Subversion Repositories FlightCtrl

Rev

Rev 235 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
205 Nick666 1
/*
2
This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
3
it under the terms of the GNU General Public License as published by the Free Software Foundation;
4
either version 3 of the License, or (at your option) any later version.
5
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
6
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
7
GNU General Public License for more details. You should have received a copy of the GNU General Public License
8
along with this program. If not, see <http://www.gnu.org/licenses/>.
9
 
10
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
11
*/
12
 
13
#include "main.h"
14
 
15
MM3_struct MM3;
16
 
17
 
18
//############################################################################
19
//Initialisierung der SPI-Schnittstelle
20
void init_spi(void)
21
//############################################################################
22
{
226 Nick666 23
        SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0);        //Interrupt an, Master, 156 kHz Oszillator
219 Nick666 24
        //SPSR = (1<<SPI2X);
226 Nick666 25
 
26
    DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
27
 
239 Nick666 28
        PORTD &= ~(1<<PD3);     // J5 auf Low
29
 
205 Nick666 30
        MM3.AXIS = MM3_X;
31
        MM3.STATE = MM3_RESET;
32
}
33
 
34
 
35
//############################################################################
36
//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
37
void MM3_timer0(void)
38
//############################################################################
39
{
40
        switch (MM3.STATE)
41
        {
42
        case MM3_RESET:                        
43
                PORTB |= (1<<PB2);      // J8 auf High, MM3 Reset
44
                MM3.STATE = MM3_START_TRANSFER;
45
                break;
46
 
47
        case MM3_START_TRANSFER:
226 Nick666 48
                PORTB &= ~(1<<PB2);     // J8 auf Low (war ~125 µs auf High)            
205 Nick666 49
 
226 Nick666 50
                if (MM3.AXIS == MM3_X) SPDR = 0x51;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
51
                else if (MM3.AXIS == MM3_Y) SPDR = 0x52;                // Micromag Period Select ist auf 1024 (0x50)
52
                else if (MM3.AXIS == MM3_Z) SPDR = 0x53;                // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
205 Nick666 53
 
232 Nick666 54
                MM3.DRDY = SetDelay(15);                // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
205 Nick666 55
                MM3.STATE = MM3_WAIT_DRDY;
56
                break;
57
 
58
        case MM3_WAIT_DRDY:
226 Nick666 59
                if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
205 Nick666 60
                break;
61
 
62
        case MM3_IDLE:         
63
                break;
64
        }
65
}
226 Nick666 66
 
205 Nick666 67
 
68
//############################################################################
69
//SPI byte ready
70
SIGNAL (SIG_SPI)
71
//############################################################################
206 Nick666 72
{      
205 Nick666 73
        switch (MM3.STATE)
74
        {      
226 Nick666 75
        case MM3_DRDY:
76
                        // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen
205 Nick666 77
                if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;}
78
                if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;}
79
                if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}
80
 
226 Nick666 81
        case MM3_X_BYTE2:       // 2. Byte der entsprechenden Achse ist da.             
82
                MM3.x_axis |= SPDR;
83
                MM3.x_axis -= OFF_X;    // Sofort Offset aus der Kalibrierung berücksichtigen
205 Nick666 84
                MM3.AXIS = MM3_Y;
85
                MM3.STATE = MM3_RESET;
86
                break;
87
 
88
        case MM3_Y_BYTE2:
226 Nick666 89
                MM3.y_axis |= SPDR;            
90
                MM3.y_axis -= OFF_Y;
205 Nick666 91
                MM3.AXIS = MM3_Z;
92
                MM3.STATE = MM3_RESET;
93
                break;
94
 
95
        case MM3_Z_BYTE2:
226 Nick666 96
                MM3.z_axis |= SPDR;
97
                MM3.z_axis -= OFF_Z;
205 Nick666 98
                MM3.AXIS = MM3_X;
226 Nick666 99
                MM3.STATE = MM3_RESET;         
227 Nick666 100
                // Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in °
232 Nick666 101
                MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);
102
                MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);
205 Nick666 103
                break; 
104
        }
226 Nick666 105
}
205 Nick666 106
 
226 Nick666 107
signed int MM3_heading(void)
108
{
109
        float sin_nick, cos_nick, sin_roll, cos_roll;
110
        signed int x_corr, y_corr;
111
        signed int heading;
112
 
113
        //Berechung von sinus und cosinus
229 Nick666 114
        sin_nick = (float)sin_f(MM3.NickGrad);
115
        cos_nick = (float)cos_f(MM3.NickGrad);
116
        sin_roll = (float)sin_f(MM3.RollGrad);
117
        cos_roll = (float)cos_f(MM3.RollGrad);      
226 Nick666 118
 
119
    //Neigungskompensation
120
        y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
121
    x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis);
235 Nick666 122
 
226 Nick666 123
        //Winkelberechnung
232 Nick666 124
        heading = arctan_i(x_corr, y_corr);
226 Nick666 125
 
126
return (heading);
205 Nick666 127
}