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| 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 <math.h> |
56 | #include <math.h> |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| - | 58 | #include <stdlib.h> |
|
| 58 | #include <string.h> |
59 | #include <string.h> |
| 59 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
| 60 | #include "ncmag.h" |
61 | #include "ncmag.h" |
| 61 | #include "i2c1.h" |
- | |
| 62 | #include "i2c0.h" |
62 | #include "i2c.h" |
| 63 | - | ||
| 64 | #include "timer1.h" |
63 | #include "timer1.h" |
| 65 | #include "led.h" |
64 | #include "led.h" |
| 66 | #include "uart1.h" |
65 | #include "uart1.h" |
| 67 | #include "eeprom.h" |
66 | #include "eeprom.h" |
| 68 | #include "mymath.h" |
67 | #include "mymath.h" |
| Line 70... | Line 69... | ||
| 70 | #include "spi_slave.h" |
69 | #include "spi_slave.h" |
| Line 71... | Line 70... | ||
| 71 | 70 | ||
| 72 | u8 NCMAG_Present = 0; |
71 | u8 NCMAG_Present = 0; |
| Line 73... | Line -... | ||
| 73 | u8 NCMAG_IsCalibrated = 0; |
- | |
| 74 | - | ||
| 75 | u8 I2C_CompassPort = 1; |
- | |
| 76 | u8 ExtCompassOrientation = 0; |
- | |
| 77 | - | ||
| 78 | u8 *I2C_BufferPnt; |
- | |
| 79 | u8 *I2C_ErrorPnt; |
- | |
| 80 | I2C_TransmissionFunc_t I2C_TransmissionFunc; |
- | |
| 81 | I2C_LockBufferFunc_t I2C_LockBufferFunc; |
- | |
| Line 82... | Line 72... | ||
| 82 | I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc; |
72 | u8 NCMAG_IsCalibrated = 0; |
| 83 | 73 | ||
| 84 | 74 | ||
| 85 | // supported magnetic sensor types |
75 | // supported magnetic sensor types |
| 86 | #define TYPE_NONE 0 |
76 | #define TYPE_NONE 0 |
| Line 87... | Line 77... | ||
| 87 | #define TYPE_HMC5843 1 |
77 | #define TYPE_HMC5843 1 |
| - | 78 | #define TYPE_LSM303DLH 2 |
|
| - | 79 | #define TYPE_LSM303DLM 3 |
|
| - | 80 | ||
| - | 81 | u8 NCMAG_SensorType = TYPE_NONE; |
|
| - | 82 | u8 NCMAG_Orientation = 0; |
|
| - | 83 | ||
| - | 84 | // two calibrtion sets for extern and intern sensor |
|
| - | 85 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 |
|
| - | 86 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
|
| - | 87 | ||
| - | 88 | #define CALIBRATION_VERSION 1 |
|
| - | 89 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
|
| - | 90 | ||
| - | 91 | #define NCMAG_MIN_RAWVALUE -2047 |
|
| - | 92 | #define NCMAG_MAX_RAWVALUE 2047 |
|
| - | 93 | #define NCMAG_INVALID_DATA -4096 |
|
| - | 94 | ||
| - | 95 | typedef struct |
|
| - | 96 | { |
|
| - | 97 | s16 Range; |
|
| - | 98 | s16 Offset; |
|
| - | 99 | } __attribute__((packed)) Scaling_t; |
|
| - | 100 | ||
| - | 101 | typedef struct |
|
| - | 102 | { |
|
| - | 103 | Scaling_t MagX; |
|
| - | 104 | Scaling_t MagY; |
|
| Line 88... | Line 105... | ||
| 88 | #define TYPE_LSM303DLH 2 |
105 | Scaling_t MagZ; |
| 89 | #define TYPE_LSM303DLM 3 |
106 | u8 Version; |
| 90 | 107 | u8 crc; |
|
| Line 206... | Line 223... | ||
| 206 | u8 mode; |
223 | u8 mode; |
| 207 | } __attribute__((packed)) MagConfig_t; |
224 | } __attribute__((packed)) MagConfig_t; |
| Line 208... | Line 225... | ||
| 208 | 225 | ||
| Line 209... | Line -... | ||
| 209 | volatile MagConfig_t MagConfig; |
- | |
| 210 | - | ||
| 211 | - | ||
| 212 | - | ||
| 213 | 226 | volatile MagConfig_t MagConfig; |
|
| 214 | 227 | ||
| 215 | // self test value |
228 | // self test value |
| 216 | #define LSM303DLH_TEST_XSCALE 495 |
229 | #define LSM303DLH_TEST_XSCALE 495 |
| 217 | #define LSM303DLH_TEST_YSCALE 495 |
230 | #define LSM303DLH_TEST_YSCALE 495 |
| Line 284... | Line 297... | ||
| 284 | u8 ctrl_5; |
297 | u8 ctrl_5; |
| 285 | } __attribute__((packed)) AccConfig_t; |
298 | } __attribute__((packed)) AccConfig_t; |
| Line 286... | Line 299... | ||
| 286 | 299 | ||
| Line 287... | Line 300... | ||
| 287 | volatile AccConfig_t AccConfig; |
300 | volatile AccConfig_t AccConfig; |
| - | 301 | ||
| 288 | 302 | // write calibration data for external and internal sensor seperately |
|
| 289 | u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor |
303 | u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx) |
| 290 | { |
304 | { |
| 291 | u16 address; |
305 | u16 address; |
| 292 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
306 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
| 293 | EEPROM_Result_t eres; |
- | |
| Line 294... | Line 307... | ||
| 294 | u8 *pBuff = (u8*)&Calibration; |
307 | EEPROM_Result_t eres; |
| 295 | Calibration.Version = CALIBRATION_VERSION; |
- | |
| 296 | 308 | u8 *pBuff = (u8*)&Calibration; |
|
| 297 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
309 | |
| 298 | else |
310 | if (I2Cx == NCMAG_PORT_EXTERN) |
| 299 | { |
311 | { |
| - | 312 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
|
| - | 313 | Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);; |
|
| - | 314 | } |
|
| - | 315 | else if (I2Cx == NCMAG_PORT_INTERN) |
|
| - | 316 | { |
|
| - | 317 | address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
|
| - | 318 | Calibration.Version = CALIBRATION_VERSION; |
|
| 300 | address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
319 | } |
| 301 | Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16; |
320 | else return(i); |
| 302 | } |
321 | |
| 303 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
322 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 304 | { |
323 | { |
| Line 309... | Line 328... | ||
| 309 | if(EEPROM_SUCCESS == eres) i = 1; |
328 | if(EEPROM_SUCCESS == eres) i = 1; |
| 310 | else i = 0; |
329 | else i = 0; |
| 311 | return(i); |
330 | return(i); |
| 312 | } |
331 | } |
| Line 313... | Line 332... | ||
| 313 | 332 | ||
| - | 333 | // read calibration data for external and internal sensor seperately |
|
| 314 | u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor |
334 | u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx) |
| - | 335 | { |
|
| 315 | { |
336 | u8 address; |
| 316 | u8 i, crc = MAG_CALIBRATION_COMPATIBLE; |
337 | u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE; |
| 317 | u8 *pBuff = (u8*)&Calibration; |
- | |
| Line 318... | Line 338... | ||
| 318 | u16 address; |
338 | u8 *pBuff = (u8*)&Calibration; |
| 319 | 339 | ||
| - | 340 | if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
|
| Line 320... | Line 341... | ||
| 320 | if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
341 | else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN; |
| 321 | else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN; |
342 | else return(0); |
| 322 | 343 | ||
| 323 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
344 | if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration))) |
| 324 | { |
345 | { |
| 325 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
346 | for(i = 0; i<(sizeof(Calibration)-1); i++) |
| 326 | { |
347 | { |
| 327 | crc += pBuff[i]; |
348 | crc += pBuff[i]; |
| 328 | } |
349 | } |
| 329 | crc = ~crc; |
350 | crc = ~crc; |
| 330 | if(Calibration.crc != crc) return(0); // crc mismatch |
351 | if(Calibration.crc != crc) return(0); // crc mismatch |
| 331 | if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1); |
352 | if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1); |
| Line 332... | Line 353... | ||
| 332 | } |
353 | } |
| 333 | return(0); |
354 | return(0); |
| 334 | } |
355 | } |
| 335 | 356 | ||
| 336 | 357 | ||
| 337 | void NCMAG_Calibrate(void) |
358 | void NCMAG_Calibrate(void) |
| 338 | { |
359 | { |
| 339 | u8 msg[64]; |
360 | u8 msg[64]; |
| Line 340... | Line 361... | ||
| 340 | static u8 speak = 0; |
361 | static u8 speak = 0; |
| Line 357... | Line 378... | ||
| 357 | Xmax = -10000; |
378 | Xmax = -10000; |
| 358 | Ymin = 10000; |
379 | Ymin = 10000; |
| 359 | Ymax = -10000; |
380 | Ymax = -10000; |
| 360 | Zmin = 10000; |
381 | Zmin = 10000; |
| 361 | Zmax = -10000; |
382 | Zmax = -10000; |
| 362 | speak = 1; |
383 | speak = 1; |
| 363 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
384 | if(Compass_CalState != OldCalState) // only once per state |
| 364 | { |
385 | { |
| 365 | UART1_PutString("\r\nStarting compass calibration"); |
386 | UART1_PutString("\r\nStarting compass calibration"); |
| 366 | if(I2C_CompassPort == I2C_EXTERN_0) |
387 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| 367 | { |
388 | { |
| 368 | if(!ExtCompassOrientation) ExtCompassOrientation = GetExtCompassOrientation(); |
389 | if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| 369 | UART1_PutString(" - External sensor "); |
390 | UART1_PutString(" - External sensor "); |
| 370 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation); |
391 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation); |
| 371 | UART1_PutString(msg); |
392 | UART1_PutString(msg); |
| 372 | } |
393 | } |
| 373 | else UART1_PutString(" - Internal sensor "); |
394 | else UART1_PutString(" - Internal sensor "); |
| 374 | } |
395 | } |
| 375 | break; |
396 | break; |
| - | 397 | ||
| 376 | case 2: // 2nd step of calibration |
398 | case 2: // 2nd step of calibration |
| 377 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
399 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| 378 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
400 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| 379 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
401 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| 380 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
402 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| 381 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
403 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
| 382 | if(Z < Zmin) { Zmin = Z; } // silent |
404 | if(Z < Zmin) { Zmin = Z; } // silent |
| 383 | else if(Z > Zmax) { Zmax = Z; } |
405 | else if(Z > Zmax) { Zmax = Z; } |
| 384 | - | ||
| 385 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
406 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
| 386 | break; |
407 | break; |
| Line 387... | Line 408... | ||
| 387 | 408 | ||
| 388 | case 3: // 3rd step of calibration |
409 | case 3: // 3rd step of calibration |
| 389 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
410 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
| 390 | speak = 1; |
411 | speak = 1; |
| Line 391... | Line 412... | ||
| 391 | break; |
412 | break; |
| 392 | 413 | ||
| 393 | case 4: |
414 | case 4: |
| 394 | // find Min and Max of the Z-Sensor |
415 | // find Min and Max of the Z-Sensor |
| 395 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
- | |
| 396 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
416 | if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;} |
| 397 | 417 | else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;} |
|
| 398 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
418 | if(X < Xmin) { Xmin = X; BeepTime = 20;} |
| 399 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
419 | else if(X > Xmax) { Xmax = X; BeepTime = 20;} |
| 400 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
- | |
| 401 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
420 | if(Y < Ymin) { Ymin = Y; BeepTime = 60;} |
| 402 | 421 | else if(Y > Ymax) { Ymax = Y; BeepTime = 60;} |
|
| Line 403... | Line 422... | ||
| 403 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
422 | if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0; |
| 404 | break; |
423 | break; |
| 405 | 424 | ||
| 406 | case 5: |
425 | case 5: |
| 407 | // Save values |
426 | // Save values |
| 408 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
427 | if(Compass_CalState != OldCalState) // avoid continously writing of eeprom! |
| 409 | { |
428 | { |
| 410 | switch(NCMAG_SensorType) |
429 | switch(NCMAG_SensorType) |
| 411 | { |
430 | { |
| 412 | case TYPE_HMC5843: |
431 | case TYPE_HMC5843: |
| Line 413... | Line 432... | ||
| 413 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
432 | UART1_PutString("\r\nFinished: HMC5843 calibration\n\r"); |
| 414 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
433 | MinCalibration = HMC5843_CALIBRATION_RANGE; |
| 415 | break; |
434 | break; |
| 416 | 435 | ||
| 417 | case TYPE_LSM303DLH: |
436 | case TYPE_LSM303DLH: |
| 418 | case TYPE_LSM303DLM: |
437 | case TYPE_LSM303DLM: |
| 419 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
438 | UART1_PutString("\r\nFinished: LSM303 calibration\n\r"); |
| 420 | MinCalibration = LSM303_CALIBRATION_RANGE; |
439 | MinCalibration = LSM303_CALIBRATION_RANGE; |
| 421 | break; |
440 | break; |
| 422 | } |
441 | } |
| 423 | if(EarthMagneticStrengthTheoretic) |
442 | if(EarthMagneticStrengthTheoretic) |
| 424 | { |
443 | { |
| 425 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
444 | MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50; |
| Line 426... | Line 445... | ||
| 426 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
445 | sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic); |
| 427 | UART1_PutString(msg); |
446 | UART1_PutString(msg); |
| 428 | } |
- | |
| 429 | else UART1_PutString("without GPS\n\r"); |
447 | } |
| 430 | 448 | else UART1_PutString("without GPS\n\r"); |
|
| 431 | if(Zmin2 < Zmin) { Zmin = Zmin2; } |
449 | |
| 432 | else if(Zmax2 > Zmax) { Zmax = Zmax2; } |
450 | if(Zmin2 < Zmin) Zmin = Zmin2; |
| 433 | 451 | if(Zmax2 > Zmax) Zmax = Zmax2; |
|
| 434 | Calibration.MagX.Range = Xmax - Xmin; |
452 | Calibration.MagX.Range = Xmax - Xmin; |
| 435 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
453 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
| 436 | Calibration.MagY.Range = Ymax - Ymin; |
454 | Calibration.MagY.Range = Ymax - Ymin; |
| 437 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
455 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
| 438 | Calibration.MagZ.Range = Zmax - Zmin; |
456 | Calibration.MagZ.Range = Zmax - Zmin; |
| 439 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
457 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
| 440 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
458 | if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration)) |
| 441 | { |
459 | { |
| 442 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort); |
460 | NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort); |
| Line 452... | Line 470... | ||
| 452 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
470 | if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! "); |
| 453 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
471 | if(Calibration.MagZ.Range < MinCalibration) UART1_PutString("Z! "); |
| 454 | UART1_PutString("\r\n"); |
472 | UART1_PutString("\r\n"); |
| Line 455... | Line 473... | ||
| 455 | 473 | ||
| 456 | // restore old calibration data from eeprom |
474 | // restore old calibration data from eeprom |
| 457 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
475 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
| 458 | } |
476 | } |
| 459 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
477 | sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin); |
| 460 | UART1_PutString(msg); |
478 | UART1_PutString(msg); |
| 461 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
479 | sprintf(msg, "Y: (%i - %i = %i)\r\n",Ymax,Ymin,Ymax - Ymin); |
| Line 513... | Line 531... | ||
| 513 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
531 | if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) |
| 514 | { |
532 | { |
| 515 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
533 | if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged |
| 516 | else Z = raw; |
534 | else Z = raw; |
| 517 | } |
535 | } |
| - | 536 | // correct compass orientation |
|
| 518 | switch(ExtCompassOrientation) |
537 | switch(NCMAG_Orientation) |
| 519 | { |
538 | { |
| 520 | case 0: |
539 | case 0: |
| 521 | case 1: |
540 | case 1: |
| 522 | default: |
541 | default: |
| - | 542 | // 1:1 Mapping |
|
| 523 | MagRawVector.X = X; |
543 | MagRawVector.X = X; |
| 524 | MagRawVector.Y = Y; |
544 | MagRawVector.Y = Y; |
| 525 | MagRawVector.Z = Z; |
545 | MagRawVector.Z = Z; |
| 526 | break; |
546 | break; |
| 527 | case 2: |
547 | case 2: |
| 528 | MagRawVector.X = -X; |
548 | MagRawVector.X = -X; |
| 529 | MagRawVector.Y = Y; |
549 | MagRawVector.Y = Y; |
| 530 | MagRawVector.Z = -Z; |
550 | MagRawVector.Z = -Z; |
| 531 | break; |
551 | break; |
| 532 | case 3: |
552 | case 3: |
| 533 | MagRawVector.X = -Z; |
553 | MagRawVector.X = -Z; |
| 534 | MagRawVector.Y = Y; |
554 | MagRawVector.Y = Y; |
| 535 | MagRawVector.Z = X; |
555 | MagRawVector.Z = X; |
| 536 | break; |
556 | break; |
| 537 | case 4: |
557 | case 4: |
| 538 | MagRawVector.X = Z; |
558 | MagRawVector.X = Z; |
| 539 | MagRawVector.Y = Y; |
559 | MagRawVector.Y = Y; |
| 540 | MagRawVector.Z = -X; |
560 | MagRawVector.Z = -X; |
| 541 | break; |
561 | break; |
| 542 | case 5: |
562 | case 5: |
| 543 | MagRawVector.X = X; |
563 | MagRawVector.X = X; |
| 544 | MagRawVector.Y = -Z; |
564 | MagRawVector.Y = -Z; |
| 545 | MagRawVector.Z = Y; |
565 | MagRawVector.Z = Y; |
| 546 | break; |
566 | break; |
| 547 | case 6: |
567 | case 6: |
| 548 | MagRawVector.X = -X; |
568 | MagRawVector.X = -X; |
| 549 | MagRawVector.Y = -Z; |
569 | MagRawVector.Y = -Z; |
| 550 | MagRawVector.Z = -Y; |
570 | MagRawVector.Z = -Y; |
| 551 | break; |
571 | break; |
| 552 | } |
572 | } |
| Line 567... | Line 587... | ||
| 567 | Compass_CalcHeading(); |
587 | Compass_CalcHeading(); |
| 568 | } |
588 | } |
| 569 | } |
589 | } |
| 570 | // rx data handler for acceleration raw data |
590 | // rx data handler for acceleration raw data |
| 571 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
591 | void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize) |
| 572 | { // if number of byte are matching |
592 | { // if number of bytes are matching |
| 573 | if(RxBufferSize == sizeof(AccRawVector) ) |
593 | if(RxBufferSize == sizeof(AccRawVector) ) |
| 574 | { |
594 | { |
| - | 595 | // copy from I2C buffer |
|
| 575 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
596 | memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector)); |
| - | 597 | // scale and update Acc Vector, at the moment simply 1:1 |
|
| - | 598 | memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector)); |
|
| 576 | } |
599 | } |
| 577 | } |
600 | } |
| 578 | - | ||
| 579 | u8 GetExtCompassOrientation(void) |
- | |
| 580 | { |
- | |
| 581 | if(I2C_CompassPort != I2C_EXTERN_0) return(0); |
- | |
| 582 | - | ||
| 583 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
- | |
| 584 | { |
- | |
| 585 | // UART1_PutString("\r\nTilted"); |
- | |
| 586 | return(0); |
- | |
| 587 | } |
- | |
| 588 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
- | |
| 589 | else |
- | |
| 590 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
- | |
| 591 | else |
- | |
| 592 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
- | |
| 593 | else |
- | |
| 594 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
- | |
| 595 | else |
- | |
| 596 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
- | |
| 597 | else |
- | |
| 598 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
- | |
| 599 | return(0); |
- | |
| 600 | } |
- | |
| 601 | - | ||
| 602 | // rx data handler for reading magnetic sensor configuration |
601 | // rx data handler for reading magnetic sensor configuration |
| 603 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
602 | void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize) |
| 604 | { // if number of byte are matching |
603 | { // if number of byte are matching |
| 605 | if(RxBufferSize == sizeof(MagConfig) ) |
604 | if(RxBufferSize == sizeof(MagConfig) ) |
| 606 | { |
605 | { |
| Line 615... | Line 614... | ||
| 615 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
614 | memcpy((u8*)&AccConfig, pRxBuffer, sizeof(AccConfig)); |
| 616 | } |
615 | } |
| 617 | } |
616 | } |
| 618 | //---------------------------------------------------------------------- |
617 | //---------------------------------------------------------------------- |
| Line -... | Line 618... | ||
| - | 618 | ||
| - | 619 | u8 NCMAG_GetOrientationFromAcc(void) |
|
| - | 620 | { |
|
| - | 621 | // only if external compass connected |
|
| - | 622 | if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0); |
|
| - | 623 | // MK must not be tilted |
|
| - | 624 | if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300)) |
|
| - | 625 | { |
|
| - | 626 | // UART1_PutString("\r\nTilted"); |
|
| - | 627 | return(0); |
|
| - | 628 | } |
|
| - | 629 | // select orientation |
|
| - | 630 | if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn |
|
| - | 631 | else |
|
| - | 632 | if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn |
|
| - | 633 | else |
|
| - | 634 | if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn |
|
| - | 635 | else |
|
| - | 636 | if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn |
|
| - | 637 | else |
|
| - | 638 | if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn |
|
| - | 639 | else |
|
| - | 640 | if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn |
|
| - | 641 | return(0); |
|
| Line 619... | Line 642... | ||
| 619 | 642 | } |
|
| 620 | 643 | ||
| 621 | // --------------------------------------------------------------------- |
644 | // --------------------------------------------------------------------- |
| 622 | u8 NCMAG_SetMagConfig(void) |
645 | u8 NCMAG_SetMagConfig(void) |
| - | 646 | { |
|
| 623 | { |
647 | u8 retval = 0; |
| 624 | u8 retval = 0; |
648 | |
| 625 | // try to catch the i2c buffer within 100 ms timeout |
649 | // try to catch the i2c buffer within 100 ms timeout |
| 626 | if(I2C_LockBufferFunc(100)) |
650 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| - | 651 | { |
|
| - | 652 | u8 TxBytes = 0; |
|
| 627 | { |
653 | u8 TxData[sizeof(MagConfig) + 3]; |
| 628 | u8 TxBytes = 0; |
654 | |
| 629 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
655 | TxData[TxBytes++] = REG_MAG_CRA; |
| 630 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig)); |
656 | memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig)); |
| 631 | TxBytes += sizeof(MagConfig); |
657 | TxBytes += sizeof(MagConfig); |
| 632 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0)) |
658 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
| 633 | { |
659 | { |
| 634 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
660 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| 635 | { |
661 | { |
| 636 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
662 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 637 | } |
663 | } |
| 638 | } |
664 | } |
| 639 | } |
665 | } |
| Line 643... | Line 669... | ||
| 643 | // ---------------------------------------------------------------------------------------- |
669 | // ---------------------------------------------------------------------------------------- |
| 644 | u8 NCMAG_GetMagConfig(void) |
670 | u8 NCMAG_GetMagConfig(void) |
| 645 | { |
671 | { |
| 646 | u8 retval = 0; |
672 | u8 retval = 0; |
| 647 | // try to catch the i2c buffer within 100 ms timeout |
673 | // try to catch the i2c buffer within 100 ms timeout |
| 648 | if(I2C_LockBufferFunc(100)) |
674 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| 649 | { |
675 | { |
| 650 | u8 TxBytes = 0; |
676 | u8 TxBytes = 0; |
| - | 677 | u8 TxData[3]; |
|
| 651 | I2C_BufferPnt[TxBytes++] = REG_MAG_CRA; |
678 | TxData[TxBytes++] = REG_MAG_CRA; |
| 652 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
679 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig))) |
| 653 | { |
680 | { |
| 654 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
681 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| 655 | { |
682 | { |
| 656 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
683 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 657 | } |
684 | } |
| 658 | } |
685 | } |
| 659 | } |
686 | } |
| 660 | return(retval); |
687 | return(retval); |
| 661 | } |
688 | } |
| Line 662... | Line 689... | ||
| 662 | 689 | ||
| 663 | // ---------------------------------------------------------------------------------------- |
690 | // ---------------------------------------------------------------------------------------- |
| 664 | u8 NCMAG_SetAccConfig(void) |
691 | u8 NCMAG_SetAccConfig(void) |
| 665 | { |
692 | { |
| 666 | u8 retval = 0; |
693 | u8 retval = 0; |
| 667 | // try to catch the i2c buffer within 100 ms timeout |
694 | // try to catch the i2c buffer within 50 ms timeout |
| 668 | if(I2C_LockBufferFunc(50)) |
695 | if(I2CBus_LockBuffer(Compass_I2CPort, 50)) |
| 669 | { |
696 | { |
| - | 697 | u8 TxBytes = 0; |
|
| 670 | u8 TxBytes = 0; |
698 | u8 TxData[sizeof(AccConfig) + 3]; |
| 671 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
699 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| 672 | memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig)); |
700 | memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig)); |
| 673 | TxBytes += sizeof(AccConfig); |
701 | TxBytes += sizeof(AccConfig); |
| 674 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0)) |
702 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0)) |
| 675 | { |
703 | { |
| 676 | if(I2C_WaitForEndOfTransmissionFunc(50)) |
704 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50)) |
| 677 | { |
705 | { |
| 678 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
706 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 679 | } |
707 | } |
| 680 | } |
708 | } |
| 681 | } |
709 | } |
| 682 | return(retval); |
710 | return(retval); |
| Line 685... | Line 713... | ||
| 685 | // ---------------------------------------------------------------------------------------- |
713 | // ---------------------------------------------------------------------------------------- |
| 686 | u8 NCMAG_GetAccConfig(void) |
714 | u8 NCMAG_GetAccConfig(void) |
| 687 | { |
715 | { |
| 688 | u8 retval = 0; |
716 | u8 retval = 0; |
| 689 | // try to catch the i2c buffer within 100 ms timeout |
717 | // try to catch the i2c buffer within 100 ms timeout |
| 690 | if(I2C_LockBufferFunc(100)) |
718 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| 691 | { |
719 | { |
| 692 | u8 TxBytes = 0; |
720 | u8 TxBytes = 0; |
| - | 721 | u8 TxData[3]; |
|
| 693 | I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
722 | TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT; |
| 694 | if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
723 | if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig))) |
| 695 | { |
724 | { |
| 696 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
725 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| 697 | { |
726 | { |
| 698 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
727 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 699 | } |
728 | } |
| 700 | } |
729 | } |
| 701 | } |
730 | } |
| 702 | return(retval); |
731 | return(retval); |
| 703 | } |
732 | } |
| Line 705... | Line 734... | ||
| 705 | // ---------------------------------------------------------------------------------------- |
734 | // ---------------------------------------------------------------------------------------- |
| 706 | u8 NCMAG_GetIdentification(void) |
735 | u8 NCMAG_GetIdentification(void) |
| 707 | { |
736 | { |
| 708 | u8 retval = 0; |
737 | u8 retval = 0; |
| 709 | // try to catch the i2c buffer within 100 ms timeout |
738 | // try to catch the i2c buffer within 100 ms timeout |
| 710 | if(I2C_LockBufferFunc(100)) |
739 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| 711 | { |
740 | { |
| 712 | u16 TxBytes = 0; |
741 | u8 TxBytes = 0; |
| - | 742 | u8 TxData[3]; |
|
| 713 | NCMAG_Identification.A = 0xFF; |
743 | NCMAG_Identification.A = 0xFF; |
| 714 | NCMAG_Identification.B = 0xFF; |
744 | NCMAG_Identification.B = 0xFF; |
| 715 | NCMAG_Identification.C = 0xFF; |
745 | NCMAG_Identification.C = 0xFF; |
| 716 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDA; |
746 | TxData[TxBytes++] = REG_MAG_IDA; |
| 717 | // initiate transmission |
747 | // initiate transmission |
| 718 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
748 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification))) |
| 719 | { |
749 | { |
| 720 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
750 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| 721 | { |
751 | { |
| 722 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
752 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 723 | } |
753 | } |
| 724 | } |
754 | } |
| 725 | } |
755 | } |
| 726 | return(retval); |
756 | return(retval); |
| 727 | } |
757 | } |
| Line 728... | Line 758... | ||
| 728 | 758 | ||
| 729 | u8 NCMAG_GetIdentification_Sub(void) |
759 | u8 NCMAG_GetIdentification_Sub(void) |
| 730 | { |
760 | { |
| 731 | u8 retval = 0; |
761 | u8 retval = 0; |
| 732 | // try to catch the i2c buffer within 100 ms timeout |
762 | // try to catch the i2c buffer within 100 ms timeout |
| 733 | if(I2C_LockBufferFunc(100)) |
763 | if(I2CBus_LockBuffer(Compass_I2CPort, 100)) |
| 734 | { |
764 | { |
| - | 765 | u8 TxBytes = 0; |
|
| 735 | u16 TxBytes = 0; |
766 | u8 TxData[3]; |
| 736 | NCMAG_Identification2.Sub = 0xFF; |
767 | NCMAG_Identification2.Sub = 0xFF; |
| 737 | I2C_BufferPnt[TxBytes++] = REG_MAG_IDF; |
768 | TxData[TxBytes++] = REG_MAG_IDF; |
| 738 | // initiate transmission |
769 | // initiate transmission |
| 739 | if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
770 | if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2))) |
| 740 | { |
771 | { |
| 741 | if(I2C_WaitForEndOfTransmissionFunc(100)) |
772 | if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100)) |
| 742 | { |
773 | { |
| 743 | if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1; |
774 | if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1; |
| 744 | } |
775 | } |
| 745 | } |
776 | } |
| 746 | } |
777 | } |
| 747 | return(retval); |
778 | return(retval); |
| Line 748... | Line 779... | ||
| 748 | } |
779 | } |
| 749 | 780 | ||
| 750 | 781 | ||
| 751 | // ---------------------------------------------------------------------------------------- |
782 | // ---------------------------------------------------------------------------------------- |
| 752 | void NCMAG_GetMagVector(void) |
783 | void NCMAG_GetMagVector(u8 timeout) |
| 753 | { |
784 | { |
| 754 | // try to catch the I2C buffer within 0 ms |
785 | // try to catch the I2C buffer within timeout ms |
| - | 786 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
|
| 755 | if(I2C_LockBufferFunc(5)) |
787 | { |
| 756 | { |
788 | u8 TxBytes = 0; |
| 757 | u16 TxBytes = 0; |
789 | u8 TxData[3]; |
| 758 | // set register pointer |
790 | // set register pointer |
| 759 | I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB; |
791 | TxData[TxBytes++] = REG_MAG_DATAX_MSB; |
| 760 | // initiate transmission |
792 | // initiate transmission |
| Line 761... | Line 793... | ||
| 761 | I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
793 | I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector)); |
| 762 | } |
794 | } |
| 763 | } |
795 | } |
| 764 | 796 | ||
| 765 | //---------------------------------------------------------------- |
797 | //---------------------------------------------------------------- |
| 766 | void NCMAG_GetAccVector(u8 timeout) |
798 | void NCMAG_GetAccVector(u8 timeout) |
| 767 | { |
799 | { |
| - | 800 | // try to catch the I2C buffer within timeout ms |
|
| 768 | // try to catch the I2C buffer within 0 ms |
801 | if(I2CBus_LockBuffer(Compass_I2CPort, timeout)) |
| 769 | if(I2C_LockBufferFunc(timeout)) |
802 | { |
| 770 | { |
803 | u8 TxBytes = 0; |
| 771 | u16 TxBytes = 0; |
804 | u8 TxData[3]; |
| 772 | // set register pointer |
- | |
| 773 | I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
- | |
| 774 | // initiate transmission |
- | |
| 775 | I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
805 | // set register pointer |
| 776 | //DebugOut.Analog[16] = AccRawVector.X; |
806 | TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT; |
| Line 777... | Line 807... | ||
| 777 | //DebugOut.Analog[17] = AccRawVector.Y; |
807 | // initiate transmission |
| 778 | //DebugOut.Analog[18] = AccRawVector.Z; |
808 | I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector)); |
| 779 | } |
809 | } |
| 780 | } |
810 | } |
| Line 781... | Line 811... | ||
| 781 | 811 | ||
| 782 | //---------------------------------------------------------------- |
812 | //---------------------------------------------------------------- |
| Line 822... | Line 852... | ||
| 822 | void NCMAG_Update(u8 init) |
852 | void NCMAG_Update(u8 init) |
| 823 | { |
853 | { |
| 824 | static u32 TimerUpdate = 0; |
854 | static u32 TimerUpdate = 0; |
| 825 | static s8 send_config = 0; |
855 | static s8 send_config = 0; |
| 826 | u32 delay = 20; |
856 | u32 delay = 20; |
| - | 857 | ||
| 827 | if(init) TimerUpdate = SetDelay(10); |
858 | if(init) TimerUpdate = SetDelay(10); |
| Line 828... | Line -... | ||
| 828 | - | ||
| 829 | // todo State Handling for both busses !! |
859 | |
| 830 | if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF)/* || !NCMAG_Present*/ ) |
860 | if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ ) |
| 831 | { |
861 | { |
| 832 | Compass_Heading = -1; |
862 | Compass_Heading = -1; |
| 833 | DebugOut.Analog[14]++; // count I2C error |
863 | DebugOut.Analog[14]++; // count I2C error |
| 834 | TimerUpdate = SetDelay(10); |
864 | TimerUpdate = SetDelay(10); |
| 835 | return; |
865 | return; |
| 836 | } |
866 | } |
| 837 | if(CheckDelay(TimerUpdate))// && I2C0_State == I2C_STATE_IDLE && I2C1_State == I2C_STATE_IDLE) |
867 | if(CheckDelay(TimerUpdate)) |
| 838 | { |
868 | { |
| 839 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
869 | if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid |
| 840 | if(++send_config == 25) // 500ms |
870 | if(++send_config == 25) // 500ms |
| 841 | { |
871 | { |
| 842 | send_config = -25; // next try after 1 second |
872 | send_config = -25; // next try after 1 second |
| 843 | InitNC_MagnetSensor(); |
873 | NCMAG_ConfigureSensor(); |
| 844 | TimerUpdate = SetDelay(20); // back into the old time-slot |
874 | TimerUpdate = SetDelay(20); // back into the old time-slot |
| 845 | } |
875 | } |
| 846 | else |
876 | else |
| 847 | { |
877 | { |
| Line 851... | Line 881... | ||
| 851 | if(Compass_CalState) NCMAG_Calibrate(); |
881 | if(Compass_CalState) NCMAG_Calibrate(); |
| Line 852... | Line 882... | ||
| 852 | 882 | ||
| 853 | // in case of LSM303 type |
883 | // in case of LSM303 type |
| 854 | switch(NCMAG_SensorType) |
884 | switch(NCMAG_SensorType) |
| 855 | { |
885 | { |
| - | 886 | case TYPE_HMC5843: |
|
| 856 | case TYPE_HMC5843: |
887 | delay = 20; // next cycle after 20 ms |
| 857 | NCMAG_GetMagVector(); |
- | |
| 858 | delay = 20; |
888 | NCMAG_GetMagVector(5); |
| 859 | break; |
889 | break; |
| 860 | case TYPE_LSM303DLH: |
890 | case TYPE_LSM303DLH: |
| 861 | case TYPE_LSM303DLM: |
- | |
| 862 | delay = 20; |
891 | case TYPE_LSM303DLM: |
| 863 | //delay = 2; |
892 | |
| 864 | if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector(); |
893 | if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN)) |
| - | 894 | { |
|
| - | 895 | delay = 20; // next cycle after 20 ms |
|
| 865 | else |
896 | NCMAG_GetMagVector(5); |
| - | 897 | } |
|
| - | 898 | else // having an external compass, read every 50th cycle the ACC vec |
|
| 866 | { |
899 | { // try to initialize if no data are there |
| - | 900 | if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor(); |
|
| 867 | if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor(); |
901 | // get new data |
| 868 | NCMAG_GetAccVector(5); |
902 | NCMAG_GetAccVector(5); |
| 869 | delay = 10; |
903 | delay = 10; // next cycle after 10 ms |
| 870 | s = 40; // about 0,8 sec |
904 | s = 40; //reset downconter about 0,8 sec |
| 871 | }; |
- | |
| 872 | if(!s) delay = 10; // ACC-Reading in the next step after 10ms |
- | |
| 873 | //if(!s) delay = 2; // ACC-Reading in the next step after 10ms |
905 | } |
| 874 | break; |
906 | break; |
| 875 | } |
907 | } |
| 876 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
908 | if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration |
| 877 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
909 | else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz |
| Line 933... | Line 965... | ||
| 933 | while(!CheckDelay(time)); |
965 | while(!CheckDelay(time)); |
| 934 | // averaging |
966 | // averaging |
| 935 | #define AVERAGE 20 |
967 | #define AVERAGE 20 |
| 936 | for(i = 0; i<AVERAGE; i++) |
968 | for(i = 0; i<AVERAGE; i++) |
| 937 | { |
969 | { |
| 938 | NCMAG_GetMagVector(); |
970 | NCMAG_GetMagVector(5); |
| 939 | time = SetDelay(20); |
971 | time = SetDelay(20); |
| 940 | while(!CheckDelay(time)); |
972 | while(!CheckDelay(time)); |
| 941 | XMax += MagRawVector.X; |
973 | XMax += MagRawVector.X; |
| 942 | YMax += MagRawVector.Y; |
974 | YMax += MagRawVector.Y; |
| 943 | ZMax += MagRawVector.Z; |
975 | ZMax += MagRawVector.Z; |
| Line 949... | Line 981... | ||
| 949 | time = SetDelay(50); |
981 | time = SetDelay(50); |
| 950 | while(!CheckDelay(time)); |
982 | while(!CheckDelay(time)); |
| 951 | // averaging |
983 | // averaging |
| 952 | for(i = 0; i < AVERAGE; i++) |
984 | for(i = 0; i < AVERAGE; i++) |
| 953 | { |
985 | { |
| 954 | NCMAG_GetMagVector(); |
986 | NCMAG_GetMagVector(5); |
| 955 | time = SetDelay(20); |
987 | time = SetDelay(20); |
| 956 | while(!CheckDelay(time)); |
988 | while(!CheckDelay(time)); |
| 957 | XMin += MagRawVector.X; |
989 | XMin += MagRawVector.X; |
| 958 | YMin += MagRawVector.Y; |
990 | YMin += MagRawVector.Y; |
| 959 | ZMin += MagRawVector.Z; |
991 | ZMin += MagRawVector.Z; |
| Line 991... | Line 1023... | ||
| 991 | done = retval; |
1023 | done = retval; |
| 992 | return(retval); |
1024 | return(retval); |
| 993 | } |
1025 | } |
| Line 994... | Line -... | ||
| 994 | - | ||
| 995 | 1026 | ||
| 996 | //---------------------------------------------------------------- |
- | |
| 997 | void NCMAG_SelectI2CBus(u8 busno) |
- | |
| 998 | { |
- | |
| 999 | if (busno == 0) |
- | |
| 1000 | { |
- | |
| 1001 | I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission; |
- | |
| 1002 | I2C_LockBufferFunc = &I2C0_LockBuffer; |
1027 | |
| 1003 | I2C_TransmissionFunc = &I2C0_Transmission; |
1028 | void NCMAG_CheckOrientation(void) |
| 1004 | I2C_BufferPnt = I2C0_Buffer; |
- | |
| 1005 | I2C_ErrorPnt = &I2C0_Error; |
- | |
| 1006 | } |
1029 | { // only for external sensor |
| 1007 | else |
1030 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) |
| 1008 | { |
- | |
| 1009 | I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission; |
1031 | { |
| 1010 | I2C_LockBufferFunc = &I2C1_LockBuffer; |
1032 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| 1011 | I2C_TransmissionFunc = &I2C1_Transmission; |
- | |
| 1012 | I2C_BufferPnt = I2C1_Buffer; |
1033 | if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0; |
| 1013 | I2C_ErrorPnt = &I2C1_Error; |
1034 | else NCMAG_IsCalibrated = 1; |
| 1014 | } |
- | |
| 1015 | } |
1035 | } |
| 1016 | 1036 | } |
|
| 1017 | //---------------------------------------------------------------- |
1037 | //---------------------------------------------------------------- |
| 1018 | u8 NCMAG_Init(void) |
1038 | u8 NCMAG_Init(void) |
| 1019 | { |
1039 | { |
| 1020 | u8 msg[64]; |
1040 | MagRawVector.X = 0; |
| 1021 | u8 retval = 0; |
- | |
| 1022 | u8 repeat = 0; |
- | |
| 1023 | 1041 | MagRawVector.Y = 0; |
|
| 1024 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
| 1025 | // Search external sensor |
1042 | MagRawVector.Z = 0; |
| 1026 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1043 | AccRawVector.X = 0; |
| 1027 | I2C_CompassPort = I2C_EXTERN_0; |
1044 | AccRawVector.Y = 0; |
| 1028 | NCMAG_SelectI2CBus(I2C_CompassPort); |
- | |
| 1029 | - | ||
| 1030 | // get id bytes |
- | |
| 1031 | retval = 0; |
- | |
| 1032 | for(repeat = 0; repeat < 5; repeat++) |
- | |
| 1033 | { |
1045 | AccRawVector.Z = 0; |
| 1034 | // retval = NCMAG_GetIdentification(); |
- | |
| 1035 | retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported |
- | |
| 1036 | if(retval) break; // break loop on success |
- | |
| 1037 | UART1_PutString("_"); |
- | |
| 1038 | } |
- | |
| 1039 | //retval = 1; |
- | |
| 1040 | if(!retval) |
- | |
| 1041 | { |
- | |
| 1042 | UART1_PutString(" internal sensor"); |
- | |
| 1043 | I2C_CompassPort = I2C_INTERN_1; |
- | |
| 1044 | NCMAG_SelectI2CBus(I2C_CompassPort); |
- | |
| 1045 | } |
1046 | |
| - | 1047 | if(NCMAG_Present) // do only short init ! , full init was called before |
|
| - | 1048 | { |
|
| - | 1049 | // reset I2C Bus |
|
| - | 1050 | I2CBus_Deinit(Compass_I2CPort); |
|
| - | 1051 | I2CBus_Init(Compass_I2CPort); |
|
| - | 1052 | // try to reconfigure senor |
|
| - | 1053 | NCMAG_ConfigureSensor(); |
|
| - | 1054 | NCMAG_Update(1); |
|
| - | 1055 | } |
|
| - | 1056 | else // full init |
|
| - | 1057 | { |
|
| - | 1058 | u8 msg[64]; |
|
| - | 1059 | u8 retval = 0; |
|
| - | 1060 | u8 repeat = 0; |
|
| - | 1061 | ||
| - | 1062 | //-------------------------------------------- |
|
| - | 1063 | // search external sensor first |
|
| - | 1064 | //-------------------------------------------- |
|
| - | 1065 | Compass_I2CPort = NCMAG_PORT_EXTERN; |
|
| - | 1066 | // get id bytes |
|
| - | 1067 | retval = 0; |
|
| - | 1068 | for(repeat = 0; repeat < 5; repeat++) |
|
| - | 1069 | { |
|
| - | 1070 | //retval = NCMAG_GetIdentification(); |
|
| - | 1071 | retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported |
|
| - | 1072 | if(retval) break; // break loop on success |
|
| - | 1073 | UART1_PutString("_"); |
|
| - | 1074 | } |
|
| - | 1075 | // Extenal sensor not found? |
|
| - | 1076 | if(!retval) |
|
| 1046 | else |
1077 | { |
| - | 1078 | // search internal sensor afterwards |
|
| 1047 | { |
1079 | UART1_PutString(" internal sensor"); |
| - | 1080 | Compass_I2CPort = NCMAG_PORT_INTERN; |
|
| - | 1081 | NCMAG_Orientation = 0; |
|
| - | 1082 | } |
|
| - | 1083 | else |
|
| Line -... | Line 1084... | ||
| - | 1084 | { |
|
| - | 1085 | UART1_PutString(" external sensor "); |
|
| - | 1086 | ||
| 1048 | UART1_PutString(" external sensor "); |
1087 | // initialize ACC sensor of the IC |
| 1049 | NCMAG_Init_ACCSensor(); |
1088 | NCMAG_Init_ACCSensor(); |
| 1050 | 1089 | // try to get orientation by acc sensor values |
|
| 1051 | for(repeat = 0; repeat < 100; repeat++) |
1090 | for(repeat = 0; repeat < 100; repeat++) |
| 1052 | { |
- | |
| 1053 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
1091 | { |
| 1054 | ExtCompassOrientation = GetExtCompassOrientation(); |
1092 | NCMAG_GetAccVector(10); // only the sensor with ACC is supported |
| 1055 | if(ExtCompassOrientation && (ExtCompassOrientation == Calibration.Version / 16)) break; |
1093 | NCMAG_Orientation = NCMAG_GetOrientationFromAcc(); |
| 1056 | //UART1_Putchar('-'); |
- | |
| 1057 | } |
1094 | if(NCMAG_Orientation) break; |
| 1058 | //DebugOut.Analog[19] = repeat; |
- | |
| 1059 | 1095 | } |
|
| 1060 | if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)"); |
- | |
| 1061 | else |
1096 | // check orientation result |
| 1062 | { |
1097 | if(NCMAG_Orientation) |
| 1063 | NCMag_CalibrationRead(I2C_CompassPort); |
- | |
| 1064 | sprintf(msg, "with orientation: %d ",ExtCompassOrientation ); |
1098 | { |
| 1065 | UART1_PutString(msg); |
- | |
| 1066 | if(ExtCompassOrientation != Calibration.Version / 16) |
1099 | sprintf(msg, "with orientation: %d ", NCMAG_Orientation ); |
| 1067 | { |
1100 | UART1_PutString(msg); |
| 1068 | sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version / 16); |
1101 | } |
| 1069 | UART1_PutString(msg); |
1102 | else |
| 1070 | } |
- | |
| 1071 | else UART1_PutString("ok "); |
1103 | { |
| 1072 | } |
1104 | UART1_PutString(" (Orientation unknown!)"); |
| 1073 | 1105 | } |
|
| 1074 | } |
1106 | } |
| 1075 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1107 | //------------------------------------------- |
| 1076 | 1108 | ||
| 1077 | NCMAG_Present = 0; |
- | |
| 1078 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
- | |
| 1079 | // polling for LSM302DLH/DLM option by ACC address ack |
- | |
| 1080 | for(repeat = 0; repeat < 3; repeat++) |
- | |
| 1081 | { |
- | |
| 1082 | retval = NCMAG_GetAccConfig(); |
1109 | NCMAG_Present = 0; |
| 1083 | if(retval) break; // break loop on success |
- | |
| 1084 | } |
- | |
| 1085 | if(retval) |
- | |
| 1086 | { |
- | |
| 1087 | // initialize ACC sensor |
- | |
| 1088 | NCMAG_Init_ACCSensor(); |
- | |
| 1089 | 1110 | NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843 |
|
| 1090 | NCMAG_SensorType = TYPE_LSM303DLH; |
1111 | // polling for LSM302DLH/DLM option by ACC address ack |
| 1091 | // polling of sub identification |
1112 | repeat = 0; |
| 1092 | for(repeat = 0; repeat < 12; repeat++) |
1113 | for(repeat = 0; repeat < 3; repeat++) |
| 1093 | { |
1114 | { |
| 1094 | retval = NCMAG_GetIdentification_Sub(); |
1115 | retval = NCMAG_GetAccConfig(); |
| 1095 | if(retval) break; // break loop on success |
1116 | if(retval) break; // break loop on success |
| 1096 | } |
1117 | } |
| 1097 | if(retval) |
1118 | if(retval) |
| 1098 | { |
1119 | { |
| - | 1120 | // initialize ACC sensor |
|
| - | 1121 | NCMAG_Init_ACCSensor(); |
|
| 1099 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
1122 | |
| 1100 | } |
1123 | NCMAG_SensorType = TYPE_LSM303DLH; |
| 1101 | } |
1124 | // polling of sub identification |
| 1102 | // get id bytes |
1125 | repeat = 0; |
| 1103 | for(repeat = 0; repeat < 3; repeat++) |
1126 | for(repeat = 0; repeat < 12; repeat++) |
| 1104 | { |
1127 | { |
| 1105 | retval = NCMAG_GetIdentification(); |
- | |
| 1106 | if(retval) break; // break loop on success |
- | |
| 1107 | } |
1128 | retval = NCMAG_GetIdentification_Sub(); |
| 1108 | 1129 | if(retval) break; // break loop on success |
|
| 1109 | // if we got an answer to id request |
1130 | } |
| 1110 | if(retval) |
1131 | if(retval) |
| - | 1132 | { |
|
| 1111 | { |
1133 | if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM; |
| 1112 | u8 n1[] = "\n\r HMC5843"; |
1134 | } |
| 1113 | u8 n2[] = "\n\r LSM303DLH"; |
- | |
| 1114 | u8 n3[] = "\n\r LSM303DLM"; |
1135 | } |
| 1115 | u8* pn = n1; |
1136 | // get id bytes |
| 1116 | - | ||
| 1117 | switch(NCMAG_SensorType) |
- | |
| 1118 | { |
- | |
| 1119 | case TYPE_HMC5843: |
1137 | retval = 0; |
| 1120 | pn = n1; |
- | |
| 1121 | break; |
- | |
| 1122 | case TYPE_LSM303DLH: |
1138 | for(repeat = 0; repeat < 3; repeat++) |
| 1123 | pn = n2; |
- | |
| 1124 | break; |
- | |
| 1125 | case TYPE_LSM303DLM: |
1139 | { |
| 1126 | pn = n3; |
1140 | retval = NCMAG_GetIdentification(); |
| 1127 | break; |
- | |
| 1128 | } |
- | |
| 1129 | 1141 | if(retval) break; // break loop on success |
|
| 1130 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
1142 | } |
| 1131 | UART1_PutString(msg); |
- | |
| 1132 | if ( (NCMAG_Identification.A == MAG_IDA) |
1143 | |
| - | 1144 | // if we got an answer to id request |
|
| - | 1145 | if(retval) |
|
| - | 1146 | { |
|
| 1133 | && (NCMAG_Identification.B == MAG_IDB) |
1147 | u8 n1[] = "\n\r HMC5843"; |
| 1134 | && (NCMAG_Identification.C == MAG_IDC)) |
1148 | u8 n2[] = "\n\r LSM303DLH"; |
| 1135 | { |
1149 | u8 n3[] = "\n\r LSM303DLM"; |
| 1136 | NCMAG_Present = 1; |
1150 | u8* pn = n1; |
| - | 1151 | ||
| - | 1152 | switch(NCMAG_SensorType) |
|
| - | 1153 | { |
|
| 1137 | 1154 | case TYPE_HMC5843: |
|
| - | 1155 | pn = n1; |
|
| - | 1156 | break; |
|
| 1138 | if(EEPROM_Init()) |
1157 | case TYPE_LSM303DLH: |
| - | 1158 | pn = n2; |
|
| - | 1159 | break; |
|
| 1139 | { |
1160 | case TYPE_LSM303DLM: |
| - | 1161 | pn = n3; |
|
| - | 1162 | break; |
|
| - | 1163 | } |
|
| - | 1164 | ||
| - | 1165 | sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub); |
|
| - | 1166 | UART1_PutString(msg); |
|
| - | 1167 | if ( (NCMAG_Identification.A == MAG_IDA) |
|
| - | 1168 | && (NCMAG_Identification.B == MAG_IDB) |
|
| - | 1169 | && (NCMAG_Identification.C == MAG_IDC)) |
|
| - | 1170 | { |
|
| - | 1171 | NCMAG_Present = 1; |
|
| - | 1172 | ||
| - | 1173 | if(EEPROM_Init()) |
|
| - | 1174 | { |
|
| - | 1175 | NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort); |
|
| - | 1176 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
|
| - | 1177 | else // valid calibration data in EEPROM |
|
| - | 1178 | { // check current orientation |
|
| - | 1179 | if(NCMAG_Orientation != Calibration.Version >> 4) |
|
| - | 1180 | { |
|
| - | 1181 | sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version >> 4); |
|
| - | 1182 | UART1_PutString(msg); |
|
| - | 1183 | } |
|
| 1140 | NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort); |
1184 | else UART1_PutString("ok "); |
| 1141 | if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!"); |
1185 | } |
| 1142 | } |
1186 | } |
| 1143 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
1187 | else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!"); |
| 1144 | // perform self test |
1188 | // perform self test |
| - | 1189 | if(!NCMAG_SelfTest()) |
|
| - | 1190 | { |
|
| - | 1191 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
|
| - | 1192 | LED_RED_ON; |
|
| - | 1193 | //NCMAG_IsCalibrated = 0; |
|
| - | 1194 | } |
|
| - | 1195 | else UART1_PutString("\r\n Selftest ok"); |
|
| - | 1196 | ||
| - | 1197 | // initialize magnetic sensor configuration |
|
| - | 1198 | NCMAG_ConfigureSensor(); |
|
| - | 1199 | } |
|
| - | 1200 | else |
|
| 1145 | if(!NCMAG_SelfTest()) |
1201 | { |
| 1146 | { |
- | |
| 1147 | UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n"); |
1202 | UART1_PutString("\n\r Not compatible!"); |
| 1148 | LED_RED_ON; |
- | |
| 1149 | // NCMAG_IsCalibrated = 0; |
- | |
| 1150 | } |
- | |
| 1151 | else UART1_PutString("\r\n Selftest ok"); |
- | |
| 1152 | 1203 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
|
| 1153 | // initialize magnetic sensor configuration |
1204 | LED_RED_ON; |
| 1154 | InitNC_MagnetSensor(); |
1205 | } |
| - | 1206 | } |
|
| 1155 | } |
1207 | else // nothing found |
| 1156 | else |
- | |
| 1157 | { |
- | |
| 1158 | UART1_PutString("\n\r Not compatible!"); |
1208 | { |
| 1159 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE; |
1209 | NCMAG_SensorType = TYPE_NONE; |
| 1160 | LED_RED_ON; |
- | |
| 1161 | } |
- | |
| 1162 | } |
- | |
| 1163 | else // nothing found |
- | |
| 1164 | { |
- | |
| 1165 | NCMAG_SensorType = TYPE_NONE; |
1210 | UART1_PutString("not found!"); |
| 1166 | UART1_PutString("not found!"); |
1211 | } |