Subversion Repositories MK3Mag

/*#######################################################################################

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 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 orientation 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 writing 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)

}