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1 | /*####################################################################################### |
1 | /*####################################################################################### |
2 | MK3Mag 3D-Magnet sensor |
2 | MK3Mag 3D-Magnet sensor |
3 | #######################################################################################*/ |
3 | #######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 05.2008 Holger Buss |
5 | // + Copyright (c) 05.2008 Holger Buss |
6 | // + Thanks to Ilja Fähnrich |
6 | // + Thanks to Ilja Fähnrich (P_Latzhalter) |
7 | // + Nur für den privaten Gebrauch |
7 | // + Nur für den privaten Gebrauch |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
43 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
44 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
44 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
45 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
46 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
47 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
48 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
49 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
50 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
51 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
53 | // + POSSIBILITY OF SUCH DAMAGE. |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | 55 | ||
56 | signed int OffsetN, OffsetR, OffsetZ; |
56 | signed int OffsetN, OffsetR, OffsetZ; |
57 | 57 | ||
58 | signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
58 | signed int RawMagnet1a,RawMagnet1b; // raw AD-Data |
59 | signed int RawMagnet2a,RawMagnet2b; |
59 | signed int RawMagnet2a,RawMagnet2b; |
60 | signed int RawMagnet3a,RawMagnet3b; |
60 | signed int RawMagnet3a,RawMagnet3b; |
61 | signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
61 | signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0; |
62 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
62 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
63 | signed int MagnetN,MagnetR,MagnetZ; |
63 | signed int MagnetN,MagnetR,MagnetZ; |
64 | unsigned int PwmHeading = 0; |
64 | unsigned int PwmHeading = 0; |
65 | unsigned int PC_Connected = 0; |
65 | unsigned int PC_Connected = 0; |
66 | unsigned int Heading; |
66 | unsigned int Heading; |
67 | #include "main.h" |
67 | #include "main.h" |
68 | 68 | ||
69 | uint16_t eeXmin EEMEM = 0; |
69 | uint16_t eeXmin EEMEM = 0; |
70 | uint16_t eeXmax EEMEM = 0; |
70 | uint16_t eeXmax EEMEM = 0; |
71 | uint16_t eeYmin EEMEM = 0; |
71 | uint16_t eeYmin EEMEM = 0; |
72 | uint16_t eeYmax EEMEM = 0; |
72 | uint16_t eeYmax EEMEM = 0; |
73 | uint16_t eeZmin EEMEM = 0; |
73 | uint16_t eeZmin EEMEM = 0; |
74 | uint16_t eeZmax EEMEM = 0; |
74 | uint16_t eeZmax EEMEM = 0; |
75 | 75 | ||
76 | 76 | ||
77 | //############################################################################ |
77 | //############################################################################ |
78 | // |
78 | // |
79 | void Wait(unsigned char dauer) |
79 | void Wait(unsigned char dauer) |
80 | //############################################################################ |
80 | //############################################################################ |
81 | { |
81 | { |
82 | dauer = (unsigned char)TCNT0 + dauer; |
82 | dauer = (unsigned char)TCNT0 + dauer; |
83 | while((TCNT0 - dauer) & 0x80); |
83 | while((TCNT0 - dauer) & 0x80); |
84 | } |
84 | } |
85 | 85 | ||
86 | void CalcFields(void) |
86 | void CalcFields(void) |
87 | { |
87 | { |
88 | UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
88 | UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2; |
89 | UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
89 | UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2; |
90 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
90 | UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2; |
91 | 91 | ||
92 | OffsetN = (Xmin + Xmax) / 2; |
92 | OffsetN = (Xmin + Xmax) / 2; |
93 | OffsetR = (Ymin + Ymax) / 2; |
93 | OffsetR = (Ymin + Ymax) / 2; |
94 | OffsetZ = (Zmin + Zmax) / 2; |
94 | OffsetZ = (Zmin + Zmax) / 2; |
95 | 95 | ||
96 | MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
96 | MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin); |
97 | MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
97 | MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin); |
98 | MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
98 | MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin); |
99 | } |
99 | } |
100 | 100 | ||
101 | void CalcHeading(void) |
101 | void CalcHeading(void) |
102 | { |
102 | { |
103 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
103 | double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
104 | int heading; |
104 | int heading; |
105 | 105 | ||
106 | nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
106 | nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800); |
107 | roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
107 | roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800); |
108 | 108 | ||
109 | Cx = MagnetN; |
109 | Cx = MagnetN; |
110 | Cy = MagnetR; |
110 | Cy = MagnetR; |
111 | Cz = MagnetZ; |
111 | Cz = MagnetZ; |
112 | 112 | ||
113 | if(ExternData.Orientation == 1) |
113 | if(ExternData.Orientation == 1) |
114 | { |
114 | { |
115 | Cx = MagnetR; |
115 | Cx = MagnetR; |
116 | Cy = -MagnetN; |
116 | Cy = -MagnetN; |
117 | Cz = MagnetZ; |
117 | Cz = MagnetZ; |
118 | } |
118 | } |
119 | 119 | ||
120 | Hx = Cx * (double)cos(nick_rad) + |
120 | Hx = Cx * (double)cos(nick_rad) + |
121 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
121 | Cy * (double)sin(nick_rad) * (double)sin(roll_rad) - |
122 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
122 | Cz * (double)sin(nick_rad) * (double)cos(roll_rad); |
123 | 123 | ||
124 | Hy = Cy * (double)cos(roll_rad) + |
124 | Hy = Cy * (double)cos(roll_rad) + |
125 | Cz * (double)sin(roll_rad); |
125 | Cz * (double)sin(roll_rad); |
126 | 126 | ||
127 | 127 | ||
128 | if(Hx == 0 && Hy < 0) heading = 90; |
128 | if(Hx == 0 && Hy < 0) heading = 90; |
129 | else if(Hx == 0 && Hy > 0) heading = 270; |
129 | else if(Hx == 0 && Hy > 0) heading = 270; |
130 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
130 | else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI; |
131 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
131 | else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI; |
132 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
132 | else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI; |
133 | 133 | ||
134 | if(abs(heading) < 361) Heading = heading; |
134 | if(abs(heading) < 361) Heading = heading; |
135 | PwmHeading = Heading + 10; |
135 | PwmHeading = Heading + 10; |
136 | } |
136 | } |
137 | 137 | ||
138 | 138 | ||
139 | void Calibrate(void) |
139 | void Calibrate(void) |
140 | { |
140 | { |
141 | unsigned char cal; |
141 | unsigned char cal; |
142 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
142 | if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte; |
143 | else cal = ExternData.CalState; |
143 | else cal = ExternData.CalState; |
144 | switch(cal) |
144 | switch(cal) |
145 | { |
145 | { |
146 | case 0: |
146 | case 0: |
147 | LED_ON; |
147 | LED_ON; |
148 | break; |
148 | break; |
149 | case 1: |
149 | case 1: |
150 | Xmin = 10000; |
150 | Xmin = 10000; |
151 | Xmax = -10000; |
151 | Xmax = -10000; |
152 | Ymin = 10000; |
152 | Ymin = 10000; |
153 | Ymax = -10000; |
153 | Ymax = -10000; |
154 | Zmin = 10000; |
154 | Zmin = 10000; |
155 | Zmax = -10000; |
155 | Zmax = -10000; |
156 | LED_OFF; |
156 | LED_OFF; |
157 | break; |
157 | break; |
158 | case 2: |
158 | case 2: |
159 | LED_ON; // find Min and Max of the X- and Y-Sensors |
159 | LED_ON; // find Min and Max of the X- and Y-Sensors |
160 | if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
160 | if(UncalMagnetN < Xmin) Xmin = UncalMagnetN; |
161 | if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
161 | if(UncalMagnetN > Xmax) Xmax = UncalMagnetN; |
162 | if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
162 | if(UncalMagnetR < Ymin) Ymin = UncalMagnetR; |
163 | if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
163 | if(UncalMagnetR > Ymax) Ymax = UncalMagnetR; |
164 | break; |
164 | break; |
165 | case 3: |
165 | case 3: |
166 | LED_OFF; |
166 | LED_OFF; |
167 | break; |
167 | break; |
168 | case 4: |
168 | case 4: |
169 | LED_ON; // find Min and Max of the Z-Sensor |
169 | LED_ON; // find Min and Max of the Z-Sensor |
170 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
170 | if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ; |
171 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
171 | if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ; |
172 | break; |
172 | break; |
173 | case 5: |
173 | case 5: |
174 | LED_OFF; // Save values |
174 | LED_OFF; // Save values |
175 | if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
175 | if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150) |
176 | { |
176 | { |
177 | eeprom_write_word(&eeXmin, Xmin); |
177 | eeprom_write_word(&eeXmin, Xmin); |
178 | eeprom_write_word(&eeXmax, Xmax); |
178 | eeprom_write_word(&eeXmax, Xmax); |
179 | eeprom_write_word(&eeYmin, Ymin); |
179 | eeprom_write_word(&eeYmin, Ymin); |
180 | eeprom_write_word(&eeYmax, Ymax); |
180 | eeprom_write_word(&eeYmax, Ymax); |
181 | eeprom_write_word(&eeZmin, Zmin); |
181 | eeprom_write_word(&eeZmin, Zmin); |
182 | eeprom_write_word(&eeZmax, Zmax); |
182 | eeprom_write_word(&eeZmax, Zmax); |
183 | Delay_ms(2000); |
183 | Delay_ms(2000); |
184 | } |
184 | } |
185 | LED_ON; |
185 | LED_ON; |
186 | break; |
186 | break; |
187 | } |
187 | } |
188 | } |
188 | } |
189 | 189 | ||
190 | 190 | ||
191 | void SetDebugValues(void) |
191 | void SetDebugValues(void) |
192 | { |
192 | { |
193 | DebugOut.Analog[0] = MagnetN; |
193 | DebugOut.Analog[0] = MagnetN; |
194 | DebugOut.Analog[1] = MagnetR; |
194 | DebugOut.Analog[1] = MagnetR; |
195 | DebugOut.Analog[2] = MagnetZ; |
195 | DebugOut.Analog[2] = MagnetZ; |
196 | DebugOut.Analog[3] = UncalMagnetN; |
196 | DebugOut.Analog[3] = UncalMagnetN; |
197 | DebugOut.Analog[4] = UncalMagnetR; |
197 | DebugOut.Analog[4] = UncalMagnetR; |
198 | DebugOut.Analog[5] = UncalMagnetZ; |
198 | DebugOut.Analog[5] = UncalMagnetZ; |
199 | DebugOut.Analog[6] = ExternData.Winkel[0]; |
199 | DebugOut.Analog[6] = ExternData.Winkel[0]; |
200 | DebugOut.Analog[7] = ExternData.Winkel[1]; |
200 | DebugOut.Analog[7] = ExternData.Winkel[1]; |
201 | DebugOut.Analog[8] = Xmin; |
201 | DebugOut.Analog[8] = Xmin; |
202 | DebugOut.Analog[9] = Xmax; |
202 | DebugOut.Analog[9] = Xmax; |
203 | DebugOut.Analog[10] = Ymin; |
203 | DebugOut.Analog[10] = Ymin; |
204 | DebugOut.Analog[11] = Ymax; |
204 | DebugOut.Analog[11] = Ymax; |
205 | DebugOut.Analog[12] = Zmin; |
205 | DebugOut.Analog[12] = Zmin; |
206 | DebugOut.Analog[13] = Zmax; |
206 | DebugOut.Analog[13] = Zmax; |
207 | DebugOut.Analog[14] = ExternData.CalState; |
207 | DebugOut.Analog[14] = ExternData.CalState; |
208 | DebugOut.Analog[15] = Heading; |
208 | DebugOut.Analog[15] = Heading; |
209 | DebugOut.Analog[16] = ExternData.UserParameter[0]; |
209 | DebugOut.Analog[16] = ExternData.UserParameter[0]; |
210 | DebugOut.Analog[17] = ExternData.UserParameter[1]; |
210 | DebugOut.Analog[17] = ExternData.UserParameter[1]; |
211 | } |
211 | } |
212 | 212 | ||
213 | 213 | ||
214 | //############################################################################ |
214 | //############################################################################ |
215 | //Hauptprogramm |
215 | //Hauptprogramm |
216 | int main (void) |
216 | int main (void) |
217 | //############################################################################ |
217 | //############################################################################ |
218 | { |
218 | { |
219 | DDRC = 0x08; |
219 | DDRC = 0x08; |
220 | PORTC = 0x08; |
220 | PORTC = 0x08; |
221 | DDRD = 0xf4; |
221 | DDRD = 0xf4; |
222 | PORTD = 0xA0; |
222 | PORTD = 0xA0; |
223 | DDRB = 0x04; |
223 | DDRB = 0x04; |
224 | PORTB = 0x35; |
224 | PORTB = 0x35; |
225 | 225 | ||
226 | LED_ON; |
226 | LED_ON; |
227 | 227 | ||
228 | UART_Init(); |
228 | UART_Init(); |
229 | Timer0_Init(); |
229 | Timer0_Init(); |
230 | ADC_Init(); |
230 | ADC_Init(); |
231 | InitIC2_Slave(); |
231 | InitIC2_Slave(); |
232 | sei();//Globale Interrupts Einschalten |
232 | sei();//Globale Interrupts Einschalten |
233 | Debug_Timer = SetDelay(100); // Sendeintervall |
233 | Debug_Timer = SetDelay(100); // Sendeintervall |
234 | 234 | ||
235 | Xmin = eeprom_read_word(&eeXmin); |
235 | Xmin = eeprom_read_word(&eeXmin); |
236 | Xmax = eeprom_read_word(&eeXmax); |
236 | Xmax = eeprom_read_word(&eeXmax); |
237 | Ymin = eeprom_read_word(&eeYmin); |
237 | Ymin = eeprom_read_word(&eeYmin); |
238 | Ymax = eeprom_read_word(&eeYmax); |
238 | Ymax = eeprom_read_word(&eeYmax); |
239 | Zmin = eeprom_read_word(&eeZmin); |
239 | Zmin = eeprom_read_word(&eeZmin); |
240 | Zmax = eeprom_read_word(&eeZmax); |
240 | Zmax = eeprom_read_word(&eeZmax); |
241 | 241 | ||
242 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
242 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
243 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
243 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
244 | VersionInfo.PCKompatibel = 7; |
244 | VersionInfo.PCKompatibel = 7; |
245 | 245 | ||
246 | ExternData.Orientation = 0; |
246 | ExternData.Orientation = 0; |
247 | ExternData.CalState = 0; |
247 | ExternData.CalState = 0; |
248 | I2C_WriteCal.CalByte = 0; |
248 | I2C_WriteCal.CalByte = 0; |
249 | 249 | ||
250 | while (1) |
250 | while (1) |
251 | { |
251 | { |
252 | FLIP_LOW; |
252 | FLIP_LOW; |
253 | Delay_ms(2); |
253 | Delay_ms(2); |
254 | RawMagnet1a = MessAD(0); |
254 | RawMagnet1a = MessAD(0); |
255 | RawMagnet2a = -MessAD(1); |
255 | RawMagnet2a = -MessAD(1); |
256 | RawMagnet3a = MessAD(7); |
256 | RawMagnet3a = MessAD(7); |
257 | Delay_ms(1); |
257 | Delay_ms(1); |
258 | 258 | ||
259 | FLIP_HIGH; |
259 | FLIP_HIGH; |
260 | Delay_ms(2); |
260 | Delay_ms(2); |
261 | RawMagnet1b = MessAD(0); |
261 | RawMagnet1b = MessAD(0); |
262 | RawMagnet2b = -MessAD(1); |
262 | RawMagnet2b = -MessAD(1); |
263 | RawMagnet3b = MessAD(7); |
263 | RawMagnet3b = MessAD(7); |
264 | Delay_ms(1); |
264 | Delay_ms(1); |
265 | 265 | ||
266 | CalcFields(); |
266 | CalcFields(); |
267 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
267 | if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate(); |
268 | else CalcHeading(); |
268 | else CalcHeading(); |
269 | BearbeiteRxDaten(); |
269 | BearbeiteRxDaten(); |
270 | 270 | ||
271 | if(PC_Connected) |
271 | if(PC_Connected) |
272 | { |
272 | { |
273 | DDRD |= 0x02; // TXD-Portpin |
273 | DDRD |= 0x02; // TXD-Portpin |
274 | UCR |= (1 << TXEN); |
274 | UCR |= (1 << TXEN); |
275 | DatenUebertragung(); |
275 | DatenUebertragung(); |
276 | PC_Connected--; |
276 | PC_Connected--; |
277 | } |
277 | } |
278 | else |
278 | else |
279 | { |
279 | { |
280 | UCR &= ~(1 << TXEN); |
280 | UCR &= ~(1 << TXEN); |
281 | DDRD &= ~0x02; // TXD-Portpin |
281 | DDRD &= ~0x02; // TXD-Portpin |
282 | } |
282 | } |
283 | } // while(1) |
283 | } // while(1) |
284 | } |
284 | } |
285 | 285 | ||
286 | 286 |