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| 1 | /* |
1 | /* |
| 2 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
2 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| 3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
3 | it under the terms of the GNU General Public License as published by the Free Software Foundation; |
| 4 | either version 3 of the License, or (at your option) any later version. |
4 | either version 3 of the License, or (at your option) any later version. |
| 5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
5 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| 6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
6 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
7 | GNU General Public License for more details. You should have received a copy of the GNU General Public License |
| 8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
8 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 9 | 9 | ||
| 10 | 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 |
10 | 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 |
| 11 | */ |
11 | */ |
| 12 | 12 | ||
| 13 | #include "main.h" |
13 | #include "main.h" |
| 14 | 14 | ||
| 15 | MM3_struct MM3; |
15 | MM3_struct MM3; |
| 16 | 16 | ||
| 17 | 17 | ||
| 18 | //############################################################################ |
18 | //############################################################################ |
| 19 | //Initialisierung der SPI-Schnittstelle |
19 | //Initialisierung der SPI-Schnittstelle |
| 20 | void init_spi(void) |
20 | void init_spi(void) |
| 21 | //############################################################################ |
21 | //############################################################################ |
| 22 | { |
22 | { |
| 23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); |
23 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| 24 | //SPSR = (1<<SPI2X); |
24 | //SPSR = (1<<SPI2X); |
| - | 25 | ||
| 25 | DDRB |= (1<<PB2)|(1<<PB7)|(1<<PB5); // J8, SCK, MOSI Ausgang (MicroMag3) |
26 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| 26 | 27 | ||
| 27 | MM3.AXIS = MM3_X; |
28 | MM3.AXIS = MM3_X; |
| 28 | MM3.STATE = MM3_RESET; |
29 | MM3.STATE = MM3_RESET; |
| 29 | - | ||
| 30 | PORTD &= ~(1<<PD3); // J5 einmalig auf Low -> SSNOT |
- | |
| 31 | } |
30 | } |
| 32 | 31 | ||
| 33 | 32 | ||
| 34 | //############################################################################ |
33 | //############################################################################ |
| 35 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
34 | //Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| 36 | void MM3_timer0(void) |
35 | void MM3_timer0(void) |
| 37 | //############################################################################ |
36 | //############################################################################ |
| 38 | { |
37 | { |
| 39 | switch (MM3.STATE) |
38 | switch (MM3.STATE) |
| 40 | { |
39 | { |
| 41 | case MM3_RESET: |
40 | case MM3_RESET: |
| 42 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
41 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| 43 | MM3.STATE = MM3_START_TRANSFER; |
42 | MM3.STATE = MM3_START_TRANSFER; |
| 44 | break; |
43 | break; |
| 45 | 44 | ||
| 46 | case MM3_START_TRANSFER: |
45 | case MM3_START_TRANSFER: |
| 47 | PORTB &= ~(1<<PB2); // J8 auf Low |
46 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| 48 | 47 | ||
| 49 | if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
48 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 50 | else if (MM3.AXIS == MM3_Y) SPDR = 0x42; |
49 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| 51 | else if (MM3.AXIS == MM3_Z) SPDR = 0x43; |
50 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| 52 | else {MM3.STATE == MM3_IDLE;break;} |
51 | else {MM3.STATE == MM3_IDLE;break;} |
| 53 | 52 | ||
| 54 | MM3.DRDY = SetDelay(8); |
53 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| 55 | MM3.STATE = MM3_WAIT_DRDY; |
54 | MM3.STATE = MM3_WAIT_DRDY; |
| 56 | break; |
55 | break; |
| 57 | 56 | ||
| 58 | case MM3_WAIT_DRDY: |
57 | case MM3_WAIT_DRDY: |
| 59 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird |
58 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| 60 | break; |
59 | break; |
| 61 | 60 | ||
| 62 | case MM3_IDLE: |
61 | case MM3_IDLE: |
| 63 | break; |
62 | break; |
| 64 | } |
63 | } |
| 65 | - | ||
| 66 | } |
64 | } |
| - | 65 | ||
| 67 | 66 | ||
| 68 | //############################################################################ |
67 | //############################################################################ |
| 69 | //SPI byte ready |
68 | //SPI byte ready |
| 70 | SIGNAL (SIG_SPI) |
69 | SIGNAL (SIG_SPI) |
| 71 | //############################################################################ |
70 | //############################################################################ |
| 72 | { |
71 | { |
| 73 | switch (MM3.STATE) |
72 | switch (MM3.STATE) |
| 74 | { |
73 | { |
| 75 | case MM3_DRDY: |
74 | case MM3_DRDY: |
| - | 75 | // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen |
|
| 76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
76 | if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;} |
| 77 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
77 | if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;} |
| 78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
| 79 | 79 | ||
| 80 | case MM3_X_BYTE2: |
80 | case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da. |
| - | 81 | MM3.x_axis |= SPDR; |
|
| - | 82 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
|
| 81 | MM3.x_axis |= SPDR; |
83 | //MM3.x_axis /= GAIN_X; |
| 82 | MM3.AXIS = MM3_Y; |
84 | MM3.AXIS = MM3_Y; |
| 83 | MM3.STATE = MM3_RESET; |
85 | MM3.STATE = MM3_RESET; |
| 84 | break; |
86 | break; |
| 85 | 87 | ||
| 86 | case MM3_Y_BYTE2: |
88 | case MM3_Y_BYTE2: |
| 87 | MM3.y_axis |= SPDR; |
89 | MM3.y_axis |= SPDR; |
| - | 90 | MM3.y_axis -= OFF_Y; |
|
| - | 91 | //MM3.y_axis /= GAIN_Y; |
|
| 88 | MM3.AXIS = MM3_Z; |
92 | MM3.AXIS = MM3_Z; |
| 89 | MM3.STATE = MM3_RESET; |
93 | MM3.STATE = MM3_RESET; |
| 90 | break; |
94 | break; |
| 91 | 95 | ||
| 92 | case MM3_Z_BYTE2: |
96 | case MM3_Z_BYTE2: |
| 93 | MM3.z_axis |= SPDR; |
97 | MM3.z_axis |= SPDR; |
| - | 98 | MM3.z_axis -= OFF_Z; |
|
| - | 99 | //MM3.z_axis /= GAIN_Z; |
|
| 94 | MM3.AXIS = MM3_X; |
100 | MM3.AXIS = MM3_X; |
| 95 | MM3.STATE = MM3_RESET; |
101 | MM3.STATE = MM3_RESET; |
| - | 102 | // Zeitnahe Berechnung der Nick-/Rollneigung in ° |
|
| - | 103 | MM3.NickGrad = IntegralNick/Int2Grad_Faktor; |
|
| - | 104 | MM3.RollGrad = IntegralRoll/Int2Grad_Faktor; |
|
| 96 | break; |
105 | break; |
| 97 | } |
106 | } |
| - | 107 | } |
|
| - | 108 | ||
| - | 109 | signed int MM3_heading(void) |
|
| - | 110 | { |
|
| - | 111 | float sin_nick, cos_nick, sin_roll, cos_roll; |
|
| - | 112 | signed int x_corr, y_corr; |
|
| - | 113 | signed int heading; |
|
| - | 114 | ||
| - | 115 | //Berechung von sinus und cosinus |
|
| - | 116 | sin_nick = (float)sin_i(MM3.NickGrad)/1000; |
|
| - | 117 | cos_nick = (float)cos_i(MM3.NickGrad)/1000; |
|
| - | 118 | sin_roll = (float)sin_i(MM3.RollGrad)/1000; |
|
| - | 119 | cos_roll = (float)cos_i(MM3.RollGrad)/1000; |
|
| - | 120 | ||
| - | 121 | //Neigungskompensation |
|
| - | 122 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
|
| - | 123 | x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
|
| - | 124 | ||
| - | 125 | //Winkelberechnung |
|
| - | 126 | heading = arctan_f(x_corr, y_corr); |
|
| - | 127 | ||
| 98 | 128 | return (heading); |
|
| 99 | } |
129 | } |
| 100 | 130 | ||