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Rev 488 | Rev 489 | ||
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Line 66... | Line 66... | ||
66 | 66 | ||
67 | u8 CompassCalStateQueue[10]; |
67 | u8 CompassCalStateQueue[10]; |
Line 68... | Line 68... | ||
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; |
Line 82... | Line 83... | ||
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 |
- | 87 | u8 Compass_Device = COMPASS_NONE; |
|
Line 86... | Line 88... | ||
86 | 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; |
- | |
95 | 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 | } |
96 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
Line 107... | Line 97... | ||
107 | */ |
97 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
108 | break; |
- | |
109 | 98 | break; |
|
110 | case COMPASS_NCMAG: |
99 | |
111 | UART1_PutString("\r\n Re-Init compass"); |
100 | case COMPASS_NCMAG: |
Line 112... | Line 101... | ||
112 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
101 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
- | 102 | else Compass_Device = COMPASS_NONE; |
|
- | 103 | break; |
|
- | 104 | ||
- | 105 | case COMPASS_MK3MAG: |
|
113 | else Compass_Device = COMPASS_NONE; |
106 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
114 | break; |
107 | else Compass_Device = COMPASS_NONE; |
115 | 108 | break; |
|
Line 116... | Line 109... | ||
116 | case COMPASS_MK3MAG: |
109 | |
117 | default: |
110 | default: |
Line 118... | Line 111... | ||
118 | // nothing to do |
111 | // nothing to do |
Line -... | Line 112... | ||
- | 112 | break; |
|
- | 113 | ||
- | 114 | } |
|
- | 115 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
|
119 | break; |
116 | |
Line -... | Line 117... | ||
- | 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; |
|
- | 122 | Compass_Heading = -1; |
|
- | 123 | } |
|
- | 124 | ||
- | 125 | ||
- | 126 | void Compass_Check(void) |
|
- | 127 | { |
|
- | 128 | switch(Compass_Device) |
|
- | 129 | { |
|
- | 130 | case COMPASS_NCMAG: |
|
- | 131 | NCMAG_CheckOrientation(); |
|
- | 132 | break; |
|
120 | 133 | ||
121 | } |
134 | case COMPASS_MK3MAG: |
122 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
135 | case COMPASS_NONE: |
123 | 136 | default: |
|
124 | if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT; |
137 | // nothing to do |
Line 166... | Line 179... | ||
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(); |
- | 184 | break; |
|
- | 185 | case COMPASS_NCMAG: |
|
- | 186 | NCMAG_Update(0); |
|
- | 187 | break; |
|
- | 188 | default: |
|
- | 189 | break; |
|
- | 190 | } |
|
- | 191 | ||
171 | DebugOut.Analog[24] = MagVector.X; |
192 | DebugOut.Analog[24] = MagVector.X; |
172 | DebugOut.Analog[25] = MagVector.Y; |
193 | DebugOut.Analog[25] = MagVector.Y; |
173 | DebugOut.Analog[26] = MagVector.Z; |
194 | DebugOut.Analog[26] = MagVector.Z; |
174 | break; |
195 | |
175 | case COMPASS_NCMAG: |
- | |
- | 196 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing |
|
- | 197 | ||
176 | if(check_value_counter == 2000) |
198 | if(check_value_counter == 2000) |
177 | { |
199 | { |
178 | UART1_PutString("\n\r Init Mag.-Sensor"); |
200 | UART1_PutString("\n\r Init Mag.-Sensor"); |
179 | InitNC_MagnetSensor(); // 2 seconds no change of the compass value |
201 | Compass_Init(); // 2 seconds no change of the compass value |
180 | } |
202 | } |
181 | else NCMAG_Update(0); |
- | |
182 | DebugOut.Analog[24] = MagRawVector.X; |
- | |
183 | DebugOut.Analog[25] = MagRawVector.Y; |
- | |
184 | DebugOut.Analog[26] = MagRawVector.Z; |
- | |
185 | default: |
- | |
186 | break; |
- | |
187 | } |
- | |
188 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
- | |
189 | - | ||
190 | if(check_value_counter > 5000) |
203 | else if(check_value_counter > 5000) |
191 | { |
204 | { |
192 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
205 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
193 | // CompassValueErrorCount = 35; |
- | |
194 | } |
206 | } |
195 | else check_value_counter++; |
207 | else check_value_counter++; |
Line 196... | Line 208... | ||
196 | 208 | ||
197 | old.X = MagVector.X; |
209 | old.X = MagVector.X; |