WebSVN - MK3Mag - Diff - Rev 22 and 23 - /branches/MK3Mag V0.14 Code Redesign Killagreg/main.c


/*#######################################################################################
MK3Mag 3D-Magnet sensor
!!! THIS IS NOT FREE SOFTWARE !!!
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 05.2008 Holger Buss
// + Thanks to Ilja Fähnrich (P_Latzhalter)
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
// +     In case of doubt please contact: info@MikroKopter.de
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/interrupt.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
 
#include "main.h"
#include "timer0.h"
#include "twislave.h"
#include "led.h"
#include "analog.h"
#include "uart.h"
 
 
int16_t RawMagnet1a, RawMagnet1b;  // raw AD-Data
int16_t RawMagnet2a, RawMagnet2b;
int16_t RawMagnet3a, RawMagnet3b;
 
uint16_t Led_Timer = 0;
 
struct Scaling_t
{
        int16_t Range;
        int16_t Offset;
} ;
 
struct Calibration_t
{
        struct Scaling_t X;
        struct Scaling_t Y;
        struct Scaling_t Z;
} ;
 
struct Calibration_t eeCalibration EEMEM; // calibration data in EEProm
struct Calibration_t Calibration;         // calibration data in RAM
 
 
int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ;       // sensor signal difference without Scaling
int16_t MagnetX, MagnetY, MagnetZ;                      // rescaled magnetic field readings
 
uint8_t PC_Connected = 0;
 
int16_t Heading = -1;
 
 
void CalcFields(void)
{
        UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2;
        UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2;
        UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;
 
        if(Calibration.X.Range != 0) MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range);
        else MagnetX = 0;
        if(Calibration.Y.Range != 0) MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range);
        else MagnetY = 0;
        if(Calibration.Y.Range != 0) MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range);
        else MagnetZ = 0;
}
 
 
void CalcHeading(void)
{
        double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
        int16_t heading = -1;
 
        // blink code for normal operation
        if(CheckDelay(Led_Timer))
        {
                LED_GRN_TOGGLE;
                Led_Timer = SetDelay(500);
        }
 
 
        Cx = MagnetX;
        Cy = MagnetY;
        Cz = MagnetZ;
 
        if(ExternData.Orientation == 1)
        {
                Cx = MagnetX;
                Cy = -MagnetY;
                Cz = MagnetZ;
        }
 
        // calculate nick and roll angle in rad
        nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0);
        roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0);
        // calculate attitude correction
        Hx = Cx * (double)cos(nick_rad) - Cz * (double)sin(nick_rad);
        Hy = Cy * (double)cos(roll_rad) + Cz * (double)sin(roll_rad);
 
        // calculate Heading
        heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
        // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
        // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
        if (heading < 0) heading = -heading;
        else heading = 360 - heading;
 
        if(abs(heading) < 361) Heading = heading;
        else (Heading = -1);
}
 
 
void Calibrate(void)
{
        uint8_t cal;
        static uint8_t calold = 0;
        static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
        static uint8_t blinkcount = 0;
 
        // check both sources of communication for calibration request
        if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
        else                     cal = ExternData.CalState;
 
 
        if(cal > 5) cal = 0;
        // blink code for current calibration state
        if(cal)
        {
                if(CheckDelay(Led_Timer) || (cal != calold))
                {
                        if(blinkcount & 0x01) LED_GRN_OFF;
                        else LED_GRN_ON;
 
                        // end of blinkcount sequence
                        if( (blinkcount + 1 ) >= (2 * cal) )
                        {
                                blinkcount = 0;
                                Led_Timer = SetDelay(1000);
                        }
                        else
                        {
                                blinkcount++;
                                Led_Timer = SetDelay(170);
                        }
                }
        }
        else
        {
                LED_GRN_OFF;
        }
 
 
        // calibration state machine
        switch(cal)
        {
                case 0: // no calibration
                        break;
 
                case 1: // 1st step of calibration
                        // initialize ranges
                        // used to change the orientation of the MK3MAG in the horizontal plane
                        Xmin =  10000;
                        Xmax = -10000;
                        Ymin =  10000;
                        Ymax = -10000;
                        Zmin =  10000;
                        Zmax = -10000;
                        break;
 
                case 2: // 2nd step of calibration
                        // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
                        if(UncalMagnetX < Xmin) Xmin = UncalMagnetX;
                        if(UncalMagnetX > Xmax) Xmax = UncalMagnetX;
                        if(UncalMagnetY < Ymin) Ymin = UncalMagnetY;
                        if(UncalMagnetY > Ymax) Ymax = UncalMagnetY;
                        break;
 
                case 3: // 3rd step of calibration
                        // used to change the orietation of the MK3MAG vertical to the horizontal plane
                        break;
 
                case 4:
                        // find Min and Max of the Z-Sensor
                        if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
                        if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
                        break;
 
                case 5:
                        // Save values
                        if(cal != calold) // avoid continously wrinting of eeprom!
                        {
                                Calibration.X.Range = Xmax - Xmin;
                                Calibration.X.Offset = (Xmin + Xmax) / 2;
                                Calibration.Y.Range = Ymax - Ymin;
                                Calibration.Y.Offset = (Ymin + Ymax) / 2;
                                Calibration.Z.Range = Zmax - Zmin;
                                Calibration.Z.Offset = (Zmin + Zmax) / 2;
                                if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150))
                                {
                                        // indicate write process by setting the led
                                        LED_GRN_ON;
                                        eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
                                        Delay_ms(2000);
                                        // reset led state
                                        LED_GRN_OFF;
                                        // reset  blinkcode
                                        blinkcount = 0;
                                        Led_Timer = SetDelay(1000);
                                }
                        }
                        break;
 
                default:
                        break;
        }
        calold = cal;
}
 
 
void SetDebugValues(void)
{
        DebugOut.Analog[0] =  MagnetX;
        DebugOut.Analog[1] =  MagnetY;
        DebugOut.Analog[2] =  MagnetZ;
        DebugOut.Analog[3] =  UncalMagnetX;
        DebugOut.Analog[4] =  UncalMagnetY;
        DebugOut.Analog[5] =  UncalMagnetZ;
        DebugOut.Analog[6] =  ExternData.Attitude[NICK];
        DebugOut.Analog[7] =  ExternData.Attitude[ROLL];
        DebugOut.Analog[8] =  Calibration.X.Offset;
        DebugOut.Analog[9] =  Calibration.X.Range;
        DebugOut.Analog[10] = Calibration.Y.Offset;
        DebugOut.Analog[11] = Calibration.Y.Range;
        DebugOut.Analog[12] = Calibration.Z.Offset;
        DebugOut.Analog[13] = Calibration.Z.Range;
        DebugOut.Analog[14] = ExternData.CalState;
        DebugOut.Analog[15] = Heading;
        DebugOut.Analog[16] = ExternData.UserParam[0];
        DebugOut.Analog[17] = ExternData.UserParam[1];
 
 
}
 
 
int main (void)
{
        // reset input pullup
        DDRC &=~((1<<DDC6));
        PORTC |= (1<<PORTC6);
 
    LED_Init();
    TIMER0_Init();
    USART0_Init();
    ADC_Init();
        I2C_Init();
 
    sei(); // enable globale interrupts
 
    LED_GRN_ON;
 
    Debug_Timer = SetDelay(200);
    Led_Timer = SetDelay(200);
 
        // read calibration info from eeprom
        eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
 
    ExternData.Orientation = 0;
    ExternData.CalState = 0;
    I2C_WriteCal.CalByte = 0;
 
 
 
        // main loop
    while (1)
    {
 
 
                FLIP_LOW;
                Delay_ms(2);
                RawMagnet1a = ADC_GetValue(ADC0);
                RawMagnet2a = -ADC_GetValue(ADC1);
                RawMagnet3a = ADC_GetValue(ADC7);
                Delay_ms(1);
 
 
                FLIP_HIGH;
                Delay_ms(2);
                RawMagnet1b = ADC_GetValue(ADC0);
                RawMagnet2b = -ADC_GetValue(ADC1);
                RawMagnet3b = ADC_GetValue(ADC7);
                Delay_ms(1);
 
                CalcFields();
 
                if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
                else CalcHeading();
 
                // check data from USART
        USART0_ProcessRxData();
                USART0_TransmitTxData();
 
        if(PC_Connected)
        {
            USART0_EnableTXD();
            USART0_TransmitTxData();
            PC_Connected--;
                }
                else
                {
                        USART0_DisableTXD();
                }
        } // while(1)
}
 
 

Rev 22	Rev 23
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	#include <stdio.h>	60	#include <stdio.h>
61		61
62	#include "main.h"	62	#include "main.h"
63	#include "timer0.h"	63	#include "timer0.h"
64	#include "twislave.h"	64	#include "twislave.h"
65	#include "led.h"	65	#include "led.h"
66	#include "analog.h"	66	#include "analog.h"
67	#include "uart.h"	67	#include "uart.h"
68		68
69		69
70	int16_t RawMagnet1a, RawMagnet1b; // raw AD-Data	70	int16_t RawMagnet1a, RawMagnet1b; // raw AD-Data
71	int16_t RawMagnet2a, RawMagnet2b;	71	int16_t RawMagnet2a, RawMagnet2b;
72	int16_t RawMagnet3a, RawMagnet3b;	72	int16_t RawMagnet3a, RawMagnet3b;
73		73
74	uint16_t Led_Timer = 0;	74	uint16_t Led_Timer = 0;
75		75
76	typedef struct	76	struct Scaling_t
77	{	77	{
78	int16_t Range;	78	int16_t Range;
79	int16_t Offset;	79	int16_t Offset;
80	} Scaling_t;	80	} ;
81		81
82	typedef struct	82	struct Calibration_t
83	{	83	{
84	Scaling_t X;	84	struct Scaling_t X;
85	Scaling_t Y;	85	struct Scaling_t Y;
86	Scaling_t Z;	86	struct Scaling_t Z;
87	} Calibration_t;	87	} ;
88		88
89	Calibration_t eeCalibration EEMEM; // calibration data in EEProm	89	struct Calibration_t eeCalibration EEMEM; // calibration data in EEProm
90	Calibration_t Calibration; // calibration data in RAM	90	struct Calibration_t Calibration; // calibration data in RAM
91		91
92		92
93	int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ; // sensor signal difference without Scaling	93	int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ; // sensor signal difference without Scaling
94	int16_t MagnetX, MagnetY, MagnetZ; // rescaled magnetic field readings	94	int16_t MagnetX, MagnetY, MagnetZ; // rescaled magnetic field readings
95		95
96	uint8_t PC_Connected = 0;	96	uint8_t PC_Connected = 0;
97		97
98	int16_t Heading = -1;	98	int16_t Heading = -1;
99		99
100		100
101	void CalcFields(void)	101	void CalcFields(void)
102	{	102	{
103	UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2;	103	UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2;
104	UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2;	104	UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2;
105	UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;	105	UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;
106		106
107	if(Calibration.X.Range != 0) MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range);	107	if(Calibration.X.Range != 0) MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range);
108	else MagnetX = 0;	108	else MagnetX = 0;
109	if(Calibration.Y.Range != 0) MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range);	109	if(Calibration.Y.Range != 0) MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range);
110	else MagnetY = 0;	110	else MagnetY = 0;
111	if(Calibration.Y.Range != 0) MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range);	111	if(Calibration.Y.Range != 0) MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range);
112	else MagnetZ = 0;	112	else MagnetZ = 0;
113	}	113	}
114		114
115		115
116	void CalcHeading(void)	116	void CalcHeading(void)
117	{	117	{
118	double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;	118	double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
119	int16_t heading = -1;	119	int16_t heading = -1;
120		120
121	// blink code for normal operation	121	// blink code for normal operation
122	if(CheckDelay(Led_Timer))	122	if(CheckDelay(Led_Timer))
123	{	123	{
124	LED_GRN_TOGGLE;	124	LED_GRN_TOGGLE;
125	Led_Timer = SetDelay(500);	125	Led_Timer = SetDelay(500);
126	}	126	}
127		-
128		127
129	Cx = MagnetX;	128	Cx = MagnetX;
130	Cy = MagnetY;	129	Cy = MagnetY;
131	Cz = MagnetZ;	130	Cz = MagnetZ;
132		131
133	if(ExternData.Orientation == 1)	132	if(ExternData.Orientation == 1)
134	{	133	{
135	Cx = MagnetX;	134	Cx = MagnetX;
136	Cy = -MagnetY;	135	Cy = -MagnetY;
137	Cz = MagnetZ;	136	Cz = MagnetZ;
138	}	137	}
139		138
140	// calculate nick and roll angle in rad	139	// calculate nick and roll angle in rad
141	nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0);	140	nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0);
142	roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0);	141	roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0);
143	// calculate attitude correction	142	// calculate attitude correction
144	Hx = Cx * (double)cos(nick_rad) - Cz * (double)sin(nick_rad);	143	Hx = Cx * (double)cos(nick_rad) - Cz * (double)sin(nick_rad);
145	Hy = Cy * (double)cos(roll_rad) + Cz * (double)sin(roll_rad);	144	Hy = Cy * (double)cos(roll_rad) + Cz * (double)sin(roll_rad);
146		145
147	// calculate Heading	146	// calculate Heading
148	heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);	147	heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
149	// atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation	148	// atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
150	// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.	149	// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
151	if (heading < 0) heading = -heading;	150	if (heading < 0) heading = -heading;
152	else heading = 360 - heading;	151	else heading = 360 - heading;
153		152
154	if(abs(heading) < 361) Heading = heading;	153	if(abs(heading) < 361) Heading = heading;
155	else (Heading = -1);	154	else (Heading = -1);
156	}	155	}
157		156
158		157
159	void Calibrate(void)	158	void Calibrate(void)
160	{	159	{
161	uint8_t cal;	160	uint8_t cal;
162	static uint8_t calold = 0;	161	static uint8_t calold = 0;
163	static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;	162	static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
164	static uint8_t blinkcount = 0;	163	static uint8_t blinkcount = 0;
165		164
166	// check both sources of communication for calibration request	165	// check both sources of communication for calibration request
167	if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;	166	if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
168	else cal = ExternData.CalState;	167	else cal = ExternData.CalState;
-		168
169		169
170	DebugOut.Analog[30] = cal;	170	if(cal > 5) cal = 0;
171	// blink code for current calibration state	171	// blink code for current calibration state
172	if(cal)	172	if(cal)
173	{	173	{
174	if(CheckDelay(Led_Timer) \|\| (cal != calold))	174	if(CheckDelay(Led_Timer) \|\| (cal != calold))
175	{	175	{
176	if(blinkcount & 0x01) LED_GRN_OFF;	176	if(blinkcount & 0x01) LED_GRN_OFF;
177	else LED_GRN_ON;	177	else LED_GRN_ON;
178		178
179	// end of blinkcount sequence	179	// end of blinkcount sequence
180	if( (blinkcount + 1 ) >= (2 * cal) )	180	if( (blinkcount + 1 ) >= (2 * cal) )
181	{	181	{
182	blinkcount = 0;	182	blinkcount = 0;
183	Led_Timer = SetDelay(1000);	183	Led_Timer = SetDelay(1000);
184	}	184	}
185	else	185	else
186	{	186	{
187	blinkcount++;	187	blinkcount++;
188	Led_Timer = SetDelay(170);	188	Led_Timer = SetDelay(170);
189	}	189	}
190	}	190	}
191	}	191	}
192	else	192	else
193	{	193	{
194	LED_GRN_OFF;	194	LED_GRN_OFF;
195	}	195	}
196		-
197		196
198	// calibration state machine	197	// calibration state machine
199	switch(cal)	198	switch(cal)
200	{	199	{
201	case 0: // no calibration	200	case 0: // no calibration
202	break;	201	break;
203		202
204	case 1: // 1st step of calibration	203	case 1: // 1st step of calibration
205	// initialize ranges	204	// initialize ranges
206	// used to change the orientation of the MK3MAG in the horizontal plane	205	// used to change the orientation of the MK3MAG in the horizontal plane
207	Xmin = 10000;	206	Xmin = 10000;
208	Xmax = -10000;	207	Xmax = -10000;
209	Ymin = 10000;	208	Ymin = 10000;
210	Ymax = -10000;	209	Ymax = -10000;
211	Zmin = 10000;	210	Zmin = 10000;
212	Zmax = -10000;	211	Zmax = -10000;
213	break;	212	break;
214		213
215	case 2: // 2nd step of calibration	214	case 2: // 2nd step of calibration
216	// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane	215	// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
217	if(UncalMagnetX < Xmin) Xmin = UncalMagnetX;	216	if(UncalMagnetX < Xmin) Xmin = UncalMagnetX;
218	if(UncalMagnetX > Xmax) Xmax = UncalMagnetX;	217	if(UncalMagnetX > Xmax) Xmax = UncalMagnetX;
219	if(UncalMagnetY < Ymin) Ymin = UncalMagnetY;	218	if(UncalMagnetY < Ymin) Ymin = UncalMagnetY;
220	if(UncalMagnetY > Ymax) Ymax = UncalMagnetY;	219	if(UncalMagnetY > Ymax) Ymax = UncalMagnetY;
221	break;	220	break;
222		221
223	case 3: // 3rd step of calibration	222	case 3: // 3rd step of calibration
224	// used to change the orietation of the MK3MAG vertical to the horizontal plane	223	// used to change the orietation of the MK3MAG vertical to the horizontal plane
225	break;	224	break;
226		225
227	case 4:	226	case 4:
228	// find Min and Max of the Z-Sensor	227	// find Min and Max of the Z-Sensor
229	if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;	228	if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
230	if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;	229	if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
231	break;	230	break;
232		231
233	case 5:	232	case 5:
234	// Save values	233	// Save values
235	if(cal != calold) // avoid continously wrinting of eeprom!	234	if(cal != calold) // avoid continously wrinting of eeprom!
236	{	235	{
237	Calibration.X.Range = Xmax - Xmin;	236	Calibration.X.Range = Xmax - Xmin;
238	Calibration.X.Offset = (Xmin + Xmax) / 2;	237	Calibration.X.Offset = (Xmin + Xmax) / 2;
239	Calibration.Y.Range = Ymax - Ymin;	238	Calibration.Y.Range = Ymax - Ymin;
240	Calibration.Y.Offset = (Ymin + Ymax) / 2;	239	Calibration.Y.Offset = (Ymin + Ymax) / 2;
241	Calibration.Z.Range = Zmax - Zmin;	240	Calibration.Z.Range = Zmax - Zmin;
242	Calibration.Z.Offset = (Zmin + Zmax) / 2;	241	Calibration.Z.Offset = (Zmin + Zmax) / 2;
243	if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150))	242	if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150))
244	{	243	{
245	// indicate write process by setting the led	244	// indicate write process by setting the led
246	LED_GRN_ON;	245	LED_GRN_ON;
247	eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t));	246	eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
248	Delay_ms(2000);	247	Delay_ms(2000);
249	// reset led state	248	// reset led state
250	LED_GRN_OFF;	249	LED_GRN_OFF;
251	// reset blinkcode	250	// reset blinkcode
252	blinkcount = 0;	251	blinkcount = 0;
253	Led_Timer = SetDelay(1000);	252	Led_Timer = SetDelay(1000);
254	}	253	}
255	}	254	}
256	break;	255	break;
257		256
258	default:	257	default:
259	break;	258	break;
260	}	259	}
261	calold = cal;	260	calold = cal;
262	}	261	}
263		262
264		263
265	void SetDebugValues(void)	264	void SetDebugValues(void)
266	{	265	{
267	DebugOut.Analog[0] = MagnetX;	266	DebugOut.Analog[0] = MagnetX;
268	DebugOut.Analog[1] = MagnetY;	267	DebugOut.Analog[1] = MagnetY;
269	DebugOut.Analog[2] = MagnetZ;	268	DebugOut.Analog[2] = MagnetZ;
270	DebugOut.Analog[3] = UncalMagnetX;	269	DebugOut.Analog[3] = UncalMagnetX;
271	DebugOut.Analog[4] = UncalMagnetY;	270	DebugOut.Analog[4] = UncalMagnetY;
272	DebugOut.Analog[5] = UncalMagnetZ;	271	DebugOut.Analog[5] = UncalMagnetZ;
273	DebugOut.Analog[6] = ExternData.Attitude[NICK];	272	DebugOut.Analog[6] = ExternData.Attitude[NICK];
274	DebugOut.Analog[7] = ExternData.Attitude[ROLL];	273	DebugOut.Analog[7] = ExternData.Attitude[ROLL];
275	DebugOut.Analog[8] = Calibration.X.Offset;	274	DebugOut.Analog[8] = Calibration.X.Offset;
276	DebugOut.Analog[9] = Calibration.X.Range;	275	DebugOut.Analog[9] = Calibration.X.Range;
277	DebugOut.Analog[10] = Calibration.Y.Offset;	276	DebugOut.Analog[10] = Calibration.Y.Offset;
278	DebugOut.Analog[11] = Calibration.Y.Range;	277	DebugOut.Analog[11] = Calibration.Y.Range;
279	DebugOut.Analog[12] = Calibration.Z.Offset;	278	DebugOut.Analog[12] = Calibration.Z.Offset;
280	DebugOut.Analog[13] = Calibration.Z.Range;	279	DebugOut.Analog[13] = Calibration.Z.Range;
281	DebugOut.Analog[14] = ExternData.CalState;	280	DebugOut.Analog[14] = ExternData.CalState;
282	DebugOut.Analog[15] = Heading;	281	DebugOut.Analog[15] = Heading;
283	DebugOut.Analog[16] = ExternData.UserParam[0];	282	DebugOut.Analog[16] = ExternData.UserParam[0];
284	DebugOut.Analog[17] = ExternData.UserParam[1];	283	DebugOut.Analog[17] = ExternData.UserParam[1];
285	DebugOut.Analog[30] = I2C_WriteCal.CalByte;	-
286	DebugOut.Analog[31] = PC_Connected;	-
287	}	284	}
288		285
289		286
290	int main (void)	287	int main (void)
291	{	288	{
292	// reset input pullup	289	// reset input pullup
293	DDRC &=~((1<<DDC6));	290	DDRC &=~((1<<DDC6));
294	PORTC \|= (1<<PORTC6);	291	PORTC \|= (1<<PORTC6);
295		292
296	LED_Init();	293	LED_Init();
297	TIMER0_Init();	294	TIMER0_Init();
298	USART0_Init();	295	USART0_Init();
299	ADC_Init();	296	ADC_Init();
300	I2C_Init();	297	I2C_Init();
301		298
302	sei(); // enable globale interrupts	299	sei(); // enable globale interrupts
303		300
304	LED_GRN_ON;	301	LED_GRN_ON;
305		302
306	Debug_Timer = SetDelay(200);	303	Debug_Timer = SetDelay(200);
307	Led_Timer = SetDelay(200);	304	Led_Timer = SetDelay(200);
308		305
309	// read calibration info from eeprom	306	// read calibration info from eeprom
310	eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t));	307	eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
311		308
312	ExternData.Orientation = 0;	309	ExternData.Orientation = 0;
313	ExternData.CalState = 0;	310	ExternData.CalState = 0;
314	I2C_WriteCal.CalByte = 0;	311	I2C_WriteCal.CalByte = 0;
315		-
316	Heading = 101;	312
317		313
318	// main loop	314	// main loop
319	while (1)	315	while (1)
320	{	316	{
321		-
322		-
323	FLIP_LOW;	317	FLIP_LOW;
324	Delay_ms(2);	318	Delay_ms(2);
325	RawMagnet1a = ADC_GetValue(ADC0);	319	RawMagnet1a = ADC_GetValue(ADC0);
326	RawMagnet2a = -ADC_GetValue(ADC1);	320	RawMagnet2a = -ADC_GetValue(ADC1);
327	RawMagnet3a = ADC_GetValue(ADC7);	321	RawMagnet3a = ADC_GetValue(ADC7);
328	Delay_ms(1);	322	Delay_ms(1);
329		323
330		324
331	FLIP_HIGH;	325	FLIP_HIGH;
332	Delay_ms(2);	326	Delay_ms(2);
333	RawMagnet1b = ADC_GetValue(ADC0);	327	RawMagnet1b = ADC_GetValue(ADC0);
334	RawMagnet2b = -ADC_GetValue(ADC1);	328	RawMagnet2b = -ADC_GetValue(ADC1);
335	RawMagnet3b = ADC_GetValue(ADC7);	329	RawMagnet3b = ADC_GetValue(ADC7);
336	Delay_ms(1);	330	Delay_ms(1);
337		331
338	CalcFields();	332	CalcFields();
339		333
340	if(ExternData.CalState \|\| I2C_WriteCal.CalByte) Calibrate();	334	if(ExternData.CalState \|\| I2C_WriteCal.CalByte) Calibrate();
341	else CalcHeading();	335	else CalcHeading();
342		336
343	// check data from USART	337	// check data from USART
344	USART0_ProcessRxData();	338	USART0_ProcessRxData();
-		339	USART0_TransmitTxData();
345		340
346	if(PC_Connected)	341	if(PC_Connected)
347	{	342	{
348	USART0_EnableTXD();	343	USART0_EnableTXD();
349	USART0_TransmitTxData();	344	USART0_TransmitTxData();
350	PC_Connected--;	345	PC_Connected--;
351	}	346	}
352	else	347	else
353	{	348	{
354	USART0_DisableTXD();	349	USART0_DisableTXD();
355	}	350	}
356	} // while(1)	351	} // while(1)
357	}	352	}
358		353
359		354

Subversion Repositories MK3Mag

(root)/branches/MK3Mag V0.14 Code Redesign Killagreg/main.c - Rev 22 → 23