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366 | Nick666 | 1 | /* |
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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 | |||
378 | Nick666 | 18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
366 | Nick666 | 19 | |
373 | Nick666 | 20 | struct MM3_working_struct MM3; |
21 | struct MM3_calib_struct MM3_calib; |
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366 | Nick666 | 22 | |
23 | |||
24 | //############################################################################ |
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25 | // Initialisierung |
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371 | Nick666 | 26 | void init_MM3(void) |
366 | Nick666 | 27 | //############################################################################ |
28 | { |
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378 | Nick666 | 29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
30 | SPSR = (1<<SPI2X); |
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366 | Nick666 | 31 | |
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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33 | |||
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
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35 | |||
36 | MM3.AXIS = MM3_X; |
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37 | MM3.STATE = MM3_RESET; |
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38 | |||
39 | // Kalibrierung aus dem EEprom lesen |
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373 | Nick666 | 40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 41 | } |
42 | |||
43 | |||
44 | //############################################################################ |
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45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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371 | Nick666 | 46 | void timer0_MM3(void) |
366 | Nick666 | 47 | //############################################################################ |
48 | { |
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49 | switch (MM3.STATE) |
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50 | { |
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51 | case MM3_RESET: |
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52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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53 | MM3.STATE = MM3_START_TRANSFER; |
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54 | return; |
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55 | |||
56 | case MM3_START_TRANSFER: |
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57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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58 | |||
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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62 | |||
378 | Nick666 | 63 | MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
366 | Nick666 | 64 | MM3.STATE = MM3_WAIT_DRDY; |
65 | return; |
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66 | |||
67 | case MM3_WAIT_DRDY: |
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68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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378 | Nick666 | 69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
366 | Nick666 | 70 | } |
71 | } |
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72 | |||
73 | |||
74 | //############################################################################ |
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75 | // SPI byte ready |
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76 | SIGNAL (SIG_SPI) |
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77 | //############################################################################ |
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78 | { |
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79 | switch (MM3.STATE) |
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80 | { |
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81 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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82 | if (MM3.AXIS == MM3_X) |
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83 | { |
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84 | MM3.x_axis = SPDR; |
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85 | MM3.x_axis <<= 8; |
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86 | } |
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87 | else if (MM3.AXIS == MM3_Y) |
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88 | { |
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89 | MM3.y_axis = SPDR; |
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90 | MM3.y_axis <<= 8; |
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91 | } |
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92 | else // if (MM3.AXIS == MM3_Z) |
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93 | { |
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94 | MM3.z_axis = SPDR; |
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95 | MM3.z_axis <<= 8; |
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96 | } |
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97 | |||
98 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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99 | MM3.STATE=MM3_BYTE2; |
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100 | return; |
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101 | |||
102 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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103 | if (MM3.AXIS == MM3_X) |
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104 | { |
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105 | MM3.x_axis |= SPDR; |
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106 | // Spikes filtern |
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107 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
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108 | else MM3.x_axis = MM3.x_axis_old; |
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109 | MM3.AXIS = MM3_Y; |
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110 | MM3.STATE = MM3_RESET; |
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111 | } |
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112 | else if (MM3.AXIS == MM3_Y) |
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113 | { |
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114 | MM3.y_axis |= SPDR; |
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115 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
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116 | else MM3.y_axis = MM3.y_axis_old; |
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117 | MM3.AXIS = MM3_Z; |
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118 | MM3.STATE = MM3_RESET; |
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119 | } |
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120 | else // if (MM3.AXIS == MM3_Z) |
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121 | { |
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122 | MM3.z_axis |= SPDR; |
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123 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
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124 | else MM3.z_axis = MM3.z_axis_old; |
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125 | MM3.AXIS = MM3_X; |
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126 | MM3.STATE = MM3_RESET; |
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127 | } |
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128 | |||
129 | return; |
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130 | } |
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131 | } |
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132 | |||
133 | //############################################################################ |
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134 | // Kompass kalibrieren |
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135 | void calib_MM3(void) |
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136 | //############################################################################ |
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137 | { |
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138 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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139 | uint8_t measurement=50,beeper=0; |
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140 | unsigned int timer; |
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141 | |||
370 | Nick666 | 142 | GRN_ON; |
143 | ROT_OFF; |
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144 | |||
366 | Nick666 | 145 | while (measurement) |
146 | { |
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147 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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148 | |||
149 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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150 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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151 | |||
152 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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153 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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154 | |||
155 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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156 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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157 | |||
158 | if (!beeper) |
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159 | { |
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370 | Nick666 | 160 | ROT_FLASH; |
161 | GRN_FLASH; |
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378 | Nick666 | 162 | beeptime = 50; |
366 | Nick666 | 163 | beeper = 50; |
164 | } |
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165 | beeper--; |
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166 | |||
373 | Nick666 | 167 | // Schleife mit 100 Hz |
366 | Nick666 | 168 | timer = SetDelay(10); |
169 | while(!CheckDelay(timer)); |
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170 | |||
373 | Nick666 | 171 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
366 | Nick666 | 172 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
173 | } |
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174 | |||
378 | Nick666 | 175 | // Wertebereich der Achsen |
176 | MM3_calib.X_range = (x_max - x_min); |
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177 | MM3_calib.Y_range = (y_max - y_min); |
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178 | MM3_calib.Z_range = (z_max - z_min); |
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366 | Nick666 | 179 | |
378 | Nick666 | 180 | // Offset der Achsen |
391 | Nick666 | 181 | MM3_calib.X_off = (x_max + x_min) / 2; |
182 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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183 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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378 | Nick666 | 184 | |
366 | Nick666 | 185 | // und im EEProm abspeichern |
373 | Nick666 | 186 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 187 | } |
188 | |||
189 | |||
190 | //############################################################################ |
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191 | // Neigungskompensierung und Berechnung der Ausrichtung |
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371 | Nick666 | 192 | signed int heading_MM3(void) |
366 | Nick666 | 193 | //############################################################################ |
194 | { |
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195 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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378 | Nick666 | 196 | float x_corr, y_corr; |
197 | signed int x_axis,y_axis,z_axis, heading; |
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198 | unsigned int div_faktor; |
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199 | |||
200 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
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366 | Nick666 | 201 | |
202 | // Berechung von sinus und cosinus |
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387 | Nick666 | 203 | MM3.NickGrad = (IntegralNick/div_faktor); |
407 | Nick666 | 204 | //MM3.NickGrad = asin_i(MM3.NickGrad); |
366 | Nick666 | 205 | sin_nick = sin_f(MM3.NickGrad); |
206 | cos_nick = cos_f(MM3.NickGrad); |
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378 | Nick666 | 207 | |
387 | Nick666 | 208 | MM3.RollGrad = (IntegralRoll/div_faktor); |
407 | Nick666 | 209 | //MM3.RollGrad = asin_i(MM3.RollGrad); |
366 | Nick666 | 210 | sin_roll = sin_f(MM3.RollGrad); |
211 | cos_roll = cos_f(MM3.RollGrad); |
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378 | Nick666 | 212 | |
213 | // Offset |
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391 | Nick666 | 214 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
215 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
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216 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
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366 | Nick666 | 217 | |
378 | Nick666 | 218 | // Normierung Wertebereich |
219 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
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220 | { |
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221 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
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222 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
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223 | } |
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224 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
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225 | { |
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226 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
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227 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
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228 | } |
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229 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
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230 | { |
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231 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
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232 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
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233 | } |
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366 | Nick666 | 234 | |
378 | Nick666 | 235 | DebugOut.Analog[9] = x_axis; |
236 | DebugOut.Analog[10] = y_axis; |
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237 | DebugOut.Analog[11] = z_axis; |
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238 | |||
366 | Nick666 | 239 | // Neigungskompensation |
378 | Nick666 | 240 | x_corr = x_axis * cos_nick; |
241 | x_corr += y_axis * sin_roll * sin_nick; |
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242 | x_corr -= z_axis * cos_roll * sin_nick; |
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366 | Nick666 | 243 | |
378 | Nick666 | 244 | y_corr = y_axis * cos_roll; |
245 | y_corr += z_axis * sin_roll; |
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246 | |||
366 | Nick666 | 247 | // Winkelberechnung |
391 | Nick666 | 248 | |
366 | Nick666 | 249 | heading = atan2_i(x_corr, y_corr); |
391 | Nick666 | 250 | if (heading < 0) heading = -heading; |
251 | else heading = 360 - heading; |
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386 | Nick666 | 252 | |
253 | /* |
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254 | if (!x_corr && y_corr <0) return (90); |
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255 | if (!x_corr && y_corr >0) return (270); |
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256 | |||
257 | heading = atan(y_corr/x_corr)*57.29578; |
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258 | if (x_corr < 0) heading = 180-heading; |
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259 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
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260 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
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261 | */ |
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366 | Nick666 | 262 | return (heading); |
263 | } |