Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 891 | Nick666 | 1 | /* |
| 2 | |||
| 3 | Copyright 2007, Niklas Nold |
||
| 4 | |||
| 5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
||
| 6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
||
| 7 | either version 3 of the License, or (at your option) any later version. |
||
| 8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
||
| 9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
| 10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
||
| 11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
| 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 |
||
| 14 | */ |
||
| 15 | |||
| 16 | #include "main.h" |
||
| 17 | |||
| 18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
||
| 19 | |||
| 20 | struct MM3_working_struct MM3; |
||
| 21 | struct MM3_calib_struct MM3_calib; |
||
| 22 | |||
| 23 | |||
| 24 | //############################################################################ |
||
| 25 | // Initialisierung |
||
| 26 | void init_MM3(void) |
||
| 27 | //############################################################################ |
||
| 28 | { |
||
| 29 | // SPI-Schnittstelle initialisieren |
||
| 30 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
||
| 31 | |||
| 32 | DDRB |= (1<<PB7)|(1<<PB5); // MOSI, SCK Ausgang |
||
| 33 | DDRC |= (1<<PC4)|(1<<PC5); // PC5 (RESET) und PC4 (SSNOT) als Ausgang |
||
| 34 | PORTC |= (1<<PC4); // PC4 (SSNOT) auf High -> MM3 passiv |
||
| 35 | PORTC &= ~(1<<PC5); // PC5 (RESET) auf Low |
||
| 36 | |||
| 37 | // Init Statemachine |
||
| 38 | MM3.AXIS = MM3_X; |
||
| 39 | MM3.STATE = MM3_RESET; |
||
| 40 | |||
| 41 | // Kalibrierung aus dem EEprom lesen |
||
| 42 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
||
| 43 | } |
||
| 44 | |||
| 45 | |||
| 46 | //############################################################################ |
||
| 47 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
||
| 48 | void timer0_MM3(void) |
||
| 49 | //############################################################################ |
||
| 50 | { |
||
| 51 | switch (MM3.STATE) |
||
| 52 | { |
||
| 53 | case MM3_RESET: |
||
| 54 | PORTC &= ~(1<<PC4); // MM3 aktiv |
||
| 55 | PORTC |= (1<<PC5); // MM3 Reset |
||
| 56 | MM3.STATE = MM3_START_TRANSFER; |
||
| 57 | return; |
||
| 58 | |||
| 59 | case MM3_START_TRANSFER: |
||
| 60 | PORTC &= ~(1<<PC5); // PC5 auf Low (war ~125 µs auf High) |
||
| 61 | |||
| 62 | if (MM3.AXIS == MM3_X) SPDR = MM3_PERIOD_512 + MM3_X_AXIS; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
||
| 63 | else if (MM3.AXIS == MM3_Y) SPDR = MM3_PERIOD_512 + MM3_Y_AXIS; // Micromag Period Select ist 256 (0x30) |
||
| 64 | else SPDR = MM3_PERIOD_512 + MM3_Z_AXIS; //if (MM3.AXIS == MM3_Z) |
||
| 65 | |||
| 892 | Nick666 | 66 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig |
| 891 | Nick666 | 67 | MM3.STATE = MM3_WAIT_DRDY; |
| 68 | return; |
||
| 69 | |||
| 70 | case MM3_WAIT_DRDY: |
||
| 71 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
||
| 72 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
||
| 73 | } |
||
| 74 | } |
||
| 75 | |||
| 76 | |||
| 77 | //############################################################################ |
||
| 78 | // SPI byte ready |
||
| 79 | SIGNAL (SIG_SPI) |
||
| 80 | //############################################################################ |
||
| 81 | { |
||
| 82 | static char tmp; |
||
| 83 | int value; |
||
| 84 | |||
| 85 | switch (MM3.STATE) |
||
| 86 | { |
||
| 87 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
||
| 88 | tmp = SPDR; |
||
| 89 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
||
| 90 | MM3.STATE = MM3_BYTE2; |
||
| 91 | return; |
||
| 92 | |||
| 93 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
||
| 94 | value = tmp; |
||
| 95 | value <<= 8; // 1. Byte an MSB-Stelle rücken |
||
| 96 | value |= SPDR; // 2. Byte dranpappen |
||
| 97 | |||
| 98 | if(abs(value) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
||
| 99 | switch (MM3.AXIS) |
||
| 100 | { |
||
| 101 | case MM3_X: |
||
| 102 | MM3.x_axis = value; |
||
| 103 | MM3.AXIS = MM3_Y; |
||
| 104 | break; |
||
| 105 | case MM3_Y: |
||
| 106 | MM3.y_axis = value; |
||
| 107 | MM3.AXIS = MM3_Z; |
||
| 108 | break; |
||
| 109 | default: //case MM3_Z: |
||
| 110 | MM3.z_axis = value; |
||
| 111 | MM3.AXIS = MM3_X; |
||
| 112 | } |
||
| 113 | PORTC |= (1<<PC4); // MM3 passiv |
||
| 114 | MM3.STATE = MM3_RESET; |
||
| 115 | } |
||
| 116 | } |
||
| 117 | |||
| 118 | //############################################################################ |
||
| 119 | // Kompass kalibrieren |
||
| 120 | void calib_MM3(void) |
||
| 121 | //############################################################################ |
||
| 122 | { |
||
| 123 | int16_t x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
||
| 124 | int16_t x_axis, y_axis, z_axis; |
||
| 125 | uint8_t measurement=50,beeper=0; |
||
| 126 | |||
| 127 | GRN_ON; |
||
| 128 | ROT_OFF; |
||
| 129 | |||
| 130 | while (measurement) |
||
| 131 | { |
||
| 132 | uint8_t tmp_sreg = SREG; |
||
| 133 | cli(); |
||
| 134 | x_axis = MM3.x_axis; |
||
| 135 | y_axis = MM3.y_axis; |
||
| 136 | z_axis = MM3.z_axis; |
||
| 137 | SREG = tmp_sreg; |
||
| 138 | |||
| 139 | if (x_axis > x_max) x_max = x_axis; |
||
| 140 | else if (x_axis < x_min) x_min = x_axis; |
||
| 141 | |||
| 142 | if (y_axis > y_max) y_max = y_axis; |
||
| 143 | else if (y_axis < y_min) y_min = y_axis; |
||
| 144 | |||
| 145 | if (z_axis > z_max) z_max = z_axis; |
||
| 146 | else if (z_axis < z_min) z_min = z_axis; |
||
| 147 | |||
| 148 | if (!beeper) |
||
| 149 | { |
||
| 150 | ROT_FLASH; |
||
| 151 | GRN_FLASH; |
||
| 152 | } |
||
| 153 | beeper--; |
||
| 154 | |||
| 155 | // Schleife mit 100 Hz |
||
| 156 | Delay_ms(10); |
||
| 157 | |||
| 158 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
||
| 159 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
||
| 160 | } |
||
| 161 | |||
| 162 | // Wertebereich der Achsen |
||
| 163 | MM3_calib.X_range = (x_max - x_min); |
||
| 164 | MM3_calib.Y_range = (y_max - y_min); |
||
| 165 | MM3_calib.Z_range = (z_max - z_min); |
||
| 166 | |||
| 167 | // Offset der Achsen |
||
| 168 | MM3_calib.X_off = (x_max + x_min) /2; |
||
| 169 | MM3_calib.Y_off = (y_max + y_min) /2; |
||
| 170 | MM3_calib.Z_off = (z_max + z_min) /2; |
||
| 171 | |||
| 172 | // und im EEProm abspeichern |
||
| 173 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
||
| 174 | } |
||
| 175 | |||
| 176 | |||
| 177 | //############################################################################ |
||
| 178 | // Neigungskompensierung und Berechnung der Ausrichtung |
||
| 179 | int heading_MM3(void) |
||
| 180 | //############################################################################ |
||
| 181 | { |
||
| 182 | int16_t sin_nick, cos_nick, sin_roll, cos_roll; |
||
| 183 | int16_t mm3_x_axis, mm3_y_axis, mm3_z_axis; |
||
| 184 | int32_t Hx, Hy, Hz, x_corr, y_corr; |
||
| 185 | int16_t heading; |
||
| 186 | int8_t tilt; |
||
| 187 | |||
| 188 | // 16bit-Werte lesen |
||
| 189 | uint8_t tmp_sreg = SREG; |
||
| 190 | cli(); |
||
| 191 | mm3_x_axis = MM3.x_axis; |
||
| 192 | mm3_y_axis = MM3.y_axis; |
||
| 193 | mm3_z_axis = MM3.z_axis; |
||
| 194 | SREG = tmp_sreg; |
||
| 195 | |||
| 196 | int temp = Aktuell_az - acc_neutral.compass; |
||
| 197 | // Lage-Berechnung mittels Acc-Messwerte |
||
| 198 | tilt = atan2_i(temp,AdWertAccNick*64); |
||
| 199 | sin_nick = sin_i(tilt); |
||
| 200 | cos_nick = cos_i(tilt); |
||
| 201 | |||
| 202 | tilt = atan2_i(temp,AdWertAccRoll*64); |
||
| 203 | sin_roll = sin_i(tilt); |
||
| 204 | cos_roll = cos_i(tilt); |
||
| 205 | |||
| 206 | /* |
||
| 207 | // Lage-Berechnung mittels Gyro-Integral |
||
| 208 | uint16_t div_faktor; |
||
| 209 | div_faktor = (uint16_t)EE_Parameter.UserParam3 *8; |
||
| 210 | |||
| 211 | tilt = (IntegralNick /div_faktor); |
||
| 212 | sin_nick = sin_i(tilt); |
||
| 213 | cos_nick = cos_i(tilt); |
||
| 214 | |||
| 215 | tilt = (IntegralRoll /div_faktor); |
||
| 216 | sin_roll = sin_i(tilt); |
||
| 217 | cos_roll = cos_i(tilt); |
||
| 218 | */ |
||
| 219 | // Offset und Normalisierung |
||
| 220 | Hx = (((int32_t)(mm3_x_axis - MM3_calib.X_off)) *512) /MM3_calib.X_range; |
||
| 221 | Hy = (((int32_t)(mm3_y_axis - MM3_calib.Y_off)) *512) /MM3_calib.Y_range; |
||
| 222 | Hz = (((int32_t)(mm3_z_axis - MM3_calib.Z_off)) *512) /MM3_calib.Z_range; |
||
| 892 | Nick666 | 223 | |
| 891 | Nick666 | 224 | // Neigungskompensierung |
| 225 | x_corr = Hx * cos_nick; |
||
| 226 | x_corr -= Hz * sin_nick; |
||
| 227 | x_corr /= 1024; |
||
| 228 | |||
| 229 | y_corr = Hy * cos_roll; |
||
| 230 | y_corr += Hz * sin_roll; |
||
| 231 | y_corr /= 16; // atan2_i erwartet y_corr *64. Deshalb /16 und nicht /1024 |
||
| 232 | |||
| 233 | // Winkelberechnung |
||
| 234 | heading = atan2_i(x_corr, y_corr); |
||
| 235 | |||
| 236 | // Skalieren von +-180° auf 0-360° |
||
| 237 | if (heading < 0) heading = -heading; |
||
| 238 | else heading = 360 - heading; |
||
| 239 | |||
| 240 | return (heading); |
||
| 241 | } |