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| Rev 219 | Rev 226 | ||
|---|---|---|---|
| Line 18... | Line 18... | ||
| 18 | //############################################################################ |
18 | //############################################################################ |
| 19 | //Initialisierung der SPI-Schnittstelle |
19 | //Initialisierung der SPI-Schnittstelle |
| 20 | void init_spi(void) |
20 | void init_spi(void) |
| 21 | //############################################################################ |
21 | //############################################################################ |
| 22 | { |
22 | { |
| 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); |
23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| 24 | //SPSR = (1<<SPI2X); |
24 | //SPSR = (1<<SPI2X); |
| - | 25 | ||
| 25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
26 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| 26 | 27 | ||
| 27 | MM3.AXIS = MM3_X; |
28 | MM3.AXIS = MM3_X; |
| 28 | MM3.STATE = MM3_RESET; |
29 | MM3.STATE = MM3_RESET; |
| 29 | - | ||
| 30 | PORTD &= ~(1<<PD3); // J5 einmalig auf Low -> SSNOT |
- | |
| 31 | } |
30 | } |
| Line 32... | Line 31... | ||
| 32 | 31 | ||
| 33 | 32 | ||
| Line 42... | Line 41... | ||
| 42 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
41 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| 43 | MM3.STATE = MM3_START_TRANSFER; |
42 | MM3.STATE = MM3_START_TRANSFER; |
| 44 | break; |
43 | break; |
| Line 45... | Line 44... | ||
| 45 | 44 | ||
| 46 | case MM3_START_TRANSFER: |
45 | case MM3_START_TRANSFER: |
| Line 47... | Line 46... | ||
| 47 | PORTB &= ~(1<<PB2); // J8 auf Low |
46 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| 48 | 47 | ||
| 49 | if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
48 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x42; |
49 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| Line 51... | Line 50... | ||
| 51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x43; |
50 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| 52 | else {MM3.STATE == MM3_IDLE;break;} |
51 | else {MM3.STATE == MM3_IDLE;break;} |
| 53 | 52 | ||
| Line 54... | Line 53... | ||
| 54 | MM3.DRDY = SetDelay(8); |
53 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| 55 | MM3.STATE = MM3_WAIT_DRDY; |
54 | MM3.STATE = MM3_WAIT_DRDY; |
| 56 | break; |
55 | break; |
| Line 57... | Line 56... | ||
| 57 | 56 | ||
| 58 | case MM3_WAIT_DRDY: |
57 | case MM3_WAIT_DRDY: |
| 59 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird |
58 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| 60 | break; |
- | |
| 61 | 59 | break; |
|
| - | 60 | ||
| Line 62... | Line 61... | ||
| 62 | case MM3_IDLE: |
61 | case MM3_IDLE: |
| 63 | break; |
62 | break; |
| 64 | } |
63 | } |
| 65 | 64 | } |
|
| 66 | } |
65 | |
| 67 | 66 | ||
| 68 | //############################################################################ |
67 | //############################################################################ |
| 69 | //SPI byte ready |
68 | //SPI byte ready |
| - | 69 | SIGNAL (SIG_SPI) |
|
| 70 | SIGNAL (SIG_SPI) |
70 | //############################################################################ |
| 71 | //############################################################################ |
71 | { |
| 72 | { |
72 | switch (MM3.STATE) |
| Line 73... | Line 73... | ||
| 73 | switch (MM3.STATE) |
73 | { |
| 74 | { |
74 | case MM3_DRDY: |
| - | 75 | // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen |
|
| - | 76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
|
| 75 | case MM3_DRDY: |
77 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
| 76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
| 77 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
79 | |
| Line 78... | Line 80... | ||
| 78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
80 | case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da. |
| 79 | 81 | MM3.x_axis |= SPDR; |
|
| - | 82 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
|
| - | 83 | //MM3.x_axis /= GAIN_X; |
|
| 80 | case MM3_X_BYTE2: |
84 | MM3.AXIS = MM3_Y; |
| 81 | MM3.x_axis |= SPDR; |
85 | MM3.STATE = MM3_RESET; |
| 82 | MM3.AXIS = MM3_Y; |
86 | break; |
| Line 83... | Line 87... | ||
| 83 | MM3.STATE = MM3_RESET; |
87 | |
| 84 | break; |
88 | case MM3_Y_BYTE2: |
| - | 89 | MM3.y_axis |= SPDR; |
|
| - | 90 | MM3.y_axis -= OFF_Y; |
|
| 85 | 91 | //MM3.y_axis /= GAIN_Y; |
|
| 86 | case MM3_Y_BYTE2: |
92 | MM3.AXIS = MM3_Z; |
| - | 93 | MM3.STATE = MM3_RESET; |
|
| - | 94 | break; |
|
| - | 95 | ||
| 87 | MM3.y_axis |= SPDR; |
96 | case MM3_Z_BYTE2: |
| 88 | MM3.AXIS = MM3_Z; |
97 | MM3.z_axis |= SPDR; |
| - | 98 | MM3.z_axis -= OFF_Z; |
|
| - | 99 | //MM3.z_axis /= GAIN_Z; |
|
| - | 100 | MM3.AXIS = MM3_X; |
|
| - | 101 | MM3.STATE = MM3_RESET; |
|
| - | 102 | // Zeitnahe Berechnung der Nick-/Rollneigung in ° |
|
| - | 103 | MM3.NickGrad = IntegralNick/Int2Grad_Faktor; |
|
| - | 104 | MM3.RollGrad = IntegralRoll/Int2Grad_Faktor; |
|
| - | 105 | break; |
|
| - | 106 | } |
|
| - | 107 | } |
|
| - | 108 | ||
| - | 109 | signed int MM3_heading(void) |
|
| - | 110 | { |
|
| - | 111 | float sin_nick, cos_nick, sin_roll, cos_roll; |
|
| - | 112 | signed int x_corr, y_corr; |
|
| - | 113 | signed int heading; |
|
| - | 114 | ||
| - | 115 | //Berechung von sinus und cosinus |
|
| - | 116 | sin_nick = (float)sin_i(MM3.NickGrad)/1000; |
|
| - | 117 | cos_nick = (float)cos_i(MM3.NickGrad)/1000; |
|
| Line -... | Line 118... | ||
| - | 118 | sin_roll = (float)sin_i(MM3.RollGrad)/1000; |
|
| 89 | MM3.STATE = MM3_RESET; |
119 | cos_roll = (float)cos_i(MM3.RollGrad)/1000; |