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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 / NON-COMMERCIAL USE ONLY |
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 oder Nutzung 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 Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
|
- | 31 | // + mit unserer Zustimmung zulässig |
|
- | 32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + this list of conditions and the following disclaimer. |
36 | // + 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 |
37 | // + * porting the sources to other systems or using the software on other systems (except 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 |
38 | // + * 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. |
39 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
41 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
43 | // + with our written permission |
41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
44 | // + 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 |
45 | // + 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 |
46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
47 | // + clearly linked as origin |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
48 | // + 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 |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
56 | // + 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 |
57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
58 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | 60 | ||
58 | signed int OffsetN, OffsetR, OffsetZ; |
61 | signed int OffsetN, OffsetR, OffsetZ; |
59 | 62 | ||
60 | signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
63 | signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
61 | signed int RawMagnet2a,RawMagnet2b; |
64 | signed int RawMagnet2a,RawMagnet2b; |
62 | signed int RawMagnet3a,RawMagnet3b; |
65 | signed int RawMagnet3a,RawMagnet3b; |
63 | signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
66 | signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
64 | 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 |
65 | signed int MagnetN,MagnetR,MagnetZ; |
68 | signed int MagnetN,MagnetR,MagnetZ; |
66 | unsigned int PwmHeading = 0; |
69 | unsigned int PwmHeading = 0; |
67 | unsigned int PC_Connected = 0; |
70 | unsigned int PC_Connected = 0; |
68 | unsigned int Heading; |
71 | unsigned int Heading; |
69 | #include "main.h" |
72 | #include "main.h" |
70 | 73 | ||
71 | uint16_t eeXmin EEMEM = 0; |
74 | uint16_t eeXmin EEMEM = 0; |
72 | uint16_t eeXmax EEMEM = 0; |
75 | uint16_t eeXmax EEMEM = 0; |
73 | uint16_t eeYmin EEMEM = 0; |
76 | uint16_t eeYmin EEMEM = 0; |
74 | uint16_t eeYmax EEMEM = 0; |
77 | uint16_t eeYmax EEMEM = 0; |
75 | uint16_t eeZmin EEMEM = 0; |
78 | uint16_t eeZmin EEMEM = 0; |
76 | uint16_t eeZmax EEMEM = 0; |
79 | uint16_t eeZmax EEMEM = 0; |
77 | 80 | ||
78 | 81 | ||
79 | //############################################################################ |
82 | //############################################################################ |
80 | // |
83 | // |
81 | void Wait(unsigned char dauer) |
84 | void Wait(unsigned char dauer) |
82 | //############################################################################ |
85 | //############################################################################ |
83 | { |
86 | { |
84 | dauer = (unsigned char)TCNT0 + dauer; |
87 | dauer = (unsigned char)TCNT0 + dauer; |
85 | while((TCNT0 - dauer) & 0x80); |
88 | while((TCNT0 - dauer) & 0x80); |
86 | } |
89 | } |
87 | 90 | ||
88 | void CalcFields(void) |
91 | void CalcFields(void) |
89 | { |
92 | { |
90 | UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
93 | UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
91 | UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
94 | UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
92 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
95 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
93 | 96 | ||
94 | OffsetN = (Xmin + Xmax) / 2; |
97 | OffsetN = (Xmin + Xmax) / 2; |
95 | OffsetR = (Ymin + Ymax) / 2; |
98 | OffsetR = (Ymin + Ymax) / 2; |
96 | OffsetZ = (Zmin + Zmax) / 2; |
99 | OffsetZ = (Zmin + Zmax) / 2; |
97 | 100 | ||
98 | MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
101 | MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
99 | MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
102 | MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
100 | MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
103 | MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
101 | } |
104 | } |
102 | 105 | ||
103 | void CalcHeading(void) |
106 | void CalcHeading(void) |
104 | { |
107 | { |
105 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
108 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
106 | int heading; |
109 | int heading; |
107 | 110 | ||
108 | nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
111 | nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
109 | roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
112 | roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
110 | 113 | ||
111 | Cx = MagnetN; |
114 | Cx = MagnetN; |
112 | Cy = MagnetR; |
115 | Cy = MagnetR; |
113 | Cz = MagnetZ; |
116 | Cz = MagnetZ; |
114 | 117 | ||
115 | if(ExternData.Orientation == 1) |
118 | if(ExternData.Orientation == 1) |
116 | { |
119 | { |
117 | Cx = MagnetR; |
120 | Cx = MagnetR; |
118 | Cy = -MagnetN; |
121 | Cy = -MagnetN; |
119 | Cz = MagnetZ; |
122 | Cz = MagnetZ; |
120 | } |
123 | } |
121 | 124 | ||
122 | Hx = Cx * (double)cos(nick_rad) + |
125 | Hx = Cx * (double)cos(nick_rad) + |
123 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
126 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
124 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
127 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
125 | 128 | ||
126 | Hy = Cy * (double)cos(roll_rad) + |
129 | Hy = Cy * (double)cos(roll_rad) + |
127 | Cz * (double)sin(roll_rad); |
130 | Cz * (double)sin(roll_rad); |
128 | 131 | ||
129 | 132 | ||
130 | if(Hx == 0 && Hy < 0) heading = 90; |
133 | if(Hx == 0 && Hy < 0) heading = 90; |
131 | else if(Hx == 0 && Hy > 0) heading = 270; |
134 | else if(Hx == 0 && Hy > 0) heading = 270; |
132 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
135 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
133 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
136 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
134 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
137 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
135 | 138 | ||
136 | if(abs(heading) < 361) Heading = heading; |
139 | if(abs(heading) < 361) Heading = heading; |
137 | PwmHeading = Heading + 10; |
140 | PwmHeading = Heading + 10; |
138 | } |
141 | } |
139 | 142 | ||
140 | 143 | ||
141 | void Calibrate(void) |
144 | void Calibrate(void) |
142 | { |
145 | { |
143 | unsigned char cal; |
146 | unsigned char cal; |
144 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
147 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
145 | else cal = ExternData.CalState; |
148 | else cal = ExternData.CalState; |
146 | switch(cal) |
149 | switch(cal) |
147 | { |
150 | { |
148 | case 0: |
151 | case 0: |
149 | LED_ON; |
152 | LED_ON; |
150 | break; |
153 | break; |
151 | case 1: |
154 | case 1: |
152 | Xmin = 10000; |
155 | Xmin = 10000; |
153 | Xmax = -10000; |
156 | Xmax = -10000; |
154 | Ymin = 10000; |
157 | Ymin = 10000; |
155 | Ymax = -10000; |
158 | Ymax = -10000; |
156 | Zmin = 10000; |
159 | Zmin = 10000; |
157 | Zmax = -10000; |
160 | Zmax = -10000; |
158 | LED_OFF; |
161 | LED_OFF; |
159 | break; |
162 | break; |
160 | case 2: |
163 | case 2: |
161 | LED_ON; // find Min and Max of the X- and Y-Sensors |
164 | LED_ON; // find Min and Max of the X- and Y-Sensors |
162 | if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
165 | if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
163 | if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
166 | if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
164 | if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
167 | if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
165 | if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
168 | if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
166 | break; |
169 | break; |
167 | case 3: |
170 | case 3: |
168 | LED_OFF; |
171 | LED_OFF; |
169 | break; |
172 | break; |
170 | case 4: |
173 | case 4: |
171 | LED_ON; // find Min and Max of the Z-Sensor |
174 | LED_ON; // find Min and Max of the Z-Sensor |
172 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
175 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
173 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
176 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
174 | break; |
177 | break; |
175 | case 5: |
178 | case 5: |
176 | LED_OFF; // Save values |
179 | LED_OFF; // Save values |
177 | if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
180 | if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
178 | { |
181 | { |
179 | eeprom_write_word(&eeXmin, Xmin); |
182 | eeprom_write_word(&eeXmin, Xmin); |
180 | eeprom_write_word(&eeXmax, Xmax); |
183 | eeprom_write_word(&eeXmax, Xmax); |
181 | eeprom_write_word(&eeYmin, Ymin); |
184 | eeprom_write_word(&eeYmin, Ymin); |
182 | eeprom_write_word(&eeYmax, Ymax); |
185 | eeprom_write_word(&eeYmax, Ymax); |
183 | eeprom_write_word(&eeZmin, Zmin); |
186 | eeprom_write_word(&eeZmin, Zmin); |
184 | eeprom_write_word(&eeZmax, Zmax); |
187 | eeprom_write_word(&eeZmax, Zmax); |
185 | Delay_ms(2000); |
188 | Delay_ms(2000); |
186 | } |
189 | } |
187 | LED_ON; |
190 | LED_ON; |
188 | break; |
191 | break; |
189 | } |
192 | } |
190 | } |
193 | } |
191 | 194 | ||
192 | 195 | ||
193 | void SetDebugValues(void) |
196 | void SetDebugValues(void) |
194 | { |
197 | { |
195 | DebugOut.Analog[0] = MagnetN; |
198 | DebugOut.Analog[0] = MagnetN; |
196 | DebugOut.Analog[1] = MagnetR; |
199 | DebugOut.Analog[1] = MagnetR; |
197 | DebugOut.Analog[2] = MagnetZ; |
200 | DebugOut.Analog[2] = MagnetZ; |
198 | DebugOut.Analog[3] = UncalMagnetN; |
201 | DebugOut.Analog[3] = UncalMagnetN; |
199 | DebugOut.Analog[4] = UncalMagnetR; |
202 | DebugOut.Analog[4] = UncalMagnetR; |
200 | DebugOut.Analog[5] = UncalMagnetZ; |
203 | DebugOut.Analog[5] = UncalMagnetZ; |
201 | DebugOut.Analog[6] = ExternData.Winkel[0]; |
204 | DebugOut.Analog[6] = ExternData.Winkel[0]; |
202 | DebugOut.Analog[7] = ExternData.Winkel[1]; |
205 | DebugOut.Analog[7] = ExternData.Winkel[1]; |
203 | DebugOut.Analog[8] = Xmin; |
206 | DebugOut.Analog[8] = Xmin; |
204 | DebugOut.Analog[9] = Xmax; |
207 | DebugOut.Analog[9] = Xmax; |
205 | DebugOut.Analog[10] = Ymin; |
208 | DebugOut.Analog[10] = Ymin; |
206 | DebugOut.Analog[11] = Ymax; |
209 | DebugOut.Analog[11] = Ymax; |
207 | DebugOut.Analog[12] = Zmin; |
210 | DebugOut.Analog[12] = Zmin; |
208 | DebugOut.Analog[13] = Zmax; |
211 | DebugOut.Analog[13] = Zmax; |
209 | DebugOut.Analog[14] = ExternData.CalState; |
212 | DebugOut.Analog[14] = ExternData.CalState; |
210 | DebugOut.Analog[15] = Heading; |
213 | DebugOut.Analog[15] = Heading; |
211 | DebugOut.Analog[16] = ExternData.UserParameter[0]; |
214 | DebugOut.Analog[16] = ExternData.UserParameter[0]; |
212 | DebugOut.Analog[17] = ExternData.UserParameter[1]; |
215 | DebugOut.Analog[17] = ExternData.UserParameter[1]; |
213 | } |
216 | } |
214 | 217 | ||
215 | 218 | ||
216 | //############################################################################ |
219 | //############################################################################ |
217 | //Hauptprogramm |
220 | //Hauptprogramm |
218 | int main (void) |
221 | int main (void) |
219 | //############################################################################ |
222 | //############################################################################ |
220 | { |
223 | { |
221 | DDRC = 0x08; |
224 | DDRC = 0x08; |
222 | PORTC = 0x08; |
225 | PORTC = 0x08; |
223 | DDRD = 0xf4; |
226 | DDRD = 0xf4; |
224 | PORTD = 0xA0; |
227 | PORTD = 0xA0; |
225 | DDRB = 0x04; |
228 | DDRB = 0x04; |
226 | PORTB = 0x35; |
229 | PORTB = 0x35; |
227 | 230 | ||
228 | LED_ON; |
231 | LED_ON; |
229 | 232 | ||
230 | UART_Init(); |
233 | UART_Init(); |
231 | Timer0_Init(); |
234 | Timer0_Init(); |
232 | ADC_Init(); |
235 | ADC_Init(); |
233 | InitIC2_Slave(); |
236 | InitIC2_Slave(); |
234 | sei();//Globale Interrupts Einschalten |
237 | sei();//Globale Interrupts Einschalten |
235 | Debug_Timer = SetDelay(100); // Sendeintervall |
238 | Debug_Timer = SetDelay(100); // Sendeintervall |
236 | 239 | ||
237 | Xmin = eeprom_read_word(&eeXmin); |
240 | Xmin = eeprom_read_word(&eeXmin); |
238 | Xmax = eeprom_read_word(&eeXmax); |
241 | Xmax = eeprom_read_word(&eeXmax); |
239 | Ymin = eeprom_read_word(&eeYmin); |
242 | Ymin = eeprom_read_word(&eeYmin); |
240 | Ymax = eeprom_read_word(&eeYmax); |
243 | Ymax = eeprom_read_word(&eeYmax); |
241 | Zmin = eeprom_read_word(&eeZmin); |
244 | Zmin = eeprom_read_word(&eeZmin); |
242 | Zmax = eeprom_read_word(&eeZmax); |
245 | Zmax = eeprom_read_word(&eeZmax); |
243 | 246 | ||
244 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
247 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
245 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
248 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
246 | VersionInfo.PCKompatibel = 7; |
249 | VersionInfo.PCKompatibel = 7; |
247 | 250 | ||
248 | ExternData.Orientation = 0; |
251 | ExternData.Orientation = 0; |
249 | ExternData.CalState = 0; |
252 | ExternData.CalState = 0; |
250 | I2C_WriteCal.CalByte = 0; |
253 | I2C_WriteCal.CalByte = 0; |
251 | 254 | ||
252 | while (1) |
255 | while (1) |
253 | { |
256 | { |
254 | FLIP_LOW; |
257 | FLIP_LOW; |
255 | Delay_ms(2); |
258 | Delay_ms(2); |
256 | RawMagnet1a = MessAD(0); |
259 | RawMagnet1a = MessAD(0); |
257 | RawMagnet2a = -MessAD(1); |
260 | RawMagnet2a = -MessAD(1); |
258 | RawMagnet3a = MessAD(7); |
261 | RawMagnet3a = MessAD(7); |
259 | Delay_ms(1); |
262 | Delay_ms(1); |
260 | 263 | ||
261 | FLIP_HIGH; |
264 | FLIP_HIGH; |
262 | Delay_ms(2); |
265 | Delay_ms(2); |
263 | RawMagnet1b = MessAD(0); |
266 | RawMagnet1b = MessAD(0); |
264 | RawMagnet2b = -MessAD(1); |
267 | RawMagnet2b = -MessAD(1); |
265 | RawMagnet3b = MessAD(7); |
268 | RawMagnet3b = MessAD(7); |
266 | Delay_ms(1); |
269 | Delay_ms(1); |
267 | 270 | ||
268 | CalcFields(); |
271 | CalcFields(); |
269 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
272 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
270 | else CalcHeading(); |
273 | else CalcHeading(); |
271 | BearbeiteRxDaten(); |
274 | BearbeiteRxDaten(); |
272 | 275 | ||
273 | if(PC_Connected) |
276 | if(PC_Connected) |
274 | { |
277 | { |
275 | DDRD |= 0x02; // TXD-Portpin |
278 | DDRD |= 0x02; // TXD-Portpin |
276 | UCR |= (1 << TXEN); |
279 | UCR |= (1 << TXEN); |
277 | DatenUebertragung(); |
280 | DatenUebertragung(); |
278 | PC_Connected--; |
281 | PC_Connected--; |
279 | } |
282 | } |
280 | else |
283 | else |
281 | { |
284 | { |
282 | UCR &= ~(1 << TXEN); |
285 | UCR &= ~(1 << TXEN); |
283 | DDRD &= ~0x02; // TXD-Portpin |
286 | DDRD &= ~0x02; // TXD-Portpin |
284 | } |
287 | } |
285 | } // while(1) |
288 | } // while(1) |
286 | } |
289 | } |
287 | 290 | ||
288 | 291 |