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| Rev | Author | Line No. | Line |
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| 205 | Nick666 | 1 | /* |
| 2 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
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| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
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| 4 | either version 3 of the License, or (at your option) any later version. |
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| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
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| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 9 | |||
| 10 | 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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| 11 | */ |
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| 12 | |||
| 13 | #include "main.h" |
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| 14 | |||
| 15 | MM3_struct MM3; |
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| 16 | |||
| 17 | |||
| 18 | //############################################################################ |
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| 19 | //Initialisierung der SPI-Schnittstelle |
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| 20 | void init_spi(void) |
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| 21 | //############################################################################ |
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| 22 | { |
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| 226 | Nick666 | 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| 219 | Nick666 | 24 | //SPSR = (1<<SPI2X); |
| 226 | Nick666 | 25 | |
| 26 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 27 | |||
| 205 | Nick666 | 28 | MM3.AXIS = MM3_X; |
| 29 | MM3.STATE = MM3_RESET; |
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| 30 | } |
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| 31 | |||
| 32 | |||
| 33 | //############################################################################ |
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| 34 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 35 | void MM3_timer0(void) |
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| 36 | //############################################################################ |
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| 37 | { |
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| 38 | switch (MM3.STATE) |
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| 39 | { |
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| 40 | case MM3_RESET: |
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| 41 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 42 | MM3.STATE = MM3_START_TRANSFER; |
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| 43 | break; |
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| 44 | |||
| 45 | case MM3_START_TRANSFER: |
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| 226 | Nick666 | 46 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| 205 | Nick666 | 47 | |
| 226 | Nick666 | 48 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 49 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
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| 50 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 205 | Nick666 | 51 | else {MM3.STATE == MM3_IDLE;break;} |
| 52 | |||
| 226 | Nick666 | 53 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| 205 | Nick666 | 54 | MM3.STATE = MM3_WAIT_DRDY; |
| 55 | break; |
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| 56 | |||
| 57 | case MM3_WAIT_DRDY: |
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| 226 | Nick666 | 58 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| 205 | Nick666 | 59 | break; |
| 60 | |||
| 61 | case MM3_IDLE: |
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| 62 | break; |
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| 63 | } |
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| 64 | } |
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| 226 | Nick666 | 65 | |
| 205 | Nick666 | 66 | |
| 67 | //############################################################################ |
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| 68 | //SPI byte ready |
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| 69 | SIGNAL (SIG_SPI) |
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| 70 | //############################################################################ |
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| 206 | Nick666 | 71 | { |
| 205 | Nick666 | 72 | switch (MM3.STATE) |
| 73 | { |
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| 226 | Nick666 | 74 | case MM3_DRDY: |
| 75 | // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen |
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| 205 | Nick666 | 76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
| 77 | 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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| 78 | 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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| 79 | |||
| 226 | Nick666 | 80 | case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da. |
| 81 | MM3.x_axis |= SPDR; |
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| 82 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
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| 83 | //MM3.x_axis /= GAIN_X; |
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| 205 | Nick666 | 84 | MM3.AXIS = MM3_Y; |
| 85 | MM3.STATE = MM3_RESET; |
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| 86 | break; |
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| 87 | |||
| 88 | case MM3_Y_BYTE2: |
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| 226 | Nick666 | 89 | MM3.y_axis |= SPDR; |
| 90 | MM3.y_axis -= OFF_Y; |
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| 91 | //MM3.y_axis /= GAIN_Y; |
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| 205 | Nick666 | 92 | MM3.AXIS = MM3_Z; |
| 93 | MM3.STATE = MM3_RESET; |
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| 94 | break; |
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| 95 | |||
| 96 | case MM3_Z_BYTE2: |
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| 226 | Nick666 | 97 | MM3.z_axis |= SPDR; |
| 98 | MM3.z_axis -= OFF_Z; |
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| 99 | //MM3.z_axis /= GAIN_Z; |
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| 205 | Nick666 | 100 | MM3.AXIS = MM3_X; |
| 226 | Nick666 | 101 | MM3.STATE = MM3_RESET; |
| 102 | // Zeitnahe Berechnung der Nick-/Rollneigung in ° |
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| 103 | MM3.NickGrad = IntegralNick/Int2Grad_Faktor; |
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| 104 | MM3.RollGrad = IntegralRoll/Int2Grad_Faktor; |
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| 205 | Nick666 | 105 | break; |
| 106 | } |
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| 226 | Nick666 | 107 | } |
| 205 | Nick666 | 108 | |
| 226 | Nick666 | 109 | signed int MM3_heading(void) |
| 110 | { |
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| 111 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 112 | signed int x_corr, y_corr; |
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| 113 | signed int heading; |
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| 114 | |||
| 115 | //Berechung von sinus und cosinus |
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| 116 | sin_nick = (float)sin_i(MM3.NickGrad)/1000; |
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| 117 | cos_nick = (float)cos_i(MM3.NickGrad)/1000; |
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| 118 | sin_roll = (float)sin_i(MM3.RollGrad)/1000; |
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| 119 | cos_roll = (float)cos_i(MM3.RollGrad)/1000; |
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| 120 | |||
| 121 | //Neigungskompensation |
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| 122 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
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| 123 | x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
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| 124 | |||
| 125 | //Winkelberechnung |
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| 126 | heading = arctan_f(x_corr, y_corr); |
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| 127 | |||
| 128 | return (heading); |
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| 205 | Nick666 | 129 | } |