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242 | killagreg | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
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6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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44 | // |
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45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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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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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include "91x_lib.h" |
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58 | #include "compass.h" |
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59 | #include "mk3mag.h" |
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253 | killagreg | 60 | #include "ncmag.h" |
292 | killagreg | 61 | #include "spi_slave.h" |
62 | #include "mymath.h" |
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242 | killagreg | 63 | #include "uart1.h" |
254 | killagreg | 64 | #include "fifo.h" |
264 | killagreg | 65 | #include "led.h" |
292 | killagreg | 66 | #include "main.h" |
242 | killagreg | 67 | |
254 | killagreg | 68 | u8 CompassCalStateQueue[10]; |
69 | fifo_t CompassCalcStateFiFo; |
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70 | |||
71 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
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72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
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73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
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330 | holgerb | 74 | s16 Hx = 0, Hy = 0; |
75 | s32 EarthMagneticField = 100; |
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76 | s32 EarthMagneticFieldFiltered = 100; |
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77 | s32 EarthMagneticInclination = 0; |
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340 | holgerb | 78 | s32 EarthMagneticInclinationFiltered = 0; |
338 | holgerb | 79 | s32 EarthMagneticInclinationTheoretic = 0; |
330 | holgerb | 80 | u8 ErrorDisturbedEarthMagnetField = 0; |
342 | holgerb | 81 | s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil) |
254 | killagreg | 82 | |
253 | killagreg | 83 | #define COMPASS_NONE 0 |
84 | #define COMPASS_MK3MAG 1 |
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85 | #define COMPASS_NCMAG 2 |
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254 | killagreg | 86 | u8 Compass_Device = COMPASS_NONE; |
242 | killagreg | 87 | |
88 | void Compass_Init(void) |
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89 | { |
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268 | killagreg | 90 | switch(Compass_Device) |
264 | killagreg | 91 | { |
268 | killagreg | 92 | case COMPASS_NONE: |
93 | UART1_PutString("\r\n Looking for compass"); |
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342 | holgerb | 94 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
95 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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96 | |||
97 | /* if(Version_HW > 11) |
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268 | killagreg | 98 | { |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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100 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
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101 | } |
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102 | else |
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103 | { |
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104 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
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105 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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106 | } |
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342 | holgerb | 107 | */ |
268 | killagreg | 108 | break; |
311 | killagreg | 109 | |
268 | killagreg | 110 | case COMPASS_NCMAG: |
111 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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311 | killagreg | 112 | else Compass_Device = COMPASS_NONE; |
268 | killagreg | 113 | break; |
114 | |||
115 | case COMPASS_MK3MAG: |
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116 | default: |
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117 | // nothing to do |
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118 | break; |
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119 | |||
264 | killagreg | 120 | } |
254 | killagreg | 121 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
242 | killagreg | 122 | } |
123 | |||
124 | |||
292 | killagreg | 125 | void Compass_CalcHeading(void) |
242 | killagreg | 126 | { |
292 | killagreg | 127 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
242 | killagreg | 128 | { |
292 | killagreg | 129 | Compass_Heading = -1; |
242 | killagreg | 130 | } |
292 | killagreg | 131 | else // fc attitude is avialable and no compass calibration active |
132 | { |
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133 | // calculate attitude correction |
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134 | // a float implementation takes too long |
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330 | holgerb | 135 | s16 tmp; |
292 | killagreg | 136 | s32 sinnick, cosnick, sinroll, cosroll; |
311 | killagreg | 137 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
292 | killagreg | 138 | sinnick = (s32)c_sin_8192(tmp); |
139 | cosnick = (s32)c_cos_8192(tmp); |
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311 | killagreg | 140 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
292 | killagreg | 141 | sinroll = (s32)c_sin_8192(tmp); |
142 | cosroll = (s32)c_cos_8192(tmp); |
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311 | killagreg | 143 | // tbd. compensation signs and oriantation has to be fixed |
292 | killagreg | 144 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
311 | killagreg | 145 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
292 | killagreg | 146 | // calculate heading |
293 | killagreg | 147 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
292 | killagreg | 148 | if (tmp > 0) tmp = 360 - tmp; |
149 | else tmp = -tmp; |
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150 | Compass_Heading = tmp; |
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151 | } |
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242 | killagreg | 152 | } |
153 | |||
330 | holgerb | 154 | |
292 | killagreg | 155 | void Compass_Update(void) |
242 | killagreg | 156 | { |
321 | holgerb | 157 | static s16vec_t old; |
158 | static u32 check_value_counter = 0; |
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292 | killagreg | 159 | // check for new cal state |
160 | Compass_UpdateCalState(); |
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161 | // initiate new compass communication |
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254 | killagreg | 162 | switch(Compass_Device) |
242 | killagreg | 163 | { |
164 | case COMPASS_MK3MAG: |
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292 | killagreg | 165 | MK3MAG_Update(); |
339 | holgerb | 166 | DebugOut.Analog[24] = MagVector.X; |
167 | DebugOut.Analog[25] = MagVector.Y; |
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168 | DebugOut.Analog[26] = MagVector.Z; |
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242 | killagreg | 169 | break; |
253 | killagreg | 170 | case COMPASS_NCMAG: |
311 | killagreg | 171 | NCMAG_Update(); |
339 | holgerb | 172 | DebugOut.Analog[24] = MagRawVector.X; |
173 | DebugOut.Analog[25] = MagRawVector.Y; |
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174 | DebugOut.Analog[26] = MagRawVector.Z; |
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242 | killagreg | 175 | default: |
311 | killagreg | 176 | break; |
242 | killagreg | 177 | } |
321 | holgerb | 178 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
179 | |||
180 | if(check_value_counter > 5000) |
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181 | { |
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182 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
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183 | } |
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184 | else check_value_counter++; |
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185 | |||
186 | old.X = MagVector.X; |
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187 | old.Y = MagVector.Y; |
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188 | old.Z = MagVector.Z; |
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242 | killagreg | 189 | } |
254 | killagreg | 190 | |
191 | // put cal state into fifo |
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192 | void Compass_SetCalState(u8 CalState) |
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193 | { |
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311 | killagreg | 194 | fifo_put(&CompassCalcStateFiFo, CalState); |
254 | killagreg | 195 | } |
196 | |||
197 | // get cal state from fifo |
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198 | void Compass_UpdateCalState() |
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199 | { |
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311 | killagreg | 200 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
254 | killagreg | 201 | } |
202 |