WebSVN - MK3Mag - Diff - Rev 20 and 21 - /branches/MK3Mag V0.14 Code Redesign Killagreg/main.c

 /*#######################################################################################
 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"
 int16_t RawMagnet1a, RawMagnet1b;  // raw AD-Data
 int16_t RawMagnet2a, RawMagnet2b;
 int16_t RawMagnet3a, RawMagnet3b;
+uint16_t Led_Timer = 0;
 typedef struct
+{
         int16_t Range;
         int16_t Offset;
 } Scaling_t;
 typedef struct
+{
         Scaling_t X;
         Scaling_t Y;
         Scaling_t Z;
 } Calibration_t;
 Calibration_t eeCalibration EEMEM; // calibration data in EEProm
 Calibration_t Calibration;         // calibration data in RAM
-int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ;  // sensor signal difference without Scaling
+int16_t UncalMagnetX, UncalMagnetY, UncalMagnetZ;       // sensor signal difference without Scaling
-int16_t MagnetX, MagnetY, MagnetZ;                               // rescaled magnetic field readings
+int16_t MagnetX, MagnetY, MagnetZ;                                      // rescaled magnetic field readings
 uint8_t PC_Connected = 0;
-int16_t Heading;
+int16_t Heading = -1;
 void CalcFields(void)
+{
         UncalMagnetX = (1 * UncalMagnetX + (RawMagnet1a - RawMagnet1b)) / 2;
         UncalMagnetY = (1 * UncalMagnetY + (RawMagnet3a - RawMagnet3b)) / 2;
         UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;
         MagnetX = (1024L * (int32_t)(UncalMagnetX - Calibration.X.Offset)) / (Calibration.X.Range);
         MagnetY = (1024L * (int32_t)(UncalMagnetY - Calibration.Y.Offset)) / (Calibration.Y.Range);
         MagnetZ = (1024L * (int32_t)(UncalMagnetZ - Calibration.Z.Offset)) / (Calibration.Z.Range);
+}
 void CalcHeading(void)
+{
         double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
         int16_t heading = -1;
+        // blink code for normal operation
+        if(CheckDelay(Led_Timer))
+        {
+                LED_GRN_TOGGLE;
+                Led_Timer = SetDelay(500);
+        }
         Cx = MagnetX;
         Cy = MagnetY;
         Cz = MagnetZ;
         if(ExternData.Orientation == 1)
+        {
                 Cx = MagnetX;
                 Cy = -MagnetY;
                 Cz = MagnetZ;
+        }
         // calculate nick and roll angle in rad
         nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0);
         roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0);
         // calculate attitude correction
         Hx = Cx * (double)cos(nick_rad) - Cz * (double)sin(nick_rad);
         Hy = Cy * (double)cos(roll_rad) + Cz * (double)sin(roll_rad);
         // 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;
         if(abs(heading) < 361) Heading = heading;
         else (Heading = -1);
+}
 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;
+/*
         // check both sources of communication for calibration request
         if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
-        else                     cal = ExternData.CalState;
+        else                     cal = ExternData.CalState;*/
+        cal = ExternData.CalState;
+        // blink code for current calibration state
+        if(cal)
+        {
+                if(CheckDelay(Led_Timer) || (cal != calold))
+                {
+                        if(blinkcount & 0x01) 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
+        {
+                LED_GRN_OFF;
+        }
         // calibration state machine
         switch(cal)
+        {
                 case 0: // no calibration
-                        LED_GRN_ON;
                         break;
                 case 1: // 1st step of calibration
                         // initialize ranges
                         // used to change the orientation of the MK3MAG in the horizontal plane
-                        LED_GRN_OFF;
                         Xmin =  10000;
                         Xmax = -10000;
                         Ymin =  10000;
                         Ymax = -10000;
                         Zmin =  10000;
                         Zmax = -10000;
                         break;
                 case 2: // 2nd step of calibration
                         // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
-                        LED_GRN_ON;
                         if(UncalMagnetX < Xmin) Xmin = UncalMagnetX;
                         if(UncalMagnetX > Xmax) Xmax = UncalMagnetX;
                         if(UncalMagnetY < Ymin) Ymin = UncalMagnetY;
                         if(UncalMagnetY > Ymax) Ymax = UncalMagnetY;
                         break;
                 case 3: // 3rd step of calibration
                         // used to change the orietation of the MK3MAG vertical to the horizontal plane
-                        LED_GRN_OFF;
                         break;
                 case 4:
                         // find Min and Max of the Z-Sensor
-                        LED_GRN_ON;
                         if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
                         if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
                         break;
                 case 5:
-                        LED_GRN_OFF; // Save values
+                        // Save values
-                        Calibration.X.Range = Xmax - Xmin;
-                        Calibration.X.Offset = (Xmin + Xmax) / 2;
-                        Calibration.Y.Range = Ymax - Ymin;
-                        Calibration.Y.Offset = (Ymin + Ymax) / 2;
-                        Calibration.Z.Range = Zmax - Zmin;
-                        Calibration.Z.Offset = (Zmin + Zmax) / 2;
+                        if(cal != calold) // avoid continously wrinting of eeprom!
-                        if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150))
+                        {
+                                Calibration.X.Range = Xmax - Xmin;
+                                Calibration.X.Offset = (Xmin + Xmax) / 2;
+                                Calibration.Y.Range = Ymax - Ymin;
+                                Calibration.Y.Offset = (Ymin + Ymax) / 2;
+                                Calibration.Z.Range = Zmax - Zmin;
+                                Calibration.Z.Offset = (Zmin + Zmax) / 2;
+                                if((Calibration.X.Range > 150) && (Calibration.Y.Range > 150) && (Calibration.Z.Range > 150))
+                                {
+                                        // indicate write process by setting the led
+                                        LED_GRN_ON;
-                                eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t));
+                                        eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration_t));
-                                Delay_ms(2000);
+                                        Delay_ms(2000);
+                                        // reset led state
+                                        LED_GRN_OFF;
+                                        // reset  blinkcode
+                                        blinkcount = 0;
+                                        Led_Timer = SetDelay(1000);
+                                }
+                        }
-                        LED_GRN_ON;
                         break;
                 default:
-                        LED_GRN_ON;
                         break;
+        }
+        calold = cal;
+}
 void SetDebugValues(void)
+{
         DebugOut.Analog[0] =  MagnetX;
         DebugOut.Analog[1] =  MagnetY;
         DebugOut.Analog[2] =  MagnetZ;
         DebugOut.Analog[3] =  UncalMagnetX;
         DebugOut.Analog[4] =  UncalMagnetY;
         DebugOut.Analog[5] =  UncalMagnetZ;
         DebugOut.Analog[6] =  ExternData.Attitude[NICK];
         DebugOut.Analog[7] =  ExternData.Attitude[ROLL];
         DebugOut.Analog[8] =  Calibration.X.Offset;
         DebugOut.Analog[9] =  Calibration.X.Range;
         DebugOut.Analog[10] = Calibration.Y.Offset;
         DebugOut.Analog[11] = Calibration.Y.Range;
         DebugOut.Analog[12] = Calibration.Z.Offset;
         DebugOut.Analog[13] = Calibration.Z.Range;
         DebugOut.Analog[14] = ExternData.CalState;
         DebugOut.Analog[15] = Heading;
         DebugOut.Analog[16] = ExternData.UserParam[0];
         DebugOut.Analog[17] = ExternData.UserParam[1];
+        DebugOut.Analog[31] = PC_Connected;
+}
 int main (void)
+{
     Led_Init();
     LED_GRN_ON;
     TIMER0_Init();
     USART0_Init();
     ADC_Init();
         I2C_Init();
+    sei(); //Globale Interrupts Einschalten
     sei(); //Globale Interrupts Einschalten
     Debug_Timer = SetDelay(100);   // Sendeintervall
-    Debug_Timer = SetDelay(100);   // Sendeintervall
+    Led_Timer = SetDelay(100);
         // read calibration info from eeprom
         eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration_t));
     ExternData.Orientation = 0;
     ExternData.CalState = 0;
     I2C_WriteCal.CalByte = 0;
         // main loop
     while (1)
+    {
                 FLIP_LOW;
                 Delay_ms(2);
                 RawMagnet1a = ADC_GetValue(ADC0);
                 RawMagnet2a = -ADC_GetValue(ADC1);
                 RawMagnet3a = ADC_GetValue(ADC7);
                 Delay_ms(1);
                 FLIP_HIGH;
                 Delay_ms(2);
                 RawMagnet1b = ADC_GetValue(ADC0);
                 RawMagnet2b = -ADC_GetValue(ADC1);
                 RawMagnet3b = ADC_GetValue(ADC7);
                 Delay_ms(1);
                 CalcFields();
+                //if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
-                if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
+                if(ExternData.CalState) Calibrate();
                 else CalcHeading();
                 // check data from USART
         USART0_ProcessRxData();
         if(PC_Connected)
+        {
             USART0_EnableTXD();
             USART0_TransmitTxData();
             PC_Connected--;
+                }
                 else
+                {
                         USART0_DisableTXD();
+                }
         } // while(1)
+}

Subversion Repositories MK3Mag

(root)/branches/MK3Mag V0.14 Code Redesign Killagreg/main.c @ 26 - Rev 20 → 21