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- | 1 | /*####################################################################################### |
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- | 2 | Flight Control |
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- | 3 | #######################################################################################*/ |
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- | 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 5 | // + Copyright (c) 04.2007 Holger Buss |
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- | 6 | // + Nur für den privaten Gebrauch |
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- | 7 | // + www.MikroKopter.com |
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- | 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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- | 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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- | 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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- | 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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- | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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- | 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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- | 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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- | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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- | 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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- | 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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- | 21 | // + eindeutig als Ursprung verlinkt werden |
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- | 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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- | 24 | // + Benutzung auf eigene Gefahr |
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- | 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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- | 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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- | 28 | // + mit unserer Zustimmung zulässig |
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- | 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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- | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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- | 33 | // + this list of conditions and the following disclaimer. |
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- | 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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- | 35 | // + from this software without specific prior written permission. |
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- | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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- | 37 | // + for non-commercial use (directly or indirectly) |
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- | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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- | 39 | // + with our written permission |
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- | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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- | 41 | // + clearly linked as origin // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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- | 42 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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- | 43 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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- | 44 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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- | 45 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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- | 46 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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- | 47 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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- | 48 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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- | 49 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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- | 50 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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- | 51 | // + POSSIBILITY OF SUCH DAMAGE. |
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- | 52 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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- | 53 | ||
1 | signed int OffsetN, OffsetR, OffsetZ; |
54 | signed int OffsetN, OffsetR, OffsetZ; |
2 | /* |
55 | /* |
3 | signed int CalTabelleHorizontalN[4] = {67,-450,77,-411}; // Vier Messwerte 90° Horizontal gedreht |
56 | signed int CalTabelleHorizontalN[4] = {67,-450,77,-411}; // Vier Messwerte 90° Horizontal gedreht |
4 | signed int CalTabelleHorizontalR[4] = {-310,175,183,-333}; |
57 | signed int CalTabelleHorizontalR[4] = {-310,175,183,-333}; |
5 | signed int CalTabelleHorizontalZ[4] = {-100,-390,-400,100}; // Messwinkel des Z-Sensors auch horizontal gemessen |
58 | signed int CalTabelleHorizontalZ[4] = {-100,-390,-400,100}; // Messwinkel des Z-Sensors auch horizontal gemessen |
6 | */ |
59 | */ |
7 | signed int CalTabelleHorizontalN[4] = { 75,-180,-440,-166}; // Vier Messwerte 90° Horizontal gedreht |
60 | signed int CalTabelleHorizontalN[4] = { 75,-180,-440,-166}; // Vier Messwerte 90° Horizontal gedreht |
8 | signed int CalTabelleHorizontalR[4] = { -5,-230, 66, 246}; |
61 | signed int CalTabelleHorizontalR[4] = { -5,-230, 66, 246}; |
9 | signed int CalTabelleHorizontalZ[4] = {-290,-280, 44, 33}; // Messwinkel des Z-Sensors auch horizontal gemessen |
62 | signed int CalTabelleHorizontalZ[4] = {-290,-280, 44, 33}; // Messwinkel des Z-Sensors auch horizontal gemessen |
10 | 63 | ||
11 | signed int RawMagnet1a,RawMagnet1b; // reine AD-Messung |
64 | signed int RawMagnet1a,RawMagnet1b; // reine AD-Messung |
12 | signed int RawMagnet2a,RawMagnet2b; |
65 | signed int RawMagnet2a,RawMagnet2b; |
13 | signed int RawMagnet3a,RawMagnet3b; |
66 | signed int RawMagnet3a,RawMagnet3b; |
14 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
67 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
15 | signed int MagnetN,MagnetR,MagnetZ; // Kalibrierte Messerte |
68 | signed int MagnetN,MagnetR,MagnetZ; // Kalibrierte Messerte |
16 | unsigned int PwmHeading = 0; |
69 | unsigned int PwmHeading = 0; |
17 | unsigned char PC_Connected = 0; |
70 | unsigned char PC_Connected = 0; |
18 | int Heading; |
71 | int Heading; |
19 | #include "main.h" |
72 | #include "main.h" |
20 | 73 | ||
21 | 74 | ||
22 | //############################################################################ |
75 | //############################################################################ |
23 | // |
76 | // |
24 | void Wait(unsigned char dauer) |
77 | void Wait(unsigned char dauer) |
25 | //############################################################################ |
78 | //############################################################################ |
26 | { |
79 | { |
27 | dauer = (unsigned char)TCNT0 + dauer; |
80 | dauer = (unsigned char)TCNT0 + dauer; |
28 | while((TCNT0 - dauer) & 0x80); |
81 | while((TCNT0 - dauer) & 0x80); |
29 | } |
82 | } |
30 | 83 | ||
31 | void CalcFields(void) |
84 | void CalcFields(void) |
32 | { |
85 | { |
33 | UncalMagnetN = (2 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 3; |
86 | UncalMagnetN = (2 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 3; |
34 | UncalMagnetR = (2 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 3; |
87 | UncalMagnetR = (2 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 3; |
35 | UncalMagnetZ = (2 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 3; |
88 | UncalMagnetZ = (2 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 3; |
36 | MagnetN = UncalMagnetN - OffsetN; |
89 | MagnetN = UncalMagnetN - OffsetN; |
37 | MagnetR = UncalMagnetR - OffsetR; |
90 | MagnetR = UncalMagnetR - OffsetR; |
38 | MagnetZ = UncalMagnetZ - OffsetZ; |
91 | MagnetZ = UncalMagnetZ - OffsetZ; |
39 | } |
92 | } |
40 | 93 | ||
41 | //------------------------------------------------------ |
94 | //------------------------------------------------------ |
42 | void CalcHeading(void) |
95 | void CalcHeading(void) |
43 | { |
96 | { |
44 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
97 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
45 | float nick, roll, XEx, XEy, YEy, YEz, YE, XE, XrawCal, YrawCal, ZrawCal, XEz; |
98 | float nick, roll, XEx, XEy, YEy, YEz, YE, XE, XrawCal, YrawCal, ZrawCal, XEz; |
46 | int heading, azimuthgrad; |
99 | int heading, azimuthgrad; |
47 | 100 | ||
48 | nick_rad = ((double)WinkelOut.Winkel[0]) * M_PI / (double)(180); |
101 | nick_rad = ((double)WinkelOut.Winkel[0]) * M_PI / (double)(180); |
49 | roll_rad = ((double)WinkelOut.Winkel[1]) * M_PI / (double)(180); |
102 | roll_rad = ((double)WinkelOut.Winkel[1]) * M_PI / (double)(180); |
50 | //roll_rad = 0; nick_rad = 0; |
103 | //roll_rad = 0; nick_rad = 0; |
51 | 104 | ||
52 | /* |
105 | /* |
53 | Cx = (double) (MicroMag.Axis[Y_AXIS] + CY_OFFSET) * 0.707f - (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f; |
106 | Cx = (double) (MicroMag.Axis[Y_AXIS] + CY_OFFSET) * 0.707f - (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f; |
54 | Cy = ((double) (MicroMag.Axis[Y_AXIS]+ CY_OFFSET) * 0.707f + (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f); |
107 | Cy = ((double) (MicroMag.Axis[Y_AXIS]+ CY_OFFSET) * 0.707f + (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f); |
55 | Cz = -MicroMag.Axis[Z_AXIS] + CZ_OFFSET; |
108 | Cz = -MicroMag.Axis[Z_AXIS] + CZ_OFFSET; |
56 | */ |
109 | */ |
57 | Cx = MagnetN; |
110 | Cx = MagnetN; |
58 | Cy = MagnetR; |
111 | Cy = MagnetR; |
59 | Cz = -MagnetZ; |
112 | Cz = -MagnetZ; |
60 | 113 | ||
61 | Hx = Cx * (double)cos(nick_rad) + |
114 | Hx = Cx * (double)cos(nick_rad) + |
62 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
115 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
63 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
116 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
64 | 117 | ||
65 | Hy = Cy * (double)cos(roll_rad) + |
118 | Hy = Cy * (double)cos(roll_rad) + |
66 | Cz * (double)sin(roll_rad); |
119 | Cz * (double)sin(roll_rad); |
67 | 120 | ||
68 | 121 | ||
69 | if(Hx == 0 && Hy < 0) heading = 90; |
122 | if(Hx == 0 && Hy < 0) heading = 90; |
70 | else if(Hx == 0 && Hy > 0) heading = 270; |
123 | else if(Hx == 0 && Hy > 0) heading = 270; |
71 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180 / M_PI); |
124 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180 / M_PI); |
72 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180 / M_PI); |
125 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180 / M_PI); |
73 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180 / M_PI); |
126 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180 / M_PI); |
74 | 127 | ||
75 | // DebugOut.Analog[14] = heading; |
128 | // DebugOut.Analog[14] = heading; |
76 | // if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
129 | // if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
77 | 130 | ||
78 | if(heading < 361) DebugOut.Analog[14] = heading; |
131 | if(heading < 361) DebugOut.Analog[14] = heading; |
79 | Heading = heading; |
132 | Heading = heading; |
80 | PwmHeading = heading + 10; |
133 | PwmHeading = heading + 10; |
81 | // MicroMag.Heading = heading; |
134 | // MicroMag.Heading = heading; |
82 | // DebugOut.Analog[14] = heading; |
135 | // DebugOut.Analog[14] = heading; |
83 | } |
136 | } |
84 | 137 | ||
85 | 138 | ||
86 | 139 | ||
87 | //############################################################################ |
140 | //############################################################################ |
88 | //Hauptprogramm |
141 | //Hauptprogramm |
89 | int main (void) |
142 | int main (void) |
90 | //############################################################################ |
143 | //############################################################################ |
91 | { |
144 | { |
92 | DDRC = 0x08; |
145 | DDRC = 0x08; |
93 | PORTC = 0x08; |
146 | PORTC = 0x08; |
94 | DDRD = 0xf4; |
147 | DDRD = 0xf4; |
95 | PORTD = 0xA0; |
148 | PORTD = 0xA0; |
96 | DDRB = 0x04; |
149 | DDRB = 0x04; |
97 | PORTB = 0x35; |
150 | PORTB = 0x35; |
98 | 151 | ||
99 | LED_ON; |
152 | LED_ON; |
100 | 153 | ||
101 | UART_Init(); |
154 | UART_Init(); |
102 | Timer0_Init(); |
155 | Timer0_Init(); |
103 | ADC_Init(); |
156 | ADC_Init(); |
104 | InitIC2_Slave(); |
157 | InitIC2_Slave(); |
105 | sei();//Globale Interrupts Einschalten |
158 | sei();//Globale Interrupts Einschalten |
106 | Debug_Timer = SetDelay(100); // Sendeintervall |
159 | Debug_Timer = SetDelay(100); // Sendeintervall |
107 | 160 | ||
108 | 161 | ||
109 | OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
162 | OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
110 | OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
163 | OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
111 | OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
164 | OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
112 | 165 | ||
113 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
166 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
114 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
167 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
115 | VersionInfo.PCKompatibel = 7; |
168 | VersionInfo.PCKompatibel = 7; |
116 | 169 | ||
117 | 170 | ||
118 | while (1) |
171 | while (1) |
119 | { |
172 | { |
120 | LED_ON; |
173 | LED_ON; |
121 | FLIP_LOW; |
174 | FLIP_LOW; |
122 | Delay_ms(2); |
175 | Delay_ms(2); |
123 | RawMagnet1a = MessAD(0); |
176 | RawMagnet1a = MessAD(0); |
124 | RawMagnet2a = MessAD(1); |
177 | RawMagnet2a = MessAD(1); |
125 | RawMagnet3a = MessAD(7); |
178 | RawMagnet3a = MessAD(7); |
126 | Delay_ms(1); |
179 | Delay_ms(1); |
127 | LED_OFF; |
180 | LED_OFF; |
128 | FLIP_HIGH; |
181 | FLIP_HIGH; |
129 | Delay_ms(2); |
182 | Delay_ms(2); |
130 | RawMagnet1b = MessAD(0); |
183 | RawMagnet1b = MessAD(0); |
131 | RawMagnet2b = MessAD(1); |
184 | RawMagnet2b = MessAD(1); |
132 | RawMagnet3b = MessAD(7); |
185 | RawMagnet3b = MessAD(7); |
133 | Delay_ms(1); |
186 | Delay_ms(1); |
134 | 187 | ||
135 | CalcFields(); |
188 | CalcFields(); |
136 | DebugOut.Analog[0] = MagnetN; |
189 | DebugOut.Analog[0] = MagnetN; |
137 | DebugOut.Analog[1] = MagnetR; |
190 | DebugOut.Analog[1] = MagnetR; |
138 | DebugOut.Analog[2] = MagnetZ; |
191 | DebugOut.Analog[2] = MagnetZ; |
139 | DebugOut.Analog[3] = UncalMagnetN; |
192 | DebugOut.Analog[3] = UncalMagnetN; |
140 | DebugOut.Analog[4] = UncalMagnetR; |
193 | DebugOut.Analog[4] = UncalMagnetR; |
141 | DebugOut.Analog[5] = UncalMagnetZ; |
194 | DebugOut.Analog[5] = UncalMagnetZ; |
142 | /* |
195 | /* |
143 | DebugOut.Analog[3] = RawMagnet1a; |
196 | DebugOut.Analog[3] = RawMagnet1a; |
144 | DebugOut.Analog[4] = RawMagnet1b; |
197 | DebugOut.Analog[4] = RawMagnet1b; |
145 | DebugOut.Analog[5] = RawMagnet3a; |
198 | DebugOut.Analog[5] = RawMagnet3a; |
146 | DebugOut.Analog[6] = RawMagnet3b;*/ |
199 | DebugOut.Analog[6] = RawMagnet3b;*/ |
147 | DebugOut.Analog[6] = WinkelOut.Winkel[0]; |
200 | DebugOut.Analog[6] = WinkelOut.Winkel[0]; |
148 | DebugOut.Analog[7] = WinkelOut.Winkel[1]; |
201 | DebugOut.Analog[7] = WinkelOut.Winkel[1]; |
- | 202 | ||
- | 203 | DebugOut.Analog[8] = WinkelOut.UserParameter[0]; |
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- | 204 | DebugOut.Analog[9] = WinkelOut.UserParameter[1]; |
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- | 205 | DebugOut.Analog[10] = WinkelOut.UserParameter[2]; |
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- | 206 | DebugOut.Analog[11] = WinkelOut.UserParameter[3]; |
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- | 207 | ||
149 | 208 | ||
150 | CalcHeading(); |
209 | CalcHeading(); |
151 | BearbeiteRxDaten(); |
210 | BearbeiteRxDaten(); |
152 | PC_Connected = 100; |
211 | PC_Connected = 100; |
153 | if(PC_Connected) |
212 | if(PC_Connected) |
154 | { |
213 | { |
155 | PC_Connected--; |
214 | PC_Connected--; |
156 | DatenUebertragung(); |
215 | DatenUebertragung(); |
157 | DDRD |= 0x02; // TXD-Leitung |
216 | DDRD |= 0x02; // TXD-Leitung |
158 | } |
217 | } |
159 | else |
218 | else |
160 | { |
219 | { |
161 | DDRD &= ~0x02; // TXD-Leitung |
220 | DDRD &= ~0x02; // TXD-Leitung |
162 | } |
221 | } |
163 | } // while(1) - Hauptschleife |
222 | } // while(1) - Hauptschleife |
164 | } |
223 | } |
165 | 224 | ||
166 | 225 |