WebSVN - MK3Mag - Rev 16 - /tags/V0.21b/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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
signed int OffsetN, OffsetR, OffsetZ;

signed int RawMagnet1a,RawMagnet1b; // raw AD-Data
signed int RawMagnet2a,RawMagnet2b;
signed int RawMagnet3a,RawMagnet3b;
signed int RawAccN = 0, RawAccR = 0, RawAccZ = 0;
signed int AccN = 0, AccR = 0, AccZ = 0;
signed int OffsetAccN = 0, OffsetAccR = 0, OffsetAccZ = 0;
signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0;
signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur
signed int MagnetN,MagnetR,MagnetZ;
unsigned int PwmHeading = 0;
unsigned int PC_Connected = 0;
unsigned int Heading;
unsigned char ExternCalState = 0;
unsigned char AngleSource = 0;
unsigned char AccPresent = 0;
#include "main.h"

uint16_t eeXmin EEMEM = 0;
uint16_t eeXmax EEMEM = 0;
uint16_t eeYmin EEMEM = 0;
uint16_t eeYmax EEMEM = 0;
uint16_t eeZmin EEMEM = 0;
uint16_t eeZmax EEMEM = 0;
uint16_t eeNoffset EEMEM = 0;
uint16_t eeRoffset EEMEM = 0;
uint16_t eeZoffset EEMEM = 0;

//############################################################################
//
void Wait(unsigned char dauer)
//############################################################################
{
dauer = (unsigned char)TCNT0 + dauer;
while((TCNT0 - dauer) & 0x80);
}

void CalcFields(void)
{
UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2;
UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2;
UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;

OffsetN = (Xmin + Xmax) / 2;
OffsetR = (Ymin + Ymax) / 2;
OffsetZ = (Zmin + Zmax) / 2;

MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin);
MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin);
MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin);
}

void CalcHeading(void)
{
double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
int heading;
if(!AngleSource)
{
if(AccN > 125) nick_rad = M_PI / 2;
else
if(AccN < -125) nick_rad = -M_PI / 2;
else
{
nick_rad = asin((double) AccN / 125.0);
}
if(AccR > 125) roll_rad = M_PI / 2;
else
if(AccR < -125) roll_rad = -M_PI / 2;
else
{
roll_rad = asin((double) AccR / 125.0);
}
ExternData.Winkel[0] = (nick_rad * 1800.0) / M_PI;
ExternData.Winkel[1] = (roll_rad * 1800.0) / M_PI;
ExternData.Orientation = 1;
}
else
{
nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800);
roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800);
}

Cx = MagnetN;
Cy = MagnetR;
Cz = MagnetZ;

if(ExternData.Orientation == 1)
{
Cx = MagnetR;
Cy = -MagnetN;
Cz = MagnetZ;
}

Hx = Cx * (double)cos(nick_rad) +
Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
Cz * (double)sin(nick_rad) * (double)cos(roll_rad);

Hy = Cy * (double)cos(roll_rad) +
Cz * (double)sin(roll_rad);

if(Hx == 0 && Hy < 0) heading = 90;
else if(Hx == 0 && Hy > 0) heading = 270;
else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI;
else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;
else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI;

if(abs(heading) < 361) Heading = heading;
PwmHeading = Heading + 10;
}

void Calibrate(void)
{
unsigned char cal;
if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
else
if(ExternCalState) cal = ExternCalState;
else cal = ExternData.CalState;

switch(cal)
{
case 0:
LED_ON;
break;
case 1:
Xmin = 10000;
Xmax = -10000;
Ymin = 10000;
Ymax = -10000;
Zmin = 10000;
Zmax = -10000;
OffsetAccN = RawAccN;
OffsetAccR = RawAccR;
OffsetAccZ = RawAccZ;
LED_OFF;
break;
case 2:
LED_ON; // find Min and Max of the X- and Y-Sensors
if(UncalMagnetN < Xmin) Xmin = UncalMagnetN;
if(UncalMagnetN > Xmax) Xmax = UncalMagnetN;
if(UncalMagnetR < Ymin) Ymin = UncalMagnetR;
if(UncalMagnetR > Ymax) Ymax = UncalMagnetR;
break;
case 3:
LED_OFF;
break;
case 4:
LED_ON; // find Min and Max of the Z-Sensor
if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
break;
case 5:
LED_OFF; // Save values
if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150)
{
eeprom_write_word(&eeXmin, Xmin);
eeprom_write_word(&eeXmax, Xmax);
eeprom_write_word(&eeYmin, Ymin);
eeprom_write_word(&eeYmax, Ymax);
eeprom_write_word(&eeZmin, Zmin);
eeprom_write_word(&eeZmax, Zmax);
eeprom_write_word(&eeNoffset, OffsetAccN);
eeprom_write_word(&eeRoffset, OffsetAccR);
eeprom_write_word(&eeZoffset, OffsetAccZ);
Delay_ms(2000);
}
ExternCalState = 0;
LED_ON;
break;
}
}

void SetDebugValues(void)
{
DebugOut.Analog[0] = MagnetN;
DebugOut.Analog[1] = MagnetR;
DebugOut.Analog[2] = MagnetZ;
DebugOut.Analog[3] = UncalMagnetN;
DebugOut.Analog[4] = UncalMagnetR;
DebugOut.Analog[5] = UncalMagnetZ;
DebugOut.Analog[6] = ExternData.Winkel[0];
DebugOut.Analog[7] = ExternData.Winkel[1];
DebugOut.Analog[8] = Xmin;
DebugOut.Analog[9] = Xmax;
DebugOut.Analog[10] = Ymin;
DebugOut.Analog[11] = Ymax;
DebugOut.Analog[12] = Zmin;
DebugOut.Analog[13] = Zmax;
DebugOut.Analog[14] = Heading;
if(!ExternCalState) DebugOut.Analog[15] = ExternData.CalState;
else DebugOut.Analog[15] = ExternCalState;
DebugOut.Analog[16] = ExternData.UserParameter[0];
DebugOut.Analog[17] = ExternData.UserParameter[1];
DebugOut.Analog[18] = AccN;
DebugOut.Analog[19] = AccR;
DebugOut.Analog[20] = AccZ;
DebugOut.Analog[21] = RawAccN;
DebugOut.Analog[22] = RawAccR;
DebugOut.Analog[23] = RawAccZ;
DebugOut.Analog[24] = OffsetAccN;
DebugOut.Analog[25] = OffsetAccR;
DebugOut.Analog[26] = OffsetAccZ;
}

void AccMeasurement(void)
{
if(AccPresent)
{
RawAccN = (RawAccN + (signed int)MessAD(2))/2;
RawAccR = (RawAccR + (signed int)MessAD(3))/2;
RawAccZ = (RawAccZ + (signed int)MessAD(6))/2;
}
else
{
RawAccN = 0;
RawAccR = 0;
RawAccZ = 0;
}
AccR = (((signed int) RawAccN - OffsetAccN) + AccR * 7) / 8;
AccN = (((signed int) RawAccR - OffsetAccR) + AccN * 7) / 8;
AccZ = ((OffsetAccZ - (signed int) RawAccZ) + AccZ * 7) / 8;
}

//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
char j3_state = 0, debounce = 0;
DDRC = 0x00;
PORTC = 0x0c;
DDRD = 0xfe;
PORTD = 0xA8;
DDRB = 0x04;
PORTB = 0x35;

LED_ON;

UART_Init();
Timer0_Init();
ADC_Init();
InitIC2_Slave();
sei();//Globale Interrupts Einschalten
Debug_Timer = SetDelay(100); // Sendeintervall

Xmin = eeprom_read_word(&eeXmin);
Xmax = eeprom_read_word(&eeXmax);
Ymin = eeprom_read_word(&eeYmin);
Ymax = eeprom_read_word(&eeYmax);
Zmin = eeprom_read_word(&eeZmin);
Zmax = eeprom_read_word(&eeZmax);
OffsetAccN = eeprom_read_word(&eeNoffset);
OffsetAccR = eeprom_read_word(&eeRoffset);
OffsetAccZ = eeprom_read_word(&eeZoffset);
VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
VersionInfo.Nebenversion = VERSION_NEBENVERSION;
VersionInfo.PCKompatibel = 7;

ExternData.Orientation = 0;
ExternData.CalState = 0;
I2C_WriteCal.CalByte = 0;
ExternCalState = 0;
Delay_ms(10);
RawAccR = MessAD(2);
RawAccN = MessAD(3);
if(RawAccR > 1000 && RawAccN > 1000) AccPresent = 0; else AccPresent = 1;
if(AccPresent)
{
uart_putchar ('A');uart_putchar ('C');uart_putchar ('C');uart_putchar ('\n');
}
PORTC &= ~0x0c;
Delay_ms(100);
if(!PIN_J3) { ExternCalState++; j3_state = 1;}
RawAccR = MessAD(2);
RawAccN = MessAD(3);
RawAccZ = MessAD(6);
while (1)
{
FLIP_LOW;
Delay_ms(2);
RawMagnet1b = MessAD(0);
RawMagnet2b = -MessAD(1);
RawMagnet3b = MessAD(7);
AccMeasurement();
Delay_ms(1);

FLIP_HIGH;
Delay_ms(2);
RawMagnet1b = MessAD(0);
RawMagnet2b = -MessAD(1);
RawMagnet3b = MessAD(7);
AccMeasurement();
Delay_ms(1);

CalcFields();
if(ExternData.CalState || I2C_WriteCal.CalByte || ExternCalState) Calibrate();
else CalcHeading();
BearbeiteRxDaten();

if(ExternCalState)
if(!debounce--)
{
if(!PIN_J3) { if(!j3_state) ExternCalState++; j3_state = 1;} else j3_state = 0;
debounce = 20;
}

if(PC_Connected)
{
DDRD |= 0x02; // TXD-Portpin
UCR |= (1 << TXEN);
DatenUebertragung();
PC_Connected--;
}
else
{
UCR &= ~(1 << TXEN);
DDRD &= ~0x02; // TXD-Portpin
}
} // while(1)
}

Subversion Repositories MK3Mag

(root)/tags/V0.21b/main.c @ 62 - Rev 16