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