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| Rev | Author | Line No. | Line |
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| 787 | Nick666 | 1 | /* |
| 2 | |||
| 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 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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| 19 | |||
| 20 | struct MM3_working_struct MM3; |
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| 21 | struct MM3_calib_struct MM3_calib; |
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| 22 | |||
| 23 | |||
| 24 | //############################################################################ |
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| 25 | // Initialisierung |
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| 26 | void init_MM3(void) |
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| 27 | //############################################################################ |
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| 28 | { |
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| 29 | // SPI-Schnittstelle initialisieren |
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| 30 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
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| 31 | |||
| 32 | DDRB |= (1<<PB7)|(1<<PB5); // MOSI, SCK Ausgang |
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| 33 | DDRC |= (1<<PC4)|(1<<PC5); // PC5 (RESET) und PC4 (SSNOT) als Ausgang |
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| 34 | PORTC |= (1<<PC4); // PC4 (SSNOT) auf High -> MM3 passiv |
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| 35 | PORTC &= ~(1<<PC5); // PC5 (RESET) auf Low |
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| 36 | |||
| 37 | // Init Statemachine |
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| 38 | MM3.AXIS = MM3_X; |
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| 39 | MM3.STATE = MM3_RESET; |
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| 40 | |||
| 41 | // Kalibrierung aus dem EEprom lesen |
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| 42 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 43 | } |
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| 44 | |||
| 45 | |||
| 46 | //############################################################################ |
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| 47 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 48 | void timer0_MM3(void) |
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| 49 | //############################################################################ |
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| 50 | { |
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| 51 | switch (MM3.STATE) |
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| 52 | { |
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| 53 | case MM3_RESET: |
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| 54 | PORTC &= ~(1<<PC4); // MM3 aktiv |
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| 55 | PORTC |= (1<<PC5); // MM3 Reset |
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| 56 | MM3.STATE = MM3_START_TRANSFER; |
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| 57 | return; |
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| 58 | |||
| 59 | case MM3_START_TRANSFER: |
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| 60 | PORTC &= ~(1<<PC5); // PC5 auf Low (war ~125 µs auf High) |
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| 61 | |||
| 62 | if (MM3.AXIS == MM3_X) SPDR = MM3_PERIOD_512 + MM3_X_AXIS; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
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| 63 | else if (MM3.AXIS == MM3_Y) SPDR = MM3_PERIOD_512 + MM3_Y_AXIS; // Micromag Period Select ist 256 (0x30) |
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| 64 | else SPDR = MM3_PERIOD_512 + MM3_Z_AXIS; //if (MM3.AXIS == MM3_Z) |
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| 65 | |||
| 66 | MM3.DRDY = SetDelay(10); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 512 eigentlich 8 ms) |
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| 67 | MM3.STATE = MM3_WAIT_DRDY; |
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| 68 | return; |
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| 69 | |||
| 70 | case MM3_WAIT_DRDY: |
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| 71 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 72 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 73 | } |
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| 74 | } |
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| 75 | |||
| 76 | |||
| 77 | //############################################################################ |
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| 78 | // SPI byte ready |
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| 79 | SIGNAL (SIG_SPI) |
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| 80 | //############################################################################ |
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| 81 | { |
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| 82 | static char tmp; |
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| 83 | int value; |
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| 84 | |||
| 85 | switch (MM3.STATE) |
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| 86 | { |
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| 87 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
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| 88 | tmp = SPDR; |
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| 89 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
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| 90 | MM3.STATE = MM3_BYTE2; |
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| 91 | return; |
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| 92 | |||
| 93 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 94 | value = tmp; |
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| 95 | value <<= 8; // 1. Byte an MSB-Stelle rücken |
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| 96 | value |= SPDR; // 2. Byte dranpappen |
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| 97 | |||
| 98 | if(abs(value) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
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| 99 | switch (MM3.AXIS) |
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| 100 | { |
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| 101 | case MM3_X: |
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| 102 | MM3.x_axis = value; |
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| 103 | MM3.AXIS = MM3_Y; |
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| 104 | break; |
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| 105 | case MM3_Y: |
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| 106 | MM3.y_axis = value; |
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| 107 | MM3.AXIS = MM3_Z; |
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| 108 | break; |
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| 109 | default: //case MM3_Z: |
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| 110 | MM3.z_axis = value; |
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| 111 | MM3.AXIS = MM3_X; |
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| 112 | } |
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| 113 | PORTC |= (1<<PC4); // MM3 passiv |
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| 114 | MM3.STATE = MM3_RESET; |
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| 115 | } |
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| 116 | } |
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| 117 | |||
| 118 | //############################################################################ |
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| 119 | // Kompass kalibrieren |
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| 120 | void calib_MM3(void) |
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| 121 | //############################################################################ |
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| 122 | { |
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| 123 | int16_t x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 124 | int16_t x_axis, y_axis, z_axis; |
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| 125 | uint8_t measurement=50,beeper=0; |
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| 126 | |||
| 127 | GRN_ON; |
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| 128 | ROT_OFF; |
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| 129 | |||
| 130 | while (measurement) |
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| 131 | { |
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| 132 | uint8_t tmp_sreg = SREG; |
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| 133 | cli(); |
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| 887 | Nick666 | 134 | x_axis = MM3.x_axis; |
| 135 | y_axis = MM3.y_axis; |
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| 136 | z_axis = MM3.z_axis; |
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| 787 | Nick666 | 137 | SREG = tmp_sreg; |
| 138 | |||
| 139 | if (x_axis > x_max) x_max = x_axis; |
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| 140 | else if (x_axis < x_min) x_min = x_axis; |
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| 141 | |||
| 142 | if (y_axis > y_max) y_max = y_axis; |
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| 143 | else if (y_axis < y_min) y_min = y_axis; |
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| 144 | |||
| 145 | if (z_axis > z_max) z_max = z_axis; |
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| 146 | else if (z_axis < z_min) z_min = z_axis; |
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| 147 | |||
| 148 | if (!beeper) |
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| 149 | { |
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| 150 | ROT_FLASH; |
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| 151 | GRN_FLASH; |
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| 152 | beeptime = 50; |
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| 153 | beeper = 50; |
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| 154 | } |
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| 155 | beeper--; |
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| 156 | |||
| 157 | // Schleife mit 100 Hz |
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| 158 | Delay_ms(10); |
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| 159 | |||
| 160 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
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| 161 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 162 | } |
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| 163 | |||
| 164 | // Wertebereich der Achsen |
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| 165 | MM3_calib.X_range = (x_max - x_min); |
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| 166 | MM3_calib.Y_range = (y_max - y_min); |
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| 167 | MM3_calib.Z_range = (z_max - z_min); |
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| 168 | |||
| 169 | // Offset der Achsen |
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| 170 | MM3_calib.X_off = (x_max + x_min) /2; |
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| 171 | MM3_calib.Y_off = (y_max + y_min) /2; |
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| 172 | MM3_calib.Z_off = (z_max + z_min) /2; |
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| 173 | |||
| 174 | // und im EEProm abspeichern |
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| 175 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 176 | } |
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| 177 | |||
| 178 | |||
| 179 | //############################################################################ |
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| 180 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 181 | int heading_MM3(void) |
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| 182 | //############################################################################ |
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| 183 | { |
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| 184 | int16_t sin_nick, cos_nick, sin_roll, cos_roll; |
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| 185 | int16_t mm3_x_axis, mm3_y_axis, mm3_z_axis; |
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| 186 | int32_t Hx, Hy, Hz, x_corr, y_corr; |
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| 187 | int16_t heading; |
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| 188 | int8_t tilt; |
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| 189 | |||
| 190 | // 16bit-Werte lesen |
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| 191 | uint8_t tmp_sreg = SREG; |
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| 192 | cli(); |
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| 887 | Nick666 | 193 | mm3_x_axis = MM3.x_axis; |
| 194 | mm3_y_axis = MM3.y_axis; |
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| 195 | mm3_z_axis = MM3.z_axis; |
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| 787 | Nick666 | 196 | SREG = tmp_sreg; |
| 857 | Nick666 | 197 | |
| 887 | Nick666 | 198 | int temp = Aktuell_az - acc_neutral.compass; |
| 787 | Nick666 | 199 | // Lage-Berechnung mittels Acc-Messwerte |
| 851 | Nick666 | 200 | tilt = atan2_i(temp,AdWertAccNick*64); |
| 787 | Nick666 | 201 | sin_nick = sin_i(tilt); |
| 202 | cos_nick = cos_i(tilt); |
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| 203 | |||
| 851 | Nick666 | 204 | tilt = atan2_i(temp,AdWertAccRoll*64); |
| 787 | Nick666 | 205 | sin_roll = sin_i(tilt); |
| 206 | cos_roll = cos_i(tilt); |
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| 857 | Nick666 | 207 | |
| 208 | /* |
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| 787 | Nick666 | 209 | // Lage-Berechnung mittels Gyro-Integral |
| 210 | uint16_t div_faktor; |
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| 211 | div_faktor = (uint16_t)EE_Parameter.UserParam3 *8; |
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| 212 | |||
| 213 | tilt = (IntegralNick /div_faktor); |
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| 214 | sin_nick = sin_i(tilt); |
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| 215 | cos_nick = cos_i(tilt); |
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| 216 | |||
| 217 | tilt = (IntegralRoll /div_faktor); |
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| 218 | sin_roll = sin_i(tilt); |
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| 219 | cos_roll = cos_i(tilt); |
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| 857 | Nick666 | 220 | */ |
| 787 | Nick666 | 221 | // Offset und Normalisierung |
| 222 | Hx = (((int32_t)(mm3_x_axis - MM3_calib.X_off)) *512) /MM3_calib.X_range; |
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| 223 | Hy = (((int32_t)(mm3_y_axis - MM3_calib.Y_off)) *512) /MM3_calib.Y_range; |
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| 224 | Hz = (((int32_t)(mm3_z_axis - MM3_calib.Z_off)) *512) /MM3_calib.Z_range; |
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| 225 | |||
| 226 | // Neigungskompensierung |
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| 227 | x_corr = Hx * cos_nick; |
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| 228 | x_corr -= Hz * sin_nick; |
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| 229 | x_corr /= 1024; |
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| 230 | |||
| 231 | y_corr = Hy * cos_roll; |
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| 232 | y_corr += Hz * sin_roll; |
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| 233 | y_corr /= 16; // atan2_i erwartet y_corr *64. Deshalb /16 und nicht /1024 |
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| 234 | |||
| 235 | // Winkelberechnung |
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| 236 | heading = atan2_i(x_corr, y_corr); |
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| 237 | |||
| 238 | // Skalieren von +-180° auf 0-360° |
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| 239 | if (heading < 0) heading = -heading; |
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| 240 | else heading = 360 - heading; |
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| 241 | |||
| 242 | return (heading); |
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| 243 | } |