Rev 317 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 1 | /* |
| 2 | |||
| 3 | Copyright 2007, Niklas Nold |
||
| 4 | |||
| 5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
||
| 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
||
| 7 | either version 3 of the License, or (at your option) any later version. |
||
| 8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
||
| 9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
||
| 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
| 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 |
||
| 14 | */ |
||
| 15 | |||
| 16 | #include "main.h" |
||
| 17 | |||
| 18 | MM3_struct MM3; |
||
| 19 | |||
| 20 | |||
| 21 | //############################################################################ |
||
| 22 | //Initialisierung der SPI-Schnittstelle |
||
| 23 | void init_spi(void) |
||
| 24 | //############################################################################ |
||
| 25 | { |
||
| 26 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
||
| 27 | //SPSR = (1<<SPI2X); |
||
| 28 | |||
| 29 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
||
| 30 | |||
| 31 | PORTD &= ~(1<<PD3); // J5 auf Low |
||
| 32 | |||
| 33 | MM3.AXIS = MM3_X; |
||
| 34 | MM3.STATE = MM3_RESET; |
||
| 35 | } |
||
| 36 | |||
| 37 | |||
| 38 | //############################################################################ |
||
| 39 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
||
| 40 | void MM3_timer0(void) |
||
| 41 | //############################################################################ |
||
| 42 | { |
||
| 43 | switch (MM3.STATE) |
||
| 44 | { |
||
| 45 | case MM3_RESET: |
||
| 46 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
||
| 47 | MM3.STATE = MM3_START_TRANSFER; |
||
| 48 | return; |
||
| 49 | |||
| 50 | case MM3_START_TRANSFER: |
||
| 51 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
||
| 52 | |||
| 53 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
||
| 54 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
||
| 55 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
||
| 56 | |||
| 57 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
||
| 58 | MM3.STATE = MM3_WAIT_DRDY; |
||
| 59 | return; |
||
| 60 | |||
| 61 | case MM3_WAIT_DRDY: |
||
| 62 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
||
| 63 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
||
| 64 | |||
| 65 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
||
| 321 | osiair | 66 | MM3.NickGrad = asin_i((float)Aktuell_ax/PARAMETER*200); |
| 67 | MM3.RollGrad = asin_i((float)Aktuell_ay/PARAMETER*200); |
||
| 308 | osiair | 68 | |
| 69 | MM3.AXIS = MM3_X; |
||
| 70 | MM3.STATE = MM3_RESET; |
||
| 71 | return; |
||
| 72 | } |
||
| 73 | } |
||
| 74 | |||
| 75 | |||
| 76 | //############################################################################ |
||
| 77 | //SPI byte ready |
||
| 78 | SIGNAL (SIG_SPI) |
||
| 79 | //############################################################################ |
||
| 80 | { |
||
| 81 | switch (MM3.STATE) |
||
| 82 | { |
||
| 83 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
||
| 84 | if (MM3.AXIS == MM3_X) |
||
| 85 | { |
||
| 86 | MM3.x_axis = SPDR; |
||
| 87 | MM3.x_axis <<= 8; |
||
| 88 | } |
||
| 89 | else if (MM3.AXIS == MM3_Y) |
||
| 90 | { |
||
| 91 | MM3.y_axis = SPDR; |
||
| 92 | MM3.y_axis <<= 8; |
||
| 93 | } |
||
| 94 | else // if (MM3.AXIS == MM3_Z) |
||
| 95 | { |
||
| 96 | MM3.z_axis = SPDR; |
||
| 97 | MM3.z_axis <<= 8; |
||
| 98 | } |
||
| 99 | |||
| 100 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
||
| 101 | MM3.STATE=MM3_BYTE2; |
||
| 102 | return; |
||
| 103 | |||
| 104 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
||
| 105 | if (MM3.AXIS == MM3_X) |
||
| 106 | { |
||
| 107 | MM3.x_axis |= SPDR; |
||
| 108 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
||
| 109 | MM3.AXIS = MM3_Y; |
||
| 110 | MM3.STATE = MM3_RESET; |
||
| 111 | } |
||
| 112 | else if (MM3.AXIS == MM3_Y) |
||
| 113 | { |
||
| 114 | MM3.y_axis |= SPDR; |
||
| 115 | MM3.y_axis -= OFF_Y; |
||
| 116 | MM3.AXIS = MM3_Z; |
||
| 117 | MM3.STATE = MM3_RESET; |
||
| 118 | } |
||
| 119 | else // if (MM3.AXIS == MM3_Z) |
||
| 120 | { |
||
| 121 | MM3.z_axis |= SPDR; |
||
| 122 | MM3.z_axis -= OFF_Z; |
||
| 123 | MM3.STATE = MM3_TILT; |
||
| 124 | } |
||
| 125 | |||
| 126 | return; |
||
| 127 | } |
||
| 128 | } |
||
| 129 | |||
| 130 | signed int MM3_heading(void) |
||
| 131 | { |
||
| 132 | float sin_nick, cos_nick, sin_roll, cos_roll; |
||
| 133 | signed int x_corr, y_corr; |
||
| 134 | signed int heading; |
||
| 135 | |||
| 136 | // Berechung von sinus und cosinus |
||
| 137 | sin_nick = sin_f(MM3.NickGrad); |
||
| 138 | cos_nick = cos_f(MM3.NickGrad); |
||
| 139 | sin_roll = sin_f(MM3.RollGrad); |
||
| 140 | cos_roll = cos_f(MM3.RollGrad); |
||
| 141 | |||
| 142 | // Neigungskompensation |
||
| 309 | osiair | 143 | //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| 144 | |||
| 145 | x_corr = (cos_nick * MM3.x_axis) - (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
||
| 308 | osiair | 146 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| 147 | |||
| 148 | // Winkelberechnung |
||
| 149 | heading = atan2_i(x_corr, y_corr); |
||
| 150 | |||
| 151 | return (heading); |
||
| 152 | } |