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/*
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Copyright 2007, Niklas Nold
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This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
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either version 3 of the License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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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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along with this program. If not, see <http://www.gnu.org/licenses/>.
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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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*/
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#include "main.h"
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MM3_struct MM3;
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//############################################################################
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//Initialisierung der SPI-Schnittstelle
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void init_spi(void)
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//############################################################################
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{
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        SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0);        //Interrupt an, Master, 156 kHz Oszillator
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        //SPSR = (1<<SPI2X);
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    DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
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        PORTD &= ~(1<<PD3);     // J5 auf Low
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        MM3.AXIS = MM3_X;
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        MM3.STATE = MM3_RESET;
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}
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//############################################################################
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//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
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void MM3_timer0(void)
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//############################################################################
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{
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        switch (MM3.STATE)
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        {
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        case MM3_RESET:                        
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                PORTB |= (1<<PB2);      // J8 auf High, MM3 Reset
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                MM3.STATE = MM3_START_TRANSFER;
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                break;
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        case MM3_START_TRANSFER:
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                PORTB &= ~(1<<PB2);     // J8 auf Low (war ~125 µs auf High)            
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                if (MM3.AXIS == MM3_X) SPDR = 0x51;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
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                else if (MM3.AXIS == MM3_Y) SPDR = 0x52;                // Micromag Period Select ist auf 1024 (0x50)
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                else if (MM3.AXIS == MM3_Z) SPDR = 0x53;                // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
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                MM3.DRDY = SetDelay(15);                // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
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                MM3.STATE = MM3_WAIT_DRDY;
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                break;
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        case MM3_WAIT_DRDY:
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                if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
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                break;
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        case MM3_IDLE:         
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                break;
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        }
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}
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//############################################################################
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//SPI byte ready
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SIGNAL (SIG_SPI)
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//############################################################################
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{      
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        switch (MM3.STATE)
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        {      
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        case MM3_DRDY:
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                        // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen
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                if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;}
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                if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;}
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                if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}
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        case MM3_X_BYTE2:       // 2. Byte der entsprechenden Achse ist da.             
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                MM3.x_axis |= SPDR;
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                MM3.x_axis -= OFF_X;    // Sofort Offset aus der Kalibrierung berücksichtigen
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                MM3.AXIS = MM3_Y;
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                MM3.STATE = MM3_RESET;
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                break;
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        case MM3_Y_BYTE2:
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                MM3.y_axis |= SPDR;            
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                MM3.y_axis -= OFF_Y;
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                MM3.AXIS = MM3_Z;
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                MM3.STATE = MM3_RESET;
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                break;
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        case MM3_Z_BYTE2:
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                MM3.z_axis |= SPDR;
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                MM3.z_axis -= OFF_Z;
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                MM3.AXIS = MM3_X;
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                MM3.STATE = MM3_RESET;         
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                // Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in °
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                MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);
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                MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);
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                break; 
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        }
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}
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signed int MM3_heading(void)
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{
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        float sin_nick, cos_nick, sin_roll, cos_roll;
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        signed int x_corr, y_corr;
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        signed int heading;
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        // Berechung von sinus und cosinus
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        sin_nick = sin_f(MM3.NickGrad);
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        cos_nick = cos_f(MM3.NickGrad);
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        sin_roll = sin_f(MM3.RollGrad);
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        cos_roll = cos_f(MM3.RollGrad);      
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    // Neigungskompensation
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        x_corr = (cos_nick * MM3.x_axis) + (((sin_roll *  MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick);
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        y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
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        // Winkelberechnung
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        heading = arctan_i(x_corr, y_corr);
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return (heading);
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}