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Rev | Author | Line No. | Line |
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5 | hbuss | 1 | /*####################################################################################### |
7 | hbuss | 2 | MK3Mag 3D-Magnet sensor |
12 | hbuss | 3 | !!! THIS IS NOT FREE SOFTWARE !!! |
5 | hbuss | 4 | #######################################################################################*/ |
5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | hbuss | 6 | // + Copyright (c) 05.2008 Holger Buss |
8 | hbuss | 7 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
62 | ingob | 8 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
5 | hbuss | 9 | // + www.MikroKopter.com |
10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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62 | ingob | 11 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
12 | hbuss | 12 | // + mit unserer Zustimmung zulässig |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | hbuss | 14 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
15 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | hbuss | 16 | // + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden |
17 | // + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de |
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5 | hbuss | 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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21 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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22 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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23 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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24 | // + eindeutig als Ursprung verlinkt werden |
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25 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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26 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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27 | // + Benutzung auf eigene Gefahr |
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28 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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62 | ingob | 30 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
31 | // + mit unserer Zustimmung zulässig |
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32 | /// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | hbuss | 33 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
34 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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35 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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36 | // + this list of conditions and the following disclaimer. |
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62 | ingob | 37 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | hbuss | 38 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
39 | // + from this software without specific prior written permission. |
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40 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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41 | // + for non-commercial use (directly or indirectly) |
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42 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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43 | // + with our written permission |
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12 | hbuss | 44 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
45 | // + In case of doubt please contact: info@MikroKopter.de |
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7 | hbuss | 46 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
47 | // + clearly linked as origin |
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5 | hbuss | 48 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
49 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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50 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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51 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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52 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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53 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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54 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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12 | hbuss | 55 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
56 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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5 | hbuss | 57 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
58 | // + POSSIBILITY OF SUCH DAMAGE. |
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59 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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60 | |||
7 | hbuss | 61 | signed int OffsetN, OffsetR, OffsetZ; |
1 | ingob | 62 | |
7 | hbuss | 63 | signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
1 | ingob | 64 | signed int RawMagnet2a,RawMagnet2b; |
65 | signed int RawMagnet3a,RawMagnet3b; |
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7 | hbuss | 66 | signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
1 | ingob | 67 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
7 | hbuss | 68 | signed int MagnetN,MagnetR,MagnetZ; |
1 | ingob | 69 | unsigned int PwmHeading = 0; |
7 | hbuss | 70 | unsigned int PC_Connected = 0; |
71 | unsigned int Heading; |
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1 | ingob | 72 | #include "main.h" |
73 | |||
7 | hbuss | 74 | uint16_t eeXmin EEMEM = 0; |
75 | uint16_t eeXmax EEMEM = 0; |
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76 | uint16_t eeYmin EEMEM = 0; |
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77 | uint16_t eeYmax EEMEM = 0; |
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78 | uint16_t eeZmin EEMEM = 0; |
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79 | uint16_t eeZmax EEMEM = 0; |
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1 | ingob | 80 | |
7 | hbuss | 81 | |
1 | ingob | 82 | //############################################################################ |
83 | // |
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84 | void Wait(unsigned char dauer) |
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85 | //############################################################################ |
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86 | { |
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87 | dauer = (unsigned char)TCNT0 + dauer; |
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88 | while((TCNT0 - dauer) & 0x80); |
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89 | } |
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90 | |||
91 | void CalcFields(void) |
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7 | hbuss | 92 | { |
93 | UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
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94 | UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
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95 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
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96 | |||
97 | OffsetN = (Xmin + Xmax) / 2; |
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98 | OffsetR = (Ymin + Ymax) / 2; |
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99 | OffsetZ = (Zmin + Zmax) / 2; |
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100 | |||
101 | MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
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102 | MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
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103 | MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
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1 | ingob | 104 | } |
105 | |||
106 | void CalcHeading(void) |
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107 | { |
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108 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
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7 | hbuss | 109 | int heading; |
1 | ingob | 110 | |
7 | hbuss | 111 | nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
112 | roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
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1 | ingob | 113 | |
114 | Cx = MagnetN; |
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115 | Cy = MagnetR; |
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7 | hbuss | 116 | Cz = MagnetZ; |
117 | |||
118 | if(ExternData.Orientation == 1) |
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119 | { |
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120 | Cx = MagnetR; |
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121 | Cy = -MagnetN; |
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122 | Cz = MagnetZ; |
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123 | } |
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124 | |||
1 | ingob | 125 | Hx = Cx * (double)cos(nick_rad) + |
126 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
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127 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
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128 | |||
129 | Hy = Cy * (double)cos(roll_rad) + |
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130 | Cz * (double)sin(roll_rad); |
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131 | |||
132 | |||
133 | if(Hx == 0 && Hy < 0) heading = 90; |
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134 | else if(Hx == 0 && Hy > 0) heading = 270; |
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7 | hbuss | 135 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
136 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
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137 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
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1 | ingob | 138 | |
7 | hbuss | 139 | if(abs(heading) < 361) Heading = heading; |
140 | PwmHeading = Heading + 10; |
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1 | ingob | 141 | } |
142 | |||
143 | |||
7 | hbuss | 144 | void Calibrate(void) |
145 | { |
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146 | unsigned char cal; |
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147 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
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148 | else cal = ExternData.CalState; |
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149 | switch(cal) |
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150 | { |
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151 | case 0: |
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152 | LED_ON; |
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153 | break; |
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154 | case 1: |
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155 | Xmin = 10000; |
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156 | Xmax = -10000; |
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157 | Ymin = 10000; |
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158 | Ymax = -10000; |
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159 | Zmin = 10000; |
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160 | Zmax = -10000; |
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161 | LED_OFF; |
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162 | break; |
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163 | case 2: |
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164 | LED_ON; // find Min and Max of the X- and Y-Sensors |
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165 | if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
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166 | if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
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167 | if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
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168 | if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
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169 | break; |
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170 | case 3: |
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171 | LED_OFF; |
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172 | break; |
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173 | case 4: |
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174 | LED_ON; // find Min and Max of the Z-Sensor |
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175 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
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176 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
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177 | break; |
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178 | case 5: |
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179 | LED_OFF; // Save values |
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180 | if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
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181 | { |
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182 | eeprom_write_word(&eeXmin, Xmin); |
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183 | eeprom_write_word(&eeXmax, Xmax); |
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184 | eeprom_write_word(&eeYmin, Ymin); |
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185 | eeprom_write_word(&eeYmax, Ymax); |
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186 | eeprom_write_word(&eeZmin, Zmin); |
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187 | eeprom_write_word(&eeZmax, Zmax); |
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188 | Delay_ms(2000); |
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189 | } |
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190 | LED_ON; |
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191 | break; |
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192 | } |
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193 | } |
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1 | ingob | 194 | |
7 | hbuss | 195 | |
196 | void SetDebugValues(void) |
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197 | { |
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198 | DebugOut.Analog[0] = MagnetN; |
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199 | DebugOut.Analog[1] = MagnetR; |
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200 | DebugOut.Analog[2] = MagnetZ; |
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201 | DebugOut.Analog[3] = UncalMagnetN; |
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202 | DebugOut.Analog[4] = UncalMagnetR; |
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203 | DebugOut.Analog[5] = UncalMagnetZ; |
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204 | DebugOut.Analog[6] = ExternData.Winkel[0]; |
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205 | DebugOut.Analog[7] = ExternData.Winkel[1]; |
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206 | DebugOut.Analog[8] = Xmin; |
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207 | DebugOut.Analog[9] = Xmax; |
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208 | DebugOut.Analog[10] = Ymin; |
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209 | DebugOut.Analog[11] = Ymax; |
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210 | DebugOut.Analog[12] = Zmin; |
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211 | DebugOut.Analog[13] = Zmax; |
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212 | DebugOut.Analog[14] = ExternData.CalState; |
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213 | DebugOut.Analog[15] = Heading; |
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214 | DebugOut.Analog[16] = ExternData.UserParameter[0]; |
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215 | DebugOut.Analog[17] = ExternData.UserParameter[1]; |
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216 | } |
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217 | |||
218 | |||
1 | ingob | 219 | //############################################################################ |
220 | //Hauptprogramm |
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221 | int main (void) |
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222 | //############################################################################ |
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223 | { |
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224 | DDRC = 0x08; |
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225 | PORTC = 0x08; |
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226 | DDRD = 0xf4; |
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227 | PORTD = 0xA0; |
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228 | DDRB = 0x04; |
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229 | PORTB = 0x35; |
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230 | |||
231 | LED_ON; |
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232 | |||
233 | UART_Init(); |
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234 | Timer0_Init(); |
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235 | ADC_Init(); |
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3 | ingob | 236 | InitIC2_Slave(); |
1 | ingob | 237 | sei();//Globale Interrupts Einschalten |
238 | Debug_Timer = SetDelay(100); // Sendeintervall |
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3 | ingob | 239 | |
7 | hbuss | 240 | Xmin = eeprom_read_word(&eeXmin); |
241 | Xmax = eeprom_read_word(&eeXmax); |
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242 | Ymin = eeprom_read_word(&eeYmin); |
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243 | Ymax = eeprom_read_word(&eeYmax); |
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244 | Zmin = eeprom_read_word(&eeZmin); |
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245 | Zmax = eeprom_read_word(&eeZmax); |
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1 | ingob | 246 | |
3 | ingob | 247 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
248 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
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1 | ingob | 249 | VersionInfo.PCKompatibel = 7; |
250 | |||
7 | hbuss | 251 | ExternData.Orientation = 0; |
252 | ExternData.CalState = 0; |
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253 | I2C_WriteCal.CalByte = 0; |
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1 | ingob | 254 | |
255 | while (1) |
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256 | { |
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257 | FLIP_LOW; |
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258 | Delay_ms(2); |
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259 | RawMagnet1a = MessAD(0); |
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7 | hbuss | 260 | RawMagnet2a = -MessAD(1); |
1 | ingob | 261 | RawMagnet3a = MessAD(7); |
262 | Delay_ms(1); |
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7 | hbuss | 263 | |
1 | ingob | 264 | FLIP_HIGH; |
265 | Delay_ms(2); |
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266 | RawMagnet1b = MessAD(0); |
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7 | hbuss | 267 | RawMagnet2b = -MessAD(1); |
1 | ingob | 268 | RawMagnet3b = MessAD(7); |
269 | Delay_ms(1); |
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270 | |||
271 | CalcFields(); |
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7 | hbuss | 272 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
273 | else CalcHeading(); |
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274 | BearbeiteRxDaten(); |
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1 | ingob | 275 | |
276 | if(PC_Connected) |
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277 | { |
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7 | hbuss | 278 | DDRD |= 0x02; // TXD-Portpin |
279 | UCR |= (1 << TXEN); |
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280 | DatenUebertragung(); |
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1 | ingob | 281 | PC_Connected--; |
282 | } |
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283 | else |
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284 | { |
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7 | hbuss | 285 | UCR &= ~(1 << TXEN); |
286 | DDRD &= ~0x02; // TXD-Portpin |
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1 | ingob | 287 | } |
7 | hbuss | 288 | } // while(1) |
1 | ingob | 289 | } |
290 |