| 0,0 → 1,150 |
|---|
| /* |
| |
| Copyright 2007, Niklas Nold |
| |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| |
| #include "main.h" |
| |
| MM3_struct MM3; |
| |
| |
| //############################################################################ |
| //Initialisierung der SPI-Schnittstelle |
| void init_spi(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| |
| |
| //############################################################################ |
| //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| |
| if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| |
| MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| } |
| } |
| |
| |
| //############################################################################ |
| //SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| MM3.y_axis -= OFF_Y; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| MM3.z_axis -= OFF_Z; |
| MM3.STATE = MM3_TILT; |
| } |
| |
| return; |
| } |
| } |
| |
| signed int MM3_heading(void) |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr; |
| signed int heading; |
| |
| // Berechung von sinus und cosinus |
| sin_nick = sin_i(MM3.NickGrad); |
| cos_nick = cos_i(MM3.NickGrad); |
| sin_roll = sin_i(MM3.RollGrad); |
| cos_roll = cos_i(MM3.RollGrad); |
| |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| |
| return (heading); |
| } |