| 54,68 → 54,75 |
|---|
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/interrupt.h> |
| #include <math.h> |
| #include <stdlib.h> |
| |
| signed int OffsetN, OffsetR, OffsetZ; |
| |
| signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
| signed int RawMagnet2a,RawMagnet2b; |
| signed int RawMagnet3a,RawMagnet3b; |
| signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
| signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
| signed int MagnetN,MagnetR,MagnetZ; |
| unsigned int PwmHeading = 0; |
| unsigned int PC_Connected = 0; |
| unsigned int Heading; |
| #include "main.h" |
| #include "timer0.h" |
| #include "twislave.h" |
| #include "led.h" |
| #include "analog.h" |
| #include "uart.h" |
| |
| uint16_t eeXmin EEMEM = 0; |
| uint16_t eeXmax EEMEM = 0; |
| uint16_t eeYmin EEMEM = 0; |
| uint16_t eeYmax EEMEM = 0; |
| uint16_t eeZmin EEMEM = 0; |
| uint16_t eeZmax EEMEM = 0; |
| |
| int16_t RawMagnet1a, RawMagnet1b; // raw AD-Data |
| int16_t RawMagnet2a, RawMagnet2b; |
| int16_t RawMagnet3a, RawMagnet3b; |
| |
| //############################################################################ |
| // |
| void Wait(unsigned char dauer) |
| //############################################################################ |
| typedef struct |
| { |
| dauer = (unsigned char)TCNT0 + dauer; |
| while((TCNT0 - dauer) & 0x80); |
| } |
| int16_t Range; |
| int16_t Offset; |
| } Scaling_t; |
| |
| typedef struct |
| { |
| Scaling_t X; |
| Scaling_t Y; |
| Scaling_t Z; |
| } Calibration_t; |
| |
| Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
| Calibration_t Calibration; // calibration data in RAM |
| |
| |
| int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ; // sensor signal difference without Scaling |
| int16_t MagnetX, MagnetY, MagnetZ; // rescaled magnetic field readings |
| |
| uint8_t PC_Connected = 0; |
| |
| int16_t Heading; |
| |
| |
| void CalcFields(void) |
| { |
| UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
| UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
| UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2; |
| UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2; |
| UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
| |
| OffsetN = (Xmin + Xmax) / 2; |
| OffsetR = (Ymin + Ymax) / 2; |
| OffsetZ = (Zmin + Zmax) / 2; |
| |
| MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
| MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
| MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
| MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range); |
| MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range); |
| MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range); |
| } |
| |
| void CalcHeading(void) |
| { |
| double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
| int heading; |
| int16_t heading = -1; |
| |
| nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
| roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
| // calculate nick and roll angle i rad |
| nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800); |
| roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800); |
| |
| Cx = MagnetN; |
| Cy = MagnetR; |
| Cx = MagnetX; |
| Cy = MagnetY; |
| Cz = MagnetZ; |
| |
| if(ExternData.Orientation == 1) |
| { |
| Cx = MagnetR; |
| Cy = -MagnetN; |
| Cx = MagnetX; |
| Cy = -MagnetY; |
| Cz = MagnetZ; |
| } |
| |
| 134,21 → 141,30 |
|---|
| else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
| |
| if(abs(heading) < 361) Heading = heading; |
| PwmHeading = Heading + 10; |
| |
| } |
| |
| |
| void Calibrate(void) |
| { |
| unsigned char cal; |
| uint8_t cal; |
| static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0; |
| |
| // check both sources of communication for calibration request |
| if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
| else cal = ExternData.CalState; |
| |
| // calibration state machine |
| switch(cal) |
| { |
| case 0: |
| LED_ON; |
| case 0: // no calibration |
| LED_GRN_ON; |
| break; |
| case 1: |
| |
| case 1: // 1st step of calibration |
| // initialize ranges |
| // used to change the orientation of the MK3MAG in the horizontal plane |
| LED_GRN_OFF; |
| Xmin = 10000; |
| Xmax = -10000; |
| Ymin = 10000; |
| 155,37 → 171,48 |
|---|
| Ymax = -10000; |
| Zmin = 10000; |
| Zmax = -10000; |
| LED_OFF; |
| break; |
| case 2: |
| LED_ON; // find Min and Max of the X- and Y-Sensors |
| if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
| if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
| if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
| if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
| |
| case 2: // 2nd step of calibration |
| // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane |
| LED_GRN_ON; |
| if(UncalMagnetX < Xmin) Xmin = UncalMagnetX; |
| if(UncalMagnetX > Xmax) Xmax = UncalMagnetX; |
| if(UncalMagnetY < Ymin) Ymin = UncalMagnetY; |
| if(UncalMagnetY > Ymax) Ymax = UncalMagnetY; |
| break; |
| case 3: |
| LED_OFF; |
| |
| case 3: // 3rd step of calibration |
| // used to change the orietation of the MK3MAG vertical to the horizontal plane |
| LED_GRN_OFF; |
| break; |
| |
| case 4: |
| LED_ON; // find Min and Max of the Z-Sensor |
| // find Min and Max of the Z-Sensor |
| LED_GRN_ON; |
| if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
| if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
| break; |
| |
| case 5: |
| LED_OFF; // Save values |
| if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
| LED_GRN_OFF; // Save values |
| Calibration.X.Range = Xmax - Xmin; |
| Calibration.X.Offset = (Xmin + Xmax) / 2; |
| Calibration.Y.Range = Ymax - Ymin; |
| Calibration.Y.Offset = (Ymin + Ymax) / 2; |
| Calibration.Z.Range = Zmax - Zmin; |
| Calibration.Z.Offset = (Zmin + Zmax) / 2; |
| if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150)) |
| { |
| eeprom_write_word(&eeXmin, Xmin); |
| eeprom_write_word(&eeXmax, Xmax); |
| eeprom_write_word(&eeYmin, Ymin); |
| eeprom_write_word(&eeYmax, Ymax); |
| eeprom_write_word(&eeZmin, Zmin); |
| eeprom_write_word(&eeZmax, Zmax); |
| eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
| Delay_ms(2000); |
| } |
| LED_ON; |
| LED_GRN_ON; |
| break; |
| |
| default: |
| LED_GRN_ON; |
| break; |
| } |
| } |
| |
| 192,95 → 219,81 |
|---|
| |
| void SetDebugValues(void) |
| { |
| DebugOut.Analog[0] = MagnetN; |
| DebugOut.Analog[1] = MagnetR; |
| DebugOut.Analog[0] = MagnetX; |
| DebugOut.Analog[1] = MagnetY; |
| DebugOut.Analog[2] = MagnetZ; |
| DebugOut.Analog[3] = UncalMagnetN; |
| DebugOut.Analog[4] = UncalMagnetR; |
| DebugOut.Analog[3] = UncalMagnetX; |
| DebugOut.Analog[4] = UncalMagnetY; |
| DebugOut.Analog[5] = UncalMagnetZ; |
| DebugOut.Analog[6] = ExternData.Winkel[0]; |
| DebugOut.Analog[7] = ExternData.Winkel[1]; |
| DebugOut.Analog[8] = Xmin; |
| DebugOut.Analog[9] = Xmax; |
| DebugOut.Analog[10] = Ymin; |
| DebugOut.Analog[11] = Ymax; |
| DebugOut.Analog[12] = Zmin; |
| DebugOut.Analog[13] = Zmax; |
| DebugOut.Analog[6] = ExternData.Attitude[NICK]; |
| DebugOut.Analog[7] = ExternData.Attitude[ROLL]; |
| DebugOut.Analog[8] = Calibration.X.Offset; |
| DebugOut.Analog[9] = Calibration.X.Range; |
| DebugOut.Analog[10] = Calibration.Y.Offset; |
| DebugOut.Analog[11] = Calibration.Y.Range; |
| DebugOut.Analog[12] = Calibration.Z.Offset; |
| DebugOut.Analog[13] = Calibration.Z.Range; |
| DebugOut.Analog[14] = ExternData.CalState; |
| DebugOut.Analog[15] = Heading; |
| DebugOut.Analog[16] = ExternData.UserParameter[0]; |
| DebugOut.Analog[17] = ExternData.UserParameter[1]; |
| DebugOut.Analog[16] = ExternData.UserParam[0]; |
| DebugOut.Analog[17] = ExternData.UserParam[1]; |
| } |
| |
| |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| DDRC = 0x08; |
| PORTC = 0x08; |
| DDRD = 0xf4; |
| PORTD = 0xA0; |
| DDRB = 0x04; |
| PORTB = 0x35; |
| Led_Init(); |
| LED_GRN_ON; |
| TIMER0_Init(); |
| USART0_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| |
| LED_ON; |
| sei(); //Globale Interrupts Einschalten |
| |
| UART_Init(); |
| Timer0_Init(); |
| ADC_Init(); |
| InitIC2_Slave(); |
| sei();//Globale Interrupts Einschalten |
| Debug_Timer = SetDelay(100); // Sendeintervall |
| |
| Xmin = eeprom_read_word(&eeXmin); |
| Xmax = eeprom_read_word(&eeXmax); |
| Ymin = eeprom_read_word(&eeYmin); |
| Ymax = eeprom_read_word(&eeYmax); |
| Zmin = eeprom_read_word(&eeZmin); |
| Zmax = eeprom_read_word(&eeZmax); |
| // read calibration info from eeprom |
| eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t)); |
| |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = 7; |
| |
| ExternData.Orientation = 0; |
| ExternData.CalState = 0; |
| I2C_WriteCal.CalByte = 0; |
| |
| // main loop |
| while (1) |
| { |
| FLIP_LOW; |
| Delay_ms(2); |
| RawMagnet1a = MessAD(0); |
| RawMagnet2a = -MessAD(1); |
| RawMagnet3a = MessAD(7); |
| RawMagnet1a = ADC_GetValue(ADC0); |
| RawMagnet2a = -ADC_GetValue(ADC1); |
| RawMagnet3a = ADC_GetValue(ADC7); |
| Delay_ms(1); |
| |
| FLIP_HIGH; |
| Delay_ms(2); |
| RawMagnet1b = MessAD(0); |
| RawMagnet2b = -MessAD(1); |
| RawMagnet3b = MessAD(7); |
| RawMagnet1b = ADC_GetValue(ADC0); |
| RawMagnet2b = -ADC_GetValue(ADC1); |
| RawMagnet3b = ADC_GetValue(ADC7); |
| Delay_ms(1); |
| |
| CalcFields(); |
| |
| if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
| else CalcHeading(); |
| BearbeiteRxDaten(); |
| |
| // check data from USART |
| USART0_ProcessRxData(); |
| |
| if(PC_Connected) |
| { |
| DDRD |= 0x02; // TXD-Portpin |
| UCR |= (1 << TXEN); |
| DatenUebertragung(); |
| USART0_EnableTXD(); |
| USART0_TransmitTxData(); |
| PC_Connected--; |
| } |
| else |
| { |
| UCR &= ~(1 << TXEN); |
| DDRD &= ~0x02; // TXD-Portpin |
| USART0_DisableTXD(); |
| } |
| } // while(1) |
| } |