1,8 → 1,9 |
/*####################################################################################### |
Flight Control |
MK3Mag 3D-Magnet sensor |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Copyright (c) 05.2008 Holger Buss |
// + Thanks to Ilja Fähnrich |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
37,8 → 38,9 |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
51,27 → 53,27 |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
signed int OffsetN, OffsetR, OffsetZ; |
/* |
signed int CalTabelleHorizontalN[4] = {67,-450,77,-411}; // Vier Messwerte 90° Horizontal gedreht |
signed int CalTabelleHorizontalR[4] = {-310,175,183,-333}; |
signed int CalTabelleHorizontalZ[4] = {-100,-390,-400,100}; // Messwinkel des Z-Sensors auch horizontal gemessen |
*/ |
signed int CalTabelleHorizontalN[4] = { 75,-180,-440,-166}; // Vier Messwerte 90° Horizontal gedreht |
signed int CalTabelleHorizontalR[4] = { -5,-230, 66, 246}; |
signed int CalTabelleHorizontalZ[4] = {-290,-280, 44, 33}; // Messwinkel des Z-Sensors auch horizontal gemessen |
signed int OffsetN, OffsetR, OffsetZ; |
|
signed int RawMagnet1a,RawMagnet1b; // reine AD-Messung |
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; // Kalibrierte Messerte |
signed int MagnetN,MagnetR,MagnetZ; |
unsigned int PwmHeading = 0; |
unsigned char PC_Connected = 0; |
int Heading; |
unsigned int PC_Connected = 0; |
unsigned int Heading; |
#include "main.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; |
|
|
//############################################################################ |
// |
void Wait(unsigned char dauer) |
82,35 → 84,39 |
} |
|
void CalcFields(void) |
{ |
UncalMagnetN = (2 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 3; |
UncalMagnetR = (2 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 3; |
UncalMagnetZ = (2 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 3; |
MagnetN = UncalMagnetN - OffsetN; |
MagnetR = UncalMagnetR - OffsetR; |
MagnetZ = UncalMagnetZ - OffsetZ; |
{ |
UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
UncalMagnetR = (1 * UncalMagnetR + (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); |
} |
|
//------------------------------------------------------ |
void CalcHeading(void) |
{ |
double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
float nick, roll, XEx, XEy, YEy, YEz, YE, XE, XrawCal, YrawCal, ZrawCal, XEz; |
int heading, azimuthgrad; |
int heading; |
|
nick_rad = ((double)WinkelOut.Winkel[0]) * M_PI / (double)(180); |
roll_rad = ((double)WinkelOut.Winkel[1]) * M_PI / (double)(180); |
//roll_rad = 0; nick_rad = 0; |
nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
|
/* |
Cx = (double) (MicroMag.Axis[Y_AXIS] + CY_OFFSET) * 0.707f - (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f; |
Cy = ((double) (MicroMag.Axis[Y_AXIS]+ CY_OFFSET) * 0.707f + (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f); |
Cz = -MicroMag.Axis[Z_AXIS] + CZ_OFFSET; |
*/ |
Cx = MagnetN; |
Cy = MagnetR; |
Cz = -MagnetZ; |
|
Cz = MagnetZ; |
|
if(ExternData.Orientation == 1) |
{ |
Cx = MagnetR; |
Cy = -MagnetN; |
Cz = MagnetZ; |
} |
|
Hx = Cx * (double)cos(nick_rad) + |
Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
121,22 → 127,90 |
|
if(Hx == 0 && Hy < 0) heading = 90; |
else if(Hx == 0 && Hy > 0) heading = 270; |
else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180 / M_PI); |
else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180 / M_PI); |
else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180 / M_PI); |
else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
|
// DebugOut.Analog[14] = heading; |
// if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
|
if(heading < 361) DebugOut.Analog[14] = heading; |
Heading = heading; |
PwmHeading = heading + 10; |
// MicroMag.Heading = heading; |
// DebugOut.Analog[14] = heading; |
if(abs(heading) < 361) Heading = heading; |
PwmHeading = Heading + 10; |
} |
|
|
void Calibrate(void) |
{ |
unsigned char cal; |
if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
else cal = ExternData.CalState; |
switch(cal) |
{ |
case 0: |
LED_ON; |
break; |
case 1: |
Xmin = 10000; |
Xmax = -10000; |
Ymin = 10000; |
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; |
break; |
case 3: |
LED_OFF; |
break; |
case 4: |
LED_ON; // find Min and Max of the Z-Sensor |
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) |
{ |
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); |
Delay_ms(2000); |
} |
LED_ON; |
break; |
} |
} |
|
|
void SetDebugValues(void) |
{ |
DebugOut.Analog[0] = MagnetN; |
DebugOut.Analog[1] = MagnetR; |
DebugOut.Analog[2] = MagnetZ; |
DebugOut.Analog[3] = UncalMagnetN; |
DebugOut.Analog[4] = UncalMagnetR; |
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[14] = ExternData.CalState; |
DebugOut.Analog[15] = Heading; |
DebugOut.Analog[16] = ExternData.UserParameter[0]; |
DebugOut.Analog[17] = ExternData.UserParameter[1]; |
} |
|
|
//############################################################################ |
//Hauptprogramm |
int main (void) |
158,67 → 232,54 |
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); |
|
OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
|
VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
VersionInfo.PCKompatibel = 7; |
|
ExternData.Orientation = 0; |
ExternData.CalState = 0; |
I2C_WriteCal.CalByte = 0; |
|
while (1) |
{ |
LED_ON; |
FLIP_LOW; |
Delay_ms(2); |
RawMagnet1a = MessAD(0); |
RawMagnet2a = MessAD(1); |
RawMagnet2a = -MessAD(1); |
RawMagnet3a = MessAD(7); |
Delay_ms(1); |
LED_OFF; |
|
FLIP_HIGH; |
Delay_ms(2); |
RawMagnet1b = MessAD(0); |
RawMagnet2b = MessAD(1); |
RawMagnet2b = -MessAD(1); |
RawMagnet3b = MessAD(7); |
Delay_ms(1); |
|
CalcFields(); |
DebugOut.Analog[0] = MagnetN; |
DebugOut.Analog[1] = MagnetR; |
DebugOut.Analog[2] = MagnetZ; |
DebugOut.Analog[3] = UncalMagnetN; |
DebugOut.Analog[4] = UncalMagnetR; |
DebugOut.Analog[5] = UncalMagnetZ; |
/* |
DebugOut.Analog[3] = RawMagnet1a; |
DebugOut.Analog[4] = RawMagnet1b; |
DebugOut.Analog[5] = RawMagnet3a; |
DebugOut.Analog[6] = RawMagnet3b;*/ |
DebugOut.Analog[6] = WinkelOut.Winkel[0]; |
DebugOut.Analog[7] = WinkelOut.Winkel[1]; |
if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
else CalcHeading(); |
BearbeiteRxDaten(); |
|
DebugOut.Analog[8] = WinkelOut.UserParameter[0]; |
DebugOut.Analog[9] = WinkelOut.UserParameter[1]; |
DebugOut.Analog[10] = WinkelOut.UserParameter[2]; |
DebugOut.Analog[11] = WinkelOut.UserParameter[3]; |
|
|
CalcHeading(); |
BearbeiteRxDaten(); |
PC_Connected = 100; |
if(PC_Connected) |
{ |
DDRD |= 0x02; // TXD-Portpin |
UCR |= (1 << TXEN); |
DatenUebertragung(); |
PC_Connected--; |
DatenUebertragung(); |
DDRD |= 0x02; // TXD-Leitung |
} |
else |
{ |
DDRD &= ~0x02; // TXD-Leitung |
UCR &= ~(1 << TXEN); |
DDRD &= ~0x02; // TXD-Portpin |
} |
} // while(1) - Hauptschleife |
} // while(1) |
} |
|