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Rev | Author | Line No. | Line |
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5 | hbuss | 1 | /*####################################################################################### |
7 | hbuss | 2 | MK3Mag 3D-Magnet sensor |
32 | holgerb | 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) |
5 | hbuss | 8 | // + Nur für den privaten Gebrauch |
9 | // + www.MikroKopter.com |
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10 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 11 | // + Die Portierung 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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32 | holgerb | 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 19 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
5 | hbuss | 20 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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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30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | holgerb | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
5 | hbuss | 33 | // + this list of conditions and the following disclaimer. |
12 | hbuss | 34 | // + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
5 | hbuss | 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
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32 | holgerb | 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
5 | hbuss | 38 | // + for non-commercial use (directly or indirectly) |
32 | holgerb | 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
5 | hbuss | 40 | // + with our written permission |
12 | hbuss | 41 | // + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems |
42 | // + In case of doubt please contact: info@MikroKopter.de |
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32 | holgerb | 43 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
44 | // + clearly linked as origin |
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5 | hbuss | 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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12 | hbuss | 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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5 | hbuss | 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
32 | holgerb | 55 | // + POSSIBILITY OF SUCH DAMAGE. |
5 | hbuss | 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | holgerb | 57 | #include <avr/interrupt.h> |
58 | #include <math.h> |
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59 | #include <stdlib.h> |
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60 | #include <stdio.h> |
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17 | holgerb | 61 | |
1 | ingob | 62 | #include "main.h" |
32 | holgerb | 63 | #include "timer0.h" |
64 | #include "twislave.h" |
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65 | #include "led.h" |
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66 | #include "analog.h" |
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67 | #include "uart.h" |
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1 | ingob | 68 | |
32 | holgerb | 69 | |
70 | AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC; |
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71 | Orientation_t Orientation = ORIENTATION_FC; |
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72 | |||
73 | uint16_t Led_Timer = 0; |
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74 | |||
75 | typedef struct |
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1 | ingob | 76 | { |
32 | holgerb | 77 | int16_t Range; |
78 | int16_t Offset; |
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79 | } Scaling_t; |
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1 | ingob | 80 | |
32 | holgerb | 81 | typedef struct |
82 | { |
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83 | Scaling_t MagX; |
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84 | Scaling_t MagY; |
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85 | Scaling_t MagZ; |
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86 | Scaling_t AccX; |
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87 | Scaling_t AccY; |
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88 | Scaling_t AccZ; |
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89 | } Calibration_t; |
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90 | |||
91 | Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
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92 | Calibration_t Calibration; // calibration data in RAM |
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93 | |||
94 | // magnet sensor variable |
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95 | int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
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96 | int16_t RawMagnet2a, RawMagnet2b; |
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97 | int16_t RawMagnet3a, RawMagnet3b; |
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98 | int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling |
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99 | int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings |
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100 | |||
101 | // acceleration sensor variables |
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102 | int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings |
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103 | int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings |
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104 | int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc |
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105 | |||
106 | int16_t Heading = -1; // the current compass heading in deg |
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107 | |||
108 | |||
1 | ingob | 109 | void CalcFields(void) |
7 | hbuss | 110 | { |
32 | holgerb | 111 | UncalMagX = (RawMagnet1a - RawMagnet1b); |
112 | UncalMagY = (RawMagnet3a - RawMagnet3b); |
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113 | UncalMagZ = (RawMagnet2a - RawMagnet2b); |
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7 | hbuss | 114 | |
32 | holgerb | 115 | if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range); |
116 | else MagX = 0; |
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117 | if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range); |
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118 | else MagY = 0; |
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119 | if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range); |
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120 | else MagZ = 0; |
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7 | hbuss | 121 | |
32 | holgerb | 122 | if(AccPresent) |
123 | { |
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124 | AccX = (RawAccX - Calibration.AccX.Offset); |
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125 | AccY = (RawAccY - Calibration.AccY.Offset); |
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126 | AccZ = (Calibration.AccZ.Offset - RawAccZ); |
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127 | |||
128 | #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL |
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129 | // acc mode assumes orientation like FC |
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130 | if(AccX > 136) AccAttitudeNick = -800; |
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131 | else |
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132 | if(AccX < -136) AccAttitudeNick = 800; |
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133 | else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI); |
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134 | |||
135 | |||
136 | if(AccY > 136) AccAttitudeRoll = 800; |
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137 | else |
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138 | if(AccY < -136) AccAttitudeRoll = -800; |
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139 | else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
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140 | |||
141 | #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z) |
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142 | // acc mode assumes orientation like FC |
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143 | if(AccY > 136) AccAttitudeNick = 800; |
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144 | else |
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145 | if(AccY < -136) AccAttitudeNick = -800; |
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146 | else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI); |
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147 | |||
148 | |||
149 | if(AccX > 136) AccAttitudeRoll = 800; |
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150 | else |
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151 | if(AccX < -136) AccAttitudeRoll = -800; |
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152 | else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI); |
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153 | #endif |
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154 | } |
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1 | ingob | 155 | } |
156 | |||
32 | holgerb | 157 | |
1 | ingob | 158 | void CalcHeading(void) |
159 | { |
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32 | holgerb | 160 | double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0; |
33 | killagreg | 161 | int16_t nick, roll; |
32 | holgerb | 162 | int16_t heading = -1; |
1 | ingob | 163 | |
32 | holgerb | 164 | // blink code for normal operation |
165 | if(CheckDelay(Led_Timer)) |
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166 | { |
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167 | LED_GRN_TOGGLE; |
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168 | Led_Timer = SetDelay(500); |
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169 | } |
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7 | hbuss | 170 | |
32 | holgerb | 171 | switch(Orientation) |
172 | { |
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173 | case ORIENTATION_NC: |
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174 | Cx = MagX; |
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175 | Cy = MagY; |
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176 | Cz = MagZ; |
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177 | break; |
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7 | hbuss | 178 | |
32 | holgerb | 179 | case ORIENTATION_FC: |
180 | // rotation of 90 deg compared to NC setup |
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181 | Cx = MagY; |
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182 | Cy = -MagX; |
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183 | Cz = MagZ; |
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184 | break; |
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185 | } |
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186 | |||
187 | // calculate nick and roll angle in rad |
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188 | switch(AttitudeSource) |
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189 | { |
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190 | case ATTITUDE_SOURCE_I2C: |
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191 | cli(); // stop interrupts |
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192 | nick = I2C_WriteAttitude.Nick; |
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193 | roll = I2C_WriteAttitude.Roll; |
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194 | sei(); // start interrupts |
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195 | break; |
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196 | case ATTITUDE_SOURCE_UART: |
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197 | cli(); // stop interrupts |
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198 | nick = ExternData.Attitude[NICK]; |
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199 | roll = ExternData.Attitude[ROLL]; |
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200 | sei(); // start interrupts |
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201 | break; |
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202 | case ATTITUDE_SOURCE_ACC: |
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203 | nick = AccAttitudeNick; |
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204 | roll = AccAttitudeRoll; |
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205 | break; |
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206 | default: |
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207 | nick_rad = 0; |
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208 | roll_rad = 0; |
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209 | break; |
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210 | } |
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211 | |||
212 | nick_rad = ((double)nick) * M_PI / (double)(1800.0); |
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213 | roll_rad = ((double)roll) * M_PI / (double)(1800.0); |
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214 | |||
215 | |||
216 | // calculate attitude correction |
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217 | Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad); |
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218 | Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad); |
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219 | |||
220 | DebugOut.Analog[27] = (int16_t)Hx; |
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221 | DebugOut.Analog[28] = (int16_t)Hy; |
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222 | |||
223 | // calculate Heading |
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224 | heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI); |
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225 | // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation |
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226 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
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227 | if (heading < 0) heading = -heading; |
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228 | else heading = 360 - heading; |
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33 | killagreg | 229 | |
32 | holgerb | 230 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | killagreg | 231 | /* // Alternative formula |
232 | Hx = Cx * (double)cos(nick_rad) + |
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1 | ingob | 233 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
33 | killagreg | 234 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
235 | |||
236 | Hy = Cy * (double)cos(roll_rad) + |
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1 | ingob | 237 | Cz * (double)sin(roll_rad); |
33 | killagreg | 238 | |
1 | ingob | 239 | if(Hx == 0 && Hy < 0) heading = 90; |
240 | else if(Hx == 0 && Hy > 0) heading = 270; |
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7 | hbuss | 241 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
242 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
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243 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
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1 | ingob | 244 | |
7 | hbuss | 245 | if(abs(heading) < 361) Heading = heading; |
32 | holgerb | 246 | */ |
247 | //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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248 | |||
33 | killagreg | 249 | cli(); // stop interrupts |
32 | holgerb | 250 | if(abs(heading) < 361) Heading = heading; |
251 | else (Heading = -1); |
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33 | killagreg | 252 | sei(); // start interrupts |
253 | |||
1 | ingob | 254 | } |
255 | |||
256 | |||
7 | hbuss | 257 | void Calibrate(void) |
258 | { |
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32 | holgerb | 259 | uint8_t cal; |
260 | static uint8_t calold = 0; |
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261 | static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
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262 | static uint8_t blinkcount = 0; |
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263 | static uint8_t invert_blinking = 0; |
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33 | killagreg | 264 | |
32 | holgerb | 265 | // check both sources of communication for calibration request |
266 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
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267 | else cal = ExternData.CalState; |
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16 | holgerb | 268 | |
32 | holgerb | 269 | |
270 | if(cal > 5) cal = 0; |
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271 | // blink code for current calibration state |
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272 | if(cal) |
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273 | { |
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274 | if(CheckDelay(Led_Timer) || (cal != calold)) |
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275 | { |
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276 | if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
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277 | else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON; |
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278 | |||
279 | // end of blinkcount sequence |
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280 | if((blinkcount + 1 ) >= (2 * cal)) |
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281 | { |
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282 | blinkcount = 0; |
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283 | Led_Timer = SetDelay(1000); |
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284 | } |
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285 | else |
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286 | { |
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287 | blinkcount++; |
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288 | Led_Timer = SetDelay(170); |
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289 | } |
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290 | } |
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291 | } |
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292 | else |
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293 | { |
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294 | if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF; |
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295 | } |
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296 | |||
297 | // calibration state machine |
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298 | switch(cal) |
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299 | { |
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300 | case 1: // 1st step of calibration |
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301 | // initialize ranges |
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302 | // used to change the orientation of the MK3MAG in the horizontal plane |
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303 | Xmin = 10000; |
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304 | Xmax = -10000; |
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305 | Ymin = 10000; |
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306 | Ymax = -10000; |
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307 | Zmin = 10000; |
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308 | Zmax = -10000; |
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309 | Calibration.AccX.Offset = RawAccX; |
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310 | Calibration.AccY.Offset = RawAccY; |
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311 | Calibration.AccZ.Offset = RawAccZ; |
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312 | invert_blinking = 0; |
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313 | break; |
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314 | |||
315 | case 2: // 2nd step of calibration |
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316 | // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
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317 | if(UncalMagX < Xmin) Xmin = UncalMagX; |
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318 | if(UncalMagX > Xmax) Xmax = UncalMagX; |
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319 | if(UncalMagY < Ymin) Ymin = UncalMagY; |
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320 | if(UncalMagY > Ymax) Ymax = UncalMagY; |
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321 | invert_blinking = 1; |
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322 | break; |
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323 | |||
324 | case 3: // 3rd step of calibration |
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325 | // used to change the orientation of the MK3MAG vertical to the horizontal plane |
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326 | invert_blinking = 0; |
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327 | break; |
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328 | |||
329 | case 4: |
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330 | // find Min and Max of the Z-Sensor |
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331 | if(UncalMagZ < Zmin) Zmin = UncalMagZ; |
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332 | if(UncalMagZ > Zmax) Zmax = UncalMagZ; |
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333 | invert_blinking = 1; |
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334 | break; |
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335 | |||
336 | case 5: |
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337 | // Save values |
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338 | if(cal != calold) // avoid continously writing of eeprom! |
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339 | { |
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340 | Calibration.MagX.Range = Xmax - Xmin; |
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341 | Calibration.MagX.Offset = (Xmin + Xmax) / 2; |
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342 | Calibration.MagY.Range = Ymax - Ymin; |
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343 | Calibration.MagY.Offset = (Ymin + Ymax) / 2; |
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344 | Calibration.MagZ.Range = Zmax - Zmin; |
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345 | Calibration.MagZ.Offset = (Zmin + Zmax) / 2; |
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346 | if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150)) |
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347 | { |
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34 | killagreg | 348 | // indicate write process by setting the led off for 2 seconds |
349 | LED_GRN_OFF; |
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32 | holgerb | 350 | eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
351 | Led_Timer = SetDelay(2000); |
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352 | // reset blinkcode |
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353 | blinkcount = 0; |
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354 | } |
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355 | } |
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356 | invert_blinking = 0; |
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357 | break; |
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358 | |||
359 | default: |
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360 | break; |
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361 | } |
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362 | calold = cal; |
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7 | hbuss | 363 | } |
1 | ingob | 364 | |
32 | holgerb | 365 | |
7 | hbuss | 366 | void SetDebugValues(void) |
367 | { |
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32 | holgerb | 368 | DebugOut.Analog[0] = MagX; |
369 | DebugOut.Analog[1] = MagY; |
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370 | DebugOut.Analog[2] = MagZ; |
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371 | DebugOut.Analog[3] = UncalMagX; |
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372 | DebugOut.Analog[4] = UncalMagY; |
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373 | DebugOut.Analog[5] = UncalMagZ; |
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374 | switch(AttitudeSource) |
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375 | { |
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376 | case ATTITUDE_SOURCE_ACC: |
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377 | DebugOut.Analog[6] = AccAttitudeNick; |
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378 | DebugOut.Analog[7] = AccAttitudeRoll; |
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379 | break; |
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380 | |||
381 | case ATTITUDE_SOURCE_UART: |
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382 | DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
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383 | DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
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384 | break; |
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385 | |||
386 | |||
387 | case ATTITUDE_SOURCE_I2C: |
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388 | DebugOut.Analog[6] = I2C_WriteAttitude.Nick; |
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389 | DebugOut.Analog[7] = I2C_WriteAttitude.Roll; |
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390 | break; |
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391 | } |
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392 | DebugOut.Analog[8] = Calibration.MagX.Offset; |
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393 | DebugOut.Analog[9] = Calibration.MagX.Range; |
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394 | DebugOut.Analog[10] = Calibration.MagY.Offset; |
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395 | DebugOut.Analog[11] = Calibration.MagY.Range; |
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396 | DebugOut.Analog[12] = Calibration.MagZ.Offset; |
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397 | DebugOut.Analog[13] = Calibration.MagZ.Range; |
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398 | DebugOut.Analog[14] = ExternData.CalState; |
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399 | DebugOut.Analog[15] = Heading; |
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400 | DebugOut.Analog[16] = ExternData.UserParam[0]; |
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401 | DebugOut.Analog[17] = ExternData.UserParam[1]; |
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402 | DebugOut.Analog[18] = AccX; |
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403 | DebugOut.Analog[19] = AccY; |
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404 | DebugOut.Analog[20] = AccZ; |
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405 | DebugOut.Analog[21] = RawAccX; |
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406 | DebugOut.Analog[22] = RawAccY; |
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407 | DebugOut.Analog[23] = RawAccZ; |
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408 | DebugOut.Analog[24] = Calibration.AccX.Offset; |
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409 | DebugOut.Analog[25] = Calibration.AccY.Offset; |
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410 | DebugOut.Analog[26] = Calibration.AccZ.Offset; |
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411 | DebugOut.Analog[29] = AttitudeSource; |
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7 | hbuss | 412 | } |
413 | |||
16 | holgerb | 414 | void AccMeasurement(void) |
415 | { |
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32 | holgerb | 416 | if(AccPresent) |
417 | { |
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418 | RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2; |
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419 | RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2; |
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420 | RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2; |
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421 | } |
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422 | else |
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423 | { |
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424 | RawAccX = 0; |
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425 | RawAccY = 0; |
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426 | RawAccZ = 0; |
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427 | } |
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16 | holgerb | 428 | } |
7 | hbuss | 429 | |
1 | ingob | 430 | int main (void) |
431 | { |
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32 | holgerb | 432 | // reset input pullup |
433 | DDRC &=~((1<<DDC6)); |
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434 | PORTC |= (1<<PORTC6); |
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17 | holgerb | 435 | |
32 | holgerb | 436 | LED_Init(); |
437 | TIMER0_Init(); |
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438 | USART0_Init(); |
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1 | ingob | 439 | ADC_Init(); |
32 | holgerb | 440 | I2C_Init(); |
17 | holgerb | 441 | |
32 | holgerb | 442 | sei(); // enable globale interrupts |
443 | |||
444 | if(AccPresent) |
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445 | { |
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446 | USART0_Print("ACC present\n"); |
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447 | } |
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448 | |||
449 | LED_GRN_ON; |
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450 | |||
451 | Debug_Timer = SetDelay(200); |
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452 | Led_Timer = SetDelay(200); |
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453 | |||
454 | // read calibration info from eeprom |
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455 | eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration)); |
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456 | |||
7 | hbuss | 457 | ExternData.CalState = 0; |
458 | I2C_WriteCal.CalByte = 0; |
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32 | holgerb | 459 | |
460 | |||
461 | // main loop |
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1 | ingob | 462 | while (1) |
32 | holgerb | 463 | { |
464 | FLIP_LOW; |
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465 | Delay_ms(2); |
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466 | RawMagnet1a = ADC_GetValue(MAG_X); |
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467 | RawMagnet2a = -ADC_GetValue(MAG_Y); |
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468 | RawMagnet3a = ADC_GetValue(MAG_Z); |
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469 | AccMeasurement(); |
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470 | Delay_ms(1); |
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7 | hbuss | 471 | |
32 | holgerb | 472 | FLIP_HIGH; |
473 | Delay_ms(2); |
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474 | RawMagnet1b = ADC_GetValue(MAG_X); |
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475 | RawMagnet2b = -ADC_GetValue(MAG_Y); |
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476 | RawMagnet3b = ADC_GetValue(MAG_Z); |
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477 | AccMeasurement(); |
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478 | Delay_ms(1); |
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1 | ingob | 479 | |
32 | holgerb | 480 | CalcFields(); |
1 | ingob | 481 | |
32 | holgerb | 482 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
483 | else CalcHeading(); |
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16 | holgerb | 484 | |
32 | holgerb | 485 | // check data from USART |
486 | USART0_ProcessRxData(); |
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487 | |||
488 | if(NC_Connected) NC_Connected--; |
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489 | if(FC_Connected) FC_Connected--; |
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490 | // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data |
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491 | if(!FC_Connected && ! NC_Connected) |
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492 | { |
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493 | AttitudeSource = ATTITUDE_SOURCE_ACC; |
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494 | Orientation = ORIENTATION_FC; |
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495 | } |
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496 | |||
497 | if(PC_Connected) |
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498 | { |
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499 | USART0_EnableTXD(); |
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500 | USART0_TransmitTxData(); |
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501 | PC_Connected--; |
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502 | } |
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503 | else |
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504 | { |
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505 | USART0_DisableTXD(); |
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506 | } |
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507 | } // while(1) |
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1 | ingob | 508 | } |
509 |