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| Rev 270 | Rev 271 | ||
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| Line 279... | Line 279... | ||
| 279 | } |
279 | } |
| Line 280... | Line 280... | ||
| 280 | 280 | ||
| 281 | 281 | ||
| - | 282 | void NCMAG_Calibrate(void) |
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| 282 | void NCMAG_Calibrate(void) |
283 | { |
| 283 | { |
284 | u8 new = 1; |
| 284 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
285 | static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| Line 285... | Line 286... | ||
| 285 | static s16 X = 0, Y = 0, Z = 0; |
286 | static s16 X = 0, Y = 0, Z = 0; |
| Line 303... | Line 304... | ||
| 303 | Zmax = -10000; |
304 | Zmax = -10000; |
| 304 | break; |
305 | break; |
| Line 305... | Line 306... | ||
| 305 | 306 | ||
| 306 | case 2: // 2nd step of calibration |
307 | case 2: // 2nd step of calibration |
| 307 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
308 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 308 | if(X < Xmin) Xmin = X; |
309 | if(X < Xmin) { Xmin = X; if(new) BeepTime = 20;} |
| 309 | else if(X > Xmax) Xmax = X; |
310 | else if(X > Xmax) { Xmax = X; if(new) BeepTime = 20;} |
| - | 311 | if(Y < Ymin) { Ymin = Y; if(new) BeepTime = 60;} |
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| - | 312 | else if(Y > Ymax) { Ymax = Y; if(new) BeepTime = 60;} |
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| - | 313 | ||
| - | 314 | if(new) |
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| - | 315 | { |
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| 310 | if(Y < Ymin) Ymin = Y; |
316 | if(Z < Zmin) { Zmin = Z; BeepTime = 100;} |
| - | 317 | else if(Z > Zmax) { Zmax = Z; BeepTime = 100;} |
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| - | 318 | } |
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| 311 | else if(Y > Ymax) Ymax = Y; |
319 | |
| Line 312... | Line 320... | ||
| 312 | break; |
320 | break; |
| 313 | 321 | ||
| - | 322 | case 3: // 3rd step of calibration |
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| 314 | case 3: // 3rd step of calibration |
323 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| Line 315... | Line 324... | ||
| 315 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
324 | // if(new) Compass_CalState = 5; |
| 316 | break; |
325 | break; |
| 317 | 326 | ||
| 318 | case 4: |
327 | case 4: |
| 319 | // find Min and Max of the Z-Sensor |
328 | // find Min and Max of the Z-Sensor |
| Line 320... | Line 329... | ||
| 320 | if(Z < Zmin) Zmin = Z; |
329 | if(Z < Zmin) { Zmin = Z; if(new) BeepTime = 80;} |
| 321 | else if(Z > Zmax) Zmax = Z; |
330 | else if(Z > Zmax) { Zmax = Z; if(new) BeepTime = 80;} |
| 322 | break; |
331 | break; |
| Line 609... | Line 618... | ||
| 609 | // -------------------------------------------------------- |
618 | // -------------------------------------------------------- |
| 610 | u8 NCMAG_SelfTest(void) |
619 | u8 NCMAG_SelfTest(void) |
| 611 | { |
620 | { |
| 612 | u8 msg[64]; |
621 | u8 msg[64]; |
| Line 613... | Line 622... | ||
| 613 | 622 | ||
| 614 | #define LIMITS(value, min, max) {min = (90 * value)/100; max = (110 * value)/100;} |
623 | #define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;} |
| 615 | u32 time; |
624 | u32 time; |
| 616 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
625 | s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0; |
| 617 | s16 xscale, yscale, zscale, scale_min, scale_max; |
626 | s16 xscale, yscale, zscale, scale_min, scale_max; |
| 618 | u8 crb_gain, cra_rate; |
627 | u8 crb_gain, cra_rate; |