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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 554 | Nick666 | 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 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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| 19 | |||
| 20 | struct MM3_working_struct MM3; |
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| 21 | struct MM3_calib_struct MM3_calib; |
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| 22 | |||
| 23 | |||
| 24 | //############################################################################ |
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| 25 | // Initialisierung |
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| 26 | void init_MM3(void) |
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| 27 | //############################################################################ |
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| 28 | { |
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| 29 | // SPI-Schnittstelle initialisieren |
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| 30 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
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| 31 | |||
| 32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 33 | |||
| 34 | PORTD &= ~(1<<PD3); // J5 permanent auf Low |
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| 35 | |||
| 36 | // Init Statemachine |
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| 37 | MM3.AXIS = MM3_X; |
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| 38 | MM3.STATE = MM3_RESET; |
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| 39 | |||
| 40 | // Kalibrierung aus dem EEprom lesen |
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| 41 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 42 | } |
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| 43 | |||
| 44 | |||
| 45 | //############################################################################ |
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| 46 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 47 | void timer0_MM3(void) |
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| 48 | //############################################################################ |
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| 49 | { |
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| 50 | switch (MM3.STATE) |
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| 51 | { |
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| 52 | case MM3_RESET: |
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| 53 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 54 | MM3.STATE = MM3_START_TRANSFER; |
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| 55 | return; |
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| 56 | |||
| 57 | case MM3_START_TRANSFER: |
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| 58 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 59 | |||
| 60 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
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| 61 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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| 62 | else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 63 | |||
| 64 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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| 65 | MM3.STATE = MM3_WAIT_DRDY; |
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| 66 | return; |
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| 67 | |||
| 68 | case MM3_WAIT_DRDY: |
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| 69 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 70 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 71 | } |
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| 72 | } |
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| 73 | |||
| 74 | |||
| 75 | //############################################################################ |
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| 76 | // SPI byte ready |
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| 77 | SIGNAL (SIG_SPI) |
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| 78 | //############################################################################ |
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| 79 | { |
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| 80 | static char tmp; |
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| 81 | int wert; |
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| 82 | |||
| 83 | switch (MM3.STATE) |
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| 84 | { |
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| 85 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
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| 86 | tmp = SPDR; |
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| 87 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
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| 88 | MM3.STATE = MM3_BYTE2; |
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| 89 | return; |
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| 90 | |||
| 91 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 92 | wert = tmp; |
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| 93 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
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| 94 | wert |= SPDR; // 2. Byte dranpappen |
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| 95 | |||
| 96 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
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| 97 | switch (MM3.AXIS) |
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| 98 | { |
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| 99 | case MM3_X: |
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| 100 | MM3.x_axis = wert; |
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| 101 | MM3.AXIS = MM3_Y; |
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| 102 | break; |
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| 103 | case MM3_Y: |
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| 104 | MM3.y_axis = wert; |
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| 105 | MM3.AXIS = MM3_Z; |
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| 106 | break; |
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| 107 | default: //case MM3_Z: |
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| 108 | MM3.z_axis = wert; |
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| 109 | MM3.AXIS = MM3_X; |
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| 110 | } |
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| 111 | |||
| 112 | MM3.STATE = MM3_RESET; |
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| 113 | } |
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| 114 | } |
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| 115 | |||
| 116 | //############################################################################ |
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| 117 | // Kompass kalibrieren |
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| 118 | void calib_MM3(void) |
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| 119 | //############################################################################ |
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| 120 | { |
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| 121 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 122 | uint8_t measurement=50,beeper=0; |
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| 123 | unsigned int timer; |
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| 124 | |||
| 125 | GRN_ON; |
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| 126 | ROT_OFF; |
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| 127 | |||
| 128 | while (measurement) |
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| 129 | { |
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| 130 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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| 131 | |||
| 132 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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| 133 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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| 134 | |||
| 135 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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| 136 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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| 137 | |||
| 138 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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| 139 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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| 140 | |||
| 141 | if (!beeper) |
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| 142 | { |
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| 143 | ROT_FLASH; |
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| 144 | GRN_FLASH; |
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| 145 | beeptime = 50; |
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| 146 | beeper = 50; |
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| 147 | } |
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| 148 | beeper--; |
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| 149 | |||
| 150 | // Schleife mit 100 Hz |
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| 151 | timer = SetDelay(10); |
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| 152 | while(!CheckDelay(timer)); |
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| 153 | |||
| 154 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
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| 155 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 156 | } |
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| 157 | |||
| 158 | // Wertebereich der Achsen |
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| 159 | MM3_calib.X_range = (x_max - x_min); |
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| 160 | MM3_calib.Y_range = (y_max - y_min); |
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| 161 | MM3_calib.Z_range = (z_max - z_min); |
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| 162 | |||
| 163 | // Offset der Achsen |
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| 164 | MM3_calib.X_off = (x_max + x_min) / 2; |
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| 165 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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| 166 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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| 167 | |||
| 168 | // und im EEProm abspeichern |
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| 169 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 170 | } |
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| 171 | |||
| 172 | |||
| 173 | //############################################################################ |
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| 174 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 175 | signed int heading_MM3(void) |
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| 176 | //############################################################################ |
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| 177 | { |
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| 178 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 179 | float x_corr, y_corr; |
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| 180 | signed int x_axis,y_axis,z_axis,heading; |
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| 181 | signed int nicktilt,rolltilt; |
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| 182 | unsigned int div_faktor; |
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| 183 | |||
| 184 | div_faktor = (uint16_t)EE_Parameter.UserParam3 * 8; |
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| 185 | |||
| 186 | // Berechung von sinus und cosinus |
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| 187 | nicktilt = (IntegralNick/div_faktor); |
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| 188 | sin_nick = sin_f(nicktilt); |
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| 189 | cos_nick = cos_f(nicktilt); |
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| 190 | |||
| 191 | rolltilt = (IntegralRoll/div_faktor); |
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| 192 | sin_roll = sin_f(rolltilt); |
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| 193 | cos_roll = cos_f(rolltilt); |
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| 194 | |||
| 195 | // Offset |
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| 196 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
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| 197 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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| 198 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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| 199 | |||
| 200 | // Normierung Wertebereich |
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| 201 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
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| 202 | { |
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| 203 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
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| 204 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
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| 205 | } |
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| 206 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
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| 207 | { |
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| 208 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
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| 209 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
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| 210 | } |
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| 211 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
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| 212 | { |
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| 213 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
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| 214 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
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| 215 | } |
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| 216 | |||
| 217 | // Neigungskompensation |
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| 218 | x_corr = x_axis * cos_nick; |
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| 219 | x_corr += y_axis * sin_roll * sin_nick; |
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| 220 | x_corr -= z_axis * cos_roll * sin_nick; |
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| 221 | |||
| 222 | y_corr = y_axis * cos_roll; |
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| 223 | y_corr += z_axis * sin_roll; |
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| 224 | |||
| 225 | // Winkelberechnung |
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| 226 | heading = atan2_i(x_corr, y_corr); |
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| 227 | if (heading < 0) heading = -heading; |
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| 228 | else heading = 360 - heading; |
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| 229 | |||
| 230 | /* |
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| 231 | if (!x_corr && y_corr <0) return (90); |
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| 232 | if (!x_corr && y_corr >0) return (270); |
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| 233 | |||
| 234 | heading = atan(y_corr/x_corr)*57.29578; |
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| 235 | if (x_corr < 0) heading = 180-heading; |
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| 236 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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| 237 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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| 238 | */ |
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| 239 | return (heading); |
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| 240 | } |