Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
366 | Nick666 | 1 | /* |
2 | |||
3 | Copyright 2007, Niklas Nold |
||
4 | |||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
||
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
||
7 | either version 3 of the License, or (at your option) any later version. |
||
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
||
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
||
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
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 |
||
14 | */ |
||
15 | |||
16 | #include "main.h" |
||
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; |
||
366 | Nick666 | 22 | |
23 | |||
24 | //############################################################################ |
||
25 | // Initialisierung |
||
371 | Nick666 | 26 | void init_MM3(void) |
366 | Nick666 | 27 | //############################################################################ |
28 | { |
||
378 | Nick666 | 29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
30 | SPSR = (1<<SPI2X); |
||
366 | Nick666 | 31 | |
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
||
33 | |||
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
||
35 | |||
409 | Nick666 | 36 | // Init Statemachine |
366 | Nick666 | 37 | MM3.AXIS = MM3_X; |
38 | MM3.STATE = MM3_RESET; |
||
39 | |||
40 | // Kalibrierung aus dem EEprom lesen |
||
373 | Nick666 | 41 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 42 | } |
43 | |||
44 | |||
45 | //############################################################################ |
||
46 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
||
371 | Nick666 | 47 | void timer0_MM3(void) |
366 | Nick666 | 48 | //############################################################################ |
49 | { |
||
50 | switch (MM3.STATE) |
||
51 | { |
||
52 | case MM3_RESET: |
||
53 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
||
54 | MM3.STATE = MM3_START_TRANSFER; |
||
55 | return; |
||
56 | |||
57 | case MM3_START_TRANSFER: |
||
58 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
||
59 | |||
60 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
||
61 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
||
62 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
||
63 | |||
409 | Nick666 | 64 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
366 | Nick666 | 65 | MM3.STATE = MM3_WAIT_DRDY; |
66 | return; |
||
67 | |||
68 | case MM3_WAIT_DRDY: |
||
69 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
||
378 | Nick666 | 70 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
366 | Nick666 | 71 | } |
72 | } |
||
73 | |||
74 | |||
75 | //############################################################################ |
||
76 | // SPI byte ready |
||
77 | SIGNAL (SIG_SPI) |
||
78 | //############################################################################ |
||
79 | { |
||
80 | switch (MM3.STATE) |
||
81 | { |
||
82 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
||
83 | if (MM3.AXIS == MM3_X) |
||
84 | { |
||
85 | MM3.x_axis = SPDR; |
||
86 | MM3.x_axis <<= 8; |
||
87 | } |
||
88 | else if (MM3.AXIS == MM3_Y) |
||
89 | { |
||
90 | MM3.y_axis = SPDR; |
||
91 | MM3.y_axis <<= 8; |
||
92 | } |
||
93 | else // if (MM3.AXIS == MM3_Z) |
||
94 | { |
||
95 | MM3.z_axis = SPDR; |
||
96 | MM3.z_axis <<= 8; |
||
97 | } |
||
98 | |||
99 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
||
100 | MM3.STATE=MM3_BYTE2; |
||
101 | return; |
||
102 | |||
103 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
||
104 | if (MM3.AXIS == MM3_X) |
||
105 | { |
||
106 | MM3.x_axis |= SPDR; |
||
107 | // Spikes filtern |
||
108 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
||
109 | else MM3.x_axis = MM3.x_axis_old; |
||
110 | MM3.AXIS = MM3_Y; |
||
111 | MM3.STATE = MM3_RESET; |
||
112 | } |
||
113 | else if (MM3.AXIS == MM3_Y) |
||
114 | { |
||
115 | MM3.y_axis |= SPDR; |
||
116 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
||
117 | else MM3.y_axis = MM3.y_axis_old; |
||
118 | MM3.AXIS = MM3_Z; |
||
119 | MM3.STATE = MM3_RESET; |
||
120 | } |
||
121 | else // if (MM3.AXIS == MM3_Z) |
||
122 | { |
||
123 | MM3.z_axis |= SPDR; |
||
124 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
||
125 | else MM3.z_axis = MM3.z_axis_old; |
||
126 | MM3.AXIS = MM3_X; |
||
127 | MM3.STATE = MM3_RESET; |
||
128 | } |
||
129 | |||
130 | return; |
||
131 | } |
||
132 | } |
||
133 | |||
134 | //############################################################################ |
||
135 | // Kompass kalibrieren |
||
136 | void calib_MM3(void) |
||
137 | //############################################################################ |
||
138 | { |
||
139 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
||
140 | uint8_t measurement=50,beeper=0; |
||
141 | unsigned int timer; |
||
142 | |||
370 | Nick666 | 143 | GRN_ON; |
144 | ROT_OFF; |
||
145 | |||
366 | Nick666 | 146 | while (measurement) |
147 | { |
||
148 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
||
149 | |||
150 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
||
151 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
||
152 | |||
153 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
||
154 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
||
155 | |||
156 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
||
157 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
||
158 | |||
159 | if (!beeper) |
||
160 | { |
||
370 | Nick666 | 161 | ROT_FLASH; |
162 | GRN_FLASH; |
||
378 | Nick666 | 163 | beeptime = 50; |
366 | Nick666 | 164 | beeper = 50; |
165 | } |
||
166 | beeper--; |
||
167 | |||
373 | Nick666 | 168 | // Schleife mit 100 Hz |
366 | Nick666 | 169 | timer = SetDelay(10); |
170 | while(!CheckDelay(timer)); |
||
171 | |||
373 | Nick666 | 172 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
366 | Nick666 | 173 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
174 | } |
||
175 | |||
378 | Nick666 | 176 | // Wertebereich der Achsen |
177 | MM3_calib.X_range = (x_max - x_min); |
||
178 | MM3_calib.Y_range = (y_max - y_min); |
||
179 | MM3_calib.Z_range = (z_max - z_min); |
||
366 | Nick666 | 180 | |
378 | Nick666 | 181 | // Offset der Achsen |
391 | Nick666 | 182 | MM3_calib.X_off = (x_max + x_min) / 2; |
183 | MM3_calib.Y_off = (y_max + y_min) / 2; |
||
184 | MM3_calib.Z_off = (z_max + z_min) / 2; |
||
378 | Nick666 | 185 | |
366 | Nick666 | 186 | // und im EEProm abspeichern |
373 | Nick666 | 187 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
366 | Nick666 | 188 | } |
189 | |||
190 | |||
191 | //############################################################################ |
||
192 | // Neigungskompensierung und Berechnung der Ausrichtung |
||
371 | Nick666 | 193 | signed int heading_MM3(void) |
366 | Nick666 | 194 | //############################################################################ |
195 | { |
||
196 | float sin_nick, cos_nick, sin_roll, cos_roll; |
||
378 | Nick666 | 197 | float x_corr, y_corr; |
198 | signed int x_axis,y_axis,z_axis, heading; |
||
409 | Nick666 | 199 | uint16_t div_faktor; |
378 | Nick666 | 200 | |
201 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
||
366 | Nick666 | 202 | |
203 | // Berechung von sinus und cosinus |
||
387 | Nick666 | 204 | MM3.NickGrad = (IntegralNick/div_faktor); |
407 | Nick666 | 205 | //MM3.NickGrad = asin_i(MM3.NickGrad); |
366 | Nick666 | 206 | sin_nick = sin_f(MM3.NickGrad); |
207 | cos_nick = cos_f(MM3.NickGrad); |
||
378 | Nick666 | 208 | |
387 | Nick666 | 209 | MM3.RollGrad = (IntegralRoll/div_faktor); |
407 | Nick666 | 210 | //MM3.RollGrad = asin_i(MM3.RollGrad); |
366 | Nick666 | 211 | sin_roll = sin_f(MM3.RollGrad); |
212 | cos_roll = cos_f(MM3.RollGrad); |
||
378 | Nick666 | 213 | |
214 | // Offset |
||
391 | Nick666 | 215 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
216 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
||
217 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
||
366 | Nick666 | 218 | |
378 | Nick666 | 219 | // Normierung Wertebereich |
220 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
||
221 | { |
||
222 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
||
223 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
||
224 | } |
||
225 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
||
226 | { |
||
227 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
||
228 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
||
229 | } |
||
230 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
||
231 | { |
||
232 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
||
233 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
||
234 | } |
||
366 | Nick666 | 235 | |
378 | Nick666 | 236 | DebugOut.Analog[9] = x_axis; |
237 | DebugOut.Analog[10] = y_axis; |
||
238 | DebugOut.Analog[11] = z_axis; |
||
239 | |||
366 | Nick666 | 240 | // Neigungskompensation |
378 | Nick666 | 241 | x_corr = x_axis * cos_nick; |
242 | x_corr += y_axis * sin_roll * sin_nick; |
||
243 | x_corr -= z_axis * cos_roll * sin_nick; |
||
366 | Nick666 | 244 | |
378 | Nick666 | 245 | y_corr = y_axis * cos_roll; |
246 | y_corr += z_axis * sin_roll; |
||
247 | |||
408 | Nick666 | 248 | // Winkelberechnung |
366 | Nick666 | 249 | heading = atan2_i(x_corr, y_corr); |
391 | Nick666 | 250 | if (heading < 0) heading = -heading; |
251 | else heading = 360 - heading; |
||
386 | Nick666 | 252 | |
253 | /* |
||
254 | if (!x_corr && y_corr <0) return (90); |
||
255 | if (!x_corr && y_corr >0) return (270); |
||
256 | |||
257 | heading = atan(y_corr/x_corr)*57.29578; |
||
258 | if (x_corr < 0) heading = 180-heading; |
||
259 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
||
260 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
||
261 | */ |
||
366 | Nick666 | 262 | return (heading); |
263 | } |