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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2010 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #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 s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
| volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
| |
| #define COMPASS_NONE 0 |
| #define COMPASS_MK3MAG 1 |
| #define COMPASS_NCMAG 2 |
| u8 Compass_Device = COMPASS_NONE; |
| |
| void Compass_Init(void) |
| { |
| switch(Compass_Device) |
| { |
| case COMPASS_NONE: |
| UART1_PutString("\r\n Looking for compass"); |
| if(Version_HW > 11) |
| { |
| if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
| } |
| else |
| { |
| 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: |
| default: |
| // nothing to do |
| break; |
| |
| } |
| fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
| } |
| |
| |
| 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, Hx, Hy; |
| 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) |
| { |
| // check for new cal state |
| Compass_UpdateCalState(); |
| // initiate new compass communication |
| switch(Compass_Device) |
| { |
| case COMPASS_MK3MAG: |
| MK3MAG_Update(); |
| break; |
| case COMPASS_NCMAG: |
| NCMAG_Update(); |
| default: |
| break; |
| } |
| } |
| |
| // 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); |
| } |
| |