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Rev | Author | Line No. | Line |
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308 | osiair | 1 | /* |
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3 | Copyright 2007, Niklas Nold |
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4 | |||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
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6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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7 | either version 3 of the License, or (at your option) any later version. |
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8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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12 | |||
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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14 | */ |
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15 | |||
16 | #include "main.h" |
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17 | |||
18 | MM3_struct MM3; |
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19 | |||
20 | |||
21 | //############################################################################ |
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22 | //Initialisierung der SPI-Schnittstelle |
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23 | void init_spi(void) |
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24 | //############################################################################ |
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25 | { |
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26 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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27 | //SPSR = (1<<SPI2X); |
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28 | |||
29 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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30 | |||
31 | PORTD &= ~(1<<PD3); // J5 auf Low |
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32 | |||
33 | MM3.AXIS = MM3_X; |
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34 | MM3.STATE = MM3_RESET; |
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35 | } |
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36 | |||
37 | |||
38 | //############################################################################ |
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39 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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40 | void MM3_timer0(void) |
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41 | //############################################################################ |
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42 | { |
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43 | switch (MM3.STATE) |
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44 | { |
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45 | case MM3_RESET: |
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46 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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47 | MM3.STATE = MM3_START_TRANSFER; |
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48 | return; |
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49 | |||
50 | case MM3_START_TRANSFER: |
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51 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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52 | |||
53 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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54 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
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55 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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56 | |||
57 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
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58 | MM3.STATE = MM3_WAIT_DRDY; |
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59 | return; |
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60 | |||
61 | case MM3_WAIT_DRDY: |
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62 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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63 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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64 | |||
65 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
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66 | MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
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67 | MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
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68 | |||
69 | MM3.AXIS = MM3_X; |
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70 | MM3.STATE = MM3_RESET; |
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71 | return; |
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72 | } |
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73 | } |
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74 | |||
75 | |||
76 | //############################################################################ |
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77 | //SPI byte ready |
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78 | SIGNAL (SIG_SPI) |
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79 | //############################################################################ |
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80 | { |
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81 | switch (MM3.STATE) |
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82 | { |
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83 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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84 | if (MM3.AXIS == MM3_X) |
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85 | { |
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86 | MM3.x_axis = SPDR; |
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87 | MM3.x_axis <<= 8; |
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88 | } |
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89 | else if (MM3.AXIS == MM3_Y) |
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90 | { |
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91 | MM3.y_axis = SPDR; |
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92 | MM3.y_axis <<= 8; |
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93 | } |
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94 | else // if (MM3.AXIS == MM3_Z) |
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95 | { |
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96 | MM3.z_axis = SPDR; |
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97 | MM3.z_axis <<= 8; |
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98 | } |
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99 | |||
100 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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101 | MM3.STATE=MM3_BYTE2; |
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102 | return; |
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103 | |||
104 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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105 | if (MM3.AXIS == MM3_X) |
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106 | { |
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107 | MM3.x_axis |= SPDR; |
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108 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
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109 | MM3.AXIS = MM3_Y; |
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110 | MM3.STATE = MM3_RESET; |
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111 | } |
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112 | else if (MM3.AXIS == MM3_Y) |
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113 | { |
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114 | MM3.y_axis |= SPDR; |
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115 | MM3.y_axis -= OFF_Y; |
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116 | MM3.AXIS = MM3_Z; |
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117 | MM3.STATE = MM3_RESET; |
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118 | } |
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119 | else // if (MM3.AXIS == MM3_Z) |
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120 | { |
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121 | MM3.z_axis |= SPDR; |
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122 | MM3.z_axis -= OFF_Z; |
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123 | MM3.STATE = MM3_TILT; |
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124 | } |
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125 | |||
126 | return; |
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127 | } |
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128 | } |
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129 | |||
130 | signed int MM3_heading(void) |
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131 | { |
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132 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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133 | signed int x_corr, y_corr; |
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134 | signed int heading; |
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135 | |||
136 | // Berechung von sinus und cosinus |
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137 | sin_nick = sin_f(MM3.NickGrad); |
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138 | cos_nick = cos_f(MM3.NickGrad); |
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139 | sin_roll = sin_f(MM3.RollGrad); |
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140 | cos_roll = cos_f(MM3.RollGrad); |
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141 | |||
142 | // Neigungskompensation |
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309 | osiair | 143 | x_corr = (cos_nick * MM3.x_axis) - (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
308 | osiair | 144 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
145 | |||
146 | // Winkelberechnung |
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147 | heading = atan2_i(x_corr, y_corr); |
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148 | |||
149 | return (heading); |
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150 | } |