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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 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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| 309 | osiair | 17 | #include "math.h" |
| 308 | osiair | 18 | |
| 19 | MM3_struct MM3; |
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| 20 | |||
| 21 | |||
| 22 | //############################################################################ |
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| 23 | //Initialisierung der SPI-Schnittstelle |
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| 24 | void init_spi(void) |
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| 25 | //############################################################################ |
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| 26 | { |
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| 27 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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| 28 | //SPSR = (1<<SPI2X); |
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| 29 | |||
| 30 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 31 | |||
| 32 | PORTD &= ~(1<<PD3); // J5 auf Low |
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| 33 | |||
| 34 | MM3.AXIS = MM3_X; |
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| 35 | MM3.STATE = MM3_RESET; |
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| 36 | } |
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| 37 | |||
| 38 | |||
| 39 | //############################################################################ |
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| 40 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 41 | void MM3_timer0(void) |
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| 42 | //############################################################################ |
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| 43 | { |
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| 44 | switch (MM3.STATE) |
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| 45 | { |
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| 46 | case MM3_RESET: |
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| 47 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 48 | MM3.STATE = MM3_START_TRANSFER; |
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| 49 | return; |
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| 50 | |||
| 51 | case MM3_START_TRANSFER: |
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| 52 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 53 | |||
| 54 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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| 55 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
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| 56 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 57 | |||
| 58 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
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| 59 | MM3.STATE = MM3_WAIT_DRDY; |
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| 60 | return; |
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| 61 | |||
| 62 | case MM3_WAIT_DRDY: |
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| 63 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 64 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 65 | |||
| 66 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
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| 309 | osiair | 67 | MM3.NickGrad = IntegralNick/(120*8); |
| 68 | MM3.RollGrad = IntegralRoll/(120*8); |
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| 308 | osiair | 69 | |
| 70 | MM3.AXIS = MM3_X; |
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| 71 | MM3.STATE = MM3_RESET; |
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| 72 | return; |
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| 73 | } |
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| 74 | } |
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| 75 | |||
| 76 | |||
| 77 | //############################################################################ |
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| 78 | //SPI byte ready |
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| 79 | SIGNAL (SIG_SPI) |
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| 80 | //############################################################################ |
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| 81 | { |
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| 82 | switch (MM3.STATE) |
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| 83 | { |
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| 84 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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| 85 | if (MM3.AXIS == MM3_X) |
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| 86 | { |
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| 87 | MM3.x_axis = SPDR; |
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| 88 | MM3.x_axis <<= 8; |
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| 89 | } |
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| 90 | else if (MM3.AXIS == MM3_Y) |
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| 91 | { |
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| 92 | MM3.y_axis = SPDR; |
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| 93 | MM3.y_axis <<= 8; |
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| 94 | } |
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| 95 | else // if (MM3.AXIS == MM3_Z) |
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| 96 | { |
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| 97 | MM3.z_axis = SPDR; |
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| 98 | MM3.z_axis <<= 8; |
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| 99 | } |
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| 100 | |||
| 101 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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| 102 | MM3.STATE=MM3_BYTE2; |
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| 103 | return; |
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| 104 | |||
| 105 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 106 | if (MM3.AXIS == MM3_X) |
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| 107 | { |
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| 108 | MM3.x_axis |= SPDR; |
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| 109 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
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| 110 | MM3.AXIS = MM3_Y; |
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| 111 | MM3.STATE = MM3_RESET; |
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| 112 | } |
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| 113 | else if (MM3.AXIS == MM3_Y) |
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| 114 | { |
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| 115 | MM3.y_axis |= SPDR; |
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| 116 | MM3.y_axis -= OFF_Y; |
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| 117 | MM3.AXIS = MM3_Z; |
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| 118 | MM3.STATE = MM3_RESET; |
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| 119 | } |
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| 120 | else // if (MM3.AXIS == MM3_Z) |
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| 121 | { |
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| 122 | MM3.z_axis |= SPDR; |
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| 123 | MM3.z_axis -= OFF_Z; |
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| 124 | MM3.STATE = MM3_TILT; |
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| 125 | } |
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| 126 | |||
| 127 | return; |
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| 128 | } |
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| 129 | } |
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| 130 | |||
| 131 | signed int MM3_heading(void) |
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| 132 | { |
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| 133 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 134 | signed int x_corr, y_corr; |
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| 135 | signed int heading; |
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| 136 | |||
| 137 | // Berechung von sinus und cosinus |
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| 309 | osiair | 138 | sin_nick = sin_f(MM3.NickGrad); |
| 139 | cos_nick = cos_f(MM3.NickGrad); |
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| 140 | sin_roll = sin_f(MM3.RollGrad); |
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| 141 | cos_roll = cos_f(MM3.RollGrad); |
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| 308 | osiair | 142 | |
| 143 | // Neigungskompensation |
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| 144 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
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| 145 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
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| 146 | |||
| 147 | // Winkelberechnung |
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| 148 | heading = atan2_i(x_corr, y_corr); |
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| 149 | |||
| 150 | return (heading); |
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| 151 | } |