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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 | 67 | ||
68 | u8 CompassCalStateQueue[10]; |
68 | u8 CompassCalStateQueue[10]; |
69 | fifo_t CompassCalcStateFiFo; |
69 | fifo_t CompassCalcStateFiFo; |
70 | 70 | ||
71 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
71 | volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation |
72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
72 | volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation |
73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
73 | volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation |
74 | 74 | ||
75 | #define COMPASS_NONE 0 |
75 | #define COMPASS_NONE 0 |
76 | #define COMPASS_MK3MAG 1 |
76 | #define COMPASS_MK3MAG 1 |
77 | #define COMPASS_NCMAG 2 |
77 | #define COMPASS_NCMAG 2 |
78 | u8 Compass_Device = COMPASS_NONE; |
78 | u8 Compass_Device = COMPASS_NONE; |
79 | 79 | ||
80 | void Compass_Init(void) |
80 | void Compass_Init(void) |
81 | { |
81 | { |
82 | switch(Compass_Device) |
82 | switch(Compass_Device) |
83 | { |
83 | { |
84 | case COMPASS_NONE: |
84 | case COMPASS_NONE: |
85 | UART1_PutString("\r\n Looking for compass"); |
85 | UART1_PutString("\r\n Looking for compass"); |
86 | if(Version_HW > 11) |
86 | if(Version_HW > 11) |
87 | { |
87 | { |
88 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
88 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
89 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
89 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
90 | } |
90 | } |
91 | else |
91 | else |
92 | { |
92 | { |
93 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
93 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
94 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
94 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
95 | } |
95 | } |
96 | break; |
96 | break; |
97 | 97 | ||
98 | case COMPASS_NCMAG: |
98 | case COMPASS_NCMAG: |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
100 | else Compass_Device = COMPASS_NONE; |
100 | else Compass_Device = COMPASS_NONE; |
101 | break; |
101 | break; |
102 | 102 | ||
103 | case COMPASS_MK3MAG: |
103 | case COMPASS_MK3MAG: |
104 | default: |
104 | default: |
105 | // nothing to do |
105 | // nothing to do |
106 | break; |
106 | break; |
107 | 107 | ||
108 | } |
108 | } |
109 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
109 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
110 | } |
110 | } |
111 | 111 | ||
112 | 112 | ||
113 | void Compass_CalcHeading(void) |
113 | void Compass_CalcHeading(void) |
114 | { |
114 | { |
115 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
115 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
116 | { |
116 | { |
117 | Compass_Heading = -1; |
117 | Compass_Heading = -1; |
118 | } |
118 | } |
119 | else // fc attitude is avialable and no compass calibration active |
119 | else // fc attitude is avialable and no compass calibration active |
120 | { |
120 | { |
121 | // calculate attitude correction |
121 | // calculate attitude correction |
122 | // a float implementation takes too long |
122 | // a float implementation takes too long |
123 | s16 tmp, Hx, Hy; |
123 | s16 tmp, Hx, Hy; |
124 | s32 sinnick, cosnick, sinroll, cosroll; |
124 | s32 sinnick, cosnick, sinroll, cosroll; |
125 | 125 | ||
126 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
126 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
127 | sinnick = (s32)c_sin_8192(tmp); |
127 | sinnick = (s32)c_sin_8192(tmp); |
128 | cosnick = (s32)c_cos_8192(tmp); |
128 | cosnick = (s32)c_cos_8192(tmp); |
129 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
129 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
130 | sinroll = (s32)c_sin_8192(tmp); |
130 | sinroll = (s32)c_sin_8192(tmp); |
131 | cosroll = (s32)c_cos_8192(tmp); |
131 | cosroll = (s32)c_cos_8192(tmp); |
132 | // tbd. compensation signs and oriantation has to be fixed |
132 | // tbd. compensation signs and oriantation has to be fixed |
133 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
133 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
134 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
134 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
135 | // calculate heading |
135 | // calculate heading |
136 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
136 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
137 | if (tmp > 0) tmp = 360 - tmp; |
137 | if (tmp > 0) tmp = 360 - tmp; |
138 | else tmp = -tmp; |
138 | else tmp = -tmp; |
139 | Compass_Heading = tmp; |
139 | Compass_Heading = tmp; |
140 | } |
140 | } |
141 | } |
141 | } |
142 | 142 | ||
143 | void Compass_Update(void) |
143 | void Compass_Update(void) |
144 | { |
144 | { |
145 | static s16vec_t old; |
145 | static s16vec_t old; |
146 | static u32 check_value_counter = 0; |
146 | static u32 check_value_counter = 0; |
147 | // check for new cal state |
147 | // check for new cal state |
148 | Compass_UpdateCalState(); |
148 | Compass_UpdateCalState(); |
149 | // initiate new compass communication |
149 | // initiate new compass communication |
150 | switch(Compass_Device) |
150 | switch(Compass_Device) |
151 | { |
151 | { |
152 | case COMPASS_MK3MAG: |
152 | case COMPASS_MK3MAG: |
153 | MK3MAG_Update(); |
153 | MK3MAG_Update(); |
154 | break; |
154 | break; |
155 | case COMPASS_NCMAG: |
155 | case COMPASS_NCMAG: |
156 | NCMAG_Update(); |
156 | NCMAG_Update(); |
157 | default: |
157 | default: |
158 | break; |
158 | break; |
159 | } |
159 | } |
160 | DebugOut.Analog[24] = MagVector.X; |
160 | DebugOut.Analog[24] = MagVector.X; |
161 | DebugOut.Analog[25] = MagVector.Y; |
161 | DebugOut.Analog[25] = MagVector.Y; |
162 | DebugOut.Analog[26] = MagVector.Z; |
162 | DebugOut.Analog[26] = MagVector.Z; |
163 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
163 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
164 | 164 | ||
165 | if(check_value_counter > 5000) |
165 | if(check_value_counter > 5000) |
166 | { |
166 | { |
167 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
167 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
168 | } |
168 | } |
169 | else check_value_counter++; |
169 | else check_value_counter++; |
170 | - | ||
171 | DebugOut.Analog[16] = check_value_counter; |
- | |
172 | 170 | ||
173 | old.X = MagVector.X; |
171 | old.X = MagVector.X; |
174 | old.Y = MagVector.Y; |
172 | old.Y = MagVector.Y; |
175 | old.Z = MagVector.Z; |
173 | old.Z = MagVector.Z; |
176 | } |
174 | } |
177 | 175 | ||
178 | // put cal state into fifo |
176 | // put cal state into fifo |
179 | void Compass_SetCalState(u8 CalState) |
177 | void Compass_SetCalState(u8 CalState) |
180 | { |
178 | { |
181 | fifo_put(&CompassCalcStateFiFo, CalState); |
179 | fifo_put(&CompassCalcStateFiFo, CalState); |
182 | } |
180 | } |
183 | 181 | ||
184 | // get cal state from fifo |
182 | // get cal state from fifo |
185 | void Compass_UpdateCalState() |
183 | void Compass_UpdateCalState() |
186 | { |
184 | { |
187 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
185 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
188 | } |
186 | } |
189 | 187 | ||
190 | 188 |