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| Rev 22 | Rev 23 | ||
|---|---|---|---|
| Line 71... | Line 71... | ||
| 71 | int16_t RawMagnet2a, RawMagnet2b; |
71 | int16_t RawMagnet2a, RawMagnet2b; |
| 72 | int16_t RawMagnet3a, RawMagnet3b; |
72 | int16_t RawMagnet3a, RawMagnet3b; |
| Line 73... | Line 73... | ||
| 73 | 73 | ||
| Line 74... | Line 74... | ||
| 74 | uint16_t Led_Timer = 0; |
74 | uint16_t Led_Timer = 0; |
| 75 | 75 | ||
| 76 | typedef struct |
76 | struct Scaling_t |
| 77 | { |
77 | { |
| 78 | int16_t Range; |
78 | int16_t Range; |
| Line 79... | Line 79... | ||
| 79 | int16_t Offset; |
79 | int16_t Offset; |
| 80 | } Scaling_t; |
80 | } ; |
| 81 | 81 | ||
| 82 | typedef struct |
82 | struct Calibration_t |
| 83 | { |
83 | { |
| 84 | Scaling_t X; |
84 | struct Scaling_t X; |
| Line 85... | Line 85... | ||
| 85 | Scaling_t Y; |
85 | struct Scaling_t Y; |
| 86 | Scaling_t Z; |
86 | struct Scaling_t Z; |
| Line 87... | Line 87... | ||
| 87 | } Calibration_t; |
87 | } ; |
| 88 | 88 | ||
| Line 123... | Line 123... | ||
| 123 | { |
123 | { |
| 124 | LED_GRN_TOGGLE; |
124 | LED_GRN_TOGGLE; |
| 125 | Led_Timer = SetDelay(500); |
125 | Led_Timer = SetDelay(500); |
| 126 | } |
126 | } |
| Line 127... | Line -... | ||
| 127 | - | ||
| 128 | 127 | ||
| 129 | Cx = MagnetX; |
128 | Cx = MagnetX; |
| 130 | Cy = MagnetY; |
129 | Cy = MagnetY; |
| Line 131... | Line 130... | ||
| 131 | Cz = MagnetZ; |
130 | Cz = MagnetZ; |
| Line 165... | Line 164... | ||
| 165 | 164 | ||
| 166 | // check both sources of communication for calibration request |
165 | // check both sources of communication for calibration request |
| 167 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
166 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
| Line -... | Line 167... | ||
| - | 167 | else cal = ExternData.CalState; |
|
| 168 | else cal = ExternData.CalState; |
168 | |
| 169 | 169 | ||
| 170 | DebugOut.Analog[30] = cal; |
170 | if(cal > 5) cal = 0; |
| 171 | // blink code for current calibration state |
171 | // blink code for current calibration state |
| 172 | if(cal) |
172 | if(cal) |
| 173 | { |
173 | { |
| Line 192... | Line 192... | ||
| 192 | else |
192 | else |
| 193 | { |
193 | { |
| 194 | LED_GRN_OFF; |
194 | LED_GRN_OFF; |
| 195 | } |
195 | } |
| Line 196... | Line -... | ||
| 196 | - | ||
| 197 | 196 | ||
| 198 | // calibration state machine |
197 | // calibration state machine |
| 199 | switch(cal) |
198 | switch(cal) |
| 200 | { |
199 | { |
| 201 | case 0: // no calibration |
200 | case 0: // no calibration |
| Line 242... | Line 241... | ||
| 242 | Calibration.Z.Offset = (Zmin + Zmax) / 2; |
241 | Calibration.Z.Offset = (Zmin + Zmax) / 2; |
| 243 | if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150)) |
242 | if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150)) |
| 244 | { |
243 | { |
| 245 | // indicate write process by setting the led |
244 | // indicate write process by setting the led |
| 246 | LED_GRN_ON; |
245 | LED_GRN_ON; |
| 247 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
246 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| 248 | Delay_ms(2000); |
247 | Delay_ms(2000); |
| 249 | // reset led state |
248 | // reset led state |
| 250 | LED_GRN_OFF; |
249 | LED_GRN_OFF; |
| 251 | // reset blinkcode |
250 | // reset blinkcode |
| 252 | blinkcount = 0; |
251 | blinkcount = 0; |
| Line 280... | Line 279... | ||
| 280 | DebugOut.Analog[13] = Calibration.Z.Range; |
279 | DebugOut.Analog[13] = Calibration.Z.Range; |
| 281 | DebugOut.Analog[14] = ExternData.CalState; |
280 | DebugOut.Analog[14] = ExternData.CalState; |
| 282 | DebugOut.Analog[15] = Heading; |
281 | DebugOut.Analog[15] = Heading; |
| 283 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
282 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
| 284 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
283 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
| 285 | DebugOut.Analog[30] = I2C_WriteCal.CalByte; |
- | |
| 286 | DebugOut.Analog[31] = PC_Connected; |
- | |
| 287 | } |
284 | } |
| Line 288... | Line 285... | ||
| 288 | 285 | ||
| 289 | 286 | ||
| Line 305... | Line 302... | ||
| 305 | 302 | ||
| 306 | Debug_Timer = SetDelay(200); |
303 | Debug_Timer = SetDelay(200); |
| Line 307... | Line 304... | ||
| 307 | Led_Timer = SetDelay(200); |
304 | Led_Timer = SetDelay(200); |
| 308 | 305 | ||
| Line 309... | Line 306... | ||
| 309 | // read calibration info from eeprom |
306 | // read calibration info from eeprom |
| 310 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
307 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
| 311 | 308 | ||
| Line 312... | Line -... | ||
| 312 | ExternData.Orientation = 0; |
- | |
| Line 313... | Line 309... | ||
| 313 | ExternData.CalState = 0; |
309 | ExternData.Orientation = 0; |
| 314 | I2C_WriteCal.CalByte = 0; |
310 | ExternData.CalState = 0; |
| 315 | 311 | I2C_WriteCal.CalByte = 0; |
|
| 316 | Heading = 101; |
- | |
| 317 | - | ||
| 318 | // main loop |
312 | |
| 319 | while (1) |
313 | |
| 320 | { |
314 | // main loop |
| 321 | 315 | while (1) |
|
| 322 | 316 | { |
|
| Line 340... | Line 334... | ||
| 340 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
334 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
| 341 | else CalcHeading(); |
335 | else CalcHeading(); |
| Line 342... | Line 336... | ||
| 342 | 336 | ||
| 343 | // check data from USART |
337 | // check data from USART |
| - | 338 | USART0_ProcessRxData(); |
|
| Line 344... | Line 339... | ||
| 344 | USART0_ProcessRxData(); |
339 | USART0_TransmitTxData(); |
| 345 | 340 | ||
| 346 | if(PC_Connected) |
341 | if(PC_Connected) |
| 347 | { |
342 | { |