| 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) |
| } |
| |