WebSVN - NaviCtrl - Diff - Rev 488 and 489

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 /* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
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 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software Nutzungsbedingungen (english version: see below)
 // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
 // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
 // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
 // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
 // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
 // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
 // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
 // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
 // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
 // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
 // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
 // + des Mitverschuldens offen.
 // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
 // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
 // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
 // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
 // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
 // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
 // +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software LICENSING TERMS
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
 // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
 // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
 // + The Software may only be used with the Licensor's products.
 // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
 // + agreement shall be the property of the Licensor.
 // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
 // + features that can be used to identify the program may not be altered or defaced by the customer.
 // + The customer shall be responsible for taking reasonable precautions
 // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
 // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
 // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
 // + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
 // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
 // + the software for his purpose before any operational usage. The customer will backup his data before using the software.
 // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
 // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
 // + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
 // + #### END OF LICENSING TERMS ####
 // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include "91x_lib.h"
 #include "compass.h"
 #include "mk3mag.h"
 #include "ncmag.h"
 #include "spi_slave.h"
 #include "mymath.h"
 #include "uart1.h"
 #include "fifo.h"
 #include "led.h"
 #include "main.h"
 u8 CompassCalStateQueue[10];
 fifo_t CompassCalcStateFiFo;
 volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
+volatile s16vec_t AccVector;   // current acceleration vector of compass, not supported by any HW version
 volatile s16 Compass_Heading;  // is written by mk3mag or ncmag implementation
 volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation
 s16 Hx = 0, Hy = 0;
 s32 EarthMagneticField = 100;
 s32 EarthMagneticFieldFiltered = 100;
 s32 EarthMagneticInclination = 0;
 s32 EarthMagneticInclinationFiltered = 0;
 s32 EarthMagneticInclinationTheoretic = 0;
 u8  ErrorDisturbedEarthMagnetField = 0;
 s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil)
 u32 CompassValueErrorCount = 0;
 #define COMPASS_NONE    0
 #define COMPASS_MK3MAG  1
 #define COMPASS_NCMAG   2
 u8 Compass_Device = COMPASS_NONE;
+I2C_TypeDef* Compass_I2CPort = I2C1;
 void Compass_Init(void)
+{
         switch(Compass_Device)
+        {
                 case COMPASS_NONE:
                         UART1_PutString("\r\n Looking for compass");
                         if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
                         else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-/*                      if(Version_HW > 11)
-                        {
-                                if(      NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-                                else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
-                        }
-                        else
-                        {
-                                if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-                                else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-                        }
-*/
                         break;
                 case COMPASS_NCMAG:
-                        UART1_PutString("\r\n Re-Init compass");
                         if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;
                         else                            Compass_Device = COMPASS_NONE;
                         break;
                 case COMPASS_MK3MAG:
+                        if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
+                        else                            Compass_Device = COMPASS_NONE;
+                        break;
                 default:
                         // nothing to do
                         break;
+        }
         fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
         if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT;
+        MagVector.X = 0;
+        MagVector.Y = 0;
+        MagVector.Z = 0;
         Compass_Heading = -1;
+}
+void Compass_Check(void)
+{
+        switch(Compass_Device)
+        {
+                case COMPASS_NCMAG:
+                        NCMAG_CheckOrientation();
+                        break;
+                case COMPASS_MK3MAG:
+                case COMPASS_NONE:
+                default:
+                        // nothing to do
+                        break;
+        }
+}
 void Compass_CalcHeading(void)
+{
         if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)
+        {
                 Compass_Heading = -1;
+        }
         else // fc attitude is avialable and no compass calibration active
+        {
                 // calculate attitude correction
                 // a float implementation takes too long
                 s16 tmp;
                 s32 sinnick, cosnick, sinroll, cosroll;
                 tmp = FromFlightCtrl.AngleNick/10; // in deg
                 sinnick = (s32)c_sin_8192(tmp);
                 cosnick = (s32)c_cos_8192(tmp);
                 tmp = FromFlightCtrl.AngleRoll/10; // in deg
                 sinroll = (s32)c_sin_8192(tmp);
                 cosroll = (s32)c_cos_8192(tmp);
                 // tbd. compensation signs and oriantation has to be fixed
                 Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
                 Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
                 // calculate heading
                 tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
                 if (tmp > 0) tmp = 360 - tmp;
                 else tmp = -tmp;
                 Compass_Heading = tmp;
+        }
+}
 void Compass_Update(void)
+{
 static s16vec_t old;
 static u32 check_value_counter = 0;
         // check for new cal state
         Compass_UpdateCalState();
         if(Compass_CalState) FC_is_Calibrated = 0;
         // initiate new compass communication
         switch(Compass_Device)
+        {
                 case COMPASS_MK3MAG:
                         MK3MAG_Update();
-                        DebugOut.Analog[24] = MagVector.X;
-                        DebugOut.Analog[25] = MagVector.Y;
-                        DebugOut.Analog[26] = MagVector.Z;
                         break;
                 case COMPASS_NCMAG:
-                        if(check_value_counter == 2000)
-                         {
-                          UART1_PutString("\n\r Init Mag.-Sensor");
-                          InitNC_MagnetSensor(); // 2 seconds no change of the compass value
-                         }
-                        else NCMAG_Update(0);
+                        NCMAG_Update(0);
-                        DebugOut.Analog[24] = MagRawVector.X;
-                        DebugOut.Analog[25] = MagRawVector.Y;
-                        DebugOut.Analog[26] = MagRawVector.Z;
+                        break;
                 default:
                         break;
+        }
-    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
+        DebugOut.Analog[24] = MagVector.X;
+        DebugOut.Analog[25] = MagVector.Y;
+        DebugOut.Analog[26] = MagVector.Z;
+    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing
-        if(check_value_counter > 5000)
+        if(check_value_counter == 2000)
+        {
-         {
+                UART1_PutString("\n\r Init Mag.-Sensor");
+                Compass_Init(); // 2 seconds no change of the compass value
-          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
+        }
+        else if(check_value_counter > 5000)
+        {
-//        CompassValueErrorCount = 35;
+                Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
-         }
+        }
-         else check_value_counter++;
+        else check_value_counter++;
         old.X = MagVector.X;
         old.Y = MagVector.Y;
         old.Z = MagVector.Z;
+}
 // put cal state into fifo
 void Compass_SetCalState(u8 CalState)
+{
         fifo_put(&CompassCalcStateFiFo, CalState);
+}
 // get cal state from fifo
 void Compass_UpdateCalState()
+{
         fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);
+}

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/compass.c @ 850 - Rev 488 → 489