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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + Nur für den privaten Gebrauch |
3 | // + Nur für den privaten Gebrauch |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
11 | // + Verkauf von Luftbildaufnahmen, usw. |
| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 18 | // + eindeutig als Ursprung verlinkt werden |
18 | // + eindeutig als Ursprung verlinkt werden |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 21 | // + Benutzung auf eigene Gefahr |
21 | // + Benutzung auf eigene Gefahr |
| 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 25 | // + mit unserer Zustimmung zulässig |
25 | // + mit unserer Zustimmung zulässig |
| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 36 | // + with our written permission |
36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 49 | // + POSSIBILITY OF SUCH DAMAGE. |
49 | // + POSSIBILITY OF SUCH DAMAGE. |
| 50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 51 | #include <avr/io.h> |
51 | #include <avr/io.h> |
| 52 | #include <stdlib.h> |
52 | #include <stdlib.h> |
| 53 | #include <inttypes.h> |
53 | #include <inttypes.h> |
| 54 | #include "timer0.h" |
54 | #include "timer0.h" |
| 55 | #include "attitude.h" |
55 | #include "attitude.h" |
| 56 | #include "eeprom.h" |
56 | #include "eeprom.h" |
| 57 | #include "mk3mag.h" |
57 | #include "mk3mag.h" |
| 58 | 58 | ||
| 59 | // For the DebougOut alone. |
59 | // For the DebougOut alone. |
| 60 | #include "output.h" |
60 | #include "output.h" |
| 61 | 61 | ||
| 62 | uint8_t PWMTimeout = 12; |
62 | uint8_t PWMTimeout = 12; |
| 63 | ToMk3Mag_t ToMk3Mag; |
63 | ToMk3Mag_t ToMk3Mag; |
| 64 | 64 | ||
| 65 | /*********************************************/ |
65 | /*********************************************/ |
| 66 | /* Initialize Interface to MK3MAG Compass */ |
66 | /* Initialize Interface to MK3MAG Compass */ |
| 67 | /*********************************************/ |
67 | /*********************************************/ |
| 68 | void MK3MAG_Init(void) { |
68 | void MK3MAG_Init(void) { |
| 69 | // Port PC4 connected to PWM output from compass module |
69 | // Port PC4 connected to PWM output from compass module |
| 70 | DDRC &= ~(1 << DDC4); // set as input |
70 | DDRC &= ~(1 << DDC4); // set as input |
| 71 | PORTC |= (1 << PORTC4); // pull up to increase PWM counter also if nothing is connected |
71 | PORTC |= (1 << PORTC4); // pull up to increase PWM counter also if nothing is connected |
| 72 | 72 | ||
| 73 | PWMTimeout = 0; |
73 | PWMTimeout = 0; |
| 74 | 74 | ||
| 75 | ToMk3Mag.CalState = 0; |
75 | ToMk3Mag.CalState = 0; |
| 76 | ToMk3Mag.Orientation = 1; |
76 | ToMk3Mag.Orientation = 1; |
| 77 | } |
77 | } |
| 78 | 78 | ||
| 79 | /*********************************************/ |
79 | /*********************************************/ |
| 80 | /* Get PWM from MK3MAG */ |
80 | /* Get PWM from MK3MAG */ |
| 81 | /*********************************************/ |
81 | /*********************************************/ |
| 82 | void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR |
82 | void MK3MAG_Update(void) {// called every 102.4 us by timer 0 ISR |
| 83 | static uint16_t PWMCount = 0; |
83 | static uint16_t PWMCount = 0; |
| 84 | static uint16_t BeepDelay = 0; |
84 | static uint16_t BeepDelay = 0; |
| 85 | static uint16_t debugCounter = 0; |
85 | static uint16_t debugCounter = 0; |
| 86 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
86 | // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| 87 | // in other words 100us/° with a +1ms offset. |
87 | // in other words 100us/° with a +1ms offset. |
| 88 | // The signal goes low for 65ms between pulses, |
88 | // The signal goes low for 65ms between pulses, |
| 89 | // so the cycle time is 65mS + the pulse width. |
89 | // so the cycle time is 65mS + the pulse width. |
| 90 | // pwm is high |
90 | // pwm is high |
| 91 | 91 | ||
| 92 | if (debugCounter++ == 5000) { |
92 | if (debugCounter++ == 5000) { |
| 93 | // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
93 | // DebugOut.Digital[0] ^= DEBUG_MK3MAG; |
| 94 | debugCounter = 0; |
94 | debugCounter = 0; |
| 95 | } |
95 | } |
| 96 | 96 | ||
| 97 | if (PINC & (1 << PINC4)) { |
97 | if (PINC & (1 << PINC4)) { |
| 98 | // If PWM signal is high increment PWM high counter |
98 | // If PWM signal is high increment PWM high counter |
| 99 | // This counter is incremented by a periode of 102.4us, |
99 | // This counter is incremented by a periode of 102.4us, |
| 100 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
100 | // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| 101 | PWMCount++; |
101 | PWMCount++; |
| 102 | // pwm overflow? |
102 | // pwm overflow? |
| 103 | if (PWMCount > 400) { |
103 | if (PWMCount > 400) { |
| 104 | if (PWMTimeout) |
104 | if (PWMTimeout) |
| 105 | PWMTimeout--; // decrement timeout |
105 | PWMTimeout--; // decrement timeout |
| 106 | compassHeading = -1; // unknown heading |
106 | compassHeading = -1; // unknown heading |
| 107 | PWMCount = 0; // reset PWM Counter |
107 | PWMCount = 0; // reset PWM Counter |
| 108 | } |
108 | } |
| 109 | } else { // pwm is low |
109 | } else { // pwm is low |
| 110 | // ignore pwm values values of 0 and higher than 37 ms; |
110 | // ignore pwm values values of 0 and higher than 37 ms; |
| 111 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
111 | if ((PWMCount) && (PWMCount < 362)) { // 362 * 102.4us = 37.0688 ms |
| 112 | if (PWMCount < 10) |
112 | if (PWMCount < 10) |
| 113 | compassHeading = 0; |
113 | compassHeading = 0; |
| 114 | else { |
114 | else { |
| 115 | compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
115 | compassHeading = ((uint32_t) (PWMCount - 10) * 1049L) / 1024; // correct timebase and offset |
| 116 | //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
116 | //DebugOut.Digital[1] ^= DEBUG_MK3MAG; // correct signal recd. |
| 117 | } |
117 | } |
| 118 | /* |
118 | /* |
| 119 | compassHeading - compassCourse on a -180..179 range. |
119 | compassHeading - compassCourse on a -180..179 range. |
| 120 | compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
120 | compassHeading 20 compassCourse 30 --> ((540 - 10)%360) - 180 = -10 |
| 121 | compassHeading 30 compassCourse 20 --> ((540 + 10)%360) - 180 = 10 |
121 | compassHeading 30 compassCourse 20 --> ((540 + 10)%360) - 180 = 10 |
| 122 | compassHeading 350 compassCourse 10 --> ((540 + 340)%360) - 180 = -20 |
122 | compassHeading 350 compassCourse 10 --> ((540 + 340)%360) - 180 = -20 |
| 123 | compassHeading 10 compassCourse 350 --> ((540 - 340)%360) - 180 = 20 |
123 | compassHeading 10 compassCourse 350 --> ((540 - 340)%360) - 180 = 20 |
| 124 | */ |
124 | */ |
| 125 | //compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
125 | //compassOffCourse = ((540 + compassHeading - compassCourse) % 360) - 180; |
| 126 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
126 | PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| 127 | // 12 * 362 counts * 102.4 us |
127 | // 12 * 362 counts * 102.4 us |
| 128 | } |
128 | } |
| 129 | PWMCount = 0; // reset pwm counter |
129 | PWMCount = 0; // reset pwm counter |
| 130 | } |
130 | } |
| 131 | if (!PWMTimeout) { |
131 | if (!PWMTimeout) { |
| 132 | if (CheckDelay(BeepDelay)) { |
132 | if (CheckDelay(BeepDelay)) { |
| 133 | if (!BeepTime) |
133 | if (!BeepTime) |
| 134 | BeepTime = 100; // make noise with 10Hz to signal the compass problem |
134 | BeepTime = 100; // make noise with 10Hz to signal the compass problem |
| 135 | BeepDelay = SetDelay(100); |
135 | BeepDelay = SetDelay(100); |
| 136 | } |
136 | } |
| 137 | } |
137 | } |
| 138 | } |
138 | } |
| 139 | 139 | ||
| 140 | 140 | ||