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