WebSVN - MK3Mag - Diff - Rev 32 and 33


/*#######################################################################################
MK3Mag 3D-Magnet sensor
!!! THIS IS NOT FREE SOFTWARE !!!
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 05.2008 Holger Buss
// + Thanks to Ilja Fähnrich (P_Latzhalter)
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +     Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
// +     In case of doubt please contact: info@MikroKopter.de
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <avr/interrupt.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
 
#include "main.h"
#include "timer0.h"
#include "twislave.h"
#include "led.h"
#include "analog.h"
#include "uart.h"
 
 
AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
Orientation_t Orientation = ORIENTATION_FC;
 
uint16_t Led_Timer = 0;
 
typedef struct
{
        int16_t Range;
        int16_t Offset;
}  Scaling_t;
 
typedef struct
{
        Scaling_t MagX;
        Scaling_t MagY;
        Scaling_t MagZ;
        Scaling_t AccX;
        Scaling_t AccY;
        Scaling_t AccZ;
}  Calibration_t;
 
Calibration_t eeCalibration EEMEM;      // calibration data in EEProm
Calibration_t Calibration;              // calibration data in RAM
 
// magnet sensor variable
int16_t RawMagnet1a, RawMagnet1b;                       // raw magnet sensor data
int16_t RawMagnet2a, RawMagnet2b;
int16_t RawMagnet3a, RawMagnet3b;
int16_t UncalMagX, UncalMagY, UncalMagZ;        // sensor signal difference without Scaling
int16_t MagX = 0, MagY = 0, MagZ = 0;           // rescaled magnetic field readings
 
// acceleration sensor variables
int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0;                  // raw acceleration readings
int16_t AccX = 0, AccY = 0, AccZ = 0;                                   // rescaled acceleration readings
int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0;               // nick and roll angle from acc
 
int16_t Heading = -1;                                           // the current compass heading in deg
 
 
void CalcFields(void)
{
        UncalMagX = (RawMagnet1a - RawMagnet1b);
        UncalMagY = (RawMagnet3a - RawMagnet3b);
        UncalMagZ = (RawMagnet2a - RawMagnet2b);
 
        if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);
        else MagX = 0;
        if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);
        else MagY = 0;
        if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);
        else MagZ = 0;
 
        if(AccPresent)
        {
                AccX = (RawAccX - Calibration.AccX.Offset);
                AccY = (RawAccY - Calibration.AccY.Offset);
                AccZ = (Calibration.AccZ.Offset - RawAccZ);
 
                #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL
                // acc mode assumes orientation like FC
                if(AccX >  136) AccAttitudeNick = -800;
                else
                if(AccX < -136) AccAttitudeNick = 800;
                else                    AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);
 
 
                if(AccY >  136) AccAttitudeRoll = 800;
                else
                if(AccY < -136) AccAttitudeRoll = -800;
                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
 
                #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)
                // acc mode assumes orientation like FC
                if(AccY >  136) AccAttitudeNick = 800;
                else
                if(AccY < -136) AccAttitudeNick = -800;
                else                    AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
 
 
                if(AccX >  136) AccAttitudeRoll = 800;
                else
                if(AccX < -136) AccAttitudeRoll = -800;
                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);
                #endif
        }
}
 
 
void CalcHeading(void)
{
        double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;
        int16_t nick, roll;
        int16_t heading = -1;
 
        // blink code for normal operation
        if(CheckDelay(Led_Timer))
        {
                LED_GRN_TOGGLE;
                Led_Timer = SetDelay(500);
        }
 
 
 
        switch(Orientation)
        {
                case ORIENTATION_NC:
                        Cx = MagX;
                        Cy = MagY;
                        Cz = MagZ;
                        break;
 
                case ORIENTATION_FC:
                        // rotation of 90 deg compared to NC setup
                        Cx = MagY;
                        Cy = -MagX;
                        Cz = MagZ;
                        break;
        }
 
        // calculate nick and roll angle in rad
        switch(AttitudeSource)
        {
                case ATTITUDE_SOURCE_I2C:
           cli(); // stop interrupts
            nick = I2C_WriteAttitude.Nick;
                        roll = I2C_WriteAttitude.Roll;
           sei(); // start interrupts
                        break;
                case ATTITUDE_SOURCE_UART:
           cli(); // stop interrupts
            nick = ExternData.Attitude[NICK];
            roll = ExternData.Attitude[ROLL];
           sei(); // start interrupts
                        break;
                case ATTITUDE_SOURCE_ACC:
            nick = AccAttitudeNick;
            roll = AccAttitudeRoll;
                        break;
                default:
                        nick_rad = 0;
                        roll_rad = 0;
                break;
        }
 
    nick_rad = ((double)nick) * M_PI / (double)(1800.0);
    roll_rad = ((double)roll) * M_PI / (double)(1800.0);
 
 
 
 
        // calculate attitude correction
        Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);
        Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);
 
        DebugOut.Analog[27] = (int16_t)Hx;
        DebugOut.Analog[28] = (int16_t)Hy;
 
        // calculate Heading
        heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
        // atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
        // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
        if (heading < 0) heading = -heading;
        else heading = 360 - heading;
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
/* // Alternative formula
   Hx = Cx * (double)cos(nick_rad) +
        Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
        Cz * (double)sin(nick_rad) * (double)cos(roll_rad);
 
   Hy = Cy * (double)cos(roll_rad) +
        Cz * (double)sin(roll_rad);
 
   if(Hx == 0 && Hy < 0) heading = 90;
   else if(Hx == 0 && Hy > 0) heading = 270;
   else if(Hx < 0) heading  = 180 - (atan(Hy / Hx) * 180.0) / M_PI;
   else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;
   else if(Hx > 0 && Hy > 0) heading  = 360 - (atan(Hy / Hx) * 180.0) / M_PI;
 
 if(abs(heading) < 361) Heading = heading;
*/
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
        cli(); // stop interrupts
        if(abs(heading) < 361) Heading = heading;
        else (Heading = -1);
        sei(); // start interrupts
 
}
 
 
void Calibrate(void)
{
        uint8_t cal;
        static uint8_t calold = 0;
        static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
        static uint8_t blinkcount = 0;
        static uint8_t invert_blinking = 0;
 
        // check both sources of communication for calibration request
        if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
        else                     cal = ExternData.CalState;
 
 
        if(cal > 5) cal = 0;
        // blink code for current calibration state
        if(cal)
        {
                if(CheckDelay(Led_Timer) || (cal != calold))
                {
                        if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
                        else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;
 
                        // end of blinkcount sequence
                        if((blinkcount + 1 ) >= (2 * cal))
                        {
                                blinkcount = 0;
                                Led_Timer = SetDelay(1000);
                        }
                        else
                        {
                                blinkcount++;
                                Led_Timer = SetDelay(170);
                        }
                }
        }
        else
        {
                if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
        }
 
        // calibration state machine
        switch(cal)
        {
                case 1: // 1st step of calibration
                        // initialize ranges
                        // used to change the orientation of the MK3MAG in the horizontal plane
                        Xmin =  10000;
                        Xmax = -10000;
                        Ymin =  10000;
                        Ymax = -10000;
                        Zmin =  10000;
                        Zmax = -10000;
                        Calibration.AccX.Offset = RawAccX;
                        Calibration.AccY.Offset = RawAccY;
                Calibration.AccZ.Offset = RawAccZ;
            invert_blinking = 0;
                        break;
 
                case 2: // 2nd step of calibration
                        // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
                        if(UncalMagX < Xmin) Xmin = UncalMagX;
                        if(UncalMagX > Xmax) Xmax = UncalMagX;
                        if(UncalMagY < Ymin) Ymin = UncalMagY;
                        if(UncalMagY > Ymax) Ymax = UncalMagY;
            invert_blinking = 1;
                        break;
 
                case 3: // 3rd step of calibration
                        // used to change the orientation of the MK3MAG vertical to the horizontal plane
            invert_blinking = 0;
                        break;
 
                case 4:
                        // find Min and Max of the Z-Sensor
                        if(UncalMagZ < Zmin) Zmin = UncalMagZ;
                        if(UncalMagZ > Zmax) Zmax = UncalMagZ;
            invert_blinking = 1;
                        break;
 
                case 5:
                        // Save values
                        if(cal != calold) // avoid continously writing of eeprom!
                        {
                                Calibration.MagX.Range = Xmax - Xmin;
                                Calibration.MagX.Offset = (Xmin + Xmax) / 2;
                                Calibration.MagY.Range = Ymax - Ymin;
                                Calibration.MagY.Offset = (Ymin + Ymax) / 2;
                                Calibration.MagZ.Range = Zmax - Zmin;
                                Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
                                if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))
                                {
                                        // indicate write process by setting the led
                                        LED_GRN_ON;
                                        eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
                                        Led_Timer = SetDelay(2000);
                                        // reset  blinkcode
                                        blinkcount = 0;
                                }
                        }
            invert_blinking = 0;
                        break;
 
                default:
                        break;
        }
        calold = cal;
}
 
 
void SetDebugValues(void)
{
        DebugOut.Analog[0] =  MagX;
        DebugOut.Analog[1] =  MagY;
        DebugOut.Analog[2] =  MagZ;
        DebugOut.Analog[3] =  UncalMagX;
        DebugOut.Analog[4] =  UncalMagY;
        DebugOut.Analog[5] =  UncalMagZ;
        switch(AttitudeSource)
        {
                case ATTITUDE_SOURCE_ACC:
                        DebugOut.Analog[6] =  AccAttitudeNick;
                        DebugOut.Analog[7] =  AccAttitudeRoll;
                        break;
 
                case ATTITUDE_SOURCE_UART:
                        DebugOut.Analog[6] =  ExternData.Attitude[NICK];
                        DebugOut.Analog[7] =  ExternData.Attitude[ROLL];
                        break;
 
 
                case ATTITUDE_SOURCE_I2C:
                        DebugOut.Analog[6] =  I2C_WriteAttitude.Nick;
                        DebugOut.Analog[7] =  I2C_WriteAttitude.Roll;
                        break;
        }
        DebugOut.Analog[8] =  Calibration.MagX.Offset;
        DebugOut.Analog[9] =  Calibration.MagX.Range;
        DebugOut.Analog[10] = Calibration.MagY.Offset;
        DebugOut.Analog[11] = Calibration.MagY.Range;
        DebugOut.Analog[12] = Calibration.MagZ.Offset;
        DebugOut.Analog[13] = Calibration.MagZ.Range;
        DebugOut.Analog[14] = ExternData.CalState;
        DebugOut.Analog[15] = Heading;
        DebugOut.Analog[16] = ExternData.UserParam[0];
        DebugOut.Analog[17] = ExternData.UserParam[1];
        DebugOut.Analog[18] = AccX;
        DebugOut.Analog[19] = AccY;
        DebugOut.Analog[20] = AccZ;
        DebugOut.Analog[21] = RawAccX;
        DebugOut.Analog[22] = RawAccY;
        DebugOut.Analog[23] = RawAccZ;
        DebugOut.Analog[24] = Calibration.AccX.Offset;
        DebugOut.Analog[25] = Calibration.AccY.Offset;
    DebugOut.Analog[26] = Calibration.AccZ.Offset;
    DebugOut.Analog[29] = AttitudeSource;
}
 
void AccMeasurement(void)
{
        if(AccPresent)
        {
                RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;
                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
        }
        else
        {
                RawAccX = 0;
                RawAccY = 0;
                RawAccZ = 0;
        }
}
 
int main (void)
{
        // reset input pullup
        DDRC &=~((1<<DDC6));
        PORTC |= (1<<PORTC6);
 
    LED_Init();
    TIMER0_Init();
    USART0_Init();
    ADC_Init();
        I2C_Init();
 
    sei(); // enable globale interrupts
 
    if(AccPresent)
    {
                USART0_Print("ACC present\n");
        }
 
    LED_GRN_ON;
 
    Debug_Timer = SetDelay(200);
    Led_Timer = SetDelay(200);
 
        // read calibration info from eeprom
        eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
 
    ExternData.CalState = 0;
    I2C_WriteCal.CalByte = 0;
 
 
        // main loop
    while (1)
    {
                FLIP_LOW;
                Delay_ms(2);
                RawMagnet1a = ADC_GetValue(MAG_X);
                RawMagnet2a = -ADC_GetValue(MAG_Y);
                RawMagnet3a = ADC_GetValue(MAG_Z);
                AccMeasurement();
                Delay_ms(1);
 
                FLIP_HIGH;
                Delay_ms(2);
                RawMagnet1b = ADC_GetValue(MAG_X);
                RawMagnet2b = -ADC_GetValue(MAG_Y);
                RawMagnet3b = ADC_GetValue(MAG_Z);
                AccMeasurement();
                Delay_ms(1);
 
                CalcFields();
 
                if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
                else CalcHeading();
 
                // check data from USART
        USART0_ProcessRxData();
 
                if(NC_Connected) NC_Connected--;
                if(FC_Connected) FC_Connected--;
                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
                if(!FC_Connected && ! NC_Connected)
                {
                        AttitudeSource = ATTITUDE_SOURCE_ACC;
                        Orientation = ORIENTATION_FC;
                }
 
        if(PC_Connected)
        {
            USART0_EnableTXD();
            USART0_TransmitTxData();
            PC_Connected--;
                }
                else
                {
                        USART0_DisableTXD();
                }
        } // while(1)
}
 
 

Rev 32	Rev 33
1	/*#######################################################################################	1	/*#######################################################################################
2	MK3Mag 3D-Magnet sensor	2	MK3Mag 3D-Magnet sensor
3	!!! THIS IS NOT FREE SOFTWARE !!!	3	!!! THIS IS NOT FREE SOFTWARE !!!
4	#######################################################################################*/	4	#######################################################################################*/
5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	5	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
6	// + Copyright (c) 05.2008 Holger Buss	6	// + Copyright (c) 05.2008 Holger Buss
7	// + Thanks to Ilja Fähnrich (P_Latzhalter)	7	// + Thanks to Ilja Fähnrich (P_Latzhalter)
8	// + Nur für den privaten Gebrauch	8	// + Nur für den privaten Gebrauch
9	// + www.MikroKopter.com	9	// + www.MikroKopter.com
10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	10	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	11	// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
12	// + mit unserer Zustimmung zulässig	12	// + mit unserer Zustimmung zulässig
13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
14	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	14	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
15	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	15	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
16	// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden	16	// + AUSNAHME: Ein bei www.mikrokopter.de erworbener vorbestückter MK3Mag darf als Baugruppe auch in kommerziellen Systemen verbaut werden
17	// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de	17	// + Im Zweifelsfall bitte anfragen bei: info@mikrokopter.de
18	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	18	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	19	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
20	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	20	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	21	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
22	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	22	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
23	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	23	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
24	// + eindeutig als Ursprung verlinkt werden	24	// + eindeutig als Ursprung verlinkt werden
25	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	25	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
26	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	26	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
27	// + Benutzung auf eigene Gefahr	27	// + Benutzung auf eigene Gefahr
28	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	28	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	29	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	30	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	32	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
33	// + this list of conditions and the following disclaimer.	33	// + this list of conditions and the following disclaimer.
34	// + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	34	// + * PORTING this software (or parts of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
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	// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems	41	// + Exception: A preassembled MK3Mag, purchased from www.mikrokopter.de may be used as a part of commercial systems
42	// + In case of doubt please contact: info@MikroKopter.de	42	// + In case of doubt please contact: info@MikroKopter.de
43	// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be	43	// + * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
44	// + clearly linked as origin	44	// + clearly linked as origin
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <avr/interrupt.h>	57	#include <avr/interrupt.h>
58	#include <math.h>	58	#include <math.h>
59	#include <stdlib.h>	59	#include <stdlib.h>
60	#include <stdio.h>	60	#include <stdio.h>
61		61
62	#include "main.h"	62	#include "main.h"
63	#include "timer0.h"	63	#include "timer0.h"
64	#include "twislave.h"	64	#include "twislave.h"
65	#include "led.h"	65	#include "led.h"
66	#include "analog.h"	66	#include "analog.h"
67	#include "uart.h"	67	#include "uart.h"
68		68
69		69
70	AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;	70	AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
71	Orientation_t Orientation = ORIENTATION_FC;	71	Orientation_t Orientation = ORIENTATION_FC;
72		72
73	uint16_t Led_Timer = 0;	73	uint16_t Led_Timer = 0;
74		74
75	typedef struct	75	typedef struct
76	{	76	{
77	int16_t Range;	77	int16_t Range;
78	int16_t Offset;	78	int16_t Offset;
79	} Scaling_t;	79	} Scaling_t;
80		80
81	typedef struct	81	typedef struct
82	{	82	{
83	Scaling_t MagX;	83	Scaling_t MagX;
84	Scaling_t MagY;	84	Scaling_t MagY;
85	Scaling_t MagZ;	85	Scaling_t MagZ;
86	Scaling_t AccX;	86	Scaling_t AccX;
87	Scaling_t AccY;	87	Scaling_t AccY;
88	Scaling_t AccZ;	88	Scaling_t AccZ;
89	} Calibration_t;	89	} Calibration_t;
90		90
91	Calibration_t eeCalibration EEMEM; // calibration data in EEProm	91	Calibration_t eeCalibration EEMEM; // calibration data in EEProm
92	Calibration_t Calibration; // calibration data in RAM	92	Calibration_t Calibration; // calibration data in RAM
93		93
94	// magnet sensor variable	94	// magnet sensor variable
95	int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data	95	int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data
96	int16_t RawMagnet2a, RawMagnet2b;	96	int16_t RawMagnet2a, RawMagnet2b;
97	int16_t RawMagnet3a, RawMagnet3b;	97	int16_t RawMagnet3a, RawMagnet3b;
98	int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling	98	int16_t UncalMagX, UncalMagY, UncalMagZ; // sensor signal difference without Scaling
99	int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings	99	int16_t MagX = 0, MagY = 0, MagZ = 0; // rescaled magnetic field readings
100		100
101	// acceleration sensor variables	101	// acceleration sensor variables
102	int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings	102	int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0; // raw acceleration readings
103	int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings	103	int16_t AccX = 0, AccY = 0, AccZ = 0; // rescaled acceleration readings
104	int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc	104	int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0; // nick and roll angle from acc
105		105
106	int16_t Heading = -1; // the current compass heading in deg	106	int16_t Heading = -1; // the current compass heading in deg
107		107
108		108
109	void CalcFields(void)	109	void CalcFields(void)
110	{	110	{
111	UncalMagX = (RawMagnet1a - RawMagnet1b);	111	UncalMagX = (RawMagnet1a - RawMagnet1b);
112	UncalMagY = (RawMagnet3a - RawMagnet3b);	112	UncalMagY = (RawMagnet3a - RawMagnet3b);
113	UncalMagZ = (RawMagnet2a - RawMagnet2b);	113	UncalMagZ = (RawMagnet2a - RawMagnet2b);
114		114
115	if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);	115	if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);
116	else MagX = 0;	116	else MagX = 0;
117	if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);	117	if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);
118	else MagY = 0;	118	else MagY = 0;
119	if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);	119	if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);
120	else MagZ = 0;	120	else MagZ = 0;
121		121
122	if(AccPresent)	122	if(AccPresent)
123	{	123	{
124	AccX = (RawAccX - Calibration.AccX.Offset);	124	AccX = (RawAccX - Calibration.AccX.Offset);
125	AccY = (RawAccY - Calibration.AccY.Offset);	125	AccY = (RawAccY - Calibration.AccY.Offset);
126	AccZ = (Calibration.AccZ.Offset - RawAccZ);	126	AccZ = (Calibration.AccZ.Offset - RawAccZ);
127		127
128	#if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL	128	#if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL
129	// acc mode assumes orientation like FC	129	// acc mode assumes orientation like FC
130	if(AccX > 136) AccAttitudeNick = -800;	130	if(AccX > 136) AccAttitudeNick = -800;
131	else	131	else
132	if(AccX < -136) AccAttitudeNick = 800;	132	if(AccX < -136) AccAttitudeNick = 800;
133	else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);	133	else AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);
134		134
135		135
136	if(AccY > 136) AccAttitudeRoll = 800;	136	if(AccY > 136) AccAttitudeRoll = 800;
137	else	137	else
138	if(AccY < -136) AccAttitudeRoll = -800;	138	if(AccY < -136) AccAttitudeRoll = -800;
139	else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);	139	else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
140		140
141	#else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)	141	#else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)
142	// acc mode assumes orientation like FC	142	// acc mode assumes orientation like FC
143	if(AccY > 136) AccAttitudeNick = 800;	143	if(AccY > 136) AccAttitudeNick = 800;
144	else	144	else
145	if(AccY < -136) AccAttitudeNick = -800;	145	if(AccY < -136) AccAttitudeNick = -800;
146	else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);	146	else AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
147		147
148		148
149	if(AccX > 136) AccAttitudeRoll = 800;	149	if(AccX > 136) AccAttitudeRoll = 800;
150	else	150	else
151	if(AccX < -136) AccAttitudeRoll = -800;	151	if(AccX < -136) AccAttitudeRoll = -800;
152	else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);	152	else AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);
153	#endif	153	#endif
154	}	154	}
155	}	155	}
156		156
157		157
158	void CalcHeading(void)	158	void CalcHeading(void)
159	{	159	{
160	double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;	160	double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;
161	int16_t nick, roll;	161	int16_t nick, roll;
162	int16_t heading = -1;	162	int16_t heading = -1;
163		163
164	// blink code for normal operation	164	// blink code for normal operation
165	if(CheckDelay(Led_Timer))	165	if(CheckDelay(Led_Timer))
166	{	166	{
167	LED_GRN_TOGGLE;	167	LED_GRN_TOGGLE;
168	Led_Timer = SetDelay(500);	168	Led_Timer = SetDelay(500);
169	}	169	}
170	//MagX = 150;	-
171	//MagZ = 1000;	-
172		170
173	switch(Orientation)	171	switch(Orientation)
174	{	172	{
175	case ORIENTATION_NC:	173	case ORIENTATION_NC:
176	Cx = MagX;	174	Cx = MagX;
177	Cy = MagY;	175	Cy = MagY;
178	Cz = MagZ;	176	Cz = MagZ;
179	break;	177	break;
180		178
181	case ORIENTATION_FC:	179	case ORIENTATION_FC:
182	// rotation of 90 deg compared to NC setup	180	// rotation of 90 deg compared to NC setup
183	Cx = MagY;	181	Cx = MagY;
184	Cy = -MagX;	182	Cy = -MagX;
185	Cz = MagZ;	183	Cz = MagZ;
186	break;	184	break;
187	}	185	}
188		186
189	// calculate nick and roll angle in rad	187	// calculate nick and roll angle in rad
190	switch(AttitudeSource)	188	switch(AttitudeSource)
191	{	189	{
192	case ATTITUDE_SOURCE_I2C:	190	case ATTITUDE_SOURCE_I2C:
193	cli(); // stop interrupts	191	cli(); // stop interrupts
194	nick = I2C_WriteAttitude.Nick;	192	nick = I2C_WriteAttitude.Nick;
195	roll = I2C_WriteAttitude.Roll;	193	roll = I2C_WriteAttitude.Roll;
196	sei(); // start interrupts	194	sei(); // start interrupts
197	break;	195	break;
198	case ATTITUDE_SOURCE_UART:	196	case ATTITUDE_SOURCE_UART:
199	cli(); // stop interrupts	197	cli(); // stop interrupts
200	nick = ExternData.Attitude[NICK];	198	nick = ExternData.Attitude[NICK];
201	roll = ExternData.Attitude[ROLL];	199	roll = ExternData.Attitude[ROLL];
202	sei(); // start interrupts	200	sei(); // start interrupts
203	break;	201	break;
204	case ATTITUDE_SOURCE_ACC:	202	case ATTITUDE_SOURCE_ACC:
205	nick = AccAttitudeNick;	203	nick = AccAttitudeNick;
206	roll = AccAttitudeRoll;	204	roll = AccAttitudeRoll;
207	break;	205	break;
208	default:	206	default:
209	nick_rad = 0;	207	nick_rad = 0;
210	roll_rad = 0;	208	roll_rad = 0;
211	break;	209	break;
212	}	210	}
213		211
214	nick_rad = ((double)nick) * M_PI / (double)(1800.0);	212	nick_rad = ((double)nick) * M_PI / (double)(1800.0);
215	roll_rad = ((double)roll) * M_PI / (double)(1800.0);	213	roll_rad = ((double)roll) * M_PI / (double)(1800.0);
216		-
217	// nick_rad = 0;	-
218	// roll_rad = 0;	214
219		215
220	// calculate attitude correction	216	// calculate attitude correction
221	Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);	217	Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);
222	Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);	218	Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);
223		219
224	DebugOut.Analog[27] = (int16_t)Hx;	220	DebugOut.Analog[27] = (int16_t)Hx;
225	DebugOut.Analog[28] = (int16_t)Hy;	221	DebugOut.Analog[28] = (int16_t)Hy;
226		222
227	// calculate Heading	223	// calculate Heading
228	heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);	224	heading = (int16_t)((180.0 * atan2(Hy, Hx)) / M_PI);
229	// atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation	225	// atan2 returns angular range from -180 deg to 180 deg in counter clockwise notation
230	// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.	226	// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation.
231	if (heading < 0) heading = -heading;	227	if (heading < 0) heading = -heading;
232	else heading = 360 - heading;	228	else heading = 360 - heading;
-		229
233	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	230	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
234	/*	231	/* // Alternative formula
235	Hx = Cx * (double)cos(nick_rad) +	232	Hx = Cx * (double)cos(nick_rad) +
236	Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -	233	Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
237	Cz * (double)sin(nick_rad) * (double)cos(roll_rad);	234	Cz * (double)sin(nick_rad) * (double)cos(roll_rad);
238		235
239	Hy = Cy * (double)cos(roll_rad) +	236	Hy = Cy * (double)cos(roll_rad) +
240	Cz * (double)sin(roll_rad);	237	Cz * (double)sin(roll_rad);
241		238
242	if(Hx == 0 && Hy < 0) heading = 90;	239	if(Hx == 0 && Hy < 0) heading = 90;
243	else if(Hx == 0 && Hy > 0) heading = 270;	240	else if(Hx == 0 && Hy > 0) heading = 270;
244	else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI;	241	else if(Hx < 0) heading = 180 - (atan(Hy / Hx) * 180.0) / M_PI;
245	else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;	242	else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;
246	else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI;	243	else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180.0) / M_PI;
247		244
248	if(abs(heading) < 361) Heading = heading;	245	if(abs(heading) < 361) Heading = heading;
249	*/	246	*/
250	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	247	//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
251		248
252	cli(); // stop interrupts	249	cli(); // stop interrupts
253	if(abs(heading) < 361) Heading = heading;	250	if(abs(heading) < 361) Heading = heading;
254	else (Heading = -1);	251	else (Heading = -1);
255	sei(); // start interrupts	252	sei(); // start interrupts
256		253
257	}	254	}
258		255
259		256
260	void Calibrate(void)	257	void Calibrate(void)
261	{	258	{
262	uint8_t cal;	259	uint8_t cal;
263	static uint8_t calold = 0;	260	static uint8_t calold = 0;
264	static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;	261	static int16_t Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0;
265	static uint8_t blinkcount = 0;	262	static uint8_t blinkcount = 0;
266	static uint8_t invert_blinking = 0;	263	static uint8_t invert_blinking = 0;
267		264
268	// check both sources of communication for calibration request	265	// check both sources of communication for calibration request
269	if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;	266	if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
270	else cal = ExternData.CalState;	267	else cal = ExternData.CalState;
271		268
272		269
273	if(cal > 5) cal = 0;	270	if(cal > 5) cal = 0;
274	// blink code for current calibration state	271	// blink code for current calibration state
275	if(cal)	272	if(cal)
276	{	273	{
277	if(CheckDelay(Led_Timer) \|\| (cal != calold))	274	if(CheckDelay(Led_Timer) \|\| (cal != calold))
278	{	275	{
279	if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;	276	if(blinkcount & 0x01) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
280	else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;	277	else if(invert_blinking) LED_GRN_OFF; else LED_GRN_ON;
281		278
282	// end of blinkcount sequence	279	// end of blinkcount sequence
283	if((blinkcount + 1 ) >= (2 * cal))	280	if((blinkcount + 1 ) >= (2 * cal))
284	{	281	{
285	blinkcount = 0;	282	blinkcount = 0;
286	Led_Timer = SetDelay(1000);	283	Led_Timer = SetDelay(1000);
287	}	284	}
288	else	285	else
289	{	286	{
290	blinkcount++;	287	blinkcount++;
291	Led_Timer = SetDelay(170);	288	Led_Timer = SetDelay(170);
292	}	289	}
293	}	290	}
294	}	291	}
295	else	292	else
296	{	293	{
297	if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;	294	if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
298	}	295	}
299		296
300	// calibration state machine	297	// calibration state machine
301	switch(cal)	298	switch(cal)
302	{	299	{
303	case 1: // 1st step of calibration	300	case 1: // 1st step of calibration
304	// initialize ranges	301	// initialize ranges
305	// used to change the orientation of the MK3MAG in the horizontal plane	302	// used to change the orientation of the MK3MAG in the horizontal plane
306	Xmin = 10000;	303	Xmin = 10000;
307	Xmax = -10000;	304	Xmax = -10000;
308	Ymin = 10000;	305	Ymin = 10000;
309	Ymax = -10000;	306	Ymax = -10000;
310	Zmin = 10000;	307	Zmin = 10000;
311	Zmax = -10000;	308	Zmax = -10000;
312	Calibration.AccX.Offset = RawAccX;	309	Calibration.AccX.Offset = RawAccX;
313	Calibration.AccY.Offset = RawAccY;	310	Calibration.AccY.Offset = RawAccY;
314	Calibration.AccZ.Offset = RawAccZ;	311	Calibration.AccZ.Offset = RawAccZ;
315	invert_blinking = 0;	312	invert_blinking = 0;
316	break;	313	break;
317		314
318	case 2: // 2nd step of calibration	315	case 2: // 2nd step of calibration
319	// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane	316	// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
320	if(UncalMagX < Xmin) Xmin = UncalMagX;	317	if(UncalMagX < Xmin) Xmin = UncalMagX;
321	if(UncalMagX > Xmax) Xmax = UncalMagX;	318	if(UncalMagX > Xmax) Xmax = UncalMagX;
322	if(UncalMagY < Ymin) Ymin = UncalMagY;	319	if(UncalMagY < Ymin) Ymin = UncalMagY;
323	if(UncalMagY > Ymax) Ymax = UncalMagY;	320	if(UncalMagY > Ymax) Ymax = UncalMagY;
324	invert_blinking = 1;	321	invert_blinking = 1;
325	break;	322	break;
326		323
327	case 3: // 3rd step of calibration	324	case 3: // 3rd step of calibration
328	// used to change the orientation of the MK3MAG vertical to the horizontal plane	325	// used to change the orientation of the MK3MAG vertical to the horizontal plane
329	invert_blinking = 0;	326	invert_blinking = 0;
330	break;	327	break;
331		328
332	case 4:	329	case 4:
333	// find Min and Max of the Z-Sensor	330	// find Min and Max of the Z-Sensor
334	if(UncalMagZ < Zmin) Zmin = UncalMagZ;	331	if(UncalMagZ < Zmin) Zmin = UncalMagZ;
335	if(UncalMagZ > Zmax) Zmax = UncalMagZ;	332	if(UncalMagZ > Zmax) Zmax = UncalMagZ;
336	invert_blinking = 1;	333	invert_blinking = 1;
337	break;	334	break;
338		335
339	case 5:	336	case 5:
340	// Save values	337	// Save values
341	if(cal != calold) // avoid continously writing of eeprom!	338	if(cal != calold) // avoid continously writing of eeprom!
342	{	339	{
343	Calibration.MagX.Range = Xmax - Xmin;	340	Calibration.MagX.Range = Xmax - Xmin;
344	Calibration.MagX.Offset = (Xmin + Xmax) / 2;	341	Calibration.MagX.Offset = (Xmin + Xmax) / 2;
345	Calibration.MagY.Range = Ymax - Ymin;	342	Calibration.MagY.Range = Ymax - Ymin;
346	Calibration.MagY.Offset = (Ymin + Ymax) / 2;	343	Calibration.MagY.Offset = (Ymin + Ymax) / 2;
347	Calibration.MagZ.Range = Zmax - Zmin;	344	Calibration.MagZ.Range = Zmax - Zmin;
348	Calibration.MagZ.Offset = (Zmin + Zmax) / 2;	345	Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
349	if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))	346	if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))
350	{	347	{
351	// indicate write process by setting the led	348	// indicate write process by setting the led
352	LED_GRN_ON;	349	LED_GRN_ON;
353	eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));	350	eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
354	Led_Timer = SetDelay(2000);	351	Led_Timer = SetDelay(2000);
355	// reset blinkcode	352	// reset blinkcode
356	blinkcount = 0;	353	blinkcount = 0;
357	}	354	}
358	}	355	}
359	invert_blinking = 0;	356	invert_blinking = 0;
360	break;	357	break;
361		358
362	default:	359	default:
363	break;	360	break;
364	}	361	}
365	calold = cal;	362	calold = cal;
366	}	363	}
367		364
368		365
369	void SetDebugValues(void)	366	void SetDebugValues(void)
370	{	367	{
371	DebugOut.Analog[0] = MagX;	368	DebugOut.Analog[0] = MagX;
372	DebugOut.Analog[1] = MagY;	369	DebugOut.Analog[1] = MagY;
373	DebugOut.Analog[2] = MagZ;	370	DebugOut.Analog[2] = MagZ;
374	DebugOut.Analog[3] = UncalMagX;	371	DebugOut.Analog[3] = UncalMagX;
375	DebugOut.Analog[4] = UncalMagY;	372	DebugOut.Analog[4] = UncalMagY;
376	DebugOut.Analog[5] = UncalMagZ;	373	DebugOut.Analog[5] = UncalMagZ;
377	switch(AttitudeSource)	374	switch(AttitudeSource)
378	{	375	{
379	case ATTITUDE_SOURCE_ACC:	376	case ATTITUDE_SOURCE_ACC:
380	DebugOut.Analog[6] = AccAttitudeNick;	377	DebugOut.Analog[6] = AccAttitudeNick;
381	DebugOut.Analog[7] = AccAttitudeRoll;	378	DebugOut.Analog[7] = AccAttitudeRoll;
382	break;	379	break;
383		380
384	case ATTITUDE_SOURCE_UART:	381	case ATTITUDE_SOURCE_UART:
385	DebugOut.Analog[6] = ExternData.Attitude[NICK];	382	DebugOut.Analog[6] = ExternData.Attitude[NICK];
386	DebugOut.Analog[7] = ExternData.Attitude[ROLL];	383	DebugOut.Analog[7] = ExternData.Attitude[ROLL];
387	break;	384	break;
388		385
389		386
390	case ATTITUDE_SOURCE_I2C:	387	case ATTITUDE_SOURCE_I2C:
391	DebugOut.Analog[6] = I2C_WriteAttitude.Nick;	388	DebugOut.Analog[6] = I2C_WriteAttitude.Nick;
392	DebugOut.Analog[7] = I2C_WriteAttitude.Roll;	389	DebugOut.Analog[7] = I2C_WriteAttitude.Roll;
393	break;	390	break;
394	}	391	}
395	DebugOut.Analog[8] = Calibration.MagX.Offset;	392	DebugOut.Analog[8] = Calibration.MagX.Offset;
396	DebugOut.Analog[9] = Calibration.MagX.Range;	393	DebugOut.Analog[9] = Calibration.MagX.Range;
397	DebugOut.Analog[10] = Calibration.MagY.Offset;	394	DebugOut.Analog[10] = Calibration.MagY.Offset;
398	DebugOut.Analog[11] = Calibration.MagY.Range;	395	DebugOut.Analog[11] = Calibration.MagY.Range;
399	DebugOut.Analog[12] = Calibration.MagZ.Offset;	396	DebugOut.Analog[12] = Calibration.MagZ.Offset;
400	DebugOut.Analog[13] = Calibration.MagZ.Range;	397	DebugOut.Analog[13] = Calibration.MagZ.Range;
401	DebugOut.Analog[14] = ExternData.CalState;	398	DebugOut.Analog[14] = ExternData.CalState;
402	DebugOut.Analog[15] = Heading;	399	DebugOut.Analog[15] = Heading;
403	DebugOut.Analog[16] = ExternData.UserParam[0];	400	DebugOut.Analog[16] = ExternData.UserParam[0];
404	DebugOut.Analog[17] = ExternData.UserParam[1];	401	DebugOut.Analog[17] = ExternData.UserParam[1];
405	DebugOut.Analog[18] = AccX;	402	DebugOut.Analog[18] = AccX;
406	DebugOut.Analog[19] = AccY;	403	DebugOut.Analog[19] = AccY;
407	DebugOut.Analog[20] = AccZ;	404	DebugOut.Analog[20] = AccZ;
408	DebugOut.Analog[21] = RawAccX;	405	DebugOut.Analog[21] = RawAccX;
409	DebugOut.Analog[22] = RawAccY;	406	DebugOut.Analog[22] = RawAccY;
410	DebugOut.Analog[23] = RawAccZ;	407	DebugOut.Analog[23] = RawAccZ;
411	DebugOut.Analog[24] = Calibration.AccX.Offset;	408	DebugOut.Analog[24] = Calibration.AccX.Offset;
412	DebugOut.Analog[25] = Calibration.AccY.Offset;	409	DebugOut.Analog[25] = Calibration.AccY.Offset;
413	DebugOut.Analog[26] = Calibration.AccZ.Offset;	410	DebugOut.Analog[26] = Calibration.AccZ.Offset;
414	DebugOut.Analog[29] = AttitudeSource;	411	DebugOut.Analog[29] = AttitudeSource;
415	}	412	}
416		413
417	void AccMeasurement(void)	414	void AccMeasurement(void)
418	{	415	{
419	if(AccPresent)	416	if(AccPresent)
420	{	417	{
421	RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;	418	RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;
422	RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;	419	RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
423	RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;	420	RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
424	}	421	}
425	else	422	else
426	{	423	{
427	RawAccX = 0;	424	RawAccX = 0;
428	RawAccY = 0;	425	RawAccY = 0;
429	RawAccZ = 0;	426	RawAccZ = 0;
430	}	427	}
431	}	428	}
432		429
433	int main (void)	430	int main (void)
434	{	431	{
435	// reset input pullup	432	// reset input pullup
436	DDRC &=~((1<<DDC6));	433	DDRC &=~((1<<DDC6));
437	PORTC \|= (1<<PORTC6);	434	PORTC \|= (1<<PORTC6);
438		435
439	LED_Init();	436	LED_Init();
440	TIMER0_Init();	437	TIMER0_Init();
441	USART0_Init();	438	USART0_Init();
442	ADC_Init();	439	ADC_Init();
443	I2C_Init();	440	I2C_Init();
444		441
445	sei(); // enable globale interrupts	442	sei(); // enable globale interrupts
446		443
447	if(AccPresent)	444	if(AccPresent)
448	{	445	{
449	USART0_Print("ACC present\n");	446	USART0_Print("ACC present\n");
450	}	447	}
451		448
452	LED_GRN_ON;	449	LED_GRN_ON;
453		450
454	Debug_Timer = SetDelay(200);	451	Debug_Timer = SetDelay(200);
455	Led_Timer = SetDelay(200);	452	Led_Timer = SetDelay(200);
456		453
457	// read calibration info from eeprom	454	// read calibration info from eeprom
458	eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));	455	eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
459		456
460	ExternData.CalState = 0;	457	ExternData.CalState = 0;
461	I2C_WriteCal.CalByte = 0;	458	I2C_WriteCal.CalByte = 0;
462		459
463		460
464	// main loop	461	// main loop
465	while (1)	462	while (1)
466	{	463	{
467	FLIP_LOW;	464	FLIP_LOW;
468	Delay_ms(2);	465	Delay_ms(2);
469	RawMagnet1a = ADC_GetValue(MAG_X);	466	RawMagnet1a = ADC_GetValue(MAG_X);
470	RawMagnet2a = -ADC_GetValue(MAG_Y);	467	RawMagnet2a = -ADC_GetValue(MAG_Y);
471	RawMagnet3a = ADC_GetValue(MAG_Z);	468	RawMagnet3a = ADC_GetValue(MAG_Z);
472	AccMeasurement();	469	AccMeasurement();
473	Delay_ms(1);	470	Delay_ms(1);
474		471
475	FLIP_HIGH;	472	FLIP_HIGH;
476	Delay_ms(2);	473	Delay_ms(2);
477	RawMagnet1b = ADC_GetValue(MAG_X);	474	RawMagnet1b = ADC_GetValue(MAG_X);
478	RawMagnet2b = -ADC_GetValue(MAG_Y);	475	RawMagnet2b = -ADC_GetValue(MAG_Y);
479	RawMagnet3b = ADC_GetValue(MAG_Z);	476	RawMagnet3b = ADC_GetValue(MAG_Z);
480	AccMeasurement();	477	AccMeasurement();
481	Delay_ms(1);	478	Delay_ms(1);
482		479
483	CalcFields();	480	CalcFields();
484		481
485	if(ExternData.CalState \|\| I2C_WriteCal.CalByte) Calibrate();	482	if(ExternData.CalState \|\| I2C_WriteCal.CalByte) Calibrate();
486	else CalcHeading();	483	else CalcHeading();
487		484
488	// check data from USART	485	// check data from USART
489	USART0_ProcessRxData();	486	USART0_ProcessRxData();
490		487
491	if(NC_Connected) NC_Connected--;	488	if(NC_Connected) NC_Connected--;
492	if(FC_Connected) FC_Connected--;	489	if(FC_Connected) FC_Connected--;
493	// fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data	490	// fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
494	if(!FC_Connected && ! NC_Connected)	491	if(!FC_Connected && ! NC_Connected)
495	{	492	{
496	AttitudeSource = ATTITUDE_SOURCE_ACC;	493	AttitudeSource = ATTITUDE_SOURCE_ACC;
497	Orientation = ORIENTATION_FC;	494	Orientation = ORIENTATION_FC;
498	}	495	}
499		496

Subversion Repositories MK3Mag

(root)/tags/V0.22c/main.c @ 65 - Rev 32 → 33