Subversion Repositories NaviCtrl

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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

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

// + www.MikroKopter.com

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

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

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

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

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

// + Software LICENSING TERMS

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

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

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

#include "91x_lib.h"

#include "compass.h"

#include "mk3mag.h"

#include "ncmag.h"

#include "spi_slave.h"

#include "mymath.h"

#include "uart1.h"

#include "fifo.h"

#include "led.h"

#include "main.h"

u8 CompassCalStateQueue[10];

fifo_t CompassCalcStateFiFo;

volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation

volatile s16vec_t AccVector;   // current acceleration vector of compass, not supported by any HW version

volatile s16 Compass_Heading;  // is written by mk3mag or ncmag implementation

volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation

s16 Hx = 0, Hy = 0;

s32 EarthMagneticField = 100;

s32 EarthMagneticFieldFiltered = 100;

s32 EarthMagneticInclination = 0;

s32 EarthMagneticInclinationFiltered = 0;

s32 EarthMagneticInclinationTheoretic = 0;

u8  ErrorDisturbedEarthMagnetField = 0;

s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil)

u32 CompassValueErrorCount = 0;

#define COMPASS_NONE    0

#define COMPASS_MK3MAG  1

#define COMPASS_NCMAG   2

u8 Compass_Device = COMPASS_NONE;

I2C_TypeDef* Compass_I2CPort = I2C1;

void Compass_Init(void)

{

        switch(Compass_Device)

        {

                case COMPASS_NONE:

                        UART1_PutString("\r\n Looking for compass");

                        if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;

                        else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;

                        break;

                case COMPASS_NCMAG:

                        if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;

                        else                            Compass_Device = COMPASS_NONE;

                        break;

                case COMPASS_MK3MAG:

                        if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;

                        else                            Compass_Device = COMPASS_NONE;

                        break;

                default:

                        // nothing to do

                        break;

        }

        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);

        if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT;

        MagVector.X = 0;

        MagVector.Y = 0;

        MagVector.Z = 0;

        Compass_Heading = -1;

}

void Compass_Check(void)

{

        switch(Compass_Device)

        {

                case COMPASS_NCMAG:

                        NCMAG_CheckOrientation();

                        break;

                case COMPASS_MK3MAG:

                case COMPASS_NONE:

                default:

                        // nothing to do

                        break;

        }

}

void Compass_CalcHeading(void)

{

        if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)

        {

                Compass_Heading = -1;

        }

        else // fc attitude is avialable and no compass calibration active

        {

                // calculate attitude correction

                // a float implementation takes too long

                s16 tmp;

                s32 sinnick, cosnick, sinroll, cosroll;

                tmp = FromFlightCtrl.AngleNick/10; // in deg

                sinnick = (s32)c_sin_8192(tmp);

                cosnick = (s32)c_cos_8192(tmp);

                tmp = FromFlightCtrl.AngleRoll/10; // in deg

                sinroll = (s32)c_sin_8192(tmp);

                cosroll = (s32)c_cos_8192(tmp);

                // tbd. compensation signs and oriantation has to be fixed

                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);

                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);

                // calculate heading

                tmp = (s16)(c_atan2_546(Hy, Hx)/546L);

                if (tmp > 0) tmp = 360 - tmp;

                else tmp = -tmp;

                Compass_Heading = tmp;

        }

}

void Compass_Update(void)

{

static s16vec_t old;

static u32 check_value_counter = 0;

        // check for new cal state

        Compass_UpdateCalState();

        if(Compass_CalState) FC_is_Calibrated = 0;

        // initiate new compass communication

        switch(Compass_Device)

        {

                case COMPASS_MK3MAG:

                        MK3MAG_Update();

                        break;

                case COMPASS_NCMAG:

                        NCMAG_Update(0);

                        break;

                default:

                        break;

        }

        DebugOut.Analog[24] = MagVector.X;

        DebugOut.Analog[25] = MagVector.Y;

        DebugOut.Analog[26] = MagVector.Z;

    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing

        if(check_value_counter == 2000) // 2 seconds no change of the compass values

        {

                UART1_PutString("\n\r Init Mag.-Sensor");

                Compass_Init();

        }

        if(check_value_counter > 5000) // 5 seconds no change of the compass values

        {

                Compass_Heading = -1; // -> probably a compass-fault

        }

        else check_value_counter++;

        old.X = MagVector.X;

        old.Y = MagVector.Y;

        old.Z = MagVector.Z;

}

// put cal state into fifo

void Compass_SetCalState(u8 CalState)

{

        fifo_put(&CompassCalcStateFiFo, CalState);

}

// get cal state from fifo

void Compass_UpdateCalState()

{

        fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);

}