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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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242 | killagreg | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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242 | killagreg | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
242 | killagreg | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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242 | killagreg | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include "91x_lib.h" |
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57 | #include "compass.h" |
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58 | #include "mk3mag.h" |
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253 | killagreg | 59 | #include "ncmag.h" |
292 | killagreg | 60 | #include "spi_slave.h" |
61 | #include "mymath.h" |
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242 | killagreg | 62 | #include "uart1.h" |
254 | killagreg | 63 | #include "fifo.h" |
264 | killagreg | 64 | #include "led.h" |
292 | killagreg | 65 | #include "main.h" |
242 | killagreg | 66 | |
254 | killagreg | 67 | u8 CompassCalStateQueue[10]; |
68 | fifo_t CompassCalcStateFiFo; |
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69 | |||
70 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
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489 | killagreg | 71 | volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
493 | killagreg | 72 | volatile s16vec_t MagVectorHorizontal; // vector componenents in horizontal projection |
394 | killagreg | 73 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
254 | killagreg | 74 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
493 | killagreg | 75 | |
330 | holgerb | 76 | s32 EarthMagneticField = 100; |
77 | s32 EarthMagneticFieldFiltered = 100; |
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78 | s32 EarthMagneticInclination = 0; |
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340 | holgerb | 79 | s32 EarthMagneticInclinationFiltered = 0; |
338 | holgerb | 80 | s32 EarthMagneticInclinationTheoretic = 0; |
330 | holgerb | 81 | u8 ErrorDisturbedEarthMagnetField = 0; |
342 | holgerb | 82 | s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil) |
487 | holgerb | 83 | u32 CompassValueErrorCount = 0; |
254 | killagreg | 84 | |
253 | killagreg | 85 | #define COMPASS_NONE 0 |
86 | #define COMPASS_MK3MAG 1 |
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87 | #define COMPASS_NCMAG 2 |
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254 | killagreg | 88 | u8 Compass_Device = COMPASS_NONE; |
489 | killagreg | 89 | I2C_TypeDef* Compass_I2CPort = I2C1; |
242 | killagreg | 90 | |
91 | void Compass_Init(void) |
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92 | { |
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268 | killagreg | 93 | switch(Compass_Device) |
264 | killagreg | 94 | { |
268 | killagreg | 95 | case COMPASS_NONE: |
96 | UART1_PutString("\r\n Looking for compass"); |
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342 | holgerb | 97 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
98 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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268 | killagreg | 99 | break; |
311 | killagreg | 100 | |
268 | killagreg | 101 | case COMPASS_NCMAG: |
102 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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311 | killagreg | 103 | else Compass_Device = COMPASS_NONE; |
268 | killagreg | 104 | break; |
105 | |||
106 | case COMPASS_MK3MAG: |
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489 | killagreg | 107 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
108 | else Compass_Device = COMPASS_NONE; |
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109 | break; |
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110 | |||
268 | killagreg | 111 | default: |
112 | // nothing to do |
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113 | break; |
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114 | |||
264 | killagreg | 115 | } |
254 | killagreg | 116 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
454 | holgerb | 117 | |
118 | if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT; |
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119 | |||
489 | killagreg | 120 | MagVector.X = 0; |
121 | MagVector.Y = 0; |
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122 | MagVector.Z = 0; |
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123 | Compass_Heading = -1; |
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242 | killagreg | 124 | } |
125 | |||
126 | |||
489 | killagreg | 127 | void Compass_Check(void) |
128 | { |
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129 | switch(Compass_Device) |
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130 | { |
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131 | case COMPASS_NCMAG: |
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132 | NCMAG_CheckOrientation(); |
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133 | break; |
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134 | |||
135 | case COMPASS_MK3MAG: |
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136 | case COMPASS_NONE: |
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137 | default: |
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138 | // nothing to do |
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139 | break; |
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140 | } |
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141 | } |
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142 | |||
292 | killagreg | 143 | void Compass_CalcHeading(void) |
242 | killagreg | 144 | { |
292 | killagreg | 145 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
242 | killagreg | 146 | { |
292 | killagreg | 147 | Compass_Heading = -1; |
242 | killagreg | 148 | } |
292 | killagreg | 149 | else // fc attitude is avialable and no compass calibration active |
150 | { |
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151 | // calculate attitude correction |
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330 | holgerb | 152 | s16 tmp; |
292 | killagreg | 153 | s32 sinnick, cosnick, sinroll, cosroll; |
311 | killagreg | 154 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
292 | killagreg | 155 | sinnick = (s32)c_sin_8192(tmp); |
156 | cosnick = (s32)c_cos_8192(tmp); |
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311 | killagreg | 157 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
292 | killagreg | 158 | sinroll = (s32)c_sin_8192(tmp); |
159 | cosroll = (s32)c_cos_8192(tmp); |
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493 | killagreg | 160 | MagVectorHorizontal.X = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
161 | MagVectorHorizontal.Y = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
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292 | killagreg | 162 | // calculate heading |
493 | killagreg | 163 | tmp = (s16)(c_atan2_546(MagVectorHorizontal.Y, MagVectorHorizontal.X)/546L); |
292 | killagreg | 164 | if (tmp > 0) tmp = 360 - tmp; |
165 | else tmp = -tmp; |
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166 | Compass_Heading = tmp; |
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167 | } |
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242 | killagreg | 168 | } |
169 | |||
330 | holgerb | 170 | |
292 | killagreg | 171 | void Compass_Update(void) |
242 | killagreg | 172 | { |
489 | killagreg | 173 | static s16vec_t old; |
321 | holgerb | 174 | static u32 check_value_counter = 0; |
292 | killagreg | 175 | // check for new cal state |
176 | Compass_UpdateCalState(); |
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351 | holgerb | 177 | if(Compass_CalState) FC_is_Calibrated = 0; |
292 | killagreg | 178 | // initiate new compass communication |
254 | killagreg | 179 | switch(Compass_Device) |
242 | killagreg | 180 | { |
181 | case COMPASS_MK3MAG: |
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292 | killagreg | 182 | MK3MAG_Update(); |
242 | killagreg | 183 | break; |
253 | killagreg | 184 | case COMPASS_NCMAG: |
489 | killagreg | 185 | NCMAG_Update(0); |
186 | break; |
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242 | killagreg | 187 | default: |
311 | killagreg | 188 | break; |
242 | killagreg | 189 | } |
321 | holgerb | 190 | |
489 | killagreg | 191 | DebugOut.Analog[24] = MagVector.X; |
192 | DebugOut.Analog[25] = MagVector.Y; |
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193 | DebugOut.Analog[26] = MagVector.Z; |
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321 | holgerb | 194 | |
489 | killagreg | 195 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing |
196 | |||
492 | killagreg | 197 | if(check_value_counter == 2000) // 2 seconds no change of the compass values |
489 | killagreg | 198 | { |
199 | UART1_PutString("\n\r Init Mag.-Sensor"); |
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492 | killagreg | 200 | Compass_Init(); |
489 | killagreg | 201 | } |
492 | killagreg | 202 | |
203 | if(check_value_counter > 5000) // 5 seconds no change of the compass values |
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489 | killagreg | 204 | { |
492 | killagreg | 205 | Compass_Heading = -1; // -> probably a compass-fault |
489 | killagreg | 206 | } |
207 | else check_value_counter++; |
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208 | |||
321 | holgerb | 209 | old.X = MagVector.X; |
210 | old.Y = MagVector.Y; |
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211 | old.Z = MagVector.Z; |
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242 | killagreg | 212 | } |
254 | killagreg | 213 | |
214 | // put cal state into fifo |
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215 | void Compass_SetCalState(u8 CalState) |
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216 | { |
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311 | killagreg | 217 | fifo_put(&CompassCalcStateFiFo, CalState); |
254 | killagreg | 218 | } |
219 | |||
220 | // get cal state from fifo |
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221 | void Compass_UpdateCalState() |
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222 | { |
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311 | killagreg | 223 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
254 | killagreg | 224 | } |
225 |