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| Rev | Author | Line No. | Line |
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| 376 | 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 | int8_t Kompass_Offset[2] EEMEM; // X_off[0], Y_off[1], Z_off[2] |
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| 20 | int8_t X_off, Y_off, Z_off; |
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| 21 | |||
| 22 | |||
| 23 | //############################################################################ |
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| 24 | // Initialisierung |
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| 25 | void MM3_init(void) |
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| 26 | //############################################################################ |
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| 27 | { |
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| 28 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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| 29 | //SPSR = (1<<SPI2X); |
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| 30 | |||
| 31 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 32 | |||
| 33 | PORTD &= ~(1<<PD3); // J5 auf Low |
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| 34 | |||
| 35 | MM3.AXIS = MM3_X; |
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| 36 | MM3.STATE = MM3_RESET; |
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| 37 | |||
| 38 | // Kalibrierung aus dem EEprom lesen |
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| 39 | X_off = (int8_t)eeprom_read_byte(&Kompass_Offset[0]); |
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| 40 | Y_off = (int8_t)eeprom_read_byte(&Kompass_Offset[1]); |
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| 41 | Z_off = (int8_t)eeprom_read_byte(&Kompass_Offset[2]); |
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| 42 | |||
| 43 | |||
| 44 | //X_off = -11; |
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| 45 | //Y_off = 30; |
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| 46 | //Z_off = 18; |
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| 47 | |||
| 48 | } |
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| 49 | |||
| 50 | |||
| 51 | //############################################################################ |
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| 52 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 53 | void MM3_timer0(void) |
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| 54 | //############################################################################ |
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| 55 | { |
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| 56 | switch (MM3.STATE) |
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| 57 | { |
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| 58 | case MM3_RESET: |
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| 59 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 60 | MM3.STATE = MM3_START_TRANSFER; |
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| 61 | return; |
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| 62 | |||
| 63 | case MM3_START_TRANSFER: |
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| 64 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 65 | |||
| 66 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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| 67 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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| 68 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 69 | |||
| 70 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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| 71 | MM3.STATE = MM3_WAIT_DRDY; |
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| 72 | return; |
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| 73 | |||
| 74 | case MM3_WAIT_DRDY: |
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| 75 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 76 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 77 | /* |
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| 78 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
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| 79 | MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
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| 80 | MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
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| 81 | |||
| 82 | MM3.AXIS = MM3_X; |
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| 83 | MM3.STATE = MM3_RESET; |
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| 84 | return; |
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| 85 | */ |
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| 86 | } |
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| 87 | } |
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| 88 | |||
| 89 | |||
| 90 | //############################################################################ |
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| 91 | // SPI byte ready |
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| 92 | SIGNAL (SIG_SPI) |
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| 93 | //############################################################################ |
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| 94 | { |
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| 95 | switch (MM3.STATE) |
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| 96 | { |
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| 97 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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| 98 | if (MM3.AXIS == MM3_X) |
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| 99 | { |
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| 100 | MM3.x_axis = SPDR; |
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| 101 | MM3.x_axis <<= 8; |
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| 102 | } |
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| 103 | else if (MM3.AXIS == MM3_Y) |
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| 104 | { |
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| 105 | MM3.y_axis = SPDR; |
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| 106 | MM3.y_axis <<= 8; |
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| 107 | } |
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| 108 | else // if (MM3.AXIS == MM3_Z) |
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| 109 | { |
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| 110 | MM3.z_axis = SPDR; |
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| 111 | MM3.z_axis <<= 8; |
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| 112 | } |
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| 113 | |||
| 114 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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| 115 | MM3.STATE=MM3_BYTE2; |
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| 116 | return; |
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| 117 | |||
| 118 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 119 | if (MM3.AXIS == MM3_X) |
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| 120 | { |
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| 121 | MM3.x_axis |= SPDR; |
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| 122 | // Spikes filtern |
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| 123 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
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| 124 | else MM3.x_axis = MM3.x_axis_old; |
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| 125 | MM3.AXIS = MM3_Y; |
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| 126 | MM3.STATE = MM3_RESET; |
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| 127 | } |
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| 128 | else if (MM3.AXIS == MM3_Y) |
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| 129 | { |
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| 130 | MM3.y_axis |= SPDR; |
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| 131 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
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| 132 | else MM3.y_axis = MM3.y_axis_old; |
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| 133 | MM3.AXIS = MM3_Z; |
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| 134 | MM3.STATE = MM3_RESET; |
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| 135 | } |
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| 136 | else // if (MM3.AXIS == MM3_Z) |
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| 137 | { |
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| 138 | MM3.z_axis |= SPDR; |
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| 139 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
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| 140 | else MM3.z_axis = MM3.z_axis_old; |
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| 141 | MM3.AXIS = MM3_X; |
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| 142 | MM3.STATE = MM3_RESET; |
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| 143 | } |
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| 144 | |||
| 145 | return; |
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| 146 | } |
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| 147 | } |
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| 148 | |||
| 149 | //############################################################################ |
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| 150 | // Kompass kalibrieren |
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| 151 | void MM3_calib(void) |
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| 152 | //############################################################################ |
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| 153 | { |
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| 154 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 155 | uint8_t measurement=50,beeper=0; |
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| 156 | unsigned int timer; |
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| 157 | |||
| 158 | while (measurement) |
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| 159 | { |
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| 160 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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| 161 | |||
| 162 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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| 163 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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| 164 | |||
| 165 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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| 166 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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| 167 | |||
| 168 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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| 169 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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| 170 | |||
| 171 | if (!beeper) |
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| 172 | { |
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| 173 | beeper = 50; |
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| 174 | beeptime = 50; |
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| 175 | } |
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| 176 | beeper--; |
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| 177 | |||
| 178 | // Schleife mit 100 Hz voll ausreichend |
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| 179 | timer = SetDelay(10); |
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| 180 | while(!CheckDelay(timer)); |
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| 181 | |||
| 182 | // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
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| 183 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 184 | } |
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| 185 | |||
| 186 | // Offset der Achsen berechnen |
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| 187 | X_off = (x_max + x_min) / 2; |
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| 188 | Y_off = (y_max + y_min) / 2; |
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| 189 | Z_off = (z_max + z_min) / 2; |
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| 190 | |||
| 191 | // und im EEProm abspeichern |
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| 192 | eeprom_write_byte(&Kompass_Offset[0], X_off); |
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| 193 | eeprom_write_byte(&Kompass_Offset[1], Y_off); |
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| 194 | eeprom_write_byte(&Kompass_Offset[2], Z_off); |
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| 195 | |||
| 196 | } |
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| 197 | |||
| 198 | |||
| 199 | //############################################################################ |
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| 200 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 201 | signed int MM3_heading(void) |
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| 202 | //############################################################################ |
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| 203 | { |
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| 204 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 205 | signed int x_corr, y_corr, heading; |
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| 206 | signed int x_axis,y_axis,z_axis; |
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| 207 | |||
| 208 | MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam4*8); |
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| 209 | MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam4*8); |
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| 210 | |||
| 211 | // Berechung von sinus und cosinus |
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| 212 | sin_nick = sin_f(MM3.NickGrad); |
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| 213 | cos_nick = cos_f(MM3.NickGrad); |
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| 214 | sin_roll = sin_f(MM3.RollGrad); |
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| 215 | cos_roll = cos_f(MM3.RollGrad); |
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| 216 | |||
| 217 | // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
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| 218 | x_axis = MM3.x_axis - X_off; |
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| 219 | y_axis = MM3.y_axis - Y_off; |
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| 220 | z_axis = MM3.z_axis - Z_off; |
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| 221 | |||
| 222 | // Neigungskompensation |
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| 223 | x_corr = (cos_nick * x_axis) - (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |
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| 224 | y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis)); |
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| 225 | |||
| 226 | // Winkelberechnung |
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| 227 | heading = atan2_i(x_corr, y_corr); |
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| 228 | |||
| 229 | return (heading); |
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| 230 | } |