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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2010 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
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 oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung 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 permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
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 "91x_lib.h" |
57 | #include "91x_lib.h" |
58 | #include "compass.h" |
58 | #include "compass.h" |
59 | #include "mk3mag.h" |
59 | #include "mk3mag.h" |
60 | #include "ncmag.h" |
60 | #include "ncmag.h" |
61 | #include "spi_slave.h" |
61 | #include "spi_slave.h" |
62 | #include "mymath.h" |
62 | #include "mymath.h" |
63 | #include "uart1.h" |
63 | #include "uart1.h" |
64 | #include "fifo.h" |
64 | #include "fifo.h" |
65 | #include "led.h" |
65 | #include "led.h" |
66 | #include "main.h" |
66 | #include "main.h" |
67 | #include "ncmag.h" |
- | |
68 | 67 | ||
69 | u8 CompassCalStateQueue[10]; |
68 | u8 CompassCalStateQueue[10]; |
70 | fifo_t CompassCalcStateFiFo; |
69 | fifo_t CompassCalcStateFiFo; |
71 | 70 | ||
72 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
71 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
73 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
74 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
75 | 74 | ||
76 | #define COMPASS_NONE 0 |
75 | #define COMPASS_NONE 0 |
77 | #define COMPASS_MK3MAG 1 |
76 | #define COMPASS_MK3MAG 1 |
78 | #define COMPASS_NCMAG 2 |
77 | #define COMPASS_NCMAG 2 |
79 | u8 Compass_Device = COMPASS_NONE; |
78 | u8 Compass_Device = COMPASS_NONE; |
80 | 79 | ||
81 | void Compass_Init(void) |
80 | void Compass_Init(void) |
82 | { |
81 | { |
83 | switch(Compass_Device) |
82 | switch(Compass_Device) |
84 | { |
83 | { |
85 | case COMPASS_NONE: |
84 | case COMPASS_NONE: |
86 | UART1_PutString("\r\n Looking for compass"); |
85 | UART1_PutString("\r\n Looking for compass"); |
87 | if(Version_HW > 11) |
86 | if(Version_HW > 11) |
88 | { |
87 | { |
89 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
88 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
90 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
89 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
91 | } |
90 | } |
92 | else |
91 | else |
93 | { |
92 | { |
94 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
93 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
95 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
94 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
96 | } |
95 | } |
97 | break; |
96 | break; |
98 | 97 | ||
99 | case COMPASS_NCMAG: |
98 | case COMPASS_NCMAG: |
100 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
101 | else Compass_Device = COMPASS_NONE; |
100 | else Compass_Device = COMPASS_NONE; |
102 | break; |
101 | break; |
103 | 102 | ||
104 | case COMPASS_MK3MAG: |
103 | case COMPASS_MK3MAG: |
105 | default: |
104 | default: |
106 | // nothing to do |
105 | // nothing to do |
107 | break; |
106 | break; |
108 | 107 | ||
109 | } |
108 | } |
110 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
109 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
111 | } |
110 | } |
112 | 111 | ||
113 | 112 | ||
114 | void Compass_CalcHeading(void) |
113 | void Compass_CalcHeading(void) |
115 | { |
114 | { |
116 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
115 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
117 | { |
116 | { |
118 | Compass_Heading = -1; |
117 | Compass_Heading = -1; |
119 | } |
118 | } |
120 | else // fc attitude is avialable and no compass calibration active |
119 | else // fc attitude is avialable and no compass calibration active |
121 | { |
120 | { |
122 | // calculate attitude correction |
121 | // calculate attitude correction |
123 | // a float implementation takes too long |
122 | // a float implementation takes too long |
124 | s16 tmp, Hx, Hy; |
123 | s16 tmp, Hx, Hy; |
125 | s32 sinnick, cosnick, sinroll, cosroll; |
124 | s32 sinnick, cosnick, sinroll, cosroll; |
126 | 125 | ||
127 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
126 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
128 | sinnick = (s32)c_sin_8192(tmp); |
127 | sinnick = (s32)c_sin_8192(tmp); |
129 | cosnick = (s32)c_cos_8192(tmp); |
128 | cosnick = (s32)c_cos_8192(tmp); |
130 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
129 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
131 | sinroll = (s32)c_sin_8192(tmp); |
130 | sinroll = (s32)c_sin_8192(tmp); |
132 | cosroll = (s32)c_cos_8192(tmp); |
131 | cosroll = (s32)c_cos_8192(tmp); |
133 | // tbd. compensation signs and oriantation has to be fixed |
132 | // tbd. compensation signs and oriantation has to be fixed |
134 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
133 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
135 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
134 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
136 | // calculate heading |
135 | // calculate heading |
137 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
136 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
138 | if (tmp > 0) tmp = 360 - tmp; |
137 | if (tmp > 0) tmp = 360 - tmp; |
139 | else tmp = -tmp; |
138 | else tmp = -tmp; |
140 | Compass_Heading = tmp; |
139 | Compass_Heading = tmp; |
141 | } |
140 | } |
142 | } |
141 | } |
143 | 142 | ||
144 | void Compass_Update(void) |
143 | void Compass_Update(void) |
145 | { |
144 | { |
146 | // check for new cal state |
145 | // check for new cal state |
147 | Compass_UpdateCalState(); |
146 | Compass_UpdateCalState(); |
148 | // initiate new compass communication |
147 | // initiate new compass communication |
149 | switch(Compass_Device) |
148 | switch(Compass_Device) |
150 | { |
149 | { |
151 | case COMPASS_MK3MAG: |
150 | case COMPASS_MK3MAG: |
152 | MK3MAG_Update(); |
151 | MK3MAG_Update(); |
153 | break; |
152 | break; |
154 | case COMPASS_NCMAG: |
153 | case COMPASS_NCMAG: |
155 | NCMAG_Update(); |
154 | NCMAG_Update(); |
156 | default: |
155 | default: |
157 | break; |
156 | break; |
158 | } |
157 | } |
159 | DebugOut.Analog[24] = MagVector.X; |
158 | DebugOut.Analog[24] = MagVector.X; |
160 | DebugOut.Analog[25] = MagVector.Y; |
159 | DebugOut.Analog[25] = MagVector.Y; |
161 | DebugOut.Analog[26] = MagVector.Z; |
160 | DebugOut.Analog[26] = MagVector.Z; |
162 | } |
161 | } |
163 | 162 | ||
164 | // put cal state into fifo |
163 | // put cal state into fifo |
165 | void Compass_SetCalState(u8 CalState) |
164 | void Compass_SetCalState(u8 CalState) |
166 | { |
165 | { |
167 | fifo_put(&CompassCalcStateFiFo, CalState); |
166 | fifo_put(&CompassCalcStateFiFo, CalState); |
168 | } |
167 | } |
169 | 168 | ||
170 | // get cal state from fifo |
169 | // get cal state from fifo |
171 | void Compass_UpdateCalState() |
170 | void Compass_UpdateCalState() |
172 | { |
171 | { |
173 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
172 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
174 | } |
173 | } |
175 | 174 | ||
176 | 175 |