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comparison Small_CPU/Src/compass.c @ 555:573a2bc796c8

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Added HW_Info to Discovery <=> RTE data exchange: The information if an external ADC is supported and the type of the compass is forwarded to the Firmware software. This is especially needed to enable the menu structure to support calibration of external sensors
author Ideenmodellierer
date Thu, 12 Nov 2020 19:48:28 +0100
parents d9dbfa496f7e
children 84a4e1200726
comparison
equal deleted inserted replaced
554:3328189786e7 555:573a2bc796c8
33 #include "compass.h" 33 #include "compass.h"
34 #include "compass_LSM303D.h" 34 #include "compass_LSM303D.h"
35 35
36 #include "i2c.h" 36 #include "i2c.h"
37 #include "spi.h" 37 #include "spi.h"
38 #include "scheduler.h"
38 #include "RTE_FlashAccess.h" // to store compass_calib_data 39 #include "RTE_FlashAccess.h" // to store compass_calib_data
39 40
40 #include "stm32f4xx_hal.h" 41 #include "stm32f4xx_hal.h"
41 42
42 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); 43 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);
43 44 extern SGlobal global;
44 /// split byte to bits
45 typedef struct{
46 uint8_t bit0:1; ///< split byte to bits
47 uint8_t bit1:1; ///< split byte to bits
48 uint8_t bit2:1; ///< split byte to bits
49 uint8_t bit3:1; ///< split byte to bits
50 uint8_t bit4:1; ///< split byte to bits
51 uint8_t bit5:1; ///< split byte to bits
52 uint8_t bit6:1; ///< split byte to bits
53 uint8_t bit7:1; ///< split byte to bits
54 } ubit8_t;
55
56
57 /// split byte to bits
58 typedef union{
59 ubit8_t ub; ///< split byte to bits
60 uint8_t uw; ///< split byte to bits
61 } bit8_Type;
62
63 45
64 /// split word to 2 bytes 46 /// split word to 2 bytes
65 typedef struct{ 47 typedef struct{
66 uint8_t low; ///< split word to 2 bytes 48 uint8_t low; ///< split word to 2 bytes
67 uint8_t hi; ///< split word to 2 bytes 49 uint8_t hi; ///< split word to 2 bytes
307 if(hardwareCompass == compass_generation3) //LSM303AGR) 289 if(hardwareCompass == compass_generation3) //LSM303AGR)
308 compass_init_LSM303AGR(fast, gain); 290 compass_init_LSM303AGR(fast, gain);
309 if(hardwareCompass == compass_generation1) //HMC5883L) 291 if(hardwareCompass == compass_generation1) //HMC5883L)
310 compass_init_HMC5883L(fast, gain); 292 compass_init_HMC5883L(fast, gain);
311 293
294 if(global.deviceDataSendToMaster.hw_Info.compass == 0)
295 {
296 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass;
297 }
312 tfull32 dataBlock[4]; 298 tfull32 dataBlock[4];
313 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) 299 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
314 { 300 {
315 compass_CX_f = dataBlock[0].Word16.low16; 301 compass_CX_f = dataBlock[0].Word16.low16;
316 compass_CY_f = dataBlock[0].Word16.hi16; 302 compass_CY_f = dataBlock[0].Word16.hi16;