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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 | |||
| 557 | Nick666 | 34 | if(PlatinenVersion == 10) |
| 35 | { |
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| 36 | DDRD |= (1<<PD3); // PD3 als Ausgang |
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| 37 | PORTD &= ~(1<<PD3); // J5 permanent auf Low |
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| 38 | } |
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| 39 | else |
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| 40 | { |
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| 41 | DDRC |= (1<<PC6); // PC6 als Ausgang |
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| 42 | PORTC &= ~(1<<PC6); // J9 permanent auf Low |
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| 43 | } |
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| 554 | Nick666 | 44 | |
| 45 | // Init Statemachine |
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| 46 | MM3.AXIS = MM3_X; |
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| 47 | MM3.STATE = MM3_RESET; |
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| 48 | |||
| 49 | // Kalibrierung aus dem EEprom lesen |
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| 50 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 51 | } |
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| 52 | |||
| 53 | |||
| 54 | //############################################################################ |
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| 55 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 56 | void timer0_MM3(void) |
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| 57 | //############################################################################ |
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| 58 | { |
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| 59 | switch (MM3.STATE) |
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| 60 | { |
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| 61 | case MM3_RESET: |
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| 62 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 63 | MM3.STATE = MM3_START_TRANSFER; |
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| 64 | return; |
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| 65 | |||
| 66 | case MM3_START_TRANSFER: |
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| 67 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 68 | |||
| 69 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
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| 70 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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| 71 | else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 72 | |||
| 73 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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| 74 | MM3.STATE = MM3_WAIT_DRDY; |
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| 75 | return; |
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| 76 | |||
| 77 | case MM3_WAIT_DRDY: |
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| 78 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 79 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 80 | } |
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| 81 | } |
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| 82 | |||
| 83 | |||
| 84 | //############################################################################ |
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| 85 | // SPI byte ready |
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| 86 | SIGNAL (SIG_SPI) |
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| 87 | //############################################################################ |
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| 88 | { |
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| 89 | static char tmp; |
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| 90 | int wert; |
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| 91 | |||
| 92 | switch (MM3.STATE) |
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| 93 | { |
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| 94 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
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| 95 | tmp = SPDR; |
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| 96 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
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| 97 | MM3.STATE = MM3_BYTE2; |
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| 98 | return; |
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| 99 | |||
| 100 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 101 | wert = tmp; |
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| 102 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
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| 103 | wert |= SPDR; // 2. Byte dranpappen |
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| 104 | |||
| 105 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
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| 106 | switch (MM3.AXIS) |
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| 107 | { |
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| 108 | case MM3_X: |
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| 109 | MM3.x_axis = wert; |
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| 110 | MM3.AXIS = MM3_Y; |
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| 111 | break; |
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| 112 | case MM3_Y: |
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| 113 | MM3.y_axis = wert; |
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| 114 | MM3.AXIS = MM3_Z; |
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| 115 | break; |
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| 116 | default: //case MM3_Z: |
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| 117 | MM3.z_axis = wert; |
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| 118 | MM3.AXIS = MM3_X; |
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| 119 | } |
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| 120 | |||
| 121 | MM3.STATE = MM3_RESET; |
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| 122 | } |
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| 123 | } |
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| 124 | |||
| 125 | //############################################################################ |
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| 126 | // Kompass kalibrieren |
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| 127 | void calib_MM3(void) |
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| 128 | //############################################################################ |
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| 129 | { |
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| 130 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 131 | uint8_t measurement=50,beeper=0; |
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| 132 | unsigned int timer; |
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| 133 | |||
| 134 | GRN_ON; |
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| 135 | ROT_OFF; |
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| 136 | |||
| 137 | while (measurement) |
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| 138 | { |
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| 139 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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| 140 | |||
| 141 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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| 142 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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| 143 | |||
| 144 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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| 145 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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| 146 | |||
| 147 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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| 148 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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| 149 | |||
| 150 | if (!beeper) |
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| 151 | { |
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| 152 | ROT_FLASH; |
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| 153 | GRN_FLASH; |
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| 154 | beeptime = 50; |
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| 155 | beeper = 50; |
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| 156 | } |
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| 157 | beeper--; |
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| 158 | |||
| 159 | // Schleife mit 100 Hz |
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| 160 | timer = SetDelay(10); |
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| 161 | while(!CheckDelay(timer)); |
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| 162 | |||
| 163 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
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| 164 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 165 | } |
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| 166 | |||
| 167 | // Wertebereich der Achsen |
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| 168 | MM3_calib.X_range = (x_max - x_min); |
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| 169 | MM3_calib.Y_range = (y_max - y_min); |
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| 170 | MM3_calib.Z_range = (z_max - z_min); |
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| 171 | |||
| 172 | // Offset der Achsen |
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| 173 | MM3_calib.X_off = (x_max + x_min) / 2; |
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| 174 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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| 175 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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| 176 | |||
| 177 | // und im EEProm abspeichern |
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| 178 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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| 179 | } |
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| 180 | |||
| 181 | |||
| 182 | //############################################################################ |
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| 183 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 184 | signed int heading_MM3(void) |
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| 185 | //############################################################################ |
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| 186 | { |
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| 187 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 188 | float x_corr, y_corr; |
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| 189 | signed int x_axis,y_axis,z_axis,heading; |
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| 190 | signed int nicktilt,rolltilt; |
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| 191 | unsigned int div_faktor; |
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| 192 | |||
| 193 | div_faktor = (uint16_t)EE_Parameter.UserParam3 * 8; |
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| 194 | |||
| 195 | // Berechung von sinus und cosinus |
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| 196 | nicktilt = (IntegralNick/div_faktor); |
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| 197 | sin_nick = sin_f(nicktilt); |
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| 198 | cos_nick = cos_f(nicktilt); |
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| 199 | |||
| 200 | rolltilt = (IntegralRoll/div_faktor); |
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| 201 | sin_roll = sin_f(rolltilt); |
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| 202 | cos_roll = cos_f(rolltilt); |
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| 203 | |||
| 204 | // Offset |
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| 205 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
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| 206 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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| 207 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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| 208 | |||
| 209 | // Normierung Wertebereich |
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| 210 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
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| 211 | { |
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| 212 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
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| 213 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
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| 214 | } |
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| 215 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
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| 216 | { |
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| 217 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
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| 218 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
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| 219 | } |
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| 220 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
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| 221 | { |
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| 222 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
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| 223 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
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| 224 | } |
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| 225 | |||
| 226 | // Neigungskompensation |
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| 227 | x_corr = x_axis * cos_nick; |
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| 228 | x_corr += y_axis * sin_roll * sin_nick; |
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| 229 | x_corr -= z_axis * cos_roll * sin_nick; |
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| 230 | |||
| 231 | y_corr = y_axis * cos_roll; |
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| 232 | y_corr += z_axis * sin_roll; |
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| 233 | |||
| 234 | // Winkelberechnung |
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| 235 | heading = atan2_i(x_corr, y_corr); |
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| 236 | if (heading < 0) heading = -heading; |
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| 237 | else heading = 360 - heading; |
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| 238 | |||
| 239 | /* |
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| 240 | if (!x_corr && y_corr <0) return (90); |
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| 241 | if (!x_corr && y_corr >0) return (270); |
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| 242 | |||
| 243 | heading = atan(y_corr/x_corr)*57.29578; |
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| 244 | if (x_corr < 0) heading = 180-heading; |
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| 245 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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| 246 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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| 247 | */ |
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| 248 | return (heading); |
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| 249 | } |