Prof Greg Egan / Mbed 2 deprecated UAVXArm-GKE

UAVX Multicopter Flight Controller.

Dependencies:   mbed

compass.c@1:1e3318a30ddd, 2011-02-25 (annotated)

Committer:
gke
Date:
Fri Feb 25 01:35:24 2011 +0000
Revision:
1:1e3318a30ddd
Parent:
0:62a1c91a859a
Child:
2:90292f8bd179
This version has broken I2C - posted for debugging involvement of Simon et al.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gke 0:62a1c91a859a 1 // ===============================================================================================
gke 0:62a1c91a859a 2 // = UAVXArm Quadrocopter Controller =
gke 0:62a1c91a859a 3 // = Copyright (c) 2008 by Prof. Greg Egan =
gke 0:62a1c91a859a 4 // = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
gke 0:62a1c91a859a 5 // = http://code.google.com/p/uavp-mods/ http://uavp.ch =
gke 0:62a1c91a859a 6 // ===============================================================================================
gke 0:62a1c91a859a 7
gke 0:62a1c91a859a 8 // This is part of UAVXArm.
gke 0:62a1c91a859a 9
gke 0:62a1c91a859a 10 // UAVXArm is free software: you can redistribute it and/or modify it under the terms of the GNU
gke 0:62a1c91a859a 11 // General Public License as published by the Free Software Foundation, either version 3 of the
gke 0:62a1c91a859a 12 // License, or (at your option) any later version.
gke 0:62a1c91a859a 13
gke 0:62a1c91a859a 14 // UAVXArm is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; without
gke 0:62a1c91a859a 15 // even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
gke 0:62a1c91a859a 16 // See the GNU General Public License for more details.
gke 0:62a1c91a859a 17
gke 0:62a1c91a859a 18 // You should have received a copy of the GNU General Public License along with this program.
gke 0:62a1c91a859a 19 // If not, see http://www.gnu.org/licenses/
gke 0:62a1c91a859a 20
gke 0:62a1c91a859a 21 #include "UAVXArm.h"
gke 0:62a1c91a859a 22
gke 0:62a1c91a859a 23 // Local magnetic declination not included
gke 0:62a1c91a859a 24 // http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp
gke 0:62a1c91a859a 25
gke 0:62a1c91a859a 26
gke 0:62a1c91a859a 27 void ReadCompass(void);
gke 0:62a1c91a859a 28 void GetHeading(void);
gke 0:62a1c91a859a 29 void CalibrateCompass(void);
gke 0:62a1c91a859a 30 void ShowCompassType(void);
gke 0:62a1c91a859a 31 void DoCompassTest(void);
gke 0:62a1c91a859a 32 void InitCompass(void);
gke 0:62a1c91a859a 33
gke 0:62a1c91a859a 34 MagStruct Mag[3] = {{ 0,0 },{ 0,0 },{ 0,0 }};
gke 0:62a1c91a859a 35 real32 MagDeviation, CompassOffset;
gke 0:62a1c91a859a 36 real32 MagHeading, Heading, Headingp, FakeHeading;
gke 0:62a1c91a859a 37 real32 HeadingSin, HeadingCos;
gke 0:62a1c91a859a 38 uint8 CompassType;
gke 0:62a1c91a859a 39
gke 0:62a1c91a859a 40 void ReadCompass(void) {
gke 0:62a1c91a859a 41 switch ( CompassType ) {
gke 0:62a1c91a859a 42 case HMC5843:
gke 0:62a1c91a859a 43 ReadHMC5843();
gke 0:62a1c91a859a 44 break;
gke 0:62a1c91a859a 45 case HMC6352:
gke 0:62a1c91a859a 46 ReadHMC6352();
gke 0:62a1c91a859a 47 break;
gke 0:62a1c91a859a 48 default:
gke 0:62a1c91a859a 49 Heading = 0;
gke 0:62a1c91a859a 50 break;
gke 0:62a1c91a859a 51 } // switch
gke 0:62a1c91a859a 52
gke 0:62a1c91a859a 53 } // ReadCompass
gke 0:62a1c91a859a 54
gke 0:62a1c91a859a 55 void CalibrateCompass(void) {
gke 0:62a1c91a859a 56 switch ( CompassType ) {
gke 0:62a1c91a859a 57 case HMC5843:
gke 0:62a1c91a859a 58 CalibrateHMC5843();
gke 0:62a1c91a859a 59 break;
gke 0:62a1c91a859a 60 case HMC6352:
gke 0:62a1c91a859a 61 CalibrateHMC6352();
gke 0:62a1c91a859a 62 break;
gke 0:62a1c91a859a 63 default:
gke 0:62a1c91a859a 64 break;
gke 0:62a1c91a859a 65 } // switch
gke 0:62a1c91a859a 66 } // CalibrateCompass
gke 0:62a1c91a859a 67
gke 0:62a1c91a859a 68 void ShowCompassType(void) {
gke 1:1e3318a30ddd 69 switch ( CompassType ) {
gke 0:62a1c91a859a 70 case HMC5843:
gke 1:1e3318a30ddd 71 TxString("HMC5843");
gke 0:62a1c91a859a 72 break;
gke 0:62a1c91a859a 73 case HMC6352:
gke 0:62a1c91a859a 74 TxString("HMC6352");
gke 0:62a1c91a859a 75 break;
gke 0:62a1c91a859a 76 default:
gke 0:62a1c91a859a 77 break;
gke 0:62a1c91a859a 78 }
gke 1:1e3318a30ddd 79 } // ShowCompassType
gke 0:62a1c91a859a 80
gke 0:62a1c91a859a 81 void DoCompassTest(void) {
gke 0:62a1c91a859a 82 switch ( CompassType ) {
gke 0:62a1c91a859a 83 case HMC5843:
gke 0:62a1c91a859a 84 DoHMC5843Test();
gke 0:62a1c91a859a 85 break;
gke 0:62a1c91a859a 86 case HMC6352:
gke 0:62a1c91a859a 87 DoHMC6352Test();
gke 0:62a1c91a859a 88 break;
gke 0:62a1c91a859a 89 default:
gke 0:62a1c91a859a 90 TxString("\r\nCompass test\r\nCompass not detected?\r\n");
gke 0:62a1c91a859a 91 break;
gke 0:62a1c91a859a 92 } // switch
gke 0:62a1c91a859a 93 } // DoCompassTest
gke 0:62a1c91a859a 94
gke 0:62a1c91a859a 95 void GetHeading(void) {
gke 0:62a1c91a859a 96
gke 0:62a1c91a859a 97 const real32 CompassA = COMPASS_UPDATE_S / ( OneOnTwoPiCompassF + COMPASS_UPDATE_S );
gke 0:62a1c91a859a 98
gke 0:62a1c91a859a 99 ReadCompass();
gke 0:62a1c91a859a 100
gke 0:62a1c91a859a 101 Heading = Make2Pi( MagHeading - MagDeviation - CompassOffset );
gke 0:62a1c91a859a 102 if ( fabs(Heading - Headingp ) > PI )
gke 0:62a1c91a859a 103 Headingp = Heading;
gke 0:62a1c91a859a 104
gke 0:62a1c91a859a 105 Heading = Headingp + (Heading - Headingp) * CompassA;
gke 0:62a1c91a859a 106 Headingp = Heading;
gke 0:62a1c91a859a 107
gke 0:62a1c91a859a 108 #ifdef SIMULATE
gke 0:62a1c91a859a 109 #if ( defined AILERON | defined ELEVON )
gke 0:62a1c91a859a 110 if ( State == InFlight )
gke 0:62a1c91a859a 111 FakeHeading -= FakeDesiredRoll/5 + FakeDesiredYaw/5;
gke 0:62a1c91a859a 112 #else
gke 0:62a1c91a859a 113 if ( State == InFlight ) {
gke 0:62a1c91a859a 114 if ( Abs(FakeDesiredYaw) > 5 )
gke 0:62a1c91a859a 115 FakeHeading -= FakeDesiredYaw/5;
gke 0:62a1c91a859a 116 }
gke 0:62a1c91a859a 117
gke 0:62a1c91a859a 118 FakeHeading = Make2Pi((int16)FakeHeading);
gke 0:62a1c91a859a 119 Heading = FakeHeading;
gke 0:62a1c91a859a 120 #endif // AILERON | ELEVON
gke 0:62a1c91a859a 121 #endif // SIMULATE
gke 0:62a1c91a859a 122 } // GetHeading
gke 0:62a1c91a859a 123
gke 0:62a1c91a859a 124 void InitCompass(void) {
gke 0:62a1c91a859a 125 if ( IsHMC5843Active() )
gke 0:62a1c91a859a 126 CompassType = HMC5843;
gke 0:62a1c91a859a 127 else
gke 0:62a1c91a859a 128 if ( HMC6352Active() )
gke 0:62a1c91a859a 129 CompassType = HMC6352;
gke 0:62a1c91a859a 130 else {
gke 0:62a1c91a859a 131 CompassType = NoCompass;
gke 0:62a1c91a859a 132 F.CompassValid = false;
gke 0:62a1c91a859a 133 }
gke 0:62a1c91a859a 134
gke 0:62a1c91a859a 135 switch ( CompassType ) {
gke 0:62a1c91a859a 136 case HMC5843:
gke 0:62a1c91a859a 137 InitHMC5843();
gke 0:62a1c91a859a 138 break;
gke 0:62a1c91a859a 139 case HMC6352:
gke 0:62a1c91a859a 140 InitHMC6352();
gke 0:62a1c91a859a 141 break;
gke 0:62a1c91a859a 142 default:
gke 0:62a1c91a859a 143 MagHeading = 0;
gke 0:62a1c91a859a 144 } // switch
gke 0:62a1c91a859a 145
gke 0:62a1c91a859a 146 ReadCompass();
gke 0:62a1c91a859a 147 mS[CompassUpdate] = mSClock();
gke 0:62a1c91a859a 148 Heading = Headingp = Make2Pi( MagHeading - MagDeviation - CompassOffset );
gke 0:62a1c91a859a 149
gke 0:62a1c91a859a 150 } // InitCompass
gke 0:62a1c91a859a 151
gke 0:62a1c91a859a 152 //________________________________________________________________________________________
gke 0:62a1c91a859a 153
gke 0:62a1c91a859a 154 // HMC5843 3 Axis Magnetometer
gke 0:62a1c91a859a 155
gke 0:62a1c91a859a 156 void ReadHMC5843(void);
gke 0:62a1c91a859a 157 void GetHMC5843Parameters(void);
gke 0:62a1c91a859a 158 void DoHMC5843Test(void);
gke 0:62a1c91a859a 159 void CalibrateHMC5843(void);
gke 0:62a1c91a859a 160 void InitHMC5843(void);
gke 0:62a1c91a859a 161 boolean HMC5843Active(void);
gke 0:62a1c91a859a 162
gke 0:62a1c91a859a 163 void ReadHMC5843(void) {
gke 0:62a1c91a859a 164 static char b[6];
gke 0:62a1c91a859a 165 static i16u X, Y, Z;
gke 0:62a1c91a859a 166 static uint8 r;
gke 0:62a1c91a859a 167 static real32 mx, my;
gke 0:62a1c91a859a 168 static real32 CRoll, SRoll, CPitch, SPitch;
gke 0:62a1c91a859a 169
gke 0:62a1c91a859a 170 I2CCOMPASS.start();
gke 1:1e3318a30ddd 171 r = I2CCOMPASS.write(HMC5843_WR);
gke 0:62a1c91a859a 172 r = I2CCOMPASS.write(0x03); // point to data
gke 0:62a1c91a859a 173 I2CCOMPASS.stop();
gke 0:62a1c91a859a 174
gke 1:1e3318a30ddd 175 I2CCOMPASS.blockread(HMC5843_RD, b, 6);
gke 0:62a1c91a859a 176
gke 0:62a1c91a859a 177 X.b1 = b[0];
gke 0:62a1c91a859a 178 X.b0 = b[1];
gke 0:62a1c91a859a 179 Y.b1 = b[2];
gke 0:62a1c91a859a 180 Y.b0 =b[3];
gke 0:62a1c91a859a 181 Z.b1 = b[4];
gke 0:62a1c91a859a 182 Z.b0 = b[5];
gke 0:62a1c91a859a 183
gke 0:62a1c91a859a 184 if ( F.Using9DOF ) { // SparkFun/QuadroUFO 9DOF Breakout pins front edge components up
gke 0:62a1c91a859a 185 Mag[BF].V = X.i16;
gke 0:62a1c91a859a 186 Mag[LR].V = -Y.i16;
gke 0:62a1c91a859a 187 Mag[UD].V = -Z.i16;
gke 0:62a1c91a859a 188 } else { // SparkFun Magnetometer Breakout pins right edge components up
gke 0:62a1c91a859a 189 Mag[BF].V = -X.i16;
gke 0:62a1c91a859a 190 Mag[LR].V = Y.i16;
gke 0:62a1c91a859a 191 Mag[UD].V = -Z.i16;
gke 0:62a1c91a859a 192 }
gke 1:1e3318a30ddd 193 DebugPin = true;
gke 0:62a1c91a859a 194 CRoll = cos(Angle[Roll]);
gke 0:62a1c91a859a 195 SRoll = sin(Angle[Roll]);
gke 0:62a1c91a859a 196 CPitch = cos(Angle[Pitch]);
gke 0:62a1c91a859a 197 SPitch = sin(Angle[Pitch]);
gke 0:62a1c91a859a 198
gke 0:62a1c91a859a 199 mx = (Mag[BF].V-Mag[BF].Offset) * CPitch + (Mag[LR].V-Mag[LR].Offset) * SRoll * SPitch + (Mag[UD].V-Mag[UD].Offset) * CRoll * SPitch;
gke 0:62a1c91a859a 200 my = (Mag[LR].V-Mag[LR].Offset) * CRoll - (Mag[UD].V-Mag[UD].Offset) * SRoll;
gke 0:62a1c91a859a 201
gke 0:62a1c91a859a 202 // Magnetic Heading
gke 0:62a1c91a859a 203 MagHeading = MakePi(atan2( -my, mx ));
gke 1:1e3318a30ddd 204 DebugPin = false;
gke 0:62a1c91a859a 205 F.CompassValid = true;
gke 0:62a1c91a859a 206 return;
gke 0:62a1c91a859a 207
gke 0:62a1c91a859a 208 } // ReadHMC5843
gke 0:62a1c91a859a 209
gke 0:62a1c91a859a 210 void CalibrateHMC5843(void) {
gke 0:62a1c91a859a 211
gke 0:62a1c91a859a 212 } // DoHMC5843Test
gke 0:62a1c91a859a 213
gke 0:62a1c91a859a 214 void DoHMC5843Test(void) {
gke 0:62a1c91a859a 215 TxString("\r\nCompass test (HMC5843)\r\n\r\n");
gke 0:62a1c91a859a 216
gke 0:62a1c91a859a 217 ReadHMC5843();
gke 0:62a1c91a859a 218
gke 0:62a1c91a859a 219 TxString("Mag:\t");
gke 0:62a1c91a859a 220 TxVal32(Mag[LR].V, 0, HT);
gke 0:62a1c91a859a 221 TxVal32(Mag[BF].V, 0, HT);
gke 0:62a1c91a859a 222 TxVal32(Mag[UD].V, 0, HT);
gke 0:62a1c91a859a 223 TxNextLine();
gke 0:62a1c91a859a 224 TxNextLine();
gke 0:62a1c91a859a 225
gke 0:62a1c91a859a 226 TxVal32(MagHeading * RADDEG * 10.0, 1, 0);
gke 0:62a1c91a859a 227 TxString(" deg (Magnetic)\r\n");
gke 1:1e3318a30ddd 228
gke 0:62a1c91a859a 229 Heading = Headingp = Make2Pi( MagHeading - MagDeviation - CompassOffset );
gke 0:62a1c91a859a 230 TxVal32(Heading * RADDEG * 10.0, 1, 0);
gke 0:62a1c91a859a 231 TxString(" deg (True)\r\n");
gke 0:62a1c91a859a 232 } // DoHMC5843Test
gke 0:62a1c91a859a 233
gke 0:62a1c91a859a 234 void InitHMC5843(void) {
gke 0:62a1c91a859a 235 static uint8 r;
gke 0:62a1c91a859a 236
gke 0:62a1c91a859a 237 I2CCOMPASS.start();
gke 1:1e3318a30ddd 238 r = I2CCOMPASS.write(HMC5843_WR);
gke 0:62a1c91a859a 239 r = I2CCOMPASS.write(0x02);
gke 0:62a1c91a859a 240 r = I2CCOMPASS.write(0x00); // Set continuous mode (default to 10Hz)
gke 0:62a1c91a859a 241 I2CCOMPASS.stop();
gke 0:62a1c91a859a 242
gke 0:62a1c91a859a 243 Delay1mS(50);
gke 0:62a1c91a859a 244
gke 0:62a1c91a859a 245 } // InitHMC5843Magnetometer
gke 0:62a1c91a859a 246
gke 0:62a1c91a859a 247 boolean IsHMC5843Active(void) {
gke 1:1e3318a30ddd 248
gke 1:1e3318a30ddd 249 F.CompassValid = I2CCOMPASSAddressResponds( HMC5843_ID );
gke 1:1e3318a30ddd 250
gke 0:62a1c91a859a 251 if ( F.CompassValid )
gke 0:62a1c91a859a 252 TrackMinI2CRate(400000);
gke 0:62a1c91a859a 253
gke 0:62a1c91a859a 254 return ( F.CompassValid );
gke 0:62a1c91a859a 255
gke 0:62a1c91a859a 256 } // IsHMC5843Active
gke 0:62a1c91a859a 257
gke 0:62a1c91a859a 258 //________________________________________________________________________________________
gke 0:62a1c91a859a 259
gke 0:62a1c91a859a 260 // HMC6352 Compass
gke 0:62a1c91a859a 261
gke 0:62a1c91a859a 262 void ReadHMC6352(void);
gke 0:62a1c91a859a 263 uint8 WriteByteHMC6352(uint8);
gke 0:62a1c91a859a 264 void GetHMC6352Parameters(void);
gke 0:62a1c91a859a 265 void DoHMC6352Test(void);
gke 0:62a1c91a859a 266 void CalibrateHMC6352(void);
gke 0:62a1c91a859a 267 void InitHMC6352(void);
gke 0:62a1c91a859a 268 boolean IsHMC6352Active(void);
gke 0:62a1c91a859a 269
gke 0:62a1c91a859a 270 void ReadHMC6352(void) {
gke 0:62a1c91a859a 271 static i16u v;
gke 0:62a1c91a859a 272
gke 0:62a1c91a859a 273 I2CCOMPASS.start();
gke 1:1e3318a30ddd 274 F.CompassMissRead = I2CCOMPASS.write(HMC6352_RD) != I2C_ACK;
gke 0:62a1c91a859a 275 v.b1 = I2CCOMPASS.read(I2C_ACK);
gke 0:62a1c91a859a 276 v.b0 = I2CCOMPASS.read(I2C_NACK);
gke 0:62a1c91a859a 277 I2CCOMPASS.stop();
gke 0:62a1c91a859a 278
gke 0:62a1c91a859a 279 MagHeading = Make2Pi( ((real32)v.i16 * PI) / 1800.0 - CompassOffset ); // Radians
gke 0:62a1c91a859a 280 } // ReadHMC6352
gke 0:62a1c91a859a 281
gke 0:62a1c91a859a 282 uint8 WriteByteHMC6352(uint8 d) {
gke 0:62a1c91a859a 283 I2CCOMPASS.start();
gke 1:1e3318a30ddd 284 if ( I2CCOMPASS.write(HMC6352_WR) != I2C_ACK ) goto WError;
gke 0:62a1c91a859a 285 if ( I2CCOMPASS.write(d) != I2C_ACK ) goto WError;
gke 0:62a1c91a859a 286 I2CCOMPASS.stop();
gke 0:62a1c91a859a 287
gke 0:62a1c91a859a 288 return( I2C_ACK );
gke 0:62a1c91a859a 289 WError:
gke 0:62a1c91a859a 290 I2CCOMPASS.stop();
gke 0:62a1c91a859a 291 return ( I2C_NACK );
gke 0:62a1c91a859a 292 } // WriteByteHMC6352
gke 0:62a1c91a859a 293
gke 0:62a1c91a859a 294 char CP[9];
gke 0:62a1c91a859a 295
gke 0:62a1c91a859a 296 #define TEST_COMP_OPMODE 0x70 // standby mode to reliably read EEPROM
gke 0:62a1c91a859a 297
gke 0:62a1c91a859a 298 void GetHMC6352Parameters(void) {
gke 0:62a1c91a859a 299 uint8 r;
gke 0:62a1c91a859a 300
gke 0:62a1c91a859a 301 I2CCOMPASS.start();
gke 1:1e3318a30ddd 302 if ( I2CCOMPASS.write(HMC6352_WR) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 303 if ( I2CCOMPASS.write('G') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 304 if ( I2CCOMPASS.write(0x74) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 305 if ( I2CCOMPASS.write(TEST_COMP_OPMODE) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 306 I2CCOMPASS.stop();
gke 0:62a1c91a859a 307
gke 0:62a1c91a859a 308 Delay1mS(20);
gke 0:62a1c91a859a 309
gke 0:62a1c91a859a 310 for (r = 0; r <= (uint8)8; r++) { // must have this timing - not block read!
gke 0:62a1c91a859a 311
gke 0:62a1c91a859a 312 I2CCOMPASS.start();
gke 1:1e3318a30ddd 313 if ( I2CCOMPASS.write(HMC6352_WR) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 314 if ( I2CCOMPASS.write('r') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 315 if ( I2CCOMPASS.write(r) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 316 I2CCOMPASS.stop();
gke 0:62a1c91a859a 317
gke 0:62a1c91a859a 318 Delay1mS(10);
gke 0:62a1c91a859a 319
gke 0:62a1c91a859a 320 I2CCOMPASS.start();
gke 1:1e3318a30ddd 321 if ( I2CCOMPASS.write(HMC6352_RD) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 322 CP[r] = I2CCOMPASS.read(I2C_NACK);
gke 0:62a1c91a859a 323 I2CCOMPASS.stop();
gke 0:62a1c91a859a 324
gke 0:62a1c91a859a 325 Delay1mS(10);
gke 0:62a1c91a859a 326 }
gke 0:62a1c91a859a 327
gke 0:62a1c91a859a 328 return;
gke 0:62a1c91a859a 329
gke 0:62a1c91a859a 330 CTerror:
gke 0:62a1c91a859a 331 I2CCOMPASS.stop();
gke 0:62a1c91a859a 332 TxString("FAIL\r\n");
gke 0:62a1c91a859a 333
gke 0:62a1c91a859a 334 } // GetHMC6352Parameters
gke 0:62a1c91a859a 335
gke 0:62a1c91a859a 336 void DoHMC6352Test(void) {
gke 0:62a1c91a859a 337 static real32 Temp;
gke 0:62a1c91a859a 338
gke 0:62a1c91a859a 339 TxString("\r\nCompass test (HMC6352)\r\n");
gke 0:62a1c91a859a 340
gke 0:62a1c91a859a 341 I2CCOMPASS.start();
gke 1:1e3318a30ddd 342 if ( I2CCOMPASS.write(HMC6352_WR) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 343 if ( I2CCOMPASS.write('G') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 344 if ( I2CCOMPASS.write(0x74) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 345 if ( I2CCOMPASS.write(TEST_COMP_OPMODE) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 346 I2CCOMPASS.stop();
gke 0:62a1c91a859a 347
gke 0:62a1c91a859a 348 Delay1mS(1);
gke 0:62a1c91a859a 349
gke 0:62a1c91a859a 350 // I2CCOMPASS.start(); // Do Set/Reset now
gke 0:62a1c91a859a 351 if ( WriteByteHMC6352('O') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 352
gke 0:62a1c91a859a 353 Delay1mS(7);
gke 0:62a1c91a859a 354
gke 0:62a1c91a859a 355 GetHMC6352Parameters();
gke 0:62a1c91a859a 356
gke 0:62a1c91a859a 357 TxString("\r\nRegisters\r\n");
gke 0:62a1c91a859a 358 TxString("\t0:\tI2C");
gke 0:62a1c91a859a 359 TxString("\t 0x");
gke 0:62a1c91a859a 360 TxValH(CP[0]);
gke 0:62a1c91a859a 361 if ( CP[0] != (uint8)0x42 )
gke 0:62a1c91a859a 362 TxString("\t Error expected 0x42 for HMC6352");
gke 0:62a1c91a859a 363 TxNextLine();
gke 0:62a1c91a859a 364
gke 0:62a1c91a859a 365 Temp = (CP[1]*256)|CP[2];
gke 0:62a1c91a859a 366 TxString("\t1:2:\tXOffset\t");
gke 0:62a1c91a859a 367 TxVal32((int32)Temp, 0, 0);
gke 0:62a1c91a859a 368 TxNextLine();
gke 0:62a1c91a859a 369
gke 0:62a1c91a859a 370 Temp = (CP[3]*256)|CP[4];
gke 0:62a1c91a859a 371 TxString("\t3:4:\tYOffset\t");
gke 0:62a1c91a859a 372 TxVal32((int32)Temp, 0, 0);
gke 0:62a1c91a859a 373 TxNextLine();
gke 0:62a1c91a859a 374
gke 0:62a1c91a859a 375 TxString("\t5:\tDelay\t");
gke 0:62a1c91a859a 376 TxVal32((int32)CP[5], 0, 0);
gke 0:62a1c91a859a 377 TxNextLine();
gke 0:62a1c91a859a 378
gke 0:62a1c91a859a 379 TxString("\t6:\tNSum\t");
gke 0:62a1c91a859a 380 TxVal32((int32)CP[6], 0, 0);
gke 0:62a1c91a859a 381 TxNextLine();
gke 0:62a1c91a859a 382
gke 0:62a1c91a859a 383 TxString("\t7:\tSW Ver\t");
gke 0:62a1c91a859a 384 TxString(" 0x");
gke 0:62a1c91a859a 385 TxValH(CP[7]);
gke 0:62a1c91a859a 386 TxNextLine();
gke 0:62a1c91a859a 387
gke 0:62a1c91a859a 388 TxString("\t8:\tOpMode:");
gke 0:62a1c91a859a 389 switch ( ( CP[8] >> 5 ) & 0x03 ) {
gke 0:62a1c91a859a 390 case 0:
gke 0:62a1c91a859a 391 TxString(" 1Hz");
gke 0:62a1c91a859a 392 break;
gke 0:62a1c91a859a 393 case 1:
gke 0:62a1c91a859a 394 TxString(" 5Hz");
gke 0:62a1c91a859a 395 break;
gke 0:62a1c91a859a 396 case 2:
gke 0:62a1c91a859a 397 TxString(" 10Hz");
gke 0:62a1c91a859a 398 break;
gke 0:62a1c91a859a 399 case 3:
gke 0:62a1c91a859a 400 TxString(" 20Hz");
gke 0:62a1c91a859a 401 break;
gke 0:62a1c91a859a 402 }
gke 0:62a1c91a859a 403
gke 0:62a1c91a859a 404 if ( CP[8] & 0x10 ) TxString(" S/R");
gke 0:62a1c91a859a 405
gke 0:62a1c91a859a 406 switch ( CP[8] & 0x03 ) {
gke 0:62a1c91a859a 407 case 0:
gke 0:62a1c91a859a 408 TxString(" Standby");
gke 0:62a1c91a859a 409 break;
gke 0:62a1c91a859a 410 case 1:
gke 0:62a1c91a859a 411 TxString(" Query");
gke 0:62a1c91a859a 412 break;
gke 0:62a1c91a859a 413 case 2:
gke 0:62a1c91a859a 414 TxString(" Continuous");
gke 0:62a1c91a859a 415 break;
gke 0:62a1c91a859a 416 case 3:
gke 0:62a1c91a859a 417 TxString(" Not-allowed");
gke 0:62a1c91a859a 418 break;
gke 0:62a1c91a859a 419 }
gke 0:62a1c91a859a 420 TxNextLine();
gke 0:62a1c91a859a 421
gke 0:62a1c91a859a 422 InitCompass();
gke 0:62a1c91a859a 423 if ( !F.CompassValid ) goto CTerror;
gke 0:62a1c91a859a 424
gke 0:62a1c91a859a 425 Delay1mS(50);
gke 0:62a1c91a859a 426
gke 0:62a1c91a859a 427 ReadHMC6352();
gke 0:62a1c91a859a 428 if ( F.CompassMissRead ) goto CTerror;
gke 0:62a1c91a859a 429
gke 0:62a1c91a859a 430 TxNextLine();
gke 0:62a1c91a859a 431 TxVal32(MagHeading * RADDEG * 10.0, 1, 0);
gke 1:1e3318a30ddd 432 TxString(" deg (Magnetic)\r\n");
gke 0:62a1c91a859a 433 Heading = Headingp = Make2Pi( MagHeading - MagDeviation - CompassOffset );
gke 0:62a1c91a859a 434 TxVal32(Heading * RADDEG * 10.0, 1, 0);
gke 0:62a1c91a859a 435 TxString(" deg (True)\r\n");
gke 0:62a1c91a859a 436
gke 0:62a1c91a859a 437 return;
gke 0:62a1c91a859a 438 CTerror:
gke 0:62a1c91a859a 439 I2CCOMPASS.stop();
gke 0:62a1c91a859a 440 TxString("FAIL\r\n");
gke 0:62a1c91a859a 441 } // DoHMC6352Test
gke 0:62a1c91a859a 442
gke 0:62a1c91a859a 443 void CalibrateHMC6352(void) { // calibrate the compass by rotating the ufo through 720 deg smoothly
gke 0:62a1c91a859a 444 TxString("\r\nCalib. compass - Press CONTINUE button (x) to Start\r\n");
gke 0:62a1c91a859a 445 while ( PollRxChar() != 'x' ); // UAVPSet uses 'x' for CONTINUE button
gke 0:62a1c91a859a 446
gke 0:62a1c91a859a 447 // Do Set/Reset now
gke 0:62a1c91a859a 448 if ( WriteByteHMC6352('O') != I2C_ACK ) goto CCerror;
gke 0:62a1c91a859a 449
gke 0:62a1c91a859a 450 Delay1mS(7);
gke 0:62a1c91a859a 451
gke 0:62a1c91a859a 452 // set Compass device to Calibration mode
gke 0:62a1c91a859a 453 if ( WriteByteHMC6352('C') != I2C_ACK ) goto CCerror;
gke 0:62a1c91a859a 454
gke 0:62a1c91a859a 455 TxString("\r\nRotate horizontally 720 deg in ~30 sec. - Press CONTINUE button (x) to Finish\r\n");
gke 0:62a1c91a859a 456 while ( PollRxChar() != 'x' );
gke 0:62a1c91a859a 457
gke 0:62a1c91a859a 458 // set Compass device to End-Calibration mode
gke 0:62a1c91a859a 459 if ( WriteByteHMC6352('E') != I2C_ACK ) goto CCerror;
gke 0:62a1c91a859a 460
gke 0:62a1c91a859a 461 TxString("\r\nCalibration complete\r\n");
gke 0:62a1c91a859a 462
gke 0:62a1c91a859a 463 Delay1mS(50);
gke 0:62a1c91a859a 464
gke 0:62a1c91a859a 465 InitCompass();
gke 0:62a1c91a859a 466
gke 0:62a1c91a859a 467 return;
gke 0:62a1c91a859a 468
gke 0:62a1c91a859a 469 CCerror:
gke 0:62a1c91a859a 470 TxString("Calibration FAILED\r\n");
gke 0:62a1c91a859a 471 } // CalibrateHMC6352
gke 0:62a1c91a859a 472
gke 0:62a1c91a859a 473 void InitHMC6352(void) {
gke 0:62a1c91a859a 474
gke 0:62a1c91a859a 475 // 20Hz continuous read with periodic reset.
gke 0:62a1c91a859a 476 #ifdef SUPPRESS_COMPASS_SR
gke 0:62a1c91a859a 477 #define COMP_OPMODE 0x62
gke 0:62a1c91a859a 478 #else
gke 0:62a1c91a859a 479 #define COMP_OPMODE 0x72
gke 0:62a1c91a859a 480 #endif // SUPPRESS_COMPASS_SR
gke 0:62a1c91a859a 481
gke 0:62a1c91a859a 482 // Set device to Compass mode
gke 0:62a1c91a859a 483 I2CCOMPASS.start();
gke 1:1e3318a30ddd 484 if ( I2CCOMPASS.write(HMC6352_WR) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 485 if ( I2CCOMPASS.write('G') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 486 if ( I2CCOMPASS.write(0x74) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 487 if ( I2CCOMPASS.write(COMP_OPMODE) != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 488 I2CCOMPASS.stop();
gke 0:62a1c91a859a 489
gke 0:62a1c91a859a 490 Delay1mS(1);
gke 0:62a1c91a859a 491
gke 0:62a1c91a859a 492 // save operation mode in Flash
gke 0:62a1c91a859a 493 if ( WriteByteHMC6352('L') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 494
gke 0:62a1c91a859a 495 Delay1mS(1);
gke 0:62a1c91a859a 496
gke 0:62a1c91a859a 497 // Do Bridge Offset Set/Reset now
gke 0:62a1c91a859a 498 if ( WriteByteHMC6352('O') != I2C_ACK ) goto CTerror;
gke 0:62a1c91a859a 499
gke 0:62a1c91a859a 500 Delay1mS(50);
gke 0:62a1c91a859a 501
gke 0:62a1c91a859a 502 F.CompassValid = true;
gke 0:62a1c91a859a 503
gke 0:62a1c91a859a 504 return;
gke 0:62a1c91a859a 505 CTerror:
gke 0:62a1c91a859a 506 F.CompassValid = false;
gke 0:62a1c91a859a 507 Stats[CompassFailS]++;
gke 0:62a1c91a859a 508 F.CompassFailure = true;
gke 0:62a1c91a859a 509
gke 0:62a1c91a859a 510 I2CCOMPASS.stop();
gke 0:62a1c91a859a 511 } // InitHMC6352
gke 0:62a1c91a859a 512
gke 0:62a1c91a859a 513 boolean HMC6352Active(void) {
gke 0:62a1c91a859a 514
gke 1:1e3318a30ddd 515 F.CompassValid = I2CCOMPASSAddressResponds( HMC6352_ID );
gke 0:62a1c91a859a 516
gke 0:62a1c91a859a 517 if ( F.CompassValid )
gke 0:62a1c91a859a 518 TrackMinI2CRate(100000);
gke 0:62a1c91a859a 519
gke 0:62a1c91a859a 520 return ( F.CompassValid );
gke 0:62a1c91a859a 521
gke 0:62a1c91a859a 522 } // HMC6352Active