Subversion Repositories MK3Mag

/*#######################################################################################

MK3Mag 3D-Magnet sensor

!!! THIS IS NOT FREE SOFTWARE !!!                                                      

#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 05.2008 Holger Buss

// + Thanks to Ilja Fähnrich (P_Latzhalter)

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur 

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), 

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. 

// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden

// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, 

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice, 

// + this list of conditions and the following disclaimer.

// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet 

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted 

// +     with our written permission

// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems

// +     In case of doubt please contact: info@MikroKopter.de

// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be 

// +     clearly linked as origin 

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE. 

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

signed int OffsetN, OffsetR, OffsetZ;

  signed int RawMagnet1a,RawMagnet1b;  // raw AD-Data

  signed int RawMagnet2a,RawMagnet2b;

  signed int RawMagnet3a,RawMagnet3b;

  signed int RawAccN = 0, RawAccR = 0, RawAccZ = 0;

  signed int AccN = 0, AccR = 0, AccZ = 0;

  signed int OffsetAccN = 0, OffsetAccR = 0, OffsetAccZ = 0;

  signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0;

  signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ;  // Messwert-Delta ohne Offset- und Verstärker korrektur

  signed int MagnetN,MagnetR,MagnetZ;

  unsigned int PwmHeading = 0;

  unsigned int PC_Connected = 0;

  unsigned int Heading;

  unsigned char ExternCalState = 0;

  unsigned char AngleSource = 0;

  unsigned char AccPresent = 0;

#include "main.h"

uint16_t eeXmin EEMEM = 0;

uint16_t eeXmax EEMEM = 0;

uint16_t eeYmin EEMEM = 0;

uint16_t eeYmax EEMEM = 0;

uint16_t eeZmin EEMEM = 0;

uint16_t eeZmax EEMEM = 0;

uint16_t eeNoffset EEMEM = 0;

uint16_t eeRoffset EEMEM = 0;

uint16_t eeZoffset EEMEM = 0;

//############################################################################

//

void Wait(unsigned char dauer)

//############################################################################

{

    dauer = (unsigned char)TCNT0 + dauer;

    while((TCNT0 - dauer) & 0x80);

}

void CalcFields(void)

{

 UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2;

 UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2;

 UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;

 OffsetN = (Xmin + Xmax) / 2;

 OffsetR = (Ymin + Ymax) / 2;

 OffsetZ = (Zmin + Zmax) / 2;

 MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin);

 MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin);

 MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin);

}

void CalcHeading(void)

{

   double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;

   int heading;

   if(!AngleSource)

     {

      if(AccN >  125) nick_rad = M_PI / 2;

      else

      if(AccN < -125) nick_rad = -M_PI / 2;

      else

      {

       nick_rad = asin((double) AccN / 125.0);

      }

      if(AccR >  125) roll_rad = M_PI / 2;

      else

      if(AccR < -125) roll_rad = -M_PI / 2;

      else

      {

       roll_rad = asin((double) AccR / 125.0);

      }

      ExternData.Winkel[0] = (nick_rad * 1800.0) / M_PI;

      ExternData.Winkel[1] = (roll_rad * 1800.0) / M_PI;

      ExternData.Orientation = 1;

     }  

    else

     {

      nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800);

      roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800);

     }

   Cx = MagnetN;

   Cy = MagnetR;

   Cz = MagnetZ;

 if(ExternData.Orientation == 1)

  {

   Cx = MagnetR;

   Cy = -MagnetN;

   Cz = MagnetZ;

  }

   Hx = Cx * (double)cos(nick_rad) +

        Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -

        Cz * (double)sin(nick_rad) * (double)cos(roll_rad);      

   Hy = Cy * (double)cos(roll_rad) +

        Cz * (double)sin(roll_rad);

   if(Hx == 0 && Hy < 0) heading = 90;

   else if(Hx == 0 && Hy > 0) heading = 270;

   else if(Hx < 0) heading  = 180 - (atan(Hy / Hx) * 180.0) / M_PI;

   else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;

   else if(Hx > 0 && Hy > 0) heading  = 360 - (atan(Hy / Hx) * 180.0) / M_PI;

 if(abs(heading) < 361) Heading = heading;

 PwmHeading = Heading + 10;

}

void Calibrate(void)

{

 unsigned char cal;

 if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;

 else

 if(ExternCalState)       cal = ExternCalState;

 else                     cal = ExternData.CalState;

 switch(cal)

  {

   case 0:

                LED_ON;

          break;

   case 1:

        Xmin =  10000;

        Xmax = -10000;

        Ymin =  10000;

        Ymax = -10000;

        Zmin =  10000;

        Zmax = -10000;

        OffsetAccN = RawAccN;

        OffsetAccR = RawAccR;

        OffsetAccZ = RawAccZ;

                LED_OFF;

          break;

   case 2:

                LED_ON;  // find Min and Max of the X- and Y-Sensors

              if(UncalMagnetN < Xmin) Xmin = UncalMagnetN;

              if(UncalMagnetN > Xmax) Xmax = UncalMagnetN;

              if(UncalMagnetR < Ymin) Ymin = UncalMagnetR;

              if(UncalMagnetR > Ymax) Ymax = UncalMagnetR;

          break;

   case 3:

                LED_OFF;

          break;

   case 4:

                LED_ON;  // find Min and Max of the Z-Sensor

          if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;

              if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;

          break;

   case 5:

                LED_OFF; // Save values

         if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150)

          {

               eeprom_write_word(&eeXmin, Xmin);

               eeprom_write_word(&eeXmax, Xmax);

               eeprom_write_word(&eeYmin, Ymin);

               eeprom_write_word(&eeYmax, Ymax);

               eeprom_write_word(&eeZmin, Zmin);

               eeprom_write_word(&eeZmax, Zmax);

               eeprom_write_word(&eeNoffset, OffsetAccN);

               eeprom_write_word(&eeRoffset, OffsetAccR);

               eeprom_write_word(&eeZoffset, OffsetAccZ);

           Delay_ms(2000);

          }

        ExternCalState = 0;

                LED_ON;

        break;

  }

}

void SetDebugValues(void)

{

         DebugOut.Analog[0] =  MagnetN;

         DebugOut.Analog[1] =  MagnetR;

         DebugOut.Analog[2] =  MagnetZ;

                 DebugOut.Analog[3] =  UncalMagnetN;

                 DebugOut.Analog[4] =  UncalMagnetR;

                 DebugOut.Analog[5] =  UncalMagnetZ;             

         DebugOut.Analog[6] =  ExternData.Winkel[0];

         DebugOut.Analog[7] =  ExternData.Winkel[1];

                 DebugOut.Analog[8] =  Xmin;

                 DebugOut.Analog[9] =  Xmax;

                 DebugOut.Analog[10] = Ymin;   

                 DebugOut.Analog[11] = Ymax;

                 DebugOut.Analog[12] = Zmin;

                 DebugOut.Analog[13] = Zmax;   

         DebugOut.Analog[14] = Heading;

         if(!ExternCalState) DebugOut.Analog[15] = ExternData.CalState;

                 else                DebugOut.Analog[15] = ExternCalState;

         DebugOut.Analog[16] = ExternData.UserParameter[0];

         DebugOut.Analog[17] = ExternData.UserParameter[1];

         DebugOut.Analog[18] = AccN;

         DebugOut.Analog[19] = AccR;

         DebugOut.Analog[20] = AccZ;

         DebugOut.Analog[21] = RawAccN;

         DebugOut.Analog[22] = RawAccR;

         DebugOut.Analog[23] = RawAccZ;

         DebugOut.Analog[24] = OffsetAccN;        

         DebugOut.Analog[25] = OffsetAccR;        

         DebugOut.Analog[26] = OffsetAccZ;        

}

void AccMeasurement(void)

{

         if(AccPresent)

          {

           RawAccN = (RawAccN + (signed int)MessAD(2))/2;

           RawAccR = (RawAccR + (signed int)MessAD(3))/2;

           RawAccZ = (RawAccZ + (signed int)MessAD(6))/2;

          }

          else

          {

           RawAccN = 0;

           RawAccR = 0;

           RawAccZ = 0;

          }

         AccR = (((signed int) RawAccN - OffsetAccN) + AccR * 7) / 8;

         AccN = (((signed int) RawAccR - OffsetAccR) + AccN * 7) / 8;

         AccZ = ((OffsetAccZ - (signed int) RawAccZ) + AccZ * 7) / 8;

}

//############################################################################

//Hauptprogramm

int main (void)

//############################################################################

{

 char j3_state = 0, debounce = 0;

    DDRC  = 0x00;

    PORTC = 0x0c;

    DDRD  = 0xfe;

    PORTD = 0xA8;

    DDRB  = 0x04;

    PORTB = 0x35;

    LED_ON;

    UART_Init();

    Timer0_Init();

    ADC_Init();

        InitIC2_Slave();

    sei();//Globale Interrupts Einschalten

    Debug_Timer = SetDelay(100);   // Sendeintervall    

        Xmin = eeprom_read_word(&eeXmin);

        Xmax = eeprom_read_word(&eeXmax);

        Ymin = eeprom_read_word(&eeYmin);

        Ymax = eeprom_read_word(&eeYmax);

        Zmin = eeprom_read_word(&eeZmin);

        Zmax = eeprom_read_word(&eeZmax);

        OffsetAccN = eeprom_read_word(&eeNoffset);

        OffsetAccR = eeprom_read_word(&eeRoffset);

        OffsetAccZ = eeprom_read_word(&eeZoffset);

    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;

    VersionInfo.Nebenversion = VERSION_NEBENVERSION;

    VersionInfo.PCKompatibel = 7;

    ExternData.Orientation = 0;

    ExternData.CalState = 0;

    I2C_WriteCal.CalByte = 0;

    ExternCalState = 0;

    Delay_ms(10);

    RawAccR = MessAD(2);

    RawAccN = MessAD(3);

    if(RawAccR > 1000 && RawAccN > 1000) AccPresent = 0; else AccPresent = 1;

    if(AccPresent)

     {

      uart_putchar ('A');uart_putchar ('C');uart_putchar ('C');uart_putchar ('\n');

     }

    PORTC &= ~0x0c;

    Delay_ms(100);

    if(!PIN_J3) { ExternCalState++; j3_state = 1;}

    RawAccR = MessAD(2);

    RawAccN = MessAD(3);

    RawAccZ = MessAD(6);

    while (1)

        {

         FLIP_LOW;

         Delay_ms(2);

         RawMagnet1b = MessAD(0);

         RawMagnet2b = -MessAD(1);

         RawMagnet3b = MessAD(7);

         AccMeasurement();

         Delay_ms(1);

         FLIP_HIGH;

         Delay_ms(2);

         RawMagnet1b = MessAD(0);

         RawMagnet2b = -MessAD(1);

         RawMagnet3b = MessAD(7);

         AccMeasurement();

         Delay_ms(1);

         CalcFields();

         if(ExternData.CalState || I2C_WriteCal.CalByte || ExternCalState) Calibrate();

         else CalcHeading();

         BearbeiteRxDaten();

         if(ExternCalState)

         if(!debounce--)

          {

           if(!PIN_J3) { if(!j3_state) ExternCalState++; j3_state = 1;} else j3_state = 0;

           debounce = 20;

          }

         if(PC_Connected)

          {

            DDRD  |= 0x02; // TXD-Portpin

                UCR |= (1 << TXEN);

            DatenUebertragung();

            PC_Connected--;        

          }  

          else

           {

                UCR &= ~(1 << TXEN);

            DDRD &= ~0x02; // TXD-Portpin

           }

        } // while(1)

}