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.

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

#include <avr/interrupt.h>

#include <math.h>

#include <stdlib.h>

#include <stdio.h>

#include "main.h"

#include "timer0.h"

#include "twislave.h"

#include "led.h"

#include "analog.h"

#include "uart.h"

AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;

Orientation_t Orientation = ORIENTATION_FC;

uint16_t Led_Timer = 0;

typedef struct

{

        int16_t Range;

        int16_t Offset;

}  Scaling_t;

typedef struct

{

        Scaling_t MagX;

        Scaling_t MagY;

        Scaling_t MagZ;

        Scaling_t AccX;

        Scaling_t AccY;

        Scaling_t AccZ;

}  Calibration_t;

Calibration_t eeCalibration EEMEM;      // calibration data in EEProm

Calibration_t Calibration;              // calibration data in RAM

// magnet sensor variable

int16_t RawMagnet1a, RawMagnet1b;                       // raw magnet sensor data

int16_t RawMagnet2a, RawMagnet2b;

int16_t RawMagnet3a, RawMagnet3b;

int16_t UncalMagX, UncalMagY, UncalMagZ;        // sensor signal difference without Scaling

int16_t MagX = 0, MagY = 0, MagZ = 0;           // rescaled magnetic field readings

// acceleration sensor variables

int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0;                  // raw acceleration readings

int16_t AccX = 0, AccY = 0, AccZ = 0;                                   // rescaled acceleration readings

int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0;               // nick and roll angle from acc

int16_t Heading = -1;                                           // the current compass heading in deg

void CalcFields(void)

{

        UncalMagX = (RawMagnet1a - RawMagnet1b);

        UncalMagY = (RawMagnet3a - RawMagnet3b);

        UncalMagZ = (RawMagnet2a - RawMagnet2b);

        if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);

        else MagX = 0;

        if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);

        else MagY = 0;

        if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);

        else MagZ = 0;

        if(AccPresent)

        {

                AccX = (RawAccX - Calibration.AccX.Offset);

                AccY = (RawAccY - Calibration.AccY.Offset);

                AccZ = (Calibration.AccZ.Offset - RawAccZ);

                #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL

                // acc mode assumes orientation like FC

                if(AccX >  136) AccAttitudeNick = -800;

                else

                if(AccX < -136) AccAttitudeNick = 800;

                else                    AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);

                if(AccY >  136) AccAttitudeRoll = 800;

                else

                if(AccY < -136) AccAttitudeRoll = -800;

                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);

                #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)

                // acc mode assumes orientation like FC

                if(AccY >  136) AccAttitudeNick = 800;

                else

                if(AccY < -136) AccAttitudeNick = -800;

                else                    AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);

                if(AccX >  136) AccAttitudeRoll = 800;

                else

                if(AccX < -136) AccAttitudeRoll = -800;

                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);

                #endif

        }

}

void CalcHeading(void)

{

        double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;

        int16_t nick, roll;

        int16_t heading = -1;

        // blink code for normal operation

        if(CheckDelay(Led_Timer))

        {

                LED_GRN_TOGGLE;

                Led_Timer = SetDelay(500);

        }

        switch(Orientation)

        {

                case ORIENTATION_NC:

                        Cx = MagX;

                        Cy = MagY;

                        Cz = MagZ;

                        break;

                case ORIENTATION_FC:

                        // rotation of 90 deg compared to NC setup

                        Cx = MagY;

                        Cy = -MagX;

                        Cz = MagZ;

                        break;

        }

        // calculate nick and roll angle in rad

        switch(AttitudeSource)

        {

                case ATTITUDE_SOURCE_I2C:

           cli(); // stop interrupts

            nick = I2C_WriteAttitude.Nick;

                        roll = I2C_WriteAttitude.Roll;

           sei(); // start interrupts

                        break;

                case ATTITUDE_SOURCE_UART:

           cli(); // stop interrupts

            nick = ExternData.Attitude[NICK];

            roll = ExternData.Attitude[ROLL];

           sei(); // start interrupts

                        break;

                case ATTITUDE_SOURCE_ACC:

            nick = AccAttitudeNick;

            roll = AccAttitudeRoll;

                        break;

                default:

                        nick_rad = 0;

                        roll_rad = 0;

                break;

        }

    nick_rad = ((double)nick) * M_PI / (double)(1800.0);

    roll_rad = ((double)roll) * M_PI / (double)(1800.0);

        // calculate attitude correction

        Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);

        Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);

        DebugOut.Analog[27] = (int16_t)Hx;

        DebugOut.Analog[28] = (int16_t)Hy;

        // calculate Heading

        heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);

        // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation

        // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.

        if (heading < 0) heading = -heading;

        else heading = 360 - heading;

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

/* // Alternative formula

   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;

*/

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

        cli(); // stop interrupts

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

        else (Heading = -1);

        sei(); // start interrupts

}

void Calibrate(void)

{

        uint8_t cal;

        static uint8_t calold = 0;

        static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;

        static uint8_t blinkcount = 0;

        static uint8_t invert_blinking = 0;

        // check both sources of communication for calibration request

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

        else                     cal = ExternData.CalState;

        if(cal > 5) cal = 0;

        // blink code for current calibration state

        if(cal)

        {

                if(CheckDelay(Led_Timer) || (cal != calold))

                {

                        if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;

                        else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;

                        // end of blinkcount sequence

                        if((blinkcount + 1 ) >= (2 * cal))

                        {

                                blinkcount = 0;

                                Led_Timer = SetDelay(1000);

                        }

                        else

                        {

                                blinkcount++;

                                Led_Timer = SetDelay(170);

                        }

                }

        }

        else

        {

                if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;

        }

        // calibration state machine

        switch(cal)

        {

                case 1: // 1st step of calibration

                        // initialize ranges

                        // used to change the orientation of the MK3MAG in the horizontal plane

                        Xmin =  10000;

                        Xmax = -10000;

                        Ymin =  10000;

                        Ymax = -10000;

                        Zmin =  10000;

                        Zmax = -10000;

                        Calibration.AccX.Offset = RawAccX;

                        Calibration.AccY.Offset = RawAccY;

                Calibration.AccZ.Offset = RawAccZ;

            invert_blinking = 0;

                        break;

                case 2: // 2nd step of calibration

                        // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane

                        if(UncalMagX < Xmin) Xmin = UncalMagX;

                        if(UncalMagX > Xmax) Xmax = UncalMagX;

                        if(UncalMagY < Ymin) Ymin = UncalMagY;

                        if(UncalMagY > Ymax) Ymax = UncalMagY;

            invert_blinking = 1;

                        break;

                case 3: // 3rd step of calibration

                        // used to change the orientation of the MK3MAG vertical to the horizontal plane

            invert_blinking = 0;

                        break;

                case 4:

                        // find Min and Max of the Z-Sensor

                        if(UncalMagZ < Zmin) Zmin = UncalMagZ;

                        if(UncalMagZ > Zmax) Zmax = UncalMagZ;

            invert_blinking = 1;

                        break;

                case 5:

                        // Save values

                        if(cal != calold) // avoid continously writing of eeprom!

                        {

                                Calibration.MagX.Range = Xmax - Xmin;

                                Calibration.MagX.Offset = (Xmin + Xmax) / 2;

                                Calibration.MagY.Range = Ymax - Ymin;

                                Calibration.MagY.Offset = (Ymin + Ymax) / 2;

                                Calibration.MagZ.Range = Zmax - Zmin;

                                Calibration.MagZ.Offset = (Zmin + Zmax) / 2;

                                if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))

                                {

                                        // indicate write process by setting the led

                                        LED_GRN_ON;

                                        eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));

                                        Led_Timer = SetDelay(2000);

                                        // reset  blinkcode

                                        blinkcount = 0;

                                }

                        }

            invert_blinking = 0;

                        break;

                default:

                        break;

        }

        calold = cal;

}

void SetDebugValues(void)

{

        DebugOut.Analog[0] =  MagX;

        DebugOut.Analog[1] =  MagY;

        DebugOut.Analog[2] =  MagZ;

        DebugOut.Analog[3] =  UncalMagX;

        DebugOut.Analog[4] =  UncalMagY;

        DebugOut.Analog[5] =  UncalMagZ;

        switch(AttitudeSource)

        {

                case ATTITUDE_SOURCE_ACC:

                        DebugOut.Analog[6] =  AccAttitudeNick;

                        DebugOut.Analog[7] =  AccAttitudeRoll;

                        break;

                case ATTITUDE_SOURCE_UART:

                        DebugOut.Analog[6] =  ExternData.Attitude[NICK];

                        DebugOut.Analog[7] =  ExternData.Attitude[ROLL];

                        break;

                case ATTITUDE_SOURCE_I2C:

                        DebugOut.Analog[6] =  I2C_WriteAttitude.Nick;

                        DebugOut.Analog[7] =  I2C_WriteAttitude.Roll;

                        break;

        }

        DebugOut.Analog[8] =  Calibration.MagX.Offset;

        DebugOut.Analog[9] =  Calibration.MagX.Range;

        DebugOut.Analog[10] = Calibration.MagY.Offset;

        DebugOut.Analog[11] = Calibration.MagY.Range;

        DebugOut.Analog[12] = Calibration.MagZ.Offset;

        DebugOut.Analog[13] = Calibration.MagZ.Range;

        DebugOut.Analog[14] = ExternData.CalState;

        DebugOut.Analog[15] = Heading;

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

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

        DebugOut.Analog[18] = AccX;

        DebugOut.Analog[19] = AccY;

        DebugOut.Analog[20] = AccZ;

        DebugOut.Analog[21] = RawAccX;

        DebugOut.Analog[22] = RawAccY;

        DebugOut.Analog[23] = RawAccZ;

        DebugOut.Analog[24] = Calibration.AccX.Offset;

        DebugOut.Analog[25] = Calibration.AccY.Offset;

    DebugOut.Analog[26] = Calibration.AccZ.Offset;

    DebugOut.Analog[29] = AttitudeSource;

}

void AccMeasurement(void)

{

        if(AccPresent)

        {

                RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;

                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;

                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;

        }

        else

        {

                RawAccX = 0;

                RawAccY = 0;

                RawAccZ = 0;

        }

}

int main (void)

{

        // reset input pullup

        DDRC &=~((1<<DDC6));

        PORTC |= (1<<PORTC6);

    LED_Init();

    TIMER0_Init();

    USART0_Init();

    ADC_Init();

        I2C_Init();

    sei(); // enable globale interrupts

    if(AccPresent)

    {

                USART0_Print("ACC present\n");

        }

    LED_GRN_ON;

    Debug_Timer = SetDelay(200);

    Led_Timer = SetDelay(200);

        // read calibration info from eeprom

        eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));

    ExternData.CalState = 0;

    I2C_WriteCal.CalByte = 0;

        // main loop

    while (1)

    {

                FLIP_LOW;

                Delay_ms(2);

                RawMagnet1a = ADC_GetValue(MAG_X);

                RawMagnet2a = -ADC_GetValue(MAG_Y);

                RawMagnet3a = ADC_GetValue(MAG_Z);

                AccMeasurement();

                Delay_ms(1);

                FLIP_HIGH;

                Delay_ms(2);

                RawMagnet1b = ADC_GetValue(MAG_X);

                RawMagnet2b = -ADC_GetValue(MAG_Y);

                RawMagnet3b = ADC_GetValue(MAG_Z);

                AccMeasurement();

                Delay_ms(1);

                CalcFields();

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

                else CalcHeading();

                // check data from USART

        USART0_ProcessRxData();

                if(NC_Connected) NC_Connected--;

                if(FC_Connected) FC_Connected--;

                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data

                if(!FC_Connected && ! NC_Connected)

                {

                        AttitudeSource = ATTITUDE_SOURCE_ACC;

                        Orientation = ORIENTATION_FC;

                }

        if(PC_Connected)

        {

            USART0_EnableTXD();

            USART0_TransmitTxData();

            PC_Connected--;

                }

                else

                {

                        USART0_DisableTXD();

                }

        } // while(1)

}