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| 333 | 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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| 17 | |||
| 18 | MM3_struct MM3; |
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| 19 | |||
| 20 | #define long int m; |
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| 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); // 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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| 67 | MM3.NickGrad = asin_i((float)Aktuell_ax/215*200); |
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| 68 | MM3.RollGrad = asin_i((float)Aktuell_ay/205*200); |
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| 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 | // versuch die werte nicht über min und max steigen zu lassen um so die spikes zu verhindern |
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| 128 | // verhindert hats nicht aber deutlich minimiert. Evtl kommen die restlichen |
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| 129 | |||
| 130 | if (MM3.x_axis > MM3_Xmax || MM3.x_axis < MM3_Xmin) |
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| 131 | { |
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| 132 | MM3.x_axis = MM3.x_axis_last_valid; |
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| 133 | } |
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| 134 | else |
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| 135 | if (MM3.x_axis_last_valid *1,10 < MM3.x_axis || MM3.x_axis_last_valid *0,90 > MM3.x_axis) |
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| 136 | { |
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| 137 | MM3.x_axis = MM3.x_axis_last_valid; |
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| 138 | } |
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| 139 | else |
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| 140 | { |
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| 141 | //m = (MM3.x_axis + MM3.x_axis_last_valid) /2; |
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| 142 | MM3.x_axis_last_valid = MM3.x_axis; |
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| 143 | //MM3.x_axis = m; |
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| 144 | } |
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| 145 | |||
| 146 | |||
| 147 | |||
| 148 | |||
| 149 | if (MM3.y_axis > MM3_Ymax || MM3.y_axis < MM3_Ymin) |
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| 150 | { |
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| 151 | MM3.y_axis = MM3.y_axis_last_valid; |
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| 152 | } |
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| 153 | else |
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| 154 | if (MM3.y_axis_last_valid *1,10 < MM3.y_axis || MM3.y_axis_last_valid *0,90 > MM3.y_axis) |
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| 155 | { |
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| 156 | MM3.y_axis = MM3.y_axis_last_valid; |
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| 157 | } |
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| 158 | else |
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| 159 | { |
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| 160 | //m = (MM3.y_axis + MM3.y_axis_last_valid) /2; |
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| 161 | MM3.y_axis_last_valid = MM3.y_axis; |
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| 162 | //MM3.y_axis = m; |
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| 163 | |||
| 164 | } |
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| 165 | |||
| 166 | |||
| 167 | |||
| 168 | if (MM3.z_axis > MM3_Zmax || MM3.z_axis < MM3_Zmin) |
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| 169 | { |
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| 170 | MM3.z_axis = MM3.z_axis_last_valid; |
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| 171 | } |
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| 172 | else |
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| 173 | if (MM3.z_axis_last_valid *1,10 < MM3.z_axis || MM3.z_axis_last_valid *0,90 > MM3.z_axis) |
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| 174 | { |
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| 175 | MM3.z_axis = MM3.z_axis_last_valid; |
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| 176 | } |
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| 177 | else |
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| 178 | { |
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| 179 | //m = (MM3.z_axis + MM3.z_axis_last_valid) /2; |
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| 180 | MM3.z_axis_last_valid = MM3.z_axis; |
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| 181 | //MM3.z_axis = m; |
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| 182 | } |
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| 183 | |||
| 184 | |||
| 185 | |||
| 186 | |||
| 187 | |||
| 188 | |||
| 189 | return; |
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| 190 | } |
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| 191 | } |
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| 192 | |||
| 193 | signed int MM3_heading(void) |
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| 194 | { |
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| 195 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 196 | signed int x_corr, y_corr; |
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| 197 | signed int heading; |
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| 198 | |||
| 199 | |||
| 200 | |||
| 201 | // Berechung von sinus und cosinus |
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| 202 | sin_nick = sin_f(MM3.NickGrad); |
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| 203 | cos_nick = cos_f(MM3.NickGrad); |
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| 204 | sin_roll = sin_f(MM3.RollGrad); |
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| 205 | cos_roll = cos_f(MM3.RollGrad); |
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| 206 | |||
| 207 | // Neigungskompensation |
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| 208 | //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
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| 209 | |||
| 210 | x_corr = (cos_nick * MM3.x_axis) - (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
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| 211 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
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| 212 | |||
| 213 | // Winkelberechnung |
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| 214 | heading = atan2_i(x_corr, y_corr); |
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| 215 | |||
| 216 | return (heading); |
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| 217 | } |