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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 s16vec_t MagVectorHorizontal; // vector componenents in horizontal projection |
| volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
| volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
| |
| 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 |
| 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); |
| MagVectorHorizontal.X = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
| MagVectorHorizontal.Y = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
| // calculate heading |
| tmp = (s16)(c_atan2_546(MagVectorHorizontal.Y, MagVectorHorizontal.X)/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); |
| } |
| |