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5 hbuss 1
/*#######################################################################################
7 hbuss 2
MK3Mag 3D-Magnet sensor
32 holgerb 3
!!! THIS IS NOT FREE SOFTWARE !!!
5 hbuss 4
#######################################################################################*/
5
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7 hbuss 6
// + Copyright (c) 05.2008 Holger Buss
8 hbuss 7
// + Thanks to Ilja Fähnrich (P_Latzhalter)
5 hbuss 8
// + Nur für den privaten Gebrauch
9
// + www.MikroKopter.com
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 11
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
12 hbuss 12
// + mit unserer Zustimmung zulässig
13
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 14
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
15
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12 hbuss 16
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
17
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
5 hbuss 18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 19
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
5 hbuss 20
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
21
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24
// + eindeutig als Ursprung verlinkt werden
25
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27
// + Benutzung auf eigene Gefahr
28
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
5 hbuss 33
// + this list of conditions and the following disclaimer.
12 hbuss 34
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
5 hbuss 35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36
// +     from this software without specific prior written permission.
32 holgerb 37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
5 hbuss 38
// +     for non-commercial use (directly or indirectly)
32 holgerb 39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
5 hbuss 40
// +     with our written permission
12 hbuss 41
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
42
// +     In case of doubt please contact: info@MikroKopter.de
32 holgerb 43
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
44
// +     clearly linked as origin
5 hbuss 45
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
12 hbuss 52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
5 hbuss 54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 holgerb 55
// +  POSSIBILITY OF SUCH DAMAGE.
5 hbuss 56
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 holgerb 57
#include <avr/interrupt.h>
58
#include <math.h>
59
#include <stdlib.h>
60
#include <stdio.h>
17 holgerb 61
 
1 ingob 62
#include "main.h"
32 holgerb 63
#include "timer0.h"
64
#include "twislave.h"
65
#include "led.h"
66
#include "analog.h"
67
#include "uart.h"
1 ingob 68
 
36 hbuss 69
#define CALIBRATION_VERSION 1
32 holgerb 70
 
71
AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
72
Orientation_t Orientation = ORIENTATION_FC;
73
 
74
uint16_t Led_Timer = 0;
75
 
76
typedef struct
1 ingob 77
{
32 holgerb 78
        int16_t Range;
79
        int16_t Offset;
80
}  Scaling_t;
1 ingob 81
 
32 holgerb 82
typedef struct
83
{
84
        Scaling_t MagX;
85
        Scaling_t MagY;
86
        Scaling_t MagZ;
87
        Scaling_t AccX;
88
        Scaling_t AccY;
89
        Scaling_t AccZ;
36 hbuss 90
        unsigned char Version;
32 holgerb 91
}  Calibration_t;
92
 
93
Calibration_t eeCalibration EEMEM;      // calibration data in EEProm
94
Calibration_t Calibration;              // calibration data in RAM
95
 
96
// magnet sensor variable
97
int16_t RawMagnet1a, RawMagnet1b;                       // raw magnet sensor data
98
int16_t RawMagnet2a, RawMagnet2b;
99
int16_t RawMagnet3a, RawMagnet3b;
100
int16_t UncalMagX, UncalMagY, UncalMagZ;        // sensor signal difference without Scaling
101
int16_t MagX = 0, MagY = 0, MagZ = 0;           // rescaled magnetic field readings
102
 
103
// acceleration sensor variables
104
int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0;                  // raw acceleration readings
105
int16_t AccX = 0, AccY = 0, AccZ = 0;                                   // rescaled acceleration readings
106
int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0;               // nick and roll angle from acc
107
 
108
int16_t Heading = -1;                                           // the current compass heading in deg
109
 
110
 
1 ingob 111
void CalcFields(void)
7 hbuss 112
{
32 holgerb 113
        UncalMagX = (RawMagnet1a - RawMagnet1b);
114
        UncalMagY = (RawMagnet3a - RawMagnet3b);
115
        UncalMagZ = (RawMagnet2a - RawMagnet2b);
7 hbuss 116
 
32 holgerb 117
        if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);
118
        else MagX = 0;
119
        if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);
120
        else MagY = 0;
121
        if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);
122
        else MagZ = 0;
7 hbuss 123
 
32 holgerb 124
        if(AccPresent)
125
        {
126
                AccX = (RawAccX - Calibration.AccX.Offset);
127
                AccY = (RawAccY - Calibration.AccY.Offset);
128
                AccZ = (Calibration.AccZ.Offset - RawAccZ);
129
                #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL
130
                // acc mode assumes orientation like FC
131
                if(AccX >  136) AccAttitudeNick = -800;
132
                else
133
                if(AccX < -136) AccAttitudeNick = 800;
134
                else                    AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);
135
 
136
 
137
                if(AccY >  136) AccAttitudeRoll = 800;
138
                else
139
                if(AccY < -136) AccAttitudeRoll = -800;
140
                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
141
 
142
                #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)
143
                // acc mode assumes orientation like FC
144
                if(AccY >  136) AccAttitudeNick = 800;
145
                else
146
                if(AccY < -136) AccAttitudeNick = -800;
147
                else                    AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
148
 
149
 
150
                if(AccX >  136) AccAttitudeRoll = 800;
151
                else
152
                if(AccX < -136) AccAttitudeRoll = -800;
153
                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);
154
                #endif
155
        }
1 ingob 156
}
157
 
32 holgerb 158
 
1 ingob 159
void CalcHeading(void)
160
{
32 holgerb 161
        double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;
33 killagreg 162
        int16_t nick, roll;
32 holgerb 163
        int16_t heading = -1;
1 ingob 164
 
32 holgerb 165
        // blink code for normal operation
166
        if(CheckDelay(Led_Timer))
167
        {
36 hbuss 168
        if(Calibration.Version != CALIBRATION_VERSION) LED_GRN_TOGGLE;
169
                else LED_GRN_ON;
170
                Led_Timer = SetDelay(150);
32 holgerb 171
        }
172
        switch(Orientation)
173
        {
174
                case ORIENTATION_NC:
175
                        Cx = MagX;
176
                        Cy = MagY;
177
                        Cz = MagZ;
178
                        break;
7 hbuss 179
 
32 holgerb 180
                case ORIENTATION_FC:
181
                        // rotation of 90 deg compared to NC setup
182
                        Cx = MagY;
183
                        Cy = -MagX;
184
                        Cz = MagZ;
185
                        break;
186
        }
187
 
188
        // calculate nick and roll angle in rad
189
        switch(AttitudeSource)
190
        {
191
                case ATTITUDE_SOURCE_I2C:
192
           cli(); // stop interrupts
193
            nick = I2C_WriteAttitude.Nick;
194
                        roll = I2C_WriteAttitude.Roll;
195
           sei(); // start interrupts
196
                        break;
197
                case ATTITUDE_SOURCE_UART:
198
           cli(); // stop interrupts
199
            nick = ExternData.Attitude[NICK];
200
            roll = ExternData.Attitude[ROLL];
201
           sei(); // start interrupts
202
                        break;
203
                case ATTITUDE_SOURCE_ACC:
204
            nick = AccAttitudeNick;
205
            roll = AccAttitudeRoll;
206
                        break;
207
                default:
35 killagreg 208
                        nick = 0;
209
                        roll = 0;
32 holgerb 210
                break;
211
        }
212
 
213
    nick_rad = ((double)nick) * M_PI / (double)(1800.0);
214
    roll_rad = ((double)roll) * M_PI / (double)(1800.0);
215
 
216
        // calculate attitude correction
217
        Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);
218
        Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);
219
 
220
        DebugOut.Analog[27] = (int16_t)Hx;
221
        DebugOut.Analog[28] = (int16_t)Hy;
222
 
223
        // calculate Heading
224
        heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
225
        // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
226
        // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
227
        if (heading < 0) heading = -heading;
228
        else heading = 360 - heading;
33 killagreg 229
 
32 holgerb 230
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
36 hbuss 231
   if(Calibration.Version != CALIBRATION_VERSION) heading = -1; // Version of the calibration Data does not match
32 holgerb 232
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33 killagreg 233
        cli(); // stop interrupts
32 holgerb 234
        if(abs(heading) < 361) Heading = heading;
235
        else (Heading = -1);
33 killagreg 236
        sei(); // start interrupts
237
 
1 ingob 238
}
239
 
7 hbuss 240
void Calibrate(void)
241
{
32 holgerb 242
        uint8_t cal;
243
        static uint8_t calold = 0;
244
        static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
245
        static uint8_t blinkcount = 0;
246
        static uint8_t invert_blinking = 0;
33 killagreg 247
 
32 holgerb 248
        // check both sources of communication for calibration request
249
        if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
250
        else                     cal = ExternData.CalState;
16 holgerb 251
 
32 holgerb 252
 
253
        if(cal > 5) cal = 0;
254
        // blink code for current calibration state
255
        if(cal)
256
        {
257
                if(CheckDelay(Led_Timer) || (cal != calold))
258
                {
259
                        if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
260
                        else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;
261
 
262
                        // end of blinkcount sequence
263
                        if((blinkcount + 1 ) >= (2 * cal))
264
                        {
265
                                blinkcount = 0;
35 killagreg 266
                                Led_Timer = SetDelay(1500);
32 holgerb 267
                        }
268
                        else
269
                        {
270
                                blinkcount++;
35 killagreg 271
                                Led_Timer = SetDelay(100);
32 holgerb 272
                        }
273
                }
274
        }
275
        else
276
        {
277
                if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
278
        }
279
        // calibration state machine
280
        switch(cal)
281
        {
282
                case 1: // 1st step of calibration
283
                        // initialize ranges
284
                        // used to change the orientation of the MK3MAG in the horizontal plane
285
                        Xmin =  10000;
286
                        Xmax = -10000;
287
                        Ymin =  10000;
288
                        Ymax = -10000;
289
                        Zmin =  10000;
290
                        Zmax = -10000;
291
                        Calibration.AccX.Offset = RawAccX;
292
                        Calibration.AccY.Offset = RawAccY;
293
                Calibration.AccZ.Offset = RawAccZ;
294
            invert_blinking = 0;
295
                        break;
296
 
297
                case 2: // 2nd step of calibration
298
                        // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
299
                        if(UncalMagX < Xmin) Xmin = UncalMagX;
300
                        if(UncalMagX > Xmax) Xmax = UncalMagX;
301
                        if(UncalMagY < Ymin) Ymin = UncalMagY;
302
                        if(UncalMagY > Ymax) Ymax = UncalMagY;
303
            invert_blinking = 1;
304
                        break;
305
 
306
                case 3: // 3rd step of calibration
307
                        // used to change the orientation of the MK3MAG vertical to the horizontal plane
308
            invert_blinking = 0;
309
                        break;
310
 
311
                case 4:
312
                        // find Min and Max of the Z-Sensor
313
                        if(UncalMagZ < Zmin) Zmin = UncalMagZ;
314
                        if(UncalMagZ > Zmax) Zmax = UncalMagZ;
315
            invert_blinking = 1;
316
                        break;
317
 
318
                case 5:
319
                        // Save values
320
                        if(cal != calold) // avoid continously writing of eeprom!
321
                        {
322
                                Calibration.MagX.Range = Xmax - Xmin;
323
                                Calibration.MagX.Offset = (Xmin + Xmax) / 2;
324
                                Calibration.MagY.Range = Ymax - Ymin;
325
                                Calibration.MagY.Offset = (Ymin + Ymax) / 2;
326
                                Calibration.MagZ.Range = Zmax - Zmin;
327
                                Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
328
                                if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))
329
                                {
36 hbuss 330
                                        Calibration.Version = CALIBRATION_VERSION;
34 killagreg 331
                                        // indicate write process by setting the led off for 2 seconds
332
                                        LED_GRN_OFF;
32 holgerb 333
                                        eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
334
                                        Led_Timer = SetDelay(2000);
335
                                        // reset  blinkcode
336
                                        blinkcount = 0;
337
                                }
338
                        }
339
            invert_blinking = 0;
340
                        break;
341
 
342
                default:
343
                        break;
344
        }
345
        calold = cal;
7 hbuss 346
}
1 ingob 347
 
32 holgerb 348
 
7 hbuss 349
void SetDebugValues(void)
350
{
32 holgerb 351
        DebugOut.Analog[0] =  MagX;
352
        DebugOut.Analog[1] =  MagY;
353
        DebugOut.Analog[2] =  MagZ;
354
        DebugOut.Analog[3] =  UncalMagX;
355
        DebugOut.Analog[4] =  UncalMagY;
356
        DebugOut.Analog[5] =  UncalMagZ;
357
        switch(AttitudeSource)
358
        {
359
                case ATTITUDE_SOURCE_ACC:
360
                        DebugOut.Analog[6] =  AccAttitudeNick;
361
                        DebugOut.Analog[7] =  AccAttitudeRoll;
362
                        break;
363
 
364
                case ATTITUDE_SOURCE_UART:
365
                        DebugOut.Analog[6] =  ExternData.Attitude[NICK];
366
                        DebugOut.Analog[7] =  ExternData.Attitude[ROLL];
367
                        break;
368
 
369
 
370
                case ATTITUDE_SOURCE_I2C:
371
                        DebugOut.Analog[6] =  I2C_WriteAttitude.Nick;
372
                        DebugOut.Analog[7] =  I2C_WriteAttitude.Roll;
373
                        break;
374
        }
375
        DebugOut.Analog[8] =  Calibration.MagX.Offset;
376
        DebugOut.Analog[9] =  Calibration.MagX.Range;
377
        DebugOut.Analog[10] = Calibration.MagY.Offset;
378
        DebugOut.Analog[11] = Calibration.MagY.Range;
379
        DebugOut.Analog[12] = Calibration.MagZ.Offset;
380
        DebugOut.Analog[13] = Calibration.MagZ.Range;
35 killagreg 381
        if(I2C_WriteCal.CalByte) DebugOut.Analog[14] = I2C_WriteCal.CalByte;
382
        else DebugOut.Analog[14] = ExternData.CalState;
32 holgerb 383
        DebugOut.Analog[15] = Heading;
384
        DebugOut.Analog[16] = ExternData.UserParam[0];
385
        DebugOut.Analog[17] = ExternData.UserParam[1];
386
        DebugOut.Analog[18] = AccX;
387
        DebugOut.Analog[19] = AccY;
388
        DebugOut.Analog[20] = AccZ;
389
        DebugOut.Analog[21] = RawAccX;
390
        DebugOut.Analog[22] = RawAccY;
391
        DebugOut.Analog[23] = RawAccZ;
392
        DebugOut.Analog[24] = Calibration.AccX.Offset;
393
        DebugOut.Analog[25] = Calibration.AccY.Offset;
394
    DebugOut.Analog[26] = Calibration.AccZ.Offset;
395
    DebugOut.Analog[29] = AttitudeSource;
7 hbuss 396
}
397
 
16 holgerb 398
void AccMeasurement(void)
399
{
32 holgerb 400
        if(AccPresent)
401
        {
402
                RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;
403
                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
404
                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
405
        }
406
        else
407
        {
408
                RawAccX = 0;
409
                RawAccY = 0;
410
                RawAccZ = 0;
411
        }
16 holgerb 412
}
7 hbuss 413
 
1 ingob 414
int main (void)
415
{
32 holgerb 416
        // reset input pullup
417
        DDRC &=~((1<<DDC6));
418
        PORTC |= (1<<PORTC6);
17 holgerb 419
 
32 holgerb 420
    LED_Init();
421
    TIMER0_Init();
422
    USART0_Init();
1 ingob 423
    ADC_Init();
32 holgerb 424
        I2C_Init();
17 holgerb 425
 
32 holgerb 426
    sei(); // enable globale interrupts
427
 
428
    if(AccPresent)
429
    {
430
                USART0_Print("ACC present\n");
431
        }
432
 
433
    LED_GRN_ON;
434
 
435
    Debug_Timer = SetDelay(200);
436
    Led_Timer = SetDelay(200);
437
 
438
        // read calibration info from eeprom
439
        eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
440
 
7 hbuss 441
    ExternData.CalState = 0;
442
    I2C_WriteCal.CalByte = 0;
32 holgerb 443
 
444
 
445
        // main loop
1 ingob 446
    while (1)
32 holgerb 447
    {
448
                FLIP_LOW;
449
                Delay_ms(2);
450
                RawMagnet1a = ADC_GetValue(MAG_X);
451
                RawMagnet2a = -ADC_GetValue(MAG_Y);
452
                RawMagnet3a = ADC_GetValue(MAG_Z);
453
                AccMeasurement();
454
                Delay_ms(1);
7 hbuss 455
 
32 holgerb 456
                FLIP_HIGH;
457
                Delay_ms(2);
458
                RawMagnet1b = ADC_GetValue(MAG_X);
459
                RawMagnet2b = -ADC_GetValue(MAG_Y);
460
                RawMagnet3b = ADC_GetValue(MAG_Z);
461
                AccMeasurement();
462
                Delay_ms(1);
1 ingob 463
 
32 holgerb 464
                CalcFields();
1 ingob 465
 
32 holgerb 466
                if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
467
                else CalcHeading();
16 holgerb 468
 
32 holgerb 469
                // check data from USART
470
        USART0_ProcessRxData();
471
 
472
                if(NC_Connected) NC_Connected--;
473
                if(FC_Connected) FC_Connected--;
474
                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
475
                if(!FC_Connected && ! NC_Connected)
476
                {
477
                        AttitudeSource = ATTITUDE_SOURCE_ACC;
478
                        Orientation = ORIENTATION_FC;
479
                }
480
 
481
        if(PC_Connected)
482
        {
483
            USART0_EnableTXD();
484
            USART0_TransmitTxData();
485
            PC_Connected--;
486
                }
487
                else
488
                {
489
                        USART0_DisableTXD();
490
                }
491
        } // while(1)
1 ingob 492
}
493