WebSVN - FlightCtrl - Diff - Rev 232 and 235 - /branches/v0.60_MicroMag3


/*
This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details. You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
 
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
*/
 
#include "main.h"
 
MM3_struct MM3;
 
 
//############################################################################
//Initialisierung der SPI-Schnittstelle
void init_spi(void)
//############################################################################
{
        SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0);        //Interrupt an, Master, 156 kHz Oszillator
        //SPSR = (1<<SPI2X);
       
    DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
       
        MM3.AXIS = MM3_X;
        MM3.STATE = MM3_RESET;
}
 
 
//############################################################################
//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
void MM3_timer0(void)
//############################################################################
{
        switch (MM3.STATE)
        {
        case MM3_RESET:                        
                PORTB |= (1<<PB2);      // J8 auf High, MM3 Reset
                MM3.STATE = MM3_START_TRANSFER;
                break;
               
        case MM3_START_TRANSFER:
                PORTB &= ~(1<<PB2);     // J8 auf Low (war ~125 µs auf High)            
               
                if (MM3.AXIS == MM3_X) SPDR = 0x51;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
                else if (MM3.AXIS == MM3_Y) SPDR = 0x52;                // Micromag Period Select ist auf 1024 (0x50)
                else if (MM3.AXIS == MM3_Z) SPDR = 0x53;                // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
 
               
                MM3.DRDY = SetDelay(15);                // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
                MM3.STATE = MM3_WAIT_DRDY;
                break;
       
        case MM3_WAIT_DRDY:
                if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
                break;
       
        case MM3_IDLE:         
                break;
        }
}
 
 
//############################################################################
//SPI byte ready
SIGNAL (SIG_SPI)
//############################################################################
{      
        switch (MM3.STATE)
        {      
        case MM3_DRDY:
                        // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen
                if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; break;}
                if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; break;}
                if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}
       
        case MM3_X_BYTE2:       // 2. Byte der entsprechenden Achse ist da.             
                MM3.x_axis |= SPDR;
                MM3.x_axis -= OFF_X;    // Sofort Offset aus der Kalibrierung berücksichtigen
 
                MM3.AXIS = MM3_Y;
                MM3.STATE = MM3_RESET;
                break;
       
        case MM3_Y_BYTE2:
                MM3.y_axis |= SPDR;            
                MM3.y_axis -= OFF_Y;
 
                MM3.AXIS = MM3_Z;
                MM3.STATE = MM3_RESET;
                break;
       
        case MM3_Z_BYTE2:
                MM3.z_axis |= SPDR;
                MM3.z_axis -= OFF_Z;
 
                MM3.AXIS = MM3_X;
                MM3.STATE = MM3_RESET;         
                // Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in °
                MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);
                MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);
                break; 
        }
}
 
signed int MM3_heading(void)
{
        float sin_nick, cos_nick, sin_roll, cos_roll;
        signed int x_corr, y_corr;
        signed int heading;
               
        //Berechung von sinus und cosinus
        sin_nick = (float)sin_f(MM3.NickGrad);
        cos_nick = (float)cos_f(MM3.NickGrad);
        sin_roll = (float)sin_f(MM3.RollGrad);
        cos_roll = (float)cos_f(MM3.RollGrad);      
       
    //Neigungskompensation
        y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
    x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis);
       
        //Winkelberechnung
        heading = arctan_i(x_corr, y_corr);
 
return (heading);
}
 

Rev 232	Rev 235
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); //Interrupt an, Master, 156 kHz Oszillator	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
26	DDRB \|= (1<<PB7)\|(1<<PB5)\|(1<<PB2); // J8, MOSI, SCK Ausgang	26	DDRB \|= (1<<PB7)\|(1<<PB5)\|(1<<PB2); // J8, MOSI, SCK Ausgang
27		27
28	MM3.AXIS = MM3_X;	28	MM3.AXIS = MM3_X;
29	MM3.STATE = MM3_RESET;	29	MM3.STATE = MM3_RESET;
30	}	30	}
31		31
32		32
33	//############################################################################	33	//############################################################################
34	//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen	34	//Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
35	void MM3_timer0(void)	35	void MM3_timer0(void)
36	//############################################################################	36	//############################################################################
37	{	37	{
38	switch (MM3.STATE)	38	switch (MM3.STATE)
39	{	39	{
40	case MM3_RESET:	40	case MM3_RESET:
41	PORTB \|= (1<<PB2); // J8 auf High, MM3 Reset	41	PORTB \|= (1<<PB2); // J8 auf High, MM3 Reset
42	MM3.STATE = MM3_START_TRANSFER;	42	MM3.STATE = MM3_START_TRANSFER;
43	break;	43	break;
44		44
45	case MM3_START_TRANSFER:	45	case MM3_START_TRANSFER:
46	PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)	46	PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)
47		47
48	if (MM3.AXIS == MM3_X) SPDR = 0x51; // 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
49	else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50)	49	else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50)
50	else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse	50	else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
51	else {MM3.STATE == MM3_IDLE;break;}	-
52		51
53	MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)	52	MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
54	MM3.STATE = MM3_WAIT_DRDY;	53	MM3.STATE = MM3_WAIT_DRDY;
55	break;	54	break;
56		55
57	case MM3_WAIT_DRDY:	56	case MM3_WAIT_DRDY:
58	if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei	57	if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
59	break;	58	break;
60		59
61	case MM3_IDLE:	60	case MM3_IDLE:
62	break;	61	break;
63	}	62	}
64	}	63	}
65		64
66		65
67	//############################################################################	66	//############################################################################
68	//SPI byte ready	67	//SPI byte ready
69	SIGNAL (SIG_SPI)	68	SIGNAL (SIG_SPI)
70	//############################################################################	69	//############################################################################
71	{	70	{
72	switch (MM3.STATE)	71	switch (MM3.STATE)
73	{	72	{
74	case MM3_DRDY:	73	case MM3_DRDY:
75	// 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen	74	// 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;}	75	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;}	76	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;}	77	if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;}
79		78
80	case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da.	79	case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da.
81	MM3.x_axis \|= SPDR;	80	MM3.x_axis \|= SPDR;
82	MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen	81	MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen
83	//MM3.x_axis /= GAIN_X;	-
84	MM3.AXIS = MM3_Y;	82	MM3.AXIS = MM3_Y;
85	MM3.STATE = MM3_RESET;	83	MM3.STATE = MM3_RESET;
86	break;	84	break;
87		85
88	case MM3_Y_BYTE2:	86	case MM3_Y_BYTE2:
89	MM3.y_axis \|= SPDR;	87	MM3.y_axis \|= SPDR;
90	MM3.y_axis -= OFF_Y;	88	MM3.y_axis -= OFF_Y;
91	//MM3.y_axis /= GAIN_Y;	-
92	MM3.AXIS = MM3_Z;	89	MM3.AXIS = MM3_Z;
93	MM3.STATE = MM3_RESET;	90	MM3.STATE = MM3_RESET;
94	break;	91	break;
95		92
96	case MM3_Z_BYTE2:	93	case MM3_Z_BYTE2:
97	MM3.z_axis \|= SPDR;	94	MM3.z_axis \|= SPDR;
98	MM3.z_axis -= OFF_Z;	95	MM3.z_axis -= OFF_Z;
99	//MM3.z_axis /= GAIN_Z;	-
100	MM3.AXIS = MM3_X;	96	MM3.AXIS = MM3_X;
101	MM3.STATE = MM3_RESET;	97	MM3.STATE = MM3_RESET;
102	// Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in °	98	// Zeitnahe Speicherung der aktuellen Nick-/Rollneigung in °
103	MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);	99	MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8);
104	MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);	100	MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8);
105	break;	101	break;
106	}	102	}
107	}	103	}
108		104
109	signed int MM3_heading(void)	105	signed int MM3_heading(void)
110	{	106	{
111	float sin_nick, cos_nick, sin_roll, cos_roll;	107	float sin_nick, cos_nick, sin_roll, cos_roll;
112	signed int x_corr, y_corr;	108	signed int x_corr, y_corr;
113	signed int heading;	109	signed int heading;
114		110
115	//Berechung von sinus und cosinus	111	//Berechung von sinus und cosinus
116	sin_nick = (float)sin_f(MM3.NickGrad);	112	sin_nick = (float)sin_f(MM3.NickGrad);
117	cos_nick = (float)cos_f(MM3.NickGrad);	113	cos_nick = (float)cos_f(MM3.NickGrad);
118	sin_roll = (float)sin_f(MM3.RollGrad);	114	sin_roll = (float)sin_f(MM3.RollGrad);
119	cos_roll = (float)cos_f(MM3.RollGrad);	115	cos_roll = (float)cos_f(MM3.RollGrad);
120		116
121	//Neigungskompensation	117	//Neigungskompensation
122	y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));	118	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);	119	x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis);
-		120
124	//Winkelberechnung	121	//Winkelberechnung
125	heading = arctan_i(x_corr, y_corr);	122	heading = arctan_i(x_corr, y_corr);
126		123
127	return (heading);	124	return (heading);
128	}	125	}
129		126

Subversion Repositories FlightCtrl

(root)/branches/v0.60_MicroMag3_Nick666/compass.c @ 281 - Rev 232 → 235