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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 | s16 Hx = 0, Hy = 0; |
74 | s16 Hx = 0, Hy = 0; |
75 | s32 EarthMagneticField = 100; |
75 | s32 EarthMagneticField = 100; |
76 | s32 EarthMagneticFieldFiltered = 100; |
76 | s32 EarthMagneticFieldFiltered = 100; |
77 | s32 EarthMagneticInclination = 0; |
77 | s32 EarthMagneticInclination = 0; |
- | 78 | s32 EarthMagneticInclinationFiltered = 0; |
|
78 | s32 EarthMagneticInclinationTheoretic = 0; |
79 | s32 EarthMagneticInclinationTheoretic = 0; |
79 | u8 ErrorDisturbedEarthMagnetField = 0; |
80 | u8 ErrorDisturbedEarthMagnetField = 0; |
80 | 81 | ||
81 | #define COMPASS_NONE 0 |
82 | #define COMPASS_NONE 0 |
82 | #define COMPASS_MK3MAG 1 |
83 | #define COMPASS_MK3MAG 1 |
83 | #define COMPASS_NCMAG 2 |
84 | #define COMPASS_NCMAG 2 |
84 | u8 Compass_Device = COMPASS_NONE; |
85 | u8 Compass_Device = COMPASS_NONE; |
85 | 86 | ||
86 | void Compass_Init(void) |
87 | void Compass_Init(void) |
87 | { |
88 | { |
88 | switch(Compass_Device) |
89 | switch(Compass_Device) |
89 | { |
90 | { |
90 | case COMPASS_NONE: |
91 | case COMPASS_NONE: |
91 | UART1_PutString("\r\n Looking for compass"); |
92 | UART1_PutString("\r\n Looking for compass"); |
92 | if(Version_HW > 11) |
93 | if(Version_HW > 11) |
93 | { |
94 | { |
94 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
95 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
95 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
96 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
96 | } |
97 | } |
97 | else |
98 | else |
98 | { |
99 | { |
99 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
100 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
100 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
101 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
101 | } |
102 | } |
102 | break; |
103 | break; |
103 | 104 | ||
104 | case COMPASS_NCMAG: |
105 | case COMPASS_NCMAG: |
105 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
106 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
106 | else Compass_Device = COMPASS_NONE; |
107 | else Compass_Device = COMPASS_NONE; |
107 | break; |
108 | break; |
108 | 109 | ||
109 | case COMPASS_MK3MAG: |
110 | case COMPASS_MK3MAG: |
110 | default: |
111 | default: |
111 | // nothing to do |
112 | // nothing to do |
112 | break; |
113 | break; |
113 | 114 | ||
114 | } |
115 | } |
115 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
116 | fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine); |
116 | } |
117 | } |
117 | 118 | ||
118 | 119 | ||
119 | void Compass_CalcHeading(void) |
120 | void Compass_CalcHeading(void) |
120 | { |
121 | { |
121 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
122 | if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState) |
122 | { |
123 | { |
123 | Compass_Heading = -1; |
124 | Compass_Heading = -1; |
124 | } |
125 | } |
125 | else // fc attitude is avialable and no compass calibration active |
126 | else // fc attitude is avialable and no compass calibration active |
126 | { |
127 | { |
127 | // calculate attitude correction |
128 | // calculate attitude correction |
128 | // a float implementation takes too long |
129 | // a float implementation takes too long |
129 | s16 tmp; |
130 | s16 tmp; |
130 | s32 sinnick, cosnick, sinroll, cosroll; |
131 | s32 sinnick, cosnick, sinroll, cosroll; |
131 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
132 | tmp = FromFlightCtrl.AngleNick/10; // in deg |
132 | sinnick = (s32)c_sin_8192(tmp); |
133 | sinnick = (s32)c_sin_8192(tmp); |
133 | cosnick = (s32)c_cos_8192(tmp); |
134 | cosnick = (s32)c_cos_8192(tmp); |
134 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
135 | tmp = FromFlightCtrl.AngleRoll/10; // in deg |
135 | sinroll = (s32)c_sin_8192(tmp); |
136 | sinroll = (s32)c_sin_8192(tmp); |
136 | cosroll = (s32)c_cos_8192(tmp); |
137 | cosroll = (s32)c_cos_8192(tmp); |
137 | // tbd. compensation signs and oriantation has to be fixed |
138 | // tbd. compensation signs and oriantation has to be fixed |
138 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
139 | Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L); |
139 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
140 | Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L); |
140 | // calculate heading |
141 | // calculate heading |
141 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
142 | tmp = (s16)(c_atan2_546(Hy, Hx)/546L); |
142 | if (tmp > 0) tmp = 360 - tmp; |
143 | if (tmp > 0) tmp = 360 - tmp; |
143 | else tmp = -tmp; |
144 | else tmp = -tmp; |
144 | Compass_Heading = tmp; |
145 | Compass_Heading = tmp; |
145 | } |
146 | } |
146 | } |
147 | } |
147 | 148 | ||
148 | 149 | ||
149 | void Compass_Update(void) |
150 | void Compass_Update(void) |
150 | { |
151 | { |
151 | static s16vec_t old; |
152 | static s16vec_t old; |
152 | static u32 check_value_counter = 0; |
153 | static u32 check_value_counter = 0; |
153 | // check for new cal state |
154 | // check for new cal state |
154 | Compass_UpdateCalState(); |
155 | Compass_UpdateCalState(); |
155 | // initiate new compass communication |
156 | // initiate new compass communication |
156 | switch(Compass_Device) |
157 | switch(Compass_Device) |
157 | { |
158 | { |
158 | case COMPASS_MK3MAG: |
159 | case COMPASS_MK3MAG: |
159 | MK3MAG_Update(); |
160 | MK3MAG_Update(); |
160 | DebugOut.Analog[24] = MagVector.X; |
161 | DebugOut.Analog[24] = MagVector.X; |
161 | DebugOut.Analog[25] = MagVector.Y; |
162 | DebugOut.Analog[25] = MagVector.Y; |
162 | DebugOut.Analog[26] = MagVector.Z; |
163 | DebugOut.Analog[26] = MagVector.Z; |
163 | break; |
164 | break; |
164 | case COMPASS_NCMAG: |
165 | case COMPASS_NCMAG: |
165 | NCMAG_Update(); |
166 | NCMAG_Update(); |
166 | DebugOut.Analog[24] = MagRawVector.X; |
167 | DebugOut.Analog[24] = MagRawVector.X; |
167 | DebugOut.Analog[25] = MagRawVector.Y; |
168 | DebugOut.Analog[25] = MagRawVector.Y; |
168 | DebugOut.Analog[26] = MagRawVector.Z; |
169 | DebugOut.Analog[26] = MagRawVector.Z; |
169 | default: |
170 | default: |
170 | break; |
171 | break; |
171 | } |
172 | } |
172 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
173 | if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing |
173 | 174 | ||
174 | if(check_value_counter > 5000) |
175 | if(check_value_counter > 5000) |
175 | { |
176 | { |
176 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
177 | Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault |
177 | } |
178 | } |
178 | else check_value_counter++; |
179 | else check_value_counter++; |
179 | 180 | ||
180 | old.X = MagVector.X; |
181 | old.X = MagVector.X; |
181 | old.Y = MagVector.Y; |
182 | old.Y = MagVector.Y; |
182 | old.Z = MagVector.Z; |
183 | old.Z = MagVector.Z; |
183 | } |
184 | } |
184 | 185 | ||
185 | // put cal state into fifo |
186 | // put cal state into fifo |
186 | void Compass_SetCalState(u8 CalState) |
187 | void Compass_SetCalState(u8 CalState) |
187 | { |
188 | { |
188 | fifo_put(&CompassCalcStateFiFo, CalState); |
189 | fifo_put(&CompassCalcStateFiFo, CalState); |
189 | } |
190 | } |
190 | 191 | ||
191 | // get cal state from fifo |
192 | // get cal state from fifo |
192 | void Compass_UpdateCalState() |
193 | void Compass_UpdateCalState() |
193 | { |
194 | { |
194 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
195 | fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState); |
195 | } |
196 | } |
196 | 197 | ||
197 | 198 |