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Rev | Author | Line No. | Line |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | hbuss | 6 | // + Copyright (c) 05.2008 Holger Buss |
8 | hbuss | 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
5 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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62 | ingob | 11 | // + Die Portierung oder Nutzung 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
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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 |
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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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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. |
62 | ingob | 34 | // + * porting the sources to other systems or using the software on other systems (except 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. |
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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 |
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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 |
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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 |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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12 | hbuss | 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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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> |
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59 | #include <stdlib.h> |
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60 | #include <stdio.h> |
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17 | holgerb | 61 | |
1 | ingob | 62 | #include "main.h" |
32 | holgerb | 63 | #include "timer0.h" |
64 | #include "twislave.h" |
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65 | #include "led.h" |
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66 | #include "analog.h" |
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67 | #include "uart.h" |
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1 | ingob | 68 | |
36 | hbuss | 69 | #define CALIBRATION_VERSION 1 |
32 | holgerb | 70 | |
71 | AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC; |
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72 | Orientation_t Orientation = ORIENTATION_FC; |
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73 | |||
74 | uint16_t Led_Timer = 0; |
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75 | |||
76 | typedef struct |
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1 | ingob | 77 | { |
32 | holgerb | 78 | int16_t Range; |
79 | int16_t Offset; |
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80 | } Scaling_t; |
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1 | ingob | 81 | |
32 | holgerb | 82 | typedef struct |
83 | { |
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84 | Scaling_t MagX; |
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85 | Scaling_t MagY; |
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86 | Scaling_t MagZ; |
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87 | Scaling_t AccX; |
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88 | Scaling_t AccY; |
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89 | Scaling_t AccZ; |
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36 | hbuss | 90 | unsigned char Version; |
32 | holgerb | 91 | } Calibration_t; |
92 | |||
93 | Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
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94 | Calibration_t Calibration; // calibration data in RAM |
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95 | |||
96 | // magnet sensor variable |
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37 | killagreg | 97 | int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
32 | holgerb | 98 | int16_t RawMagnet2a, RawMagnet2b; |
99 | int16_t RawMagnet3a, RawMagnet3b; |
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37 | killagreg | 100 | int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling |
32 | holgerb | 101 | int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings |
102 | |||
103 | // acceleration sensor variables |
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104 | int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings |
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105 | int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings |
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106 | int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc |
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107 | |||
108 | int16_t Heading = -1; // the current compass heading in deg |
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109 | |||
110 | |||
1 | ingob | 111 | void CalcFields(void) |
7 | hbuss | 112 | { |
32 | holgerb | 113 | UncalMagX = (RawMagnet1a - RawMagnet1b); |
114 | UncalMagY = (RawMagnet3a - RawMagnet3b); |
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115 | UncalMagZ = (RawMagnet2a - RawMagnet2b); |
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116 | if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range); |
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117 | else MagX = 0; |
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118 | if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range); |
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119 | else MagY = 0; |
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120 | if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range); |
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121 | else MagZ = 0; |
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122 | if(AccPresent) |
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123 | { |
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124 | AccX = (RawAccX - Calibration.AccX.Offset); |
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125 | AccY = (RawAccY - Calibration.AccY.Offset); |
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126 | AccZ = (Calibration.AccZ.Offset - RawAccZ); |
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127 | #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL |
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128 | // acc mode assumes orientation like FC |
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129 | if(AccX > 136) AccAttitudeNick = -800; |
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130 | else |
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131 | if(AccX < -136) AccAttitudeNick = 800; |
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132 | else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI); |
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133 | |||
134 | |||
135 | if(AccY > 136) AccAttitudeRoll = 800; |
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136 | else |
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137 | if(AccY < -136) AccAttitudeRoll = -800; |
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138 | else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
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139 | |||
140 | #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z) |
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141 | // acc mode assumes orientation like FC |
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142 | if(AccY > 136) AccAttitudeNick = 800; |
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143 | else |
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144 | if(AccY < -136) AccAttitudeNick = -800; |
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145 | else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
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146 | |||
147 | |||
148 | if(AccX > 136) AccAttitudeRoll = 800; |
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149 | else |
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150 | if(AccX < -136) AccAttitudeRoll = -800; |
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151 | else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI); |
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152 | #endif |
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153 | } |
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1 | ingob | 154 | } |
155 | |||
32 | holgerb | 156 | |
1 | ingob | 157 | void CalcHeading(void) |
158 | { |
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55 | killagreg | 159 | double nick_rad, roll_rad, Cx = 0, Cy = 0, Cz = 0, Hx = 0, Hy = 0; |
33 | killagreg | 160 | int16_t nick, roll; |
32 | holgerb | 161 | int16_t heading = -1; |
1 | ingob | 162 | |
32 | holgerb | 163 | // blink code for normal operation |
164 | if(CheckDelay(Led_Timer)) |
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165 | { |
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37 | killagreg | 166 | if(Calibration.Version != CALIBRATION_VERSION) LED_GRN_TOGGLE; |
36 | hbuss | 167 | else LED_GRN_ON; |
168 | Led_Timer = SetDelay(150); |
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32 | holgerb | 169 | } |
55 | killagreg | 170 | |
171 | if(Calibration.Version != CALIBRATION_VERSION) heading = -1; // Version of the calibration Data does not match |
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172 | else |
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32 | holgerb | 173 | { |
55 | killagreg | 174 | switch(Orientation) |
175 | { |
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176 | case ORIENTATION_NC: |
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177 | Cx = (double)MagX; |
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178 | Cy = (double)MagY; |
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179 | Cz = (double)MagZ; |
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180 | break; |
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7 | hbuss | 181 | |
55 | killagreg | 182 | case ORIENTATION_FC: |
183 | // rotation of 90 deg compared to NC setup |
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184 | Cx = (double)MagY; |
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185 | Cy = -(double)MagX; |
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186 | Cz = (double)MagZ; |
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187 | break; |
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188 | } |
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32 | holgerb | 189 | |
55 | killagreg | 190 | // calculate nick and roll angle in rad |
191 | switch(AttitudeSource) |
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192 | { |
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193 | case ATTITUDE_SOURCE_I2C: |
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194 | cli(); // stop interrupts |
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195 | nick = I2C_WriteAttitude.Nick; |
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196 | roll = I2C_WriteAttitude.Roll; |
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197 | sei(); // start interrupts |
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198 | break; |
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199 | case ATTITUDE_SOURCE_UART: |
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200 | cli(); // stop interrupts |
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201 | nick = ExternData.Attitude[NICK]; |
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202 | roll = ExternData.Attitude[ROLL]; |
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203 | sei(); // start interrupts |
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204 | break; |
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205 | case ATTITUDE_SOURCE_ACC: |
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206 | nick = AccAttitudeNick; |
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207 | roll = AccAttitudeRoll; |
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208 | break; |
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209 | default: |
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210 | nick = 0; |
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211 | roll = 0; |
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32 | holgerb | 212 | break; |
55 | killagreg | 213 | } |
32 | holgerb | 214 | |
55 | killagreg | 215 | nick_rad = ((double)nick * M_PI) / 1800.0; |
216 | roll_rad = ((double)roll * M_PI) / 1800.0; |
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32 | holgerb | 217 | |
55 | killagreg | 218 | // calculate attitude correction |
219 | Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
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220 | Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
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32 | holgerb | 221 | |
55 | killagreg | 222 | DebugOut.Analog[27] = (int16_t)Hx; |
223 | DebugOut.Analog[28] = (int16_t)Hy; |
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32 | holgerb | 224 | |
55 | killagreg | 225 | // calculate Heading |
226 | heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
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227 | // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
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228 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
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229 | if (heading < 0) heading = -heading; |
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230 | else heading = 360 - heading; |
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231 | } |
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232 | // stop interrrupts during heading update to avoid transmitting heading between the update of both bytes of the int16_t |
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233 | cli(); // stop interrupts |
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234 | if(abs(heading) < 361) Heading = heading; |
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235 | else (Heading = -1); |
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236 | sei(); // start interrupts |
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1 | ingob | 237 | } |
238 | |||
7 | hbuss | 239 | void Calibrate(void) |
240 | { |
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32 | holgerb | 241 | uint8_t cal; |
242 | static uint8_t calold = 0; |
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243 | static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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244 | static uint8_t blinkcount = 0; |
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245 | static uint8_t invert_blinking = 0; |
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33 | killagreg | 246 | |
32 | holgerb | 247 | // check both sources of communication for calibration request |
37 | killagreg | 248 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
249 | else cal = ExternData.CalState; |
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16 | holgerb | 250 | |
32 | holgerb | 251 | |
252 | if(cal > 5) cal = 0; |
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253 | // blink code for current calibration state |
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254 | if(cal) |
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255 | { |
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256 | if(CheckDelay(Led_Timer) || (cal != calold)) |
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257 | { |
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258 | if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
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259 | else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON; |
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260 | |||
261 | // end of blinkcount sequence |
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262 | if((blinkcount + 1 ) >= (2 * cal)) |
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263 | { |
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264 | blinkcount = 0; |
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35 | killagreg | 265 | Led_Timer = SetDelay(1500); |
32 | holgerb | 266 | } |
267 | else |
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268 | { |
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269 | blinkcount++; |
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35 | killagreg | 270 | Led_Timer = SetDelay(100); |
32 | holgerb | 271 | } |
272 | } |
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273 | } |
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274 | else |
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275 | { |
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276 | if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
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277 | } |
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278 | // calibration state machine |
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279 | switch(cal) |
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280 | { |
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281 | case 1: // 1st step of calibration |
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282 | // initialize ranges |
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283 | // used to change the orientation of the MK3MAG in the horizontal plane |
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284 | Xmin = 10000; |
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285 | Xmax = -10000; |
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286 | Ymin = 10000; |
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287 | Ymax = -10000; |
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288 | Zmin = 10000; |
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289 | Zmax = -10000; |
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290 | Calibration.AccX.Offset = RawAccX; |
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291 | Calibration.AccY.Offset = RawAccY; |
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37 | killagreg | 292 | Calibration.AccZ.Offset = RawAccZ; |
293 | invert_blinking = 0; |
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32 | holgerb | 294 | break; |
295 | |||
296 | case 2: // 2nd step of calibration |
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297 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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298 | if(UncalMagX < Xmin) Xmin = UncalMagX; |
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299 | if(UncalMagX > Xmax) Xmax = UncalMagX; |
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300 | if(UncalMagY < Ymin) Ymin = UncalMagY; |
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301 | if(UncalMagY > Ymax) Ymax = UncalMagY; |
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37 | killagreg | 302 | invert_blinking = 1; |
32 | holgerb | 303 | break; |
304 | |||
305 | case 3: // 3rd step of calibration |
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306 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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37 | killagreg | 307 | invert_blinking = 0; |
32 | holgerb | 308 | break; |
309 | |||
310 | case 4: |
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311 | // find Min and Max of the Z-Sensor |
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312 | if(UncalMagZ < Zmin) Zmin = UncalMagZ; |
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313 | if(UncalMagZ > Zmax) Zmax = UncalMagZ; |
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37 | killagreg | 314 | invert_blinking = 1; |
32 | holgerb | 315 | break; |
316 | |||
317 | case 5: |
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318 | // Save values |
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319 | if(cal != calold) // avoid continously writing of eeprom! |
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320 | { |
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321 | Calibration.MagX.Range = Xmax - Xmin; |
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322 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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323 | Calibration.MagY.Range = Ymax - Ymin; |
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324 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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325 | Calibration.MagZ.Range = Zmax - Zmin; |
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326 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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327 | if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
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328 | { |
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36 | hbuss | 329 | Calibration.Version = CALIBRATION_VERSION; |
34 | killagreg | 330 | // indicate write process by setting the led off for 2 seconds |
331 | LED_GRN_OFF; |
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32 | holgerb | 332 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
333 | Led_Timer = SetDelay(2000); |
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334 | // reset blinkcode |
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335 | blinkcount = 0; |
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336 | } |
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55 | killagreg | 337 | else |
338 | { |
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339 | // restore old calibration data from eeprom |
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340 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
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341 | } |
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32 | holgerb | 342 | } |
37 | killagreg | 343 | invert_blinking = 0; |
32 | holgerb | 344 | break; |
345 | |||
346 | default: |
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347 | break; |
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348 | } |
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349 | calold = cal; |
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7 | hbuss | 350 | } |
1 | ingob | 351 | |
32 | holgerb | 352 | |
7 | hbuss | 353 | void SetDebugValues(void) |
354 | { |
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32 | holgerb | 355 | DebugOut.Analog[0] = MagX; |
356 | DebugOut.Analog[1] = MagY; |
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357 | DebugOut.Analog[2] = MagZ; |
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358 | DebugOut.Analog[3] = UncalMagX; |
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359 | DebugOut.Analog[4] = UncalMagY; |
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360 | DebugOut.Analog[5] = UncalMagZ; |
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361 | switch(AttitudeSource) |
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362 | { |
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363 | case ATTITUDE_SOURCE_ACC: |
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364 | DebugOut.Analog[6] = AccAttitudeNick; |
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365 | DebugOut.Analog[7] = AccAttitudeRoll; |
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366 | break; |
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367 | |||
368 | case ATTITUDE_SOURCE_UART: |
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369 | DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
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370 | DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
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371 | break; |
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372 | |||
373 | |||
374 | case ATTITUDE_SOURCE_I2C: |
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375 | DebugOut.Analog[6] = I2C_WriteAttitude.Nick; |
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376 | DebugOut.Analog[7] = I2C_WriteAttitude.Roll; |
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377 | break; |
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378 | } |
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379 | DebugOut.Analog[8] = Calibration.MagX.Offset; |
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380 | DebugOut.Analog[9] = Calibration.MagX.Range; |
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381 | DebugOut.Analog[10] = Calibration.MagY.Offset; |
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382 | DebugOut.Analog[11] = Calibration.MagY.Range; |
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383 | DebugOut.Analog[12] = Calibration.MagZ.Offset; |
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384 | DebugOut.Analog[13] = Calibration.MagZ.Range; |
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35 | killagreg | 385 | if(I2C_WriteCal.CalByte) DebugOut.Analog[14] = I2C_WriteCal.CalByte; |
386 | else DebugOut.Analog[14] = ExternData.CalState; |
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32 | holgerb | 387 | DebugOut.Analog[15] = Heading; |
388 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
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389 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
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390 | DebugOut.Analog[18] = AccX; |
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391 | DebugOut.Analog[19] = AccY; |
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392 | DebugOut.Analog[20] = AccZ; |
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393 | DebugOut.Analog[21] = RawAccX; |
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394 | DebugOut.Analog[22] = RawAccY; |
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395 | DebugOut.Analog[23] = RawAccZ; |
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396 | DebugOut.Analog[24] = Calibration.AccX.Offset; |
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397 | DebugOut.Analog[25] = Calibration.AccY.Offset; |
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37 | killagreg | 398 | DebugOut.Analog[26] = Calibration.AccZ.Offset; |
399 | DebugOut.Analog[29] = AttitudeSource; |
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7 | hbuss | 400 | } |
401 | |||
16 | holgerb | 402 | void AccMeasurement(void) |
403 | { |
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32 | holgerb | 404 | if(AccPresent) |
405 | { |
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406 | RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2; |
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407 | RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2; |
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408 | RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2; |
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409 | } |
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410 | else |
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411 | { |
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412 | RawAccX = 0; |
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413 | RawAccY = 0; |
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414 | RawAccZ = 0; |
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415 | } |
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16 | holgerb | 416 | } |
7 | hbuss | 417 | |
1 | ingob | 418 | int main (void) |
419 | { |
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55 | killagreg | 420 | static uint8_t state = 0; |
421 | static uint16_t statetimer; |
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32 | holgerb | 422 | // reset input pullup |
423 | DDRC &=~((1<<DDC6)); |
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424 | PORTC |= (1<<PORTC6); |
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17 | holgerb | 425 | |
37 | killagreg | 426 | LED_Init(); |
427 | TIMER0_Init(); |
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428 | USART0_Init(); |
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429 | ADC_Init(); |
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32 | holgerb | 430 | I2C_Init(); |
17 | holgerb | 431 | |
37 | killagreg | 432 | sei(); // enable globale interrupts |
63 | holgerb | 433 | USART0_Print("\n\rthe use of this software is only permitted\n\ron original MikroKopter-Hardware"); |
434 | USART0_Print("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
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32 | holgerb | 435 | |
37 | killagreg | 436 | if(AccPresent) |
437 | { |
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63 | holgerb | 438 | USART0_Print("\n\nACC present\n"); |
32 | holgerb | 439 | } |
440 | |||
37 | killagreg | 441 | LED_GRN_ON; |
32 | holgerb | 442 | |
37 | killagreg | 443 | Led_Timer = SetDelay(200); |
32 | holgerb | 444 | |
445 | // read calibration info from eeprom |
||
446 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
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447 | |||
37 | killagreg | 448 | ExternData.CalState = 0; |
449 | I2C_WriteCal.CalByte = 0; |
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32 | holgerb | 450 | |
55 | killagreg | 451 | statetimer = SetDelay(0); |
32 | holgerb | 452 | |
453 | // main loop |
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37 | killagreg | 454 | while (1) |
455 | { |
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7 | hbuss | 456 | |
55 | killagreg | 457 | switch(state) |
458 | { |
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459 | case 0: |
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460 | if(CheckDelay(statetimer)) |
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461 | { |
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462 | FLIP_LOW; |
||
463 | statetimer = SetDelay(2); |
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464 | state = 1; |
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465 | } |
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466 | break; |
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1 | ingob | 467 | |
55 | killagreg | 468 | case 1: |
469 | if(CheckDelay(statetimer)) |
||
470 | { |
||
471 | RawMagnet1a = ADC_GetValue(MAG_X); |
||
472 | RawMagnet2a = -ADC_GetValue(MAG_Y); |
||
473 | RawMagnet3a = ADC_GetValue(MAG_Z); |
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474 | AccMeasurement(); |
||
475 | statetimer = SetDelay(1); |
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476 | state = 2; |
||
477 | } |
||
478 | break; |
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1 | ingob | 479 | |
55 | killagreg | 480 | case 2: |
481 | if(CheckDelay(statetimer)) |
||
482 | { |
||
483 | FLIP_HIGH; |
||
484 | statetimer = SetDelay(2); |
||
485 | state = 3; |
||
486 | } |
||
487 | break; |
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16 | holgerb | 488 | |
55 | killagreg | 489 | case 3: |
490 | if(CheckDelay(statetimer)) |
||
491 | { |
||
492 | RawMagnet1b = ADC_GetValue(MAG_X); |
||
493 | RawMagnet2b = -ADC_GetValue(MAG_Y); |
||
494 | RawMagnet3b = ADC_GetValue(MAG_Z); |
||
495 | AccMeasurement(); |
||
496 | statetimer = SetDelay(1); |
||
497 | state = 0; |
||
498 | |||
499 | CalcFields(); |
||
500 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
||
501 | else CalcHeading(); |
||
502 | if(NC_Connected) NC_Connected--; |
||
503 | if(FC_Connected) FC_Connected--; |
||
504 | if(PC_Connected) PC_Connected--; |
||
505 | // fall back to attitude estimation from onboard acc sensor if NC or FC does'nt send attitude data |
||
506 | if(!FC_Connected && ! NC_Connected) |
||
507 | { |
||
508 | AttitudeSource = ATTITUDE_SOURCE_ACC; |
||
509 | Orientation = ORIENTATION_FC; |
||
510 | } |
||
511 | } |
||
512 | break; |
||
513 | |||
514 | default: // should never happen |
||
515 | statetimer = SetDelay(0); |
||
516 | state = 0; |
||
517 | break; |
||
518 | } // one full state cylce is 6 ms |
||
519 | |||
32 | holgerb | 520 | // check data from USART |
37 | killagreg | 521 | USART0_ProcessRxData(); |
32 | holgerb | 522 | |
37 | killagreg | 523 | if(PC_Connected) |
524 | { |
||
525 | USART0_EnableTXD(); |
||
526 | USART0_TransmitTxData(); |
||
32 | holgerb | 527 | } |
528 | else |
||
529 | { |
||
530 | USART0_DisableTXD(); |
||
531 | } |
||
532 | } // while(1) |
||
1 | ingob | 533 | } |
534 |