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1 | /* |
1 | /* |
2 | 2 | ||
3 | Copyright 2007, Niklas Nold |
3 | Copyright 2007, Niklas Nold |
4 | 4 | ||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
5 | This program (files compass.c and compass.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: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
13 | 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 |
14 | */ |
14 | */ |
15 | 15 | ||
16 | #include "main.h" |
16 | #include "main.h" |
17 | 17 | ||
18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
19 | 19 | ||
20 | struct MM3_working_struct MM3; |
20 | struct MM3_working_struct MM3; |
21 | struct MM3_calib_struct MM3_calib; |
21 | struct MM3_calib_struct MM3_calib; |
22 | 22 | ||
23 | 23 | ||
24 | //############################################################################ |
24 | //############################################################################ |
25 | // Initialisierung |
25 | // Initialisierung |
26 | void init_MM3(void) |
26 | void init_MM3(void) |
27 | //############################################################################ |
27 | //############################################################################ |
28 | { |
28 | { |
29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator |
29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
30 | SPSR = (1<<SPI2X); |
30 | //SPSR = (1<<SPI2X); |
31 | 31 | ||
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
33 | 33 | ||
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
34 | PORTD &= ~(1<<PD3); // J5 auf Low |
35 | 35 | ||
36 | MM3.AXIS = MM3_X; |
36 | MM3.AXIS = MM3_X; |
37 | MM3.STATE = MM3_RESET; |
37 | MM3.STATE = MM3_RESET; |
38 | 38 | ||
39 | // Kalibrierung aus dem EEprom lesen |
39 | // Kalibrierung aus dem EEprom lesen |
40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
41 | } |
41 | } |
42 | 42 | ||
43 | 43 | ||
44 | //############################################################################ |
44 | //############################################################################ |
45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
46 | void timer0_MM3(void) |
46 | void timer0_MM3(void) |
47 | //############################################################################ |
47 | //############################################################################ |
48 | { |
48 | { |
49 | switch (MM3.STATE) |
49 | switch (MM3.STATE) |
50 | { |
50 | { |
51 | case MM3_RESET: |
51 | case MM3_RESET: |
52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
53 | MM3.STATE = MM3_START_TRANSFER; |
53 | MM3.STATE = MM3_START_TRANSFER; |
54 | return; |
54 | return; |
55 | 55 | ||
56 | case MM3_START_TRANSFER: |
56 | case MM3_START_TRANSFER: |
57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
58 | 58 | ||
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
61 | else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
62 | 62 | ||
63 | MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
63 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
64 | MM3.STATE = MM3_WAIT_DRDY; |
64 | MM3.STATE = MM3_WAIT_DRDY; |
65 | return; |
65 | return; |
66 | 66 | ||
67 | case MM3_WAIT_DRDY: |
67 | case MM3_WAIT_DRDY: |
68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
70 | } |
70 | } |
71 | } |
71 | } |
72 | 72 | ||
73 | 73 | ||
74 | //############################################################################ |
74 | //############################################################################ |
75 | // SPI byte ready |
75 | // SPI byte ready |
76 | SIGNAL (SIG_SPI) |
76 | SIGNAL (SIG_SPI) |
77 | //############################################################################ |
77 | //############################################################################ |
78 | { |
78 | { |
79 | static char tmp; |
79 | static char tmp; |
80 | int wert; |
80 | int wert; |
81 | 81 | ||
82 | switch (MM3.STATE) |
82 | switch (MM3.STATE) |
83 | { |
83 | { |
84 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
84 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
85 | tmp = SPDR; |
85 | tmp = SPDR; |
86 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
86 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
87 | MM3.STATE = MM3_BYTE2; |
87 | MM3.STATE = MM3_BYTE2; |
88 | return; |
88 | return; |
89 | 89 | ||
90 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
90 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
91 | wert = tmp; |
91 | wert = tmp; |
92 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
92 | wert <<= 8; // 1. Byte an MSB-Stelle rücken |
93 | wert |= SPDR; // 2. Byte dranpappen |
93 | wert |= SPDR; // 2. Byte dranpappen |
94 | 94 | ||
95 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
95 | if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
96 | switch (MM3.AXIS) |
96 | switch (MM3.AXIS) |
97 | { |
97 | { |
98 | case MM3_X: |
98 | case MM3_X: |
99 | MM3.x_axis = wert; |
99 | MM3.x_axis = wert; |
100 | MM3.AXIS = MM3_Y; |
100 | MM3.AXIS = MM3_Y; |
101 | break; |
101 | break; |
102 | case MM3_Y: |
102 | case MM3_Y: |
103 | MM3.y_axis = wert; |
103 | MM3.y_axis = wert; |
104 | MM3.AXIS = MM3_Z; |
104 | MM3.AXIS = MM3_Z; |
105 | break; |
105 | break; |
106 | default: //case MM3_Z: |
106 | default: //case MM3_Z: |
107 | MM3.z_axis = wert; |
107 | MM3.z_axis = wert; |
108 | MM3.AXIS = MM3_X; |
108 | MM3.AXIS = MM3_X; |
109 | } |
109 | } |
110 | 110 | ||
111 | MM3.STATE = MM3_RESET; |
111 | MM3.STATE = MM3_RESET; |
112 | } |
112 | } |
113 | } |
113 | } |
114 | 114 | ||
115 | //############################################################################ |
115 | //############################################################################ |
116 | // Kompass kalibrieren |
116 | // Kompass kalibrieren |
117 | void calib_MM3(void) |
117 | void calib_MM3(void) |
118 | //############################################################################ |
118 | //############################################################################ |
119 | { |
119 | { |
120 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
120 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
121 | uint8_t measurement=50,beeper=0; |
121 | uint8_t measurement=50,beeper=0; |
122 | unsigned int timer; |
122 | unsigned int timer; |
123 | 123 | ||
124 | GRN_ON; |
124 | GRN_ON; |
125 | ROT_OFF; |
125 | ROT_OFF; |
126 | 126 | ||
127 | while (measurement) |
127 | while (measurement) |
128 | { |
128 | { |
129 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
129 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
130 | 130 | ||
131 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
131 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
132 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
132 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
133 | 133 | ||
134 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
134 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
135 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
135 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
136 | 136 | ||
137 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
137 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
138 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
138 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
139 | 139 | ||
140 | if (!beeper) |
140 | if (!beeper) |
141 | { |
141 | { |
142 | ROT_FLASH; |
142 | ROT_FLASH; |
143 | GRN_FLASH; |
143 | GRN_FLASH; |
144 | beeptime = 50; |
144 | beeptime = 50; |
145 | beeper = 50; |
145 | beeper = 50; |
146 | } |
146 | } |
147 | beeper--; |
147 | beeper--; |
148 | 148 | ||
149 | // Schleife mit 100 Hz |
149 | // Schleife mit 100 Hz |
150 | timer = SetDelay(10); |
150 | timer = SetDelay(10); |
151 | while(!CheckDelay(timer)); |
151 | while(!CheckDelay(timer)); |
152 | 152 | ||
153 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
153 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
154 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
154 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
155 | } |
155 | } |
156 | 156 | ||
157 | // Wertebereich der Achsen |
157 | // Wertebereich der Achsen |
158 | MM3_calib.X_range = (x_max - x_min); |
158 | MM3_calib.X_range = (x_max - x_min); |
159 | MM3_calib.Y_range = (y_max - y_min); |
159 | MM3_calib.Y_range = (y_max - y_min); |
160 | MM3_calib.Z_range = (z_max - z_min); |
160 | MM3_calib.Z_range = (z_max - z_min); |
161 | 161 | ||
162 | // Offset der Achsen |
162 | // Offset der Achsen |
163 | MM3_calib.X_off = (x_max + x_min) / 2; |
163 | MM3_calib.X_off = (x_max + x_min) / 2; |
164 | MM3_calib.Y_off = (y_max + y_min) / 2; |
164 | MM3_calib.Y_off = (y_max + y_min) / 2; |
165 | MM3_calib.Z_off = (z_max + z_min) / 2; |
165 | MM3_calib.Z_off = (z_max + z_min) / 2; |
166 | 166 | ||
167 | // und im EEProm abspeichern |
167 | // und im EEProm abspeichern |
168 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
168 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
169 | } |
169 | } |
170 | 170 | ||
171 | 171 | ||
172 | //############################################################################ |
172 | //############################################################################ |
173 | // Neigungskompensierung und Berechnung der Ausrichtung |
173 | // Neigungskompensierung und Berechnung der Ausrichtung |
174 | signed int heading_MM3(void) |
174 | signed int heading_MM3(void) |
175 | //############################################################################ |
175 | //############################################################################ |
176 | { |
176 | { |
177 | float sin_nick, cos_nick, sin_roll, cos_roll; |
177 | float sin_nick, cos_nick, sin_roll, cos_roll; |
178 | float x_corr, y_corr; |
178 | float x_corr, y_corr; |
179 | signed int x_axis,y_axis,z_axis, heading; |
179 | signed int x_axis,y_axis,z_axis, heading, nicktilt, rolltilt; |
180 | unsigned int div_faktor; |
180 | unsigned int div_faktor; |
181 | 181 | ||
182 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
182 | div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
183 | 183 | ||
184 | // Berechung von sinus und cosinus |
184 | // Berechung von sinus und cosinus |
185 | MM3.NickGrad = (IntegralNick/div_faktor); |
185 | nicktilt = (IntegralNick/div_faktor); |
186 | //MM3.NickGrad = asin_i(MM3.NickGrad); |
- | |
187 | sin_nick = sin_f(MM3.NickGrad); |
186 | sin_nick = sin_f(nicktilt); |
188 | cos_nick = cos_f(MM3.NickGrad); |
187 | cos_nick = cos_f(nicktilt); |
189 | 188 | ||
190 | MM3.RollGrad = (IntegralRoll/div_faktor); |
189 | rolltilt = (IntegralRoll/div_faktor); |
191 | //MM3.RollGrad = asin_i(MM3.RollGrad); |
- | |
192 | sin_roll = sin_f(MM3.RollGrad); |
190 | sin_roll = sin_f(rolltilt); |
193 | cos_roll = cos_f(MM3.RollGrad); |
191 | cos_roll = cos_f(rolltilt); |
194 | 192 | ||
195 | // Offset |
193 | // Offset |
196 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
194 | x_axis = (MM3.x_axis - MM3_calib.X_off); |
197 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
195 | y_axis = (MM3.y_axis - MM3_calib.Y_off); |
198 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
196 | z_axis = (MM3.z_axis - MM3_calib.Z_off); |
199 | 197 | ||
200 | // Normierung Wertebereich |
198 | // Normierung Wertebereich |
201 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
199 | if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
202 | { |
200 | { |
203 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
201 | y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
204 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
202 | z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
205 | } |
203 | } |
206 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
204 | else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
207 | { |
205 | { |
208 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
206 | x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
209 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
207 | z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
210 | } |
208 | } |
211 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
209 | else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
212 | { |
210 | { |
213 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
211 | x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
214 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
212 | y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
215 | } |
213 | } |
216 | 214 | ||
217 | DebugOut.Analog[9] = x_axis; |
215 | DebugOut.Analog[9] = x_axis; |
218 | DebugOut.Analog[10] = y_axis; |
216 | DebugOut.Analog[10] = y_axis; |
219 | DebugOut.Analog[11] = z_axis; |
217 | DebugOut.Analog[11] = z_axis; |
220 | 218 | ||
221 | // Neigungskompensation |
219 | // Neigungskompensation |
222 | x_corr = x_axis * cos_nick; |
220 | x_corr = x_axis * cos_nick; |
223 | x_corr += y_axis * sin_roll * sin_nick; |
221 | x_corr += y_axis * sin_roll * sin_nick; |
224 | x_corr -= z_axis * cos_roll * sin_nick; |
222 | x_corr -= z_axis * cos_roll * sin_nick; |
225 | 223 | ||
226 | y_corr = y_axis * cos_roll; |
224 | y_corr = y_axis * cos_roll; |
227 | y_corr += z_axis * sin_roll; |
225 | y_corr += z_axis * sin_roll; |
228 | 226 | ||
229 | // Winkelberechnung |
227 | // Winkelberechnung |
230 | heading = atan2_i(x_corr, y_corr); |
228 | heading = atan2_i(x_corr, y_corr); |
231 | if (heading < 0) heading = -heading; |
229 | if (heading < 0) heading = -heading; |
232 | else heading = 360 - heading; |
230 | else heading = 360 - heading; |
233 | 231 | ||
234 | /* |
232 | /* |
235 | if (!x_corr && y_corr <0) return (90); |
233 | if (!x_corr && y_corr <0) return (90); |
236 | if (!x_corr && y_corr >0) return (270); |
234 | if (!x_corr && y_corr >0) return (270); |
237 | |
235 | |
238 | heading = atan(y_corr/x_corr)*57.29578; |
236 | heading = atan(y_corr/x_corr)*57.29578; |
239 | if (x_corr < 0) heading = 180-heading; |
237 | if (x_corr < 0) heading = 180-heading; |
240 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
238 | if (x_corr > 0 && y_corr < 0) heading = -heading; |
241 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
239 | if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
242 | */ |
240 | */ |
243 | return (heading); |
241 | return (heading); |
244 | } |
242 | } |
245 | 243 |