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| 242 | killagreg | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 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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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "compass.h" |
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| 59 | #include "mk3mag.h" |
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| 253 | killagreg | 60 | #include "ncmag.h" |
| 292 | killagreg | 61 | #include "spi_slave.h" |
| 62 | #include "mymath.h" |
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| 242 | killagreg | 63 | #include "uart1.h" |
| 254 | killagreg | 64 | #include "fifo.h" |
| 264 | killagreg | 65 | #include "led.h" |
| 292 | killagreg | 66 | #include "main.h" |
| 242 | killagreg | 67 | |
| 254 | killagreg | 68 | u8 CompassCalStateQueue[10]; |
| 69 | fifo_t CompassCalcStateFiFo; |
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| 70 | |||
| 71 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
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| 72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
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| 73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
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| 330 | holgerb | 74 | s16 Hx = 0, Hy = 0; |
| 75 | s32 EarthMagneticField = 100; |
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| 76 | s32 EarthMagneticFieldFiltered = 100; |
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| 77 | s32 EarthMagneticInclination = 0; |
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| 78 | u8 ErrorDisturbedEarthMagnetField = 0; |
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| 254 | killagreg | 79 | |
| 253 | killagreg | 80 | #define COMPASS_NONE 0 |
| 81 | #define COMPASS_MK3MAG 1 |
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| 82 | #define COMPASS_NCMAG 2 |
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| 254 | killagreg | 83 | u8 Compass_Device = COMPASS_NONE; |
| 242 | killagreg | 84 | |
| 85 | void Compass_Init(void) |
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| 86 | { |
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| 268 | killagreg | 87 | switch(Compass_Device) |
| 264 | killagreg | 88 | { |
| 268 | killagreg | 89 | case COMPASS_NONE: |
| 90 | UART1_PutString("\r\n Looking for compass"); |
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| 91 | if(Version_HW > 11) |
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| 92 | { |
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| 93 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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| 94 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
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| 95 | } |
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| 96 | else |
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| 97 | { |
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| 98 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
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| 99 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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| 100 | } |
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| 101 | break; |
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| 311 | killagreg | 102 | |
| 268 | killagreg | 103 | case COMPASS_NCMAG: |
| 104 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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| 311 | killagreg | 105 | else Compass_Device = COMPASS_NONE; |
| 268 | killagreg | 106 | break; |
| 107 | |||
| 108 | case COMPASS_MK3MAG: |
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| 109 | default: |
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| 110 | // nothing to do |
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| 111 | break; |
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| 112 | |||
| 264 | killagreg | 113 | } |
| 254 | killagreg | 114 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
| 242 | killagreg | 115 | } |
| 116 | |||
| 117 | |||
| 292 | killagreg | 118 | void Compass_CalcHeading(void) |
| 242 | killagreg | 119 | { |
| 292 | killagreg | 120 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
| 242 | killagreg | 121 | { |
| 292 | killagreg | 122 | Compass_Heading = -1; |
| 242 | killagreg | 123 | } |
| 292 | killagreg | 124 | else // fc attitude is avialable and no compass calibration active |
| 125 | { |
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| 126 | // calculate attitude correction |
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| 127 | // a float implementation takes too long |
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| 330 | holgerb | 128 | s16 tmp; |
| 292 | killagreg | 129 | s32 sinnick, cosnick, sinroll, cosroll; |
| 311 | killagreg | 130 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
| 292 | killagreg | 131 | sinnick = (s32)c_sin_8192(tmp); |
| 132 | cosnick = (s32)c_cos_8192(tmp); |
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| 311 | killagreg | 133 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
| 292 | killagreg | 134 | sinroll = (s32)c_sin_8192(tmp); |
| 135 | cosroll = (s32)c_cos_8192(tmp); |
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| 311 | killagreg | 136 | // tbd. compensation signs and oriantation has to be fixed |
| 292 | killagreg | 137 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
| 311 | killagreg | 138 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
| 292 | killagreg | 139 | // calculate heading |
| 293 | killagreg | 140 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
| 292 | killagreg | 141 | if (tmp > 0) tmp = 360 - tmp; |
| 142 | else tmp = -tmp; |
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| 143 | Compass_Heading = tmp; |
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| 144 | } |
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| 242 | killagreg | 145 | } |
| 146 | |||
| 330 | holgerb | 147 | |
| 292 | killagreg | 148 | void Compass_Update(void) |
| 242 | killagreg | 149 | { |
| 321 | holgerb | 150 | static s16vec_t old; |
| 151 | static u32 check_value_counter = 0; |
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| 292 | killagreg | 152 | // check for new cal state |
| 153 | Compass_UpdateCalState(); |
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| 154 | // initiate new compass communication |
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| 254 | killagreg | 155 | switch(Compass_Device) |
| 242 | killagreg | 156 | { |
| 157 | case COMPASS_MK3MAG: |
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| 292 | killagreg | 158 | MK3MAG_Update(); |
| 242 | killagreg | 159 | break; |
| 253 | killagreg | 160 | case COMPASS_NCMAG: |
| 311 | killagreg | 161 | NCMAG_Update(); |
| 242 | killagreg | 162 | default: |
| 311 | killagreg | 163 | break; |
| 242 | killagreg | 164 | } |
| 329 | holgerb | 165 | DebugOut.Analog[21] = MagVector.X; |
| 166 | DebugOut.Analog[22] = MagVector.Y; |
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| 167 | DebugOut.Analog[23] = MagVector.Z; |
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| 321 | holgerb | 168 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
| 169 | |||
| 170 | if(check_value_counter > 5000) |
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| 171 | { |
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| 172 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
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| 173 | } |
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| 174 | else check_value_counter++; |
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| 175 | |||
| 176 | old.X = MagVector.X; |
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| 177 | old.Y = MagVector.Y; |
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| 178 | old.Z = MagVector.Z; |
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| 242 | killagreg | 179 | } |
| 254 | killagreg | 180 | |
| 181 | // put cal state into fifo |
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| 182 | void Compass_SetCalState(u8 CalState) |
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| 183 | { |
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| 311 | killagreg | 184 | fifo_put(&CompassCalcStateFiFo, CalState); |
| 254 | killagreg | 185 | } |
| 186 | |||
| 187 | // get cal state from fifo |
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| 188 | void Compass_UpdateCalState() |
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| 189 | { |
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| 311 | killagreg | 190 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
| 254 | killagreg | 191 | } |
| 192 |