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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 | } |