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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
3 | !!! THIS IS NOT FREE SOFTWARE !!! |
4 | #######################################################################################*/ |
4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Copyright (c) 05.2008 Holger Buss |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
8 | // + Nur für den privaten Gebrauch |
8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
11 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | // + mit unserer Zustimmung zulässig |
12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
24 | // + eindeutig als Ursprung verlinkt werden |
24 | // + eindeutig als Ursprung verlinkt werden |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
27 | // + Benutzung auf eigene Gefahr |
27 | // + Benutzung auf eigene Gefahr |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
33 | // + this list of conditions and the following disclaimer. |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
42 | // + In case of doubt please contact: info@MikroKopter.de |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
44 | // + clearly linked as origin |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <avr/interrupt.h> |
57 | #include <avr/interrupt.h> |
58 | #include <math.h> |
58 | #include <math.h> |
59 | #include <stdlib.h> |
59 | #include <stdlib.h> |
60 | 60 | ||
61 | #include "main.h" |
61 | #include "main.h" |
62 | #include "timer0.h" |
62 | #include "timer0.h" |
63 | #include "twislave.h" |
63 | #include "twislave.h" |
64 | #include "led.h" |
64 | #include "led.h" |
65 | #include "analog.h" |
65 | #include "analog.h" |
66 | #include "uart.h" |
66 | #include "uart.h" |
67 | 67 | ||
68 | 68 | ||
69 | int16_t RawMagnet1a, RawMagnet1b; // raw AD-Data |
69 | int16_t RawMagnet1a, RawMagnet1b; // raw AD-Data |
70 | int16_t RawMagnet2a, RawMagnet2b; |
70 | int16_t RawMagnet2a, RawMagnet2b; |
71 | int16_t RawMagnet3a, RawMagnet3b; |
71 | int16_t RawMagnet3a, RawMagnet3b; |
72 | 72 | ||
73 | typedef struct |
73 | typedef struct |
74 | { |
74 | { |
75 | int16_t Range; |
75 | int16_t Range; |
76 | int16_t Offset; |
76 | int16_t Offset; |
77 | } Scaling_t; |
77 | } Scaling_t; |
78 | 78 | ||
79 | typedef struct |
79 | typedef struct |
80 | { |
80 | { |
81 | Scaling_t X; |
81 | Scaling_t X; |
82 | Scaling_t Y; |
82 | Scaling_t Y; |
83 | Scaling_t Z; |
83 | Scaling_t Z; |
84 | } Calibration_t; |
84 | } Calibration_t; |
85 | 85 | ||
86 | Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
86 | Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
87 | Calibration_t Calibration; // calibration data in RAM |
87 | Calibration_t Calibration; // calibration data in RAM |
88 | 88 | ||
89 | 89 | ||
90 | int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ; // sensor signal difference without Scaling |
90 | int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ; // sensor signal difference without Scaling |
91 | int16_t MagnetX, MagnetY, MagnetZ; // rescaled magnetic field readings |
91 | int16_t MagnetX, MagnetY, MagnetZ; // rescaled magnetic field readings |
92 | 92 | ||
93 | uint8_t PC_Connected = 0; |
93 | uint8_t PC_Connected = 0; |
94 | 94 | ||
95 | int16_t Heading; |
95 | int16_t Heading; |
96 | 96 | ||
97 | 97 | ||
98 | void CalcFields(void) |
98 | void CalcFields(void) |
99 | { |
99 | { |
100 | UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2; |
100 | UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2; |
101 | UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2; |
101 | UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2; |
102 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
102 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
103 | 103 | ||
104 | MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range); |
104 | MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range); |
105 | MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range); |
105 | MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range); |
106 | MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range); |
106 | MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range); |
107 | } |
107 | } |
- | 108 | ||
108 | 109 | ||
109 | void CalcHeading(void) |
110 | void CalcHeading(void) |
110 | { |
111 | { |
111 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
112 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
112 | int16_t heading = -1; |
113 | int16_t heading = -1; |
113 | - | ||
114 | // calculate nick and roll angle i rad |
- | |
115 | nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800); |
- | |
116 | roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800); |
114 | |
117 | 115 | ||
118 | Cx = MagnetX; |
116 | Cx = MagnetX; |
119 | Cy = MagnetY; |
117 | Cy = MagnetY; |
120 | Cz = MagnetZ; |
118 | Cz = MagnetZ; |
121 | 119 | ||
122 | if(ExternData.Orientation == 1) |
120 | if(ExternData.Orientation == 1) |
123 | { |
121 | { |
124 | Cx = MagnetX; |
122 | Cx = MagnetX; |
125 | Cy = -MagnetY; |
123 | Cy = -MagnetY; |
126 | Cz = MagnetZ; |
124 | Cz = MagnetZ; |
127 | } |
125 | } |
128 | 126 | ||
129 | Hx = Cx * (double)cos(nick_rad) + |
127 | // calculate nick and roll angle in rad |
130 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
128 | nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0); |
131 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
- | |
- | 129 | roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0); |
|
132 | 130 | // calculate attitude correction |
|
133 | Hy = Cy * (double)cos(roll_rad) + |
131 | Hx = Cx * (double)cos(nick_rad) - Cz * (double)sin(nick_rad); |
134 | Cz * (double)sin(roll_rad); |
- | |
135 | 132 | Hy = Cy * (double)cos(roll_rad) + Cz * (double)sin(roll_rad); |
|
136 | 133 | ||
137 | if(Hx == 0 && Hy < 0) heading = 90; |
134 | // calculate Heading |
138 | else if(Hx == 0 && Hy > 0) heading = 270; |
135 | heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
- | 136 | // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
|
139 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
137 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
140 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
138 | if (heading < 0) heading = -heading; |
141 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
139 | else heading = 360 - heading; |
142 | - | ||
- | 140 | ||
143 | if(abs(heading) < 361) Heading = heading; |
141 | if(abs(heading) < 361) Heading = heading; |
144 | 142 | else (Heading = -1); |
|
145 | } |
143 | } |
146 | 144 | ||
147 | 145 | ||
148 | void Calibrate(void) |
146 | void Calibrate(void) |
149 | { |
147 | { |
150 | uint8_t cal; |
148 | uint8_t cal; |
151 | static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
149 | static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
152 | 150 | ||
153 | // check both sources of communication for calibration request |
151 | // check both sources of communication for calibration request |
154 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
152 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
155 | else cal = ExternData.CalState; |
153 | else cal = ExternData.CalState; |
156 | 154 | ||
157 | // calibration state machine |
155 | // calibration state machine |
158 | switch(cal) |
156 | switch(cal) |
159 | { |
157 | { |
160 | case 0: // no calibration |
158 | case 0: // no calibration |
161 | LED_GRN_ON; |
159 | LED_GRN_ON; |
162 | break; |
160 | break; |
163 | 161 | ||
164 | case 1: // 1st step of calibration |
162 | case 1: // 1st step of calibration |
165 | // initialize ranges |
163 | // initialize ranges |
166 | // used to change the orientation of the MK3MAG in the horizontal plane |
164 | // used to change the orientation of the MK3MAG in the horizontal plane |
167 | LED_GRN_OFF; |
165 | LED_GRN_OFF; |
168 | Xmin = 10000; |
166 | Xmin = 10000; |
169 | Xmax = -10000; |
167 | Xmax = -10000; |
170 | Ymin = 10000; |
168 | Ymin = 10000; |
171 | Ymax = -10000; |
169 | Ymax = -10000; |
172 | Zmin = 10000; |
170 | Zmin = 10000; |
173 | Zmax = -10000; |
171 | Zmax = -10000; |
174 | break; |
172 | break; |
175 | 173 | ||
176 | case 2: // 2nd step of calibration |
174 | case 2: // 2nd step of calibration |
177 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
175 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
178 | LED_GRN_ON; |
176 | LED_GRN_ON; |
179 | if(UncalMagnetX < Xmin) Xmin = UncalMagnetX; |
177 | if(UncalMagnetX < Xmin) Xmin = UncalMagnetX; |
180 | if(UncalMagnetX > Xmax) Xmax = UncalMagnetX; |
178 | if(UncalMagnetX > Xmax) Xmax = UncalMagnetX; |
181 | if(UncalMagnetY < Ymin) Ymin = UncalMagnetY; |
179 | if(UncalMagnetY < Ymin) Ymin = UncalMagnetY; |
182 | if(UncalMagnetY > Ymax) Ymax = UncalMagnetY; |
180 | if(UncalMagnetY > Ymax) Ymax = UncalMagnetY; |
183 | break; |
181 | break; |
184 | 182 | ||
185 | case 3: // 3rd step of calibration |
183 | case 3: // 3rd step of calibration |
186 | // used to change the orietation of the MK3MAG vertical to the horizontal plane |
184 | // used to change the orietation of the MK3MAG vertical to the horizontal plane |
187 | LED_GRN_OFF; |
185 | LED_GRN_OFF; |
188 | break; |
186 | break; |
189 | 187 | ||
190 | case 4: |
188 | case 4: |
191 | // find Min and Max of the Z-Sensor |
189 | // find Min and Max of the Z-Sensor |
192 | LED_GRN_ON; |
190 | LED_GRN_ON; |
193 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
191 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
194 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
192 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
195 | break; |
193 | break; |
196 | 194 | ||
197 | case 5: |
195 | case 5: |
198 | LED_GRN_OFF; // Save values |
196 | LED_GRN_OFF; // Save values |
199 | Calibration.X.Range = Xmax - Xmin; |
197 | Calibration.X.Range = Xmax - Xmin; |
200 | Calibration.X.Offset = (Xmin + Xmax) / 2; |
198 | Calibration.X.Offset = (Xmin + Xmax) / 2; |
201 | Calibration.Y.Range = Ymax - Ymin; |
199 | Calibration.Y.Range = Ymax - Ymin; |
202 | Calibration.Y.Offset = (Ymin + Ymax) / 2; |
200 | Calibration.Y.Offset = (Ymin + Ymax) / 2; |
203 | Calibration.Z.Range = Zmax - Zmin; |
201 | Calibration.Z.Range = Zmax - Zmin; |
204 | Calibration.Z.Offset = (Zmin + Zmax) / 2; |
202 | Calibration.Z.Offset = (Zmin + Zmax) / 2; |
205 | if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150)) |
203 | if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150)) |
206 | { |
204 | { |
207 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
205 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
208 | Delay_ms(2000); |
206 | Delay_ms(2000); |
209 | } |
207 | } |
210 | LED_GRN_ON; |
208 | LED_GRN_ON; |
211 | break; |
209 | break; |
212 | 210 | ||
213 | default: |
211 | default: |
214 | LED_GRN_ON; |
212 | LED_GRN_ON; |
215 | break; |
213 | break; |
216 | } |
214 | } |
217 | } |
215 | } |
218 | 216 | ||
219 | 217 | ||
220 | void SetDebugValues(void) |
218 | void SetDebugValues(void) |
221 | { |
219 | { |
222 | DebugOut.Analog[0] = MagnetX; |
220 | DebugOut.Analog[0] = MagnetX; |
223 | DebugOut.Analog[1] = MagnetY; |
221 | DebugOut.Analog[1] = MagnetY; |
224 | DebugOut.Analog[2] = MagnetZ; |
222 | DebugOut.Analog[2] = MagnetZ; |
225 | DebugOut.Analog[3] = UncalMagnetX; |
223 | DebugOut.Analog[3] = UncalMagnetX; |
226 | DebugOut.Analog[4] = UncalMagnetY; |
224 | DebugOut.Analog[4] = UncalMagnetY; |
227 | DebugOut.Analog[5] = UncalMagnetZ; |
225 | DebugOut.Analog[5] = UncalMagnetZ; |
228 | DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
226 | DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
229 | DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
227 | DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
230 | DebugOut.Analog[8] = Calibration.X.Offset; |
228 | DebugOut.Analog[8] = Calibration.X.Offset; |
231 | DebugOut.Analog[9] = Calibration.X.Range; |
229 | DebugOut.Analog[9] = Calibration.X.Range; |
232 | DebugOut.Analog[10] = Calibration.Y.Offset; |
230 | DebugOut.Analog[10] = Calibration.Y.Offset; |
233 | DebugOut.Analog[11] = Calibration.Y.Range; |
231 | DebugOut.Analog[11] = Calibration.Y.Range; |
234 | DebugOut.Analog[12] = Calibration.Z.Offset; |
232 | DebugOut.Analog[12] = Calibration.Z.Offset; |
235 | DebugOut.Analog[13] = Calibration.Z.Range; |
233 | DebugOut.Analog[13] = Calibration.Z.Range; |
236 | DebugOut.Analog[14] = ExternData.CalState; |
234 | DebugOut.Analog[14] = ExternData.CalState; |
237 | DebugOut.Analog[15] = Heading; |
235 | DebugOut.Analog[15] = Heading; |
238 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
236 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
239 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
237 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
240 | } |
238 | } |
241 | 239 | ||
242 | 240 | ||
243 | int main (void) |
241 | int main (void) |
244 | { |
242 | { |
245 | Led_Init(); |
243 | Led_Init(); |
246 | LED_GRN_ON; |
244 | LED_GRN_ON; |
247 | TIMER0_Init(); |
245 | TIMER0_Init(); |
248 | USART0_Init(); |
246 | USART0_Init(); |
249 | ADC_Init(); |
247 | ADC_Init(); |
250 | I2C_Init(); |
248 | I2C_Init(); |
251 | 249 | ||
252 | sei(); //Globale Interrupts Einschalten |
250 | sei(); //Globale Interrupts Einschalten |
253 | 251 | ||
254 | Debug_Timer = SetDelay(100); // Sendeintervall |
252 | Debug_Timer = SetDelay(100); // Sendeintervall |
255 | 253 | ||
256 | // read calibration info from eeprom |
254 | // read calibration info from eeprom |
257 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
255 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
258 | 256 | ||
259 | ExternData.Orientation = 0; |
257 | ExternData.Orientation = 0; |
260 | ExternData.CalState = 0; |
258 | ExternData.CalState = 0; |
261 | I2C_WriteCal.CalByte = 0; |
259 | I2C_WriteCal.CalByte = 0; |
262 | 260 | ||
263 | // main loop |
261 | // main loop |
264 | while (1) |
262 | while (1) |
265 | { |
263 | { |
266 | FLIP_LOW; |
264 | FLIP_LOW; |
267 | Delay_ms(2); |
265 | Delay_ms(2); |
268 | RawMagnet1a = ADC_GetValue(ADC0); |
266 | RawMagnet1a = ADC_GetValue(ADC0); |
269 | RawMagnet2a = -ADC_GetValue(ADC1); |
267 | RawMagnet2a = -ADC_GetValue(ADC1); |
270 | RawMagnet3a = ADC_GetValue(ADC7); |
268 | RawMagnet3a = ADC_GetValue(ADC7); |
271 | Delay_ms(1); |
269 | Delay_ms(1); |
272 | 270 | ||
273 | FLIP_HIGH; |
271 | FLIP_HIGH; |
274 | Delay_ms(2); |
272 | Delay_ms(2); |
275 | RawMagnet1b = ADC_GetValue(ADC0); |
273 | RawMagnet1b = ADC_GetValue(ADC0); |
276 | RawMagnet2b = -ADC_GetValue(ADC1); |
274 | RawMagnet2b = -ADC_GetValue(ADC1); |
277 | RawMagnet3b = ADC_GetValue(ADC7); |
275 | RawMagnet3b = ADC_GetValue(ADC7); |
278 | Delay_ms(1); |
276 | Delay_ms(1); |
279 | 277 | ||
280 | CalcFields(); |
278 | CalcFields(); |
281 | 279 | ||
282 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
280 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
283 | else CalcHeading(); |
281 | else CalcHeading(); |
284 | 282 | ||
285 | // check data from USART |
283 | // check data from USART |
286 | USART0_ProcessRxData(); |
284 | USART0_ProcessRxData(); |
287 | 285 | ||
288 | if(PC_Connected) |
286 | if(PC_Connected) |
289 | { |
287 | { |
290 | USART0_EnableTXD(); |
288 | USART0_EnableTXD(); |
291 | USART0_TransmitTxData(); |
289 | USART0_TransmitTxData(); |
292 | PC_Connected--; |
290 | PC_Connected--; |
293 | } |
291 | } |
294 | else |
292 | else |
295 | { |
293 | { |
296 | USART0_DisableTXD(); |
294 | USART0_DisableTXD(); |
297 | } |
295 | } |
298 | } // while(1) |
296 | } // while(1) |
299 | } |
297 | } |
300 | 298 | ||
301 | 299 |