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| Rev | Author | Line No. | Line |
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| 550 | walter | 1 | /* |
| 2 | |||
| 3 | Copyright 2007, Niklas Nold |
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| 4 | |||
| 5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
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| 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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| 7 | either version 3 of the License, or (at your option) any later version. |
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| 8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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| 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 12 | |||
| 13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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| 14 | */ |
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| 15 | |||
| 16 | #include "main.h" |
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| 17 | |||
| 18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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| 19 | |||
| 20 | struct MM3_working_struct MM3; |
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| 21 | struct MM3_calib_struct MM3_calib; |
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| 22 | |||
| 23 | |||
| 24 | //############################################################################ |
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| 25 | // Initialisierung |
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| 26 | void init_MM3(void) |
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| 27 | //############################################################################ |
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| 28 | { |
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| 29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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| 30 | //SPSR = (1<<SPI2X); |
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| 31 | |||
| 32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 33 | DDRB &= ~(1<<PB6); // MISO Eingang |
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| 34 | |||
| 35 | |||
| 36 | //PORTD &= ~(1<<PD3); // J5 auf Low |
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| 37 | DDRC |= (1<<PC6); // J9 Output |
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| 38 | PORTC &= ~(1<<PC6); // J9 auf Low |
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| 39 | |||
| 40 | MM3.AXIS = MM3_X; |
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| 41 | MM3.STATE = MM3_RESET; |
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| 42 | |||
| 43 | // Kalibrierung aus dem EEprom lesen |
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| 44 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 45 | } |
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| 46 | |||
| 47 | |||
| 48 | //############################################################################ |
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| 49 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 50 | void timer0_MM3(void) |
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| 51 | //############################################################################ |
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| 52 | { |
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| 53 | switch (MM3.STATE) |
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| 54 | { |
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| 55 | case MM3_RESET: |
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| 56 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 57 | MM3.STATE = MM3_START_TRANSFER; |
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| 58 | return; |
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| 59 | |||
| 60 | case MM3_START_TRANSFER: |
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| 61 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 62 | |||
| 63 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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| 64 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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| 65 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 66 | |||
| 67 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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| 68 | MM3.STATE = MM3_WAIT_DRDY; |
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| 69 | return; |
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| 70 | |||
| 71 | case MM3_WAIT_DRDY: |
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| 72 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 73 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 74 | } |
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| 75 | } |
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| 76 | |||
| 77 | |||
| 78 | //############################################################################ |
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| 79 | // SPI byte ready |
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| 80 | SIGNAL (SIG_SPI) |
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| 81 | //############################################################################ |
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| 82 | { |
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| 83 | static char tmp; |
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| 84 | int wert; |
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| 85 | |||
| 86 | switch (MM3.STATE) |
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| 87 | { |
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| 88 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
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| 89 | tmp = SPDR; |
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| 90 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
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| 91 | MM3.STATE = MM3_BYTE2; |
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| 92 | return; |
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| 93 | |||
| 94 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 95 | wert = tmp; |
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| 96 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
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| 97 | wert |= SPDR; // 2. Byte dranpappen |
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| 98 | |||
| 99 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
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| 100 | switch (MM3.AXIS) |
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| 101 | { |
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| 102 | case MM3_X: |
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| 103 | MM3.x_axis = wert; |
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| 104 | MM3.AXIS = MM3_Y; |
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| 105 | break; |
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| 106 | case MM3_Y: |
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| 107 | MM3.y_axis = wert; |
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| 108 | MM3.AXIS = MM3_Z; |
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| 109 | break; |
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| 110 | case MM3_Z: |
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| 111 | MM3.z_axis = wert; |
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| 112 | MM3.AXIS = MM3_X; |
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| 113 | } |
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| 114 | |||
| 115 | MM3.STATE = MM3_RESET; |
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| 116 | } |
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| 117 | } |
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| 118 | |||
| 119 | //############################################################################ |
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| 120 | // Kompass kalibrieren |
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| 121 | void calib_MM3(void) |
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| 122 | //############################################################################ |
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| 123 | { |
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| 124 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 125 | uint8_t measurement=50,beeper=0; |
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| 126 | unsigned int timer; |
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| 127 | |||
| 128 | GRN_ON; |
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| 129 | ROT_OFF; |
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| 130 | |||
| 131 | while (measurement) |
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| 132 | { |
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| 133 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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| 134 | |||
| 135 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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| 136 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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| 137 | |||
| 138 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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| 139 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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| 140 | |||
| 141 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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| 142 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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| 143 | |||
| 144 | if (!beeper) |
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| 145 | { |
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| 146 | ROT_FLASH; |
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| 147 | GRN_FLASH; |
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| 148 | beeptime = 50; |
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| 149 | beeper = 50; |
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| 150 | } |
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| 151 | beeper--; |
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| 152 | |||
| 153 | // Schleife mit 100 Hz |
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| 154 | timer = SetDelay(10); |
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| 155 | while(!CheckDelay(timer)); |
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| 156 | |||
| 157 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
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| 158 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 159 | } |
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| 160 | |||
| 161 | // Wertebereich der Achsen |
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| 162 | MM3_calib.X_range = (x_max - x_min); |
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| 163 | MM3_calib.Y_range = (y_max - y_min); |
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| 164 | MM3_calib.Z_range = (z_max - z_min); |
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| 165 | |||
| 166 | // Offset der Achsen |
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| 167 | MM3_calib.X_off = (x_max + x_min) / 2; |
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| 168 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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| 169 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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| 170 | |||
| 171 | // und im EEProm abspeichern |
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| 172 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 173 | } |
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| 174 | |||
| 175 | |||
| 176 | //############################################################################ |
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| 177 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 178 | signed int heading_MM3(void) |
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| 179 | //############################################################################ |
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| 180 | { |
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| 181 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 182 | float x_corr, y_corr; |
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| 183 | signed int x_axis,y_axis,z_axis,heading; |
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| 184 | signed int nicktilt,rolltilt; |
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| 185 | unsigned int div_faktor; |
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| 186 | |||
| 187 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
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| 188 | |||
| 189 | // Berechung von sinus und cosinus |
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| 190 | nicktilt = (IntegralNick/div_faktor); |
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| 191 | sin_nick = sin_f(nicktilt); |
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| 192 | cos_nick = cos_f(nicktilt); |
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| 193 | |||
| 194 | rolltilt = (IntegralRoll/div_faktor); |
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| 195 | sin_roll = sin_f(rolltilt); |
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| 196 | cos_roll = cos_f(rolltilt); |
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| 197 | |||
| 198 | // Offset |
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| 199 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
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| 200 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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| 201 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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| 202 | |||
| 203 | // Normierung Wertebereich |
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| 204 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
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| 205 | { |
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| 206 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
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| 207 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
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| 208 | } |
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| 209 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
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| 210 | { |
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| 211 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
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| 212 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
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| 213 | } |
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| 214 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
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| 215 | { |
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| 216 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
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| 217 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
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| 218 | } |
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| 219 | |||
| 220 | //DebugOut.Analog[9] = x_axis; |
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| 221 | //DebugOut.Analog[10] = y_axis; |
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| 222 | //DebugOut.Analog[11] = z_axis; |
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| 223 | |||
| 224 | // Neigungskompensation |
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| 225 | x_corr = x_axis * cos_nick; |
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| 226 | x_corr += y_axis * sin_roll * sin_nick; |
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| 227 | x_corr -= z_axis * cos_roll * sin_nick; |
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| 228 | |||
| 229 | y_corr = y_axis * cos_roll; |
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| 230 | y_corr += z_axis * sin_roll; |
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| 231 | |||
| 232 | // Winkelberechnung |
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| 233 | heading = atan2_i(x_corr, y_corr); |
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| 234 | if (heading < 0) heading = -heading; |
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| 235 | else heading = 360 - heading; |
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| 236 | |||
| 237 | /* |
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| 238 | if (!x_corr && y_corr <0) return (90); |
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| 239 | if (!x_corr && y_corr >0) return (270); |
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| 240 | |||
| 241 | heading = atan(y_corr/x_corr)*57.29578; |
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| 242 | if (x_corr < 0) heading = 180-heading; |
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| 243 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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| 244 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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| 245 | */ |
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| 246 | return (heading); |
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| 247 | } |