(MagRawVector.Y - Calibration.MagY.Offset))/Calibration.MagY.Range); |
| 433 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
448 | MagVector.Z = (s16)((1024L*(s32)(MagRawVector.Z - Calibration.MagZ.Offset))/Calibration.MagZ.Range); |
| 434 | Compass_CalcHeading(); |
449 | Compass_CalcHeading(); |
| 435 | } |
450 | } |
| 436 | } |
451 | } |
| 437 | // rx data handler for acceleration raw data |
452 | // rx data handler for acceleration raw data |
| 438 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
453 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| 439 | { // if number of byte are matching |
454 | { // if number of byte are matching |
| 440 | if(RxBufferSize == sizeof(AccRawVector) ) |
455 | if(RxBufferSize == sizeof(AccRawVector) ) |
| 441 | { |
456 | { |
| 442 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
457 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| 443 | } |
458 | } |
| 444 | } |
459 | } |
| 445 | // rx data handler for reading magnetic sensor configuration |
460 | // rx data handler for reading magnetic sensor configuration |
| 446 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
461 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 447 | { // if number of byte are matching |
462 | { // if number of byte are matching |
| 448 | if(RxBufferSize == sizeof(MagConfig) ) |
463 | if(RxBufferSize == sizeof(MagConfig) ) |
| 449 | { |
464 | { |
| 450 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
465 | memcpy((u8*)(&MagConfig), pRxBuffer, sizeof(MagConfig)); |
| 451 | } |
466 | } |
| 452 | } |
467 | } |
| 453 | // rx data handler for reading acceleration sensor configuration |
468 | // rx data handler for reading acceleration sensor configuration |
| 454 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
469 | void NCMAG_UpdateAccConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 455 | { // if number of byte are matching |
470 | { // if number of byte are matching |
| 456 | if(RxBufferSize == sizeof(AccConfig) ) |
471 | if(RxBufferSize == sizeof(AccConfig) ) |
| 457 | { |
472 | { |
| 458 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
473 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| 459 | } |
474 | } |
| 460 | } |
475 | } |
| 461 | //---------------------------------------------------------------------- |
476 | //---------------------------------------------------------------------- |
| 462 | 477 | ||
| 463 | 478 | ||
| 464 | // --------------------------------------------------------------------- |
479 | // --------------------------------------------------------------------- |
| 465 | u8 NCMAG_SetMagConfig(void) |
480 | u8 NCMAG_SetMagConfig(void) |
| 466 | { |
481 | { |
| 467 | u8 retval = 0; |
482 | u8 retval = 0; |
| 468 | // try to catch the i2c buffer within 100 ms timeout |
483 | // try to catch the i2c buffer within 100 ms timeout |
| 469 | if(I2C_LockBuffer(100)) |
484 | if(I2C_LockBuffer(100)) |
| 470 | { |
485 | { |
| 471 | u8 TxBytes = 0; |
486 | u8 TxBytes = 0; |
| 472 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
487 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 473 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
488 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
| 474 | TxBytes += sizeof(MagConfig); |
489 | TxBytes += sizeof(MagConfig); |
| 475 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
490 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 476 | { |
491 | { |
| 477 | if(I2C_WaitForEndOfTransmission(100)) |
492 | if(I2C_WaitForEndOfTransmission(100)) |
| 478 | { |
493 | { |
| 479 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
494 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 480 | } |
495 | } |
| 481 | } |
496 | } |
| 482 | } |
497 | } |
| 483 | return(retval); |
498 | return(retval); |
| 484 | } |
499 | } |
| 485 | 500 | ||
| 486 | // ---------------------------------------------------------------------------------------- |
501 | // ---------------------------------------------------------------------------------------- |
| 487 | u8 NCMAG_GetMagConfig(void) |
502 | u8 NCMAG_GetMagConfig(void) |
| 488 | { |
503 | { |
| 489 | u8 retval = 0; |
504 | u8 retval = 0; |
| 490 | // try to catch the i2c buffer within 100 ms timeout |
505 | // try to catch the i2c buffer within 100 ms timeout |
| 491 | if(I2C_LockBuffer(100)) |
506 | if(I2C_LockBuffer(100)) |
| 492 | { |
507 | { |
| 493 | u8 TxBytes = 0; |
508 | u8 TxBytes = 0; |
| 494 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
509 | I2C_Buffer[TxBytes++] = REG_MAG_CRA; |
| 495 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
510 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| 496 | { |
511 | { |
| 497 | if(I2C_WaitForEndOfTransmission(100)) |
512 | if(I2C_WaitForEndOfTransmission(100)) |
| 498 | { |
513 | { |
| 499 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
514 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 500 | } |
515 | } |
| 501 | } |
516 | } |
| 502 | } |
517 | } |
| 503 | return(retval); |
518 | return(retval); |
| 504 | } |
519 | } |
| 505 | 520 | ||
| 506 | // ---------------------------------------------------------------------------------------- |
521 | // ---------------------------------------------------------------------------------------- |
| 507 | u8 NCMAG_SetAccConfig(void) |
522 | u8 NCMAG_SetAccConfig(void) |
| 508 | { |
523 | { |
| 509 | u8 retval = 0; |
524 | u8 retval = 0; |
| 510 | // try to catch the i2c buffer within 100 ms timeout |
525 | // try to catch the i2c buffer within 100 ms timeout |
| 511 | if(I2C_LockBuffer(100)) |
526 | if(I2C_LockBuffer(100)) |
| 512 | { |
527 | { |
| 513 | u8 TxBytes = 0; |
528 | u8 TxBytes = 0; |
| 514 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
529 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 515 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
530 | memcpy((u8*)(&I2C_Buffer[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
| 516 | TxBytes += sizeof(AccConfig); |
531 | TxBytes += sizeof(AccConfig); |
| 517 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
532 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
| 518 | { |
533 | { |
| 519 | if(I2C_WaitForEndOfTransmission(100)) |
534 | if(I2C_WaitForEndOfTransmission(100)) |
| 520 | { |
535 | { |
| 521 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
536 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 522 | } |
537 | } |
| 523 | } |
538 | } |
| 524 | } |
539 | } |
| 525 | return(retval); |
540 | return(retval); |
| 526 | } |
541 | } |
| 527 | 542 | ||
| 528 | // ---------------------------------------------------------------------------------------- |
543 | // ---------------------------------------------------------------------------------------- |
| 529 | u8 NCMAG_GetAccConfig(void) |
544 | u8 NCMAG_GetAccConfig(void) |
| 530 | { |
545 | { |
| 531 | u8 retval = 0; |
546 | u8 retval = 0; |
| 532 | // try to catch the i2c buffer within 100 ms timeout |
547 | // try to catch the i2c buffer within 100 ms timeout |
| 533 | if(I2C_LockBuffer(100)) |
548 | if(I2C_LockBuffer(100)) |
| 534 | { |
549 | { |
| 535 | u8 TxBytes = 0; |
550 | u8 TxBytes = 0; |
| 536 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
551 | I2C_Buffer[TxBytes++] = REG_ACC_CTRL1; |
| 537 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
552 | if(I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| 538 | { |
553 | { |
| 539 | if(I2C_WaitForEndOfTransmission(100)) |
554 | if(I2C_WaitForEndOfTransmission(100)) |
| 540 | { |
555 | { |
| 541 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
556 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 542 | } |
557 | } |
| 543 | } |
558 | } |
| 544 | } |
559 | } |
| 545 | return(retval); |
560 | return(retval); |
| 546 | } |
561 | } |
| 547 | 562 | ||
| 548 | // ---------------------------------------------------------------------------------------- |
563 | // ---------------------------------------------------------------------------------------- |
| 549 | u8 NCMAG_GetIdentification(void) |
564 | u8 NCMAG_GetIdentification(void) |
| 550 | { |
565 | { |
| 551 | u8 retval = 0; |
566 | u8 retval = 0; |
| 552 | // try to catch the i2c buffer within 100 ms timeout |
567 | // try to catch the i2c buffer within 100 ms timeout |
| 553 | if(I2C_LockBuffer(100)) |
568 | if(I2C_LockBuffer(100)) |
| 554 | { |
569 | { |
| 555 | u16 TxBytes = 0; |
570 | u16 TxBytes = 0; |
| 556 | NCMAG_Identification.A = 0xFF; |
571 | NCMAG_Identification.A = 0xFF; |
| 557 | NCMAG_Identification.B = 0xFF; |
572 | NCMAG_Identification.B = 0xFF; |
| 558 | NCMAG_Identification.C = 0xFF; |
573 | NCMAG_Identification.C = 0xFF; |
| 559 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
574 | I2C_Buffer[TxBytes++] = REG_MAG_IDA; |
| 560 | // initiate transmission |
575 | // initiate transmission |
| 561 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
576 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| 562 | { |
577 | { |
| 563 | if(I2C_WaitForEndOfTransmission(100)) |
578 | if(I2C_WaitForEndOfTransmission(100)) |
| 564 | { |
579 | { |
| 565 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
580 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 566 | } |
581 | } |
| 567 | } |
582 | } |
| 568 | } |
583 | } |
| 569 | return(retval); |
584 | return(retval); |
| 570 | } |
585 | } |
| 571 | 586 | ||
| 572 | u8 NCMAG_GetIdentification_Sub(void) |
587 | u8 NCMAG_GetIdentification_Sub(void) |
| 573 | { |
588 | { |
| 574 | u8 retval = 0; |
589 | u8 retval = 0; |
| 575 | // try to catch the i2c buffer within 100 ms timeout |
590 | // try to catch the i2c buffer within 100 ms timeout |
| 576 | if(I2C_LockBuffer(100)) |
591 | if(I2C_LockBuffer(100)) |
| 577 | { |
592 | { |
| 578 | u16 TxBytes = 0; |
593 | u16 TxBytes = 0; |
| 579 | NCMAG_Identification2.Sub = 0xFF; |
594 | NCMAG_Identification2.Sub = 0xFF; |
| 580 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
595 | I2C_Buffer[TxBytes++] = REG_MAG_IDF; |
| 581 | // initiate transmission |
596 | // initiate transmission |
| 582 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
597 | if(I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
| 583 | { |
598 | { |
| 584 | if(I2C_WaitForEndOfTransmission(100)) |
599 | if(I2C_WaitForEndOfTransmission(100)) |
| 585 | { |
600 | { |
| 586 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
601 | if(I2C_Error == I2C_ERROR_NONE) retval = 1; |
| 587 | } |
602 | } |
| 588 | } |
603 | } |
| 589 | } |
604 | } |
| 590 | return(retval); |
605 | return(retval); |
| 591 | } |
606 | } |
| 592 | 607 | ||
| 593 | 608 | ||
| 594 | // ---------------------------------------------------------------------------------------- |
609 | // ---------------------------------------------------------------------------------------- |
| 595 | void NCMAG_GetMagVector(void) |
610 | void NCMAG_GetMagVector(void) |
| 596 | { |
611 | { |
| 597 | // try to catch the I2C buffer within 0 ms |
612 | // try to catch the I2C buffer within 0 ms |
| 598 | if(I2C_LockBuffer(0)) |
613 | if(I2C_LockBuffer(0)) |
| 599 | { |
614 | { |
| 600 | // s16 tmp; |
615 | // s16 tmp; |
| 601 | u16 TxBytes = 0; |
616 | u16 TxBytes = 0; |
| 602 | // set register pointer |
617 | // set register pointer |
| 603 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
618 | I2C_Buffer[TxBytes++] = REG_MAG_DATAX_MSB; |
| 604 | // initiate transmission |
619 | // initiate transmission |
| 605 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
620 | I2C_Transmission(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| 606 | } |
621 | } |
| 607 | } |
622 | } |
| 608 | 623 | ||
| 609 | //---------------------------------------------------------------- |
624 | //---------------------------------------------------------------- |
| 610 | void NCMAG_GetAccVector(void) |
625 | void NCMAG_GetAccVector(void) |
| 611 | { |
626 | { |
| 612 | // try to catch the I2C buffer within 0 ms |
627 | // try to catch the I2C buffer within 0 ms |
| 613 | if(I2C_LockBuffer(0)) |
628 | if(I2C_LockBuffer(0)) |
| 614 | { |
629 | { |
| 615 | u16 TxBytes = 0; |
630 | u16 TxBytes = 0; |
| 616 | // set register pointer |
631 | // set register pointer |
| 617 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
632 | I2C_Buffer[TxBytes++] = REG_ACC_X_LSB; |
| 618 | // initiate transmission |
633 | // initiate transmission |
| 619 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
634 | I2C_Transmission(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| 620 | } |
635 | } |
| 621 | } |
636 | } |
| 622 | 637 | ||
| 623 | //---------------------------------------------------------------- |
638 | //---------------------------------------------------------------- |
| 624 | void InitNC_MagnetSensor(void) |
639 | void InitNC_MagnetSensor(void) |
| 625 | { |
640 | { |
| 626 | s16 xscale, yscale, zscale; |
641 | s16 xscale, yscale, zscale; |
| 627 | u8 crb_gain, cra_rate; |
642 | u8 crb_gain, cra_rate; |
| 628 | // u8 retval = 1; |
643 | // u8 retval = 1; |
| 629 | 644 | ||
| 630 | switch(NCMAG_MagType) |
645 | switch(NCMAG_MagType) |
| 631 | { |
646 | { |
| 632 | case MAG_TYPE_HMC5843: |
647 | case MAG_TYPE_HMC5843: |
| 633 | crb_gain = HMC5843_CRB_GAIN_10GA; |
648 | crb_gain = HMC5843_CRB_GAIN_15GA; |
| 634 | cra_rate = HMC5843_CRA_RATE_50HZ; |
649 | cra_rate = HMC5843_CRA_RATE_50HZ; |
| 635 | xscale = HMC5843_TEST_XSCALE; |
650 | xscale = HMC5843_TEST_XSCALE; |
| 636 | yscale = HMC5843_TEST_YSCALE; |
651 | yscale = HMC5843_TEST_YSCALE; |
| 637 | zscale = HMC5843_TEST_ZSCALE; |
652 | zscale = HMC5843_TEST_ZSCALE; |
| 638 | break; |
653 | break; |
| 639 | 654 | ||
| 640 | case MAG_TYPE_LSM303DLH: |
655 | case MAG_TYPE_LSM303DLH: |
| 641 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
656 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| 642 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
657 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 643 | xscale = LSM303DLH_TEST_XSCALE; |
658 | xscale = LSM303DLH_TEST_XSCALE; |
| 644 | yscale = LSM303DLH_TEST_YSCALE; |
659 | yscale = LSM303DLH_TEST_YSCALE; |
| 645 | zscale = LSM303DLH_TEST_ZSCALE; |
660 | zscale = LSM303DLH_TEST_ZSCALE; |
| 646 | break; |
661 | break; |
| 647 | 662 | ||
| 648 | default: |
663 | default: |
| 649 | return; |
664 | return; |
| 650 | } |
665 | } |
| 651 | 666 | ||
| 652 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
667 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| 653 | MagConfig.crb = crb_gain; |
668 | MagConfig.crb = crb_gain; |
| 654 | MagConfig.mode = MODE_CONTINUOUS; |
669 | MagConfig.mode = MODE_CONTINUOUS; |
| 655 | NCMAG_SetMagConfig(); |
670 | NCMAG_SetMagConfig(); |
| 656 | } |
671 | } |
| 657 | 672 | ||
| 658 | 673 | ||
| 659 | // -------------------------------------------------------- |
674 | // -------------------------------------------------------- |
| 660 | void NCMAG_Update(void) |
675 | void NCMAG_Update(void) |
| 661 | { |
676 | { |
| 662 | static u32 TimerUpdate = 0; |
677 | static u32 TimerUpdate = 0; |
| 663 | static u8 send_config = 0; |
678 | static u8 send_config = 0; |
| 664 | 679 | ||
| 665 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
680 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| 666 | { |
681 | { |
| 667 | Compass_Heading = -1; |
682 | Compass_Heading = -1; |
| 668 | DebugOut.Analog[14]++; // count I2C error |
683 | DebugOut.Analog[14]++; // count I2C error |
| 669 | return; |
684 | return; |
| 670 | } |
685 | } |
| 671 | if(CheckDelay(TimerUpdate)) |
686 | if(CheckDelay(TimerUpdate)) |
| 672 | { |
687 | { |
| 673 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
688 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
| 674 | if(++send_config == 25) // 500ms |
689 | if(++send_config == 25) // 500ms |
| 675 | { |
690 | { |
| 676 | send_config = 0; |
691 | send_config = 0; |
| 677 | InitNC_MagnetSensor(); |
692 | InitNC_MagnetSensor(); |
| 678 | TimerUpdate = SetDelay(15); // back into the old time-slot |
693 | TimerUpdate = SetDelay(15); // back into the old time-slot |
| 679 | } |
694 | } |
| 680 | else |
695 | else |
| 681 | { |
696 | { |
| 682 | // check for new calibration state |
697 | // check for new calibration state |
| 683 | Compass_UpdateCalState(); |
698 | Compass_UpdateCalState(); |
| 684 | if(Compass_CalState) NCMAG_Calibrate(); |
699 | if(Compass_CalState) NCMAG_Calibrate(); |
| 685 | NCMAG_GetMagVector(); //Get new data; |
700 | NCMAG_GetMagVector(); //Get new data; |
| 686 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
701 | if(send_config == 24) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| 687 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
702 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| 688 | } |
703 | } |
| 689 | } |
704 | } |
| 690 | } |
705 | } |
| 691 | 706 | ||
| 692 | 707 | ||
| 693 | // -------------------------------------------------------- |
708 | // -------------------------------------------------------- |
| 694 | u8 NCMAG_SelfTest(void) |
709 | u8 NCMAG_SelfTest(void) |
| 695 | { |
710 | { |
| 696 | u8 msg[64]; |
711 | u8 msg[64]; |
| 697 | static u8 done = 0; |
712 | static u8 done = 0; |
| 698 | 713 | ||
| 699 | if(done) return(1); // just make it once |
714 | if(done) return(1); // just make it once |
| 700 | 715 | ||
| 701 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
716 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
| 702 | u32 time; |
717 | u32 time; |
| 703 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
718 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| 704 | s16 xscale, yscale, zscale, scale_min, scale_max; |
719 | s16 xscale, yscale, zscale, scale_min, scale_max; |
| 705 | u8 crb_gain, cra_rate; |
720 | u8 crb_gain, cra_rate; |
| 706 | u8 i = 0, retval = 1; |
721 | u8 i = 0, retval = 1; |
| 707 | 722 | ||
| 708 | switch(NCMAG_MagType) |
723 | switch(NCMAG_MagType) |
| 709 | { |
724 | { |
| 710 | case MAG_TYPE_HMC5843: |
725 | case MAG_TYPE_HMC5843: |
| 711 | crb_gain = HMC5843_CRB_GAIN_10GA; |
726 | crb_gain = HMC5843_CRB_GAIN_15GA; |
| 712 | cra_rate = HMC5843_CRA_RATE_50HZ; |
727 | cra_rate = HMC5843_CRA_RATE_50HZ; |
| 713 | xscale = HMC5843_TEST_XSCALE; |
728 | xscale = HMC5843_TEST_XSCALE; |
| 714 | yscale = HMC5843_TEST_YSCALE; |
729 | yscale = HMC5843_TEST_YSCALE; |
| 715 | zscale = HMC5843_TEST_ZSCALE; |
730 | zscale = HMC5843_TEST_ZSCALE; |
| 716 | break; |
731 | break; |
| 717 | 732 | ||
| 718 | case MAG_TYPE_LSM303DLH: |
733 | case MAG_TYPE_LSM303DLH: |
| 719 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
734 | crb_gain = LSM303DLH_CRB_GAIN_19GA; |
| 720 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
735 | cra_rate = LSM303DLH_CRA_RATE_75HZ; |
| 721 | xscale = LSM303DLH_TEST_XSCALE; |
736 | xscale = LSM303DLH_TEST_XSCALE; |
| 722 | yscale = LSM303DLH_TEST_YSCALE; |
737 | yscale = LSM303DLH_TEST_YSCALE; |
| 723 | zscale = LSM303DLH_TEST_ZSCALE; |
738 | zscale = LSM303DLH_TEST_ZSCALE; |
| 724 | break; |
739 | break; |
| 725 | 740 | ||
| 726 | default: |
741 | default: |
| 727 | return(0); |
742 | return(0); |
| 728 | } |
743 | } |
| 729 | 744 | ||
| 730 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
745 | MagConfig.cra = cra_rate|CRA_MODE_POSBIAS; |
| 731 | MagConfig.crb = crb_gain; |
746 | MagConfig.crb = crb_gain; |
| 732 | MagConfig.mode = MODE_CONTINUOUS; |
747 | MagConfig.mode = MODE_CONTINUOUS; |
| 733 | // activate positive bias field |
748 | // activate positive bias field |
| 734 | NCMAG_SetMagConfig(); |
749 | NCMAG_SetMagConfig(); |
| 735 | // wait for stable readings |
750 | // wait for stable readings |
| 736 | time = SetDelay(50); |
751 | time = SetDelay(50); |
| 737 | while(!CheckDelay(time)); |
752 | while(!CheckDelay(time)); |
| 738 | // averaging |
753 | // averaging |
| 739 | #define AVERAGE 20 |
754 | #define AVERAGE 20 |
| 740 | for(i = 0; i<AVERAGE; i++) |
755 | for(i = 0; i<AVERAGE; i++) |
| 741 | { |
756 | { |
| 742 | NCMAG_GetMagVector(); |
757 | NCMAG_GetMagVector(); |
| 743 | time = SetDelay(20); |
758 | time = SetDelay(20); |
| 744 | while(!CheckDelay(time)); |
759 | while(!CheckDelay(time)); |
| 745 | XMax += MagRawVector.X; |
760 | XMax += MagRawVector.X; |
| 746 | YMax += MagRawVector.Y; |
761 | YMax += MagRawVector.Y; |
| 747 | ZMax += MagRawVector.Z; |
762 | ZMax += MagRawVector.Z; |
| 748 | } |
763 | } |
| 749 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
764 | MagConfig.cra = cra_rate|CRA_MODE_NEGBIAS; |
| 750 | // activate positive bias field |
765 | // activate positive bias field |
| 751 | NCMAG_SetMagConfig(); |
766 | NCMAG_SetMagConfig(); |
| 752 | // wait for stable readings |
767 | // wait for stable readings |
| 753 | time = SetDelay(50); |
768 | time = SetDelay(50); |
| 754 | while(!CheckDelay(time)); |
769 | while(!CheckDelay(time)); |
| 755 | // averaging |
770 | // averaging |
| 756 | for(i = 0; i < AVERAGE; i++) |
771 | for(i = 0; i < AVERAGE; i++) |
| 757 | { |
772 | { |
| 758 | NCMAG_GetMagVector(); |
773 | NCMAG_GetMagVector(); |
| 759 | time = SetDelay(20); |
774 | time = SetDelay(20); |
| 760 | while(!CheckDelay(time)); |
775 | while(!CheckDelay(time)); |
| 761 | XMin += MagRawVector.X; |
776 | XMin += MagRawVector.X; |
| 762 | YMin += MagRawVector.Y; |
777 | YMin += MagRawVector.Y; |
| 763 | ZMin += MagRawVector.Z; |
778 | ZMin += MagRawVector.Z; |
| 764 | } |
779 | } |
| 765 | // setup final configuration |
780 | // setup final configuration |
| 766 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
781 | MagConfig.cra = cra_rate|CRA_MODE_NORMAL; |
| 767 | // activate positive bias field |
782 | // activate positive bias field |
| 768 | NCMAG_SetMagConfig(); |
783 | NCMAG_SetMagConfig(); |
| 769 | // check scale for all axes |
784 | // check scale for all axes |
| 770 | // prepare scale limits |
785 | // prepare scale limits |
| 771 | LIMITS(xscale, scale_min, scale_max); |
786 | LIMITS(xscale, scale_min, scale_max); |
| 772 | xscale = (XMax - XMin)/(2*AVERAGE); |
787 | xscale = (XMax - XMin)/(2*AVERAGE); |
| 773 | if((xscale > scale_max) || (xscale < scale_min)) |
788 | if((xscale > scale_max) || (xscale < scale_min)) |
| 774 | { |
789 | { |
| 775 | retval = 0; |
790 | retval = 0; |
| 776 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
791 | sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max); |
| 777 | UART1_PutString(msg); |
792 | UART1_PutString(msg); |
| 778 | } |
793 | } |
| 779 | LIMITS(yscale, scale_min, scale_max); |
794 | LIMITS(yscale, scale_min, scale_max); |
| 780 | yscale = (YMax - YMin)/(2*AVERAGE); |
795 | yscale = (YMax - YMin)/(2*AVERAGE); |
| 781 | if((yscale > scale_max) || (yscale < scale_min)) |
796 | if((yscale > scale_max) || (yscale < scale_min)) |
| 782 | { |
797 | { |
| 783 | retval = 0; |
798 | retval = 0; |
| 784 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
799 | sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max); |
| 785 | UART1_PutString(msg); |
800 | UART1_PutString(msg); |
| 786 | } |
801 | } |
| 787 | LIMITS(zscale, scale_min, scale_max); |
802 | LIMITS(zscale, scale_min, scale_max); |
| 788 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
803 | zscale = (ZMax - ZMin)/(2*AVERAGE); |
| 789 | if((zscale > scale_max) || (zscale < scale_min)) |
804 | if((zscale > scale_max) || (zscale < scale_min)) |
| 790 | { |
805 | { |
| 791 | retval = 0; |
806 | retval = 0; |
| 792 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
807 | sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max); |
| 793 | UART1_PutString(msg); |
808 | UART1_PutString(msg); |
| 794 | } |
809 | } |
| 795 | done = retval; |
810 | done = retval; |
| 796 | return(retval); |
811 | return(retval); |
| 797 | } |
812 | } |
| 798 | 813 | ||
| 799 | 814 | ||
| 800 | //---------------------------------------------------------------- |
815 | //---------------------------------------------------------------- |
| 801 | u8 NCMAG_Init(void) |
816 | u8 NCMAG_Init(void) |
| 802 | { |
817 | { |
| 803 | u8 msg[64]; |
818 | u8 msg[64]; |
| 804 | u8 retval = 0; |
819 | u8 retval = 0; |
| 805 | u8 repeat; |
820 | u8 repeat; |
| 806 | 821 | ||
| 807 | NCMAG_Present = 0; |
822 | NCMAG_Present = 0; |
| 808 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
823 | NCMAG_MagType = MAG_TYPE_HMC5843; // assuming having an HMC5843 |
| 809 | // polling for LSM302DLH option |
824 | // polling for LSM302DLH option |
| 810 | repeat = 0; |
825 | repeat = 0; |
| 811 | do |
826 | do |
| 812 | { |
827 | { |
| 813 | retval = NCMAG_GetAccConfig(); |
828 | retval = NCMAG_GetAccConfig(); |
| 814 | if(retval) break; // break loop on success |
829 | if(retval) break; // break loop on success |
| 815 | UART1_PutString("."); |
830 | UART1_PutString("."); |
| 816 | repeat++; |
831 | repeat++; |
| 817 | }while(repeat < 3); |
832 | }while(repeat < 3); |
| 818 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
833 | if(retval) NCMAG_MagType = MAG_TYPE_LSM303DLH; // must be a LSM303DLH |
| 819 | // polling of identification |
834 | // polling of identification |
| 820 | repeat = 0; |
835 | repeat = 0; |
| 821 | do |
836 | do |
| 822 | { |
837 | { |
| 823 | retval = NCMAG_GetIdentification_Sub(); |
838 | retval = NCMAG_GetIdentification_Sub(); |
| 824 | if(retval) break; // break loop on success |
839 | if(retval) break; // break loop on success |
| 825 | UART1_PutString("."); |
840 | UART1_PutString("."); |
| 826 | repeat++; |
841 | repeat++; |
| 827 | }while(repeat < 12); |
842 | }while(repeat < 12); |
| 828 | retval = 0; |
843 | retval = 0; |
| 829 | do |
844 | do |
| 830 | { |
845 | { |
| 831 | retval = NCMAG_GetIdentification(); |
846 | retval = NCMAG_GetIdentification(); |
| 832 | if(retval) break; // break loop on success |
847 | if(retval) break; // break loop on success |
| 833 | UART1_PutString("."); |
848 | UART1_PutString("."); |
| 834 | repeat++; |
849 | repeat++; |
| 835 | }while(repeat < 12); |
850 | }while(repeat < 12); |
| 836 | 851 | ||
| 837 | // if we got an answer to id request |
852 | // if we got an answer to id request |
| 838 | if(retval) |
853 | if(retval) |
| 839 | { |
854 | { |
| 840 | u8 n1[] = "\n\r HMC5843"; |
855 | u8 n1[] = "\n\r HMC5843"; |
| 841 | u8 n2[] = "\n\r LSM303DLH"; |
856 | u8 n2[] = "\n\r LSM303DLH"; |
| 842 | u8 n3[] = "\n\r LSM303DLM"; |
857 | u8 n3[] = "\n\r LSM303DLM"; |
| 843 | u8* pn; |
858 | u8* pn; |
| 844 | 859 | ||
| 845 | pn = n1; |
860 | pn = n1; |
| 846 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
861 | if(NCMAG_MagType == MAG_TYPE_LSM303DLH) |
| 847 | { |
862 | { |
| 848 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
863 | if(NCMAG_Identification2.Sub == 0x3c) pn = n3; |
| 849 | else pn = n2; |
864 | else pn = n2; |
| 850 | } |
865 | } |
| 851 | 866 | ||
| 852 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
867 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
| 853 | UART1_PutString(msg); |
868 | UART1_PutString(msg); |
| 854 | if ( (NCMAG_Identification.A == MAG_IDA) |
869 | if ( (NCMAG_Identification.A == MAG_IDA) |
| 855 | && (NCMAG_Identification.B == MAG_IDB) |
870 | && (NCMAG_Identification.B == MAG_IDB) |
| 856 | && (NCMAG_Identification.C == MAG_IDC)) |
871 | && (NCMAG_Identification.C == MAG_IDC)) |
| 857 | { |
872 | { |
| 858 | NCMAG_Present = 1; |
873 | NCMAG_Present = 1; |
| 859 | 874 | ||
| 860 | if(EEPROM_Init()) |
875 | if(EEPROM_Init()) |
| 861 | { |
876 | { |
| 862 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
877 | NCMAG_IsCalibrated = NCMag_CalibrationRead(); |
| 863 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
878 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
| 864 | } |
879 | } |
| 865 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
880 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
| 866 | 881 | ||
| 867 | if(NCMAG_Identification2.Sub == 0x00) |
882 | if(NCMAG_Identification2.Sub == 0x00) |
| 868 | { |
883 | { |
| 869 | if(!NCMAG_SelfTest()) |
884 | if(!NCMAG_SelfTest()) |
| 870 | { |
885 | { |
| 871 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
886 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
| 872 | LED_RED_ON; |
887 | LED_RED_ON; |
| 873 | NCMAG_IsCalibrated = 0; |
888 | NCMAG_IsCalibrated = 0; |
| 874 | } else UART1_PutString("\r\n Selftest ok"); |
889 | } else UART1_PutString("\r\n Selftest ok"); |
| 875 | } |
890 | } |
| 876 | else InitNC_MagnetSensor(); |
891 | else InitNC_MagnetSensor(); |
| 877 | } |
892 | } |
| 878 | else |
893 | else |
| 879 | { |
894 | { |
| 880 | UART1_PutString("\n\r Not compatible!"); |
895 | UART1_PutString("\n\r Not compatible!"); |
| 881 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
896 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
| 882 | LED_RED_ON; |
897 | LED_RED_ON; |
| 883 | } |
898 | } |
| 884 | } |
899 | } |
| 885 | else // nothing found |
900 | else // nothing found |
| 886 | { |
901 | { |
| 887 | NCMAG_MagType = MAG_TYPE_NONE; |
902 | NCMAG_MagType = MAG_TYPE_NONE; |
| 888 | UART1_PutString("not found!"); |
903 | UART1_PutString("not found!"); |
| 889 | } |
904 | } |
| 890 | return(NCMAG_Present); |
905 | return(NCMAG_Present); |
| 891 | } |
906 | } |
| 892 | 907 | ||
| 893 | 908 | ||