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1 | /* |
1 | /* |
2 | 2 | ||
3 | Copyright 2008, by Killagreg |
3 | Copyright 2008, by Killagreg |
4 | 4 | ||
5 | This program (files mm3.c and mm3.h) is free software; you can redistribute it and/or modify |
5 | This program (files mm3.c and mm3.h) is free software; you can redistribute it and/or modify |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
7 | either version 3 of the License, or (at your option) any later version. |
7 | either version 3 of the License, or (at your option) any later version. |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
12 | 12 | ||
13 | Please note: The original implementation was done by Niklas Nold. |
13 | Please note: The original implementation was done by Niklas Nold. |
14 | All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
14 | All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
15 | */ |
15 | */ |
16 | #include <stdlib.h> |
16 | #include <stdlib.h> |
17 | #include <avr/io.h> |
17 | #include <avr/io.h> |
18 | #include <avr/interrupt.h> |
18 | #include <avr/interrupt.h> |
19 | 19 | ||
20 | #include "mm3.h" |
20 | #include "mm3.h" |
21 | #include "main.h" |
21 | #include "main.h" |
22 | #include "mymath.h" |
22 | #include "mymath.h" |
23 | #include "fc.h" |
23 | #include "fc.h" |
24 | #include "timer0.h" |
24 | #include "timer0.h" |
25 | #include "rc.h" |
25 | #include "rc.h" |
26 | #include "eeprom.h" |
26 | #include "eeprom.h" |
- | 27 | #include "uart.h" |
|
27 | 28 | ||
28 | #define MAX_AXIS_VALUE 500 |
29 | #define MAX_AXIS_VALUE 500 |
29 | 30 | ||
30 | 31 | ||
31 | typedef struct |
32 | typedef struct |
32 | { |
33 | { |
33 | uint8_t STATE; |
34 | uint8_t STATE; |
34 | uint16_t DRDY; |
35 | uint16_t DRDY; |
35 | uint8_t AXIS; |
36 | uint8_t AXIS; |
36 | int16_t x_axis; |
37 | int16_t x_axis; |
37 | int16_t y_axis; |
38 | int16_t y_axis; |
38 | int16_t z_axis; |
39 | int16_t z_axis; |
39 | } MM3_working_t; |
40 | } MM3_working_t; |
40 | 41 | ||
41 | 42 | ||
42 | // MM3 State Machine |
43 | // MM3 State Machine |
43 | #define MM3_STATE_RESET 0 |
44 | #define MM3_STATE_RESET 0 |
44 | #define MM3_STATE_START_TRANSFER 1 |
45 | #define MM3_STATE_START_TRANSFER 1 |
45 | #define MM3_STATE_WAIT_DRDY 2 |
46 | #define MM3_STATE_WAIT_DRDY 2 |
46 | #define MM3_STATE_DRDY 3 |
47 | #define MM3_STATE_DRDY 3 |
47 | #define MM3_STATE_BYTE2 4 |
48 | #define MM3_STATE_BYTE2 4 |
48 | 49 | ||
49 | #define MM3_X_AXIS 0x01 |
50 | #define MM3_X_AXIS 0x01 |
50 | #define MM3_Y_AXIS 0x02 |
51 | #define MM3_Y_AXIS 0x02 |
51 | #define MM3_Z_AXIS 0x03 |
52 | #define MM3_Z_AXIS 0x03 |
52 | 53 | ||
53 | 54 | ||
54 | #define MM3_PERIOD_32 0x00 |
55 | #define MM3_PERIOD_32 0x00 |
55 | #define MM3_PERIOD_64 0x10 |
56 | #define MM3_PERIOD_64 0x10 |
56 | #define MM3_PERIOD_128 0x20 |
57 | #define MM3_PERIOD_128 0x20 |
57 | #define MM3_PERIOD_256 0x30 |
58 | #define MM3_PERIOD_256 0x30 |
58 | #define MM3_PERIOD_512 0x40 |
59 | #define MM3_PERIOD_512 0x40 |
59 | #define MM3_PERIOD_1024 0x50 |
60 | #define MM3_PERIOD_1024 0x50 |
60 | #define MM3_PERIOD_2048 0x60 |
61 | #define MM3_PERIOD_2048 0x60 |
61 | #define MM3_PERIOD_4096 0x70 |
62 | #define MM3_PERIOD_4096 0x70 |
62 | 63 | ||
63 | MM3_calib_t MM3_calib; |
64 | MM3_calib_t MM3_calib; |
64 | volatile MM3_working_t MM3; |
65 | volatile MM3_working_t MM3; |
65 | volatile uint8_t MM3_Timeout = 0; |
66 | volatile uint8_t MM3_Timeout = 0; |
66 | 67 | ||
67 | 68 | ||
68 | 69 | ||
69 | /*********************************************/ |
70 | /*********************************************/ |
70 | /* Initialize Interface to MM3 Compass */ |
71 | /* Initialize Interface to MM3 Compass */ |
71 | /*********************************************/ |
72 | /*********************************************/ |
72 | void MM3_Init(void) |
73 | void MM3_Init(void) |
73 | { |
74 | { |
74 | uint8_t sreg = SREG; |
75 | uint8_t sreg = SREG; |
75 | 76 | ||
76 | cli(); |
77 | cli(); |
77 | 78 | ||
78 | // Configure Pins for SPI |
79 | // Configure Pins for SPI |
79 | // set SCK (PB7), MOSI (PB5) as output |
80 | // set SCK (PB7), MOSI (PB5) as output |
80 | DDRB |= (1<<DDB7)|(1<<DDB5); |
81 | DDRB |= (1<<DDB7)|(1<<DDB5); |
81 | // set MISO (PB6) as input |
82 | // set MISO (PB6) as input |
82 | DDRB &= ~(1<<DDB6); |
83 | DDRB &= ~(1<<DDB6); |
83 | 84 | ||
84 | #ifdef USE_WALTER_EXT // walthers board |
85 | #ifdef USE_WALTER_EXT // walthers board |
85 | // Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
86 | // Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
86 | DDRB |= (1<<DDB2); |
87 | DDRB |= (1<<DDB2); |
87 | DDRC |= (1<<DDC6); |
88 | DDRC |= (1<<DDC6); |
88 | // set pins permanent to low |
89 | // set pins permanent to low |
89 | PORTB &= ~((1<<PORTB2)); |
90 | PORTB &= ~((1<<PORTB2)); |
90 | PORTC &= ~((1<<PORTC6)); |
91 | PORTC &= ~((1<<PORTC6)); |
91 | #else // killagregs board |
92 | #else // killagregs board |
92 | // Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
93 | // Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
93 | DDRC |= (1<<DDC4)|(1<<DDC5); |
94 | DDRC |= (1<<DDC4)|(1<<DDC5); |
94 | // set pins permanent to low |
95 | // set pins permanent to low |
95 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
96 | PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
96 | #endif |
97 | #endif |
97 | 98 | ||
98 | // Initialize SPI-Interface |
99 | // Initialize SPI-Interface |
99 | // Enable interrupt (SPIE=1) |
100 | // Enable interrupt (SPIE=1) |
100 | // Enable SPI bus (SPE=1) |
101 | // Enable SPI bus (SPE=1) |
101 | // MSB transmitted first (DORD = 0) |
102 | // MSB transmitted first (DORD = 0) |
102 | // Master SPI Mode (MSTR=1) |
103 | // Master SPI Mode (MSTR=1) |
103 | // Clock polarity low when idle (CPOL=0) |
104 | // Clock polarity low when idle (CPOL=0) |
104 | // Clock phase sample at leading edge (CPHA=0) |
105 | // Clock phase sample at leading edge (CPHA=0) |
105 | // Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
106 | // Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
106 | SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
107 | SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
107 | SPSR &= ~(1<<SPI2X); |
108 | SPSR &= ~(1<<SPI2X); |
108 | 109 | ||
109 | // Init Statemachine |
110 | // Init Statemachine |
110 | MM3.AXIS = MM3_X_AXIS; |
111 | MM3.AXIS = MM3_X_AXIS; |
111 | MM3.STATE = MM3_STATE_RESET; |
112 | MM3.STATE = MM3_STATE_RESET; |
112 | 113 | ||
113 | // Read calibration from EEprom |
114 | // Read calibration from EEprom |
114 | MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF); |
115 | MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF); |
115 | MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF); |
116 | MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF); |
116 | MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF); |
117 | MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF); |
117 | MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE); |
118 | MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE); |
118 | MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE); |
119 | MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE); |
119 | MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE); |
120 | MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE); |
120 | 121 | ||
121 | MM3_Timeout = 0; |
122 | MM3_Timeout = 0; |
122 | 123 | ||
123 | SREG = sreg; |
124 | SREG = sreg; |
124 | } |
125 | } |
125 | 126 | ||
126 | 127 | ||
127 | /*********************************************/ |
128 | /*********************************************/ |
128 | /* Get Data from MM3 */ |
129 | /* Get Data from MM3 */ |
129 | /*********************************************/ |
130 | /*********************************************/ |
130 | void MM3_Update(void) // called every 102.4 µs by timer 0 ISR |
131 | void MM3_Update(void) // called every 102.4 µs by timer 0 ISR |
131 | { |
132 | { |
132 | switch (MM3.STATE) |
133 | switch (MM3.STATE) |
133 | { |
134 | { |
134 | case MM3_STATE_RESET: |
135 | case MM3_STATE_RESET: |
135 | #ifdef USE_WALTER_EXT // walthers board |
136 | #ifdef USE_WALTER_EXT // walthers board |
136 | PORTC &= ~(1<<PORTC6); // select slave |
137 | PORTC &= ~(1<<PORTC6); // select slave |
137 | PORTB |= (1<<PORTB2); // PB2 to High, MM3 Reset |
138 | PORTB |= (1<<PORTB2); // PB2 to High, MM3 Reset |
138 | #else |
139 | #else |
139 | PORTC &= ~(1<<PORTC4); // select slave |
140 | PORTC &= ~(1<<PORTC4); // select slave |
140 | PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
141 | PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
141 | #endif |
142 | #endif |
142 | MM3.STATE = MM3_STATE_START_TRANSFER; |
143 | MM3.STATE = MM3_STATE_START_TRANSFER; |
143 | return; |
144 | return; |
144 | 145 | ||
145 | case MM3_STATE_START_TRANSFER: |
146 | case MM3_STATE_START_TRANSFER: |
146 | #ifdef USE_WALTER_EXT // walthers board |
147 | #ifdef USE_WALTER_EXT // walthers board |
147 | PORTB &= ~(1<<PORTB2); // PB2 auf Low (was 102.4 µs at high level) |
148 | PORTB &= ~(1<<PORTB2); // PB2 auf Low (was 102.4 µs at high level) |
148 | #else |
149 | #else |
149 | PORTC &= ~(1<<PORTC5); // PC4 auf Low (was 102.4 µs at high level) |
150 | PORTC &= ~(1<<PORTC5); // PC4 auf Low (was 102.4 µs at high level) |
150 | #endif |
151 | #endif |
151 | // write to SPDR triggers automatically the transfer MOSI MISO |
152 | // write to SPDR triggers automatically the transfer MOSI MISO |
152 | // MM3 Period, + AXIS code |
153 | // MM3 Period, + AXIS code |
153 | switch(MM3.AXIS) |
154 | switch(MM3.AXIS) |
154 | { |
155 | { |
155 | case MM3_X_AXIS: |
156 | case MM3_X_AXIS: |
156 | SPDR = MM3_PERIOD_256 + MM3_X_AXIS; |
157 | SPDR = MM3_PERIOD_256 + MM3_X_AXIS; |
157 | break; |
158 | break; |
158 | case MM3_Y_AXIS: |
159 | case MM3_Y_AXIS: |
159 | SPDR = MM3_PERIOD_256 + MM3_Y_AXIS; |
160 | SPDR = MM3_PERIOD_256 + MM3_Y_AXIS; |
160 | break; |
161 | break; |
161 | case MM3_Z_AXIS: |
162 | case MM3_Z_AXIS: |
162 | SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; |
163 | SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; |
163 | break; |
164 | break; |
164 | default: |
165 | default: |
165 | MM3.AXIS = MM3_X_AXIS; |
166 | MM3.AXIS = MM3_X_AXIS; |
166 | MM3.STATE = MM3_STATE_RESET; |
167 | MM3.STATE = MM3_STATE_RESET; |
167 | return; |
168 | return; |
168 | } |
169 | } |
169 | 170 | ||
170 | // DRDY line is not connected, therefore |
171 | // DRDY line is not connected, therefore |
171 | // wait before reading data back |
172 | // wait before reading data back |
172 | MM3.DRDY = SetDelay(8); // wait 8ms for data ready |
173 | MM3.DRDY = SetDelay(8); // wait 8ms for data ready |
173 | MM3.STATE = MM3_STATE_WAIT_DRDY; |
174 | MM3.STATE = MM3_STATE_WAIT_DRDY; |
174 | return; |
175 | return; |
175 | 176 | ||
176 | case MM3_STATE_WAIT_DRDY: |
177 | case MM3_STATE_WAIT_DRDY: |
177 | if (CheckDelay(MM3.DRDY)) |
178 | if (CheckDelay(MM3.DRDY)) |
178 | { |
179 | { |
179 | // write something into SPDR to trigger data reading |
180 | // write something into SPDR to trigger data reading |
180 | SPDR = 0x00; |
181 | SPDR = 0x00; |
181 | MM3.STATE = MM3_STATE_DRDY; |
182 | MM3.STATE = MM3_STATE_DRDY; |
182 | } |
183 | } |
183 | return; |
184 | return; |
184 | } |
185 | } |
185 | } |
186 | } |
186 | 187 | ||
187 | 188 | ||
188 | /*********************************************/ |
189 | /*********************************************/ |
189 | /* Interrupt SPI transfer complete */ |
190 | /* Interrupt SPI transfer complete */ |
190 | /*********************************************/ |
191 | /*********************************************/ |
191 | ISR(SPI_STC_vect) |
192 | ISR(SPI_STC_vect) |
192 | { |
193 | { |
193 | static int8_t tmp; |
194 | static int8_t tmp; |
194 | int16_t value; |
195 | int16_t value; |
195 | 196 | ||
196 | switch (MM3.STATE) |
197 | switch (MM3.STATE) |
197 | { |
198 | { |
198 | // 1st byte received |
199 | // 1st byte received |
199 | case MM3_STATE_DRDY: |
200 | case MM3_STATE_DRDY: |
200 | tmp = SPDR; // store 1st byte |
201 | tmp = SPDR; // store 1st byte |
201 | SPDR = 0x00; // trigger transfer of 2nd byte |
202 | SPDR = 0x00; // trigger transfer of 2nd byte |
202 | MM3.STATE = MM3_STATE_BYTE2; |
203 | MM3.STATE = MM3_STATE_BYTE2; |
203 | return; |
204 | return; |
204 | 205 | ||
205 | case MM3_STATE_BYTE2: // 2nd byte received |
206 | case MM3_STATE_BYTE2: // 2nd byte received |
206 | value = (int16_t)tmp; // combine the 1st and 2nd byte to a word |
207 | value = (int16_t)tmp; // combine the 1st and 2nd byte to a word |
207 | value <<= 8; // shift 1st byte to MSB-Position |
208 | value <<= 8; // shift 1st byte to MSB-Position |
208 | value |= (int16_t)SPDR; // add 2nd byte |
209 | value |= (int16_t)SPDR; // add 2nd byte |
209 | 210 | ||
210 | if(abs(value) < MAX_AXIS_VALUE) // ignore spikes |
211 | if(abs(value) < MAX_AXIS_VALUE) // ignore spikes |
211 | { |
212 | { |
212 | switch (MM3.AXIS) |
213 | switch (MM3.AXIS) |
213 | { |
214 | { |
214 | case MM3_X_AXIS: |
215 | case MM3_X_AXIS: |
215 | MM3.x_axis = value; |
216 | MM3.x_axis = value; |
216 | MM3.AXIS = MM3_Y_AXIS; |
217 | MM3.AXIS = MM3_Y_AXIS; |
217 | break; |
218 | break; |
218 | case MM3_Y_AXIS: |
219 | case MM3_Y_AXIS: |
219 | MM3.y_axis = value; |
220 | MM3.y_axis = value; |
220 | MM3.AXIS = MM3_Z_AXIS; |
221 | MM3.AXIS = MM3_Z_AXIS; |
221 | break; |
222 | break; |
222 | case MM3_Z_AXIS: |
223 | case MM3_Z_AXIS: |
223 | MM3.z_axis = value; |
224 | MM3.z_axis = value; |
224 | MM3.AXIS = MM3_X_AXIS; |
225 | MM3.AXIS = MM3_X_AXIS; |
225 | break; |
226 | break; |
226 | default: |
227 | default: |
227 | MM3.AXIS = MM3_X_AXIS; |
228 | MM3.AXIS = MM3_X_AXIS; |
228 | break; |
229 | break; |
229 | } |
230 | } |
230 | } |
231 | } |
231 | #ifdef USE_WALTER_EXT // walthers board |
232 | #ifdef USE_WALTER_EXT // walthers board |
232 | PORTC |= (1<<PORTC6); // deselect slave |
233 | PORTC |= (1<<PORTC6); // deselect slave |
233 | #else |
234 | #else |
234 | PORTC |= (1<<PORTC4); // deselect slave |
235 | PORTC |= (1<<PORTC4); // deselect slave |
235 | #endif |
236 | #endif |
236 | MM3.STATE = MM3_STATE_RESET; |
237 | MM3.STATE = MM3_STATE_RESET; |
237 | // Update timeout is called every 102.4 µs. |
238 | // Update timeout is called every 102.4 µs. |
238 | // It takes 2 cycles to write a measurement data request for one axis and |
239 | // It takes 2 cycles to write a measurement data request for one axis and |
239 | // at at least 8 ms / 102.4 µs = 79 cycles to read the requested data back. |
240 | // at at least 8 ms / 102.4 µs = 79 cycles to read the requested data back. |
240 | // I.e. 81 cycles * 102.4 µs = 8.3ms per axis. |
241 | // I.e. 81 cycles * 102.4 µs = 8.3ms per axis. |
241 | // The two function accessing the MM3 Data - MM3_Calibrate() and MM3_Heading() - |
242 | // The two function accessing the MM3 Data - MM3_Calibrate() and MM3_Heading() - |
242 | // decremtent the MM3_Timeout every 100 ms. |
243 | // decremtent the MM3_Timeout every 100 ms. |
243 | // incrementing the counter by 1 every 8.3 ms is sufficient to avoid a timeout. |
244 | // incrementing the counter by 1 every 8.3 ms is sufficient to avoid a timeout. |
244 | if ((MM3.x_axis != MM3.y_axis) || (MM3.x_axis != MM3.z_axis) || (MM3.y_axis != MM3.z_axis)) |
245 | if ((MM3.x_axis != MM3.y_axis) || (MM3.x_axis != MM3.z_axis) || (MM3.y_axis != MM3.z_axis)) |
245 | { // if all axis measurements give diffrent readings the data should be valid |
246 | { // if all axis measurements give diffrent readings the data should be valid |
246 | if(MM3_Timeout < 20) MM3_Timeout++; |
247 | if(MM3_Timeout < 20) MM3_Timeout++; |
247 | } |
248 | } |
248 | else // something is very strange here |
249 | else // something is very strange here |
249 | { |
250 | { |
250 | if(MM3_Timeout ) MM3_Timeout--; |
251 | if(MM3_Timeout ) MM3_Timeout--; |
251 | } |
252 | } |
252 | return; |
253 | return; |
253 | 254 | ||
254 | default: |
255 | default: |
255 | return; |
256 | return; |
256 | } |
257 | } |
257 | } |
258 | } |
258 | 259 | ||
259 | 260 | ||
260 | 261 | ||
261 | /*********************************************/ |
262 | /*********************************************/ |
262 | /* Calibrate Compass */ |
263 | /* Calibrate Compass */ |
263 | /*********************************************/ |
264 | /*********************************************/ |
264 | void MM3_Calibrate(void) |
265 | void MM3_Calibrate(void) |
265 | { |
266 | { |
266 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
267 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
267 | uint8_t measurement = 50, beeper = 0; |
268 | uint8_t measurement = 50, beeper = 0; |
268 | uint16_t timer; |
269 | uint16_t timer; |
269 | 270 | ||
270 | GRN_ON; |
271 | GRN_ON; |
271 | ROT_OFF; |
272 | ROT_OFF; |
272 | 273 | ||
273 | // get maximum and minimum reading of all axis |
274 | // get maximum and minimum reading of all axis |
274 | while (measurement) |
275 | while (measurement) |
275 | { |
276 | { |
276 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
277 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
277 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
278 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
278 | 279 | ||
279 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
280 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
280 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
281 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
281 | 282 | ||
282 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
283 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
283 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
284 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
284 | 285 | ||
285 | if (!beeper) |
286 | if (!beeper) |
286 | { |
287 | { |
287 | ROT_FLASH; |
288 | ROT_FLASH; |
288 | GRN_FLASH; |
289 | GRN_FLASH; |
289 | BeepTime = 50; |
290 | BeepTime = 50; |
290 | beeper = 50; |
291 | beeper = 50; |
291 | } |
292 | } |
292 | beeper--; |
293 | beeper--; |
293 | // loop with period of 10 ms / 100 Hz |
294 | // loop with period of 10 ms / 100 Hz |
294 | timer = SetDelay(10); |
295 | timer = SetDelay(10); |
295 | while(!CheckDelay(timer)); |
296 | while(!CheckDelay(timer)); |
296 | 297 | ||
297 | // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
298 | // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
298 | if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
299 | if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
299 | } |
300 | } |
300 | // Rage of all axis |
301 | // Rage of all axis |
301 | MM3_calib.X_range = (x_max - x_min); |
302 | MM3_calib.X_range = (x_max - x_min); |
302 | MM3_calib.Y_range = (y_max - y_min); |
303 | MM3_calib.Y_range = (y_max - y_min); |
303 | MM3_calib.Z_range = (z_max - z_min); |
304 | MM3_calib.Z_range = (z_max - z_min); |
304 | 305 | ||
305 | // Offset of all axis |
306 | // Offset of all axis |
306 | MM3_calib.X_off = (x_max + x_min) / 2; |
307 | MM3_calib.X_off = (x_max + x_min) / 2; |
307 | MM3_calib.Y_off = (y_max + y_min) / 2; |
308 | MM3_calib.Y_off = (y_max + y_min) / 2; |
308 | MM3_calib.Z_off = (z_max + z_min) / 2; |
309 | MM3_calib.Z_off = (z_max + z_min) / 2; |
309 | 310 | ||
310 | // save to EEProm |
311 | // save to EEProm |
311 | SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
312 | SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
312 | SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
313 | SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
313 | SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
314 | SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
314 | SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
315 | SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
315 | SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
316 | SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
316 | SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
317 | SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
317 | 318 | ||
318 | } |
319 | } |
319 | 320 | ||
320 | 321 | ||
321 | /*********************************************/ |
322 | /*********************************************/ |
322 | /* Calculate north direction (heading) */ |
323 | /* Calculate north direction (heading) */ |
323 | /*********************************************/ |
324 | /*********************************************/ |
324 | int16_t MM3_Heading(void) |
325 | int16_t MM3_Heading(void) |
325 | { |
326 | { |
326 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
327 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
327 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
328 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
328 | int16_t angle; |
329 | int16_t angle; |
329 | uint16_t div_factor; |
330 | uint16_t div_factor; |
330 | int16_t heading; |
331 | int16_t heading; |
- | 332 | ||
- | 333 | DebugOut.Analog[11] = MM3_Timeout; |
|
331 | 334 | ||
332 | if (MM3_Timeout) |
335 | if (MM3_Timeout) |
333 | { |
336 | { |
334 | // Offset correction and normalization (values of H are +/- 512) |
337 | // Offset correction and normalization (values of H are +/- 512) |
335 | Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
338 | Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
336 | Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range; |
339 | Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range; |
337 | Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range; |
340 | Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range; |
338 | 341 | ||
339 | // Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation |
342 | // Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation |
340 | // assuming the MM3 board is mounted parallel to the frame. |
343 | // assuming the MM3 board is mounted parallel to the frame. |
341 | // User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading |
344 | // User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading |
342 | // in a top view counter clockwise direction. |
345 | // in a top view counter clockwise direction. |
343 | // North is in opposite direction of the small arrow on the MM3 board. |
346 | // North is in opposite direction of the small arrow on the MM3 board. |
344 | // Therefore 180 deg must be added to that angle. |
347 | // Therefore 180 deg must be added to that angle. |
345 | angle = ((int16_t)ParamSet.UserParam4 + 180); |
348 | angle = ((int16_t)ParamSet.UserParam4 + 180); |
346 | // wrap angle to interval of 0°- 359° |
349 | // wrap angle to interval of 0°- 359° |
347 | angle += 360; |
350 | angle += 360; |
348 | angle %= 360; |
351 | angle %= 360; |
349 | sin_yaw = (int32_t)(c_sin_8192(angle)); |
352 | sin_yaw = (int32_t)(c_sin_8192(angle)); |
350 | cos_yaw = (int32_t)(c_cos_8192(angle)); |
353 | cos_yaw = (int32_t)(c_cos_8192(angle)); |
351 | 354 | ||
352 | Hx_corr = Hx; |
355 | Hx_corr = Hx; |
353 | Hy_corr = Hy; |
356 | Hy_corr = Hy; |
354 | 357 | ||
355 | // rotate |
358 | // rotate |
356 | Hx = (Hx_corr * cos_yaw - Hy_corr * sin_yaw) / 8192; |
359 | Hx = (Hx_corr * cos_yaw - Hy_corr * sin_yaw) / 8192; |
357 | Hy = (Hx_corr * sin_yaw + Hy_corr * cos_yaw) / 8192; |
360 | Hy = (Hx_corr * sin_yaw + Hy_corr * cos_yaw) / 8192; |
358 | 361 | ||
359 | 362 | ||
360 | // tilt compensation |
363 | // tilt compensation |
361 | 364 | ||
362 | // calibration factor for transforming Gyro Integrals to angular degrees |
365 | // calibration factor for transforming Gyro Integrals to angular degrees |
363 | div_factor = (uint16_t)ParamSet.UserParam3 * 8; |
366 | div_factor = (uint16_t)ParamSet.UserParam3 * 8; |
364 | 367 | ||
365 | // calculate sinus cosinus of pitch and tilt angle |
368 | // calculate sinus cosinus of pitch and tilt angle |
366 | angle = (IntegralPitch/div_factor); |
369 | angle = (IntegralPitch/div_factor); |
367 | sin_pitch = (int32_t)(c_sin_8192(angle)); |
370 | sin_pitch = (int32_t)(c_sin_8192(angle)); |
368 | cos_pitch = (int32_t)(c_cos_8192(angle)); |
371 | cos_pitch = (int32_t)(c_cos_8192(angle)); |
369 | 372 | ||
370 | angle = (IntegralRoll/div_factor); |
373 | angle = (IntegralRoll/div_factor); |
371 | sin_roll = (int32_t)(c_sin_8192(angle)); |
374 | sin_roll = (int32_t)(c_sin_8192(angle)); |
372 | cos_roll = (int32_t)(c_cos_8192(angle)); |
375 | cos_roll = (int32_t)(c_cos_8192(angle)); |
373 | 376 | ||
374 | Hx_corr = Hx * cos_pitch; |
377 | Hx_corr = Hx * cos_pitch; |
375 | Hx_corr -= Hz * sin_pitch; |
378 | Hx_corr -= Hz * sin_pitch; |
376 | Hx_corr /= 8192; |
379 | Hx_corr /= 8192; |
377 | 380 | ||
378 | Hy_corr = Hy * cos_roll; |
381 | Hy_corr = Hy * cos_roll; |
379 | Hy_corr += Hz * sin_roll; |
382 | Hy_corr += Hz * sin_roll; |
380 | Hy_corr /= 8192; |
383 | Hy_corr /= 8192; |
381 | 384 | ||
382 | // calculate Heading |
385 | // calculate Heading |
383 | heading = c_atan2(Hy_corr, Hx_corr); |
386 | heading = c_atan2(Hy_corr, Hx_corr); |
384 | 387 | ||
385 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
388 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
386 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
389 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
387 | if (heading < 0) heading = -heading; |
390 | if (heading < 0) heading = -heading; |
388 | else heading = 360 - heading; |
391 | else heading = 360 - heading; |
389 | } |
392 | } |
390 | else // MM3_Timeout = 0 i.e now new data from external board |
393 | else // MM3_Timeout = 0 i.e now new data from external board |
391 | { |
394 | { |
392 | if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
395 | if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
393 | heading = -1; |
396 | heading = -1; |
394 | } |
397 | } |
395 | return heading; |
398 | return heading; |
396 | } |
399 | } |
397 | 400 |