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| /* |
| |
| Copyright 2007, Niklas Nold |
| |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| |
| #include "main.h" |
| |
| MM3_working_struct MM3; |
| |
| MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
| MM3_calib_struct MM3_calib; |
| |
| |
| //############################################################################ |
| // Initialisierung |
| void MM3_init(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| |
| // Kalibrierung aus dem EEprom lesen |
| eeprom_read_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
| } |
| |
| |
| //############################################################################ |
| // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| |
| if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| |
| MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| /* |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
| MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
| |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| */ |
| } |
| } |
| |
| |
| //############################################################################ |
| // SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| // Spikes filtern |
| if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
| else MM3.x_axis = MM3.x_axis_old; |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
| else MM3.y_axis = MM3.y_axis_old; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
| else MM3.z_axis = MM3.z_axis_old; |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| |
| return; |
| } |
| } |
| |
| //############################################################################ |
| // Kompass kalibrieren |
| void calib_MM3(void) |
| //############################################################################ |
| { |
| signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
| uint8_t measurement=50,beeper=0; |
| unsigned int timer; |
| |
| while (measurement) |
| { |
| //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| |
| if (!beeper) |
| { |
| beeper = 50; |
| beeptime = 50; |
| } |
| beeper--; |
| |
| // Schleife mit 100 Hz voll ausreichend |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| |
| // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
| if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| } |
| |
| // Offset der Achsen berechnen |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| |
| // und im EEProm abspeichern |
| eeprom_write_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
| |
| } |
| |
| |
| //############################################################################ |
| // Neigungskompensierung und Berechnung der Ausrichtung |
| signed int MM3_heading(void) |
| //############################################################################ |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr, heading; |
| signed int x_axis,y_axis,z_axis; |
| |
| MM3.NickGrad = -(IntegralNick/(EE_Parameter.UserParam1*8)); |
| MM3.RollGrad = -(IntegralRoll/(EE_Parameter.UserParam2*8)); |
| |
| // Berechung von sinus und cosinus |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| |
| // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |
| y_axis = (MM3.y_axis - MM3_calib.Y_off); |
| z_axis = (MM3.z_axis - MM3_calib.Z_off); |
| |
| // Neigungskompensation |
| x_corr = (cos_nick * x_axis) + (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |
| y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis)); |
| |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| |
| return (heading); |
| } |