WebSVN - MK3Mag - Diff - Rev 28 and 29 - /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"
 AttitudeSource_t AttitudeSource = ATTITUDE_SOURCE_ACC;
+Orientation_t Orientation = ORIENTATION_FC;
 uint16_t Led_Timer = 0;
 struct Scaling_t
+{
         int16_t Range;
         int16_t Offset;
 } ;
 struct Calibration_t
+{
         struct Scaling_t MagX;
         struct Scaling_t MagY;
         struct Scaling_t MagZ;
         struct Scaling_t AccX;
         struct Scaling_t AccY;
         struct Scaling_t AccZ;
-} ;
+};
 struct Calibration_t eeCalibration EEMEM;       // calibration data in EEProm
 struct Calibration_t Calibration;               // calibration data in RAM
 // magnet sensor variable
 int16_t RawMagnet1a, RawMagnet1b;                       // raw magnet sensor data
 int16_t RawMagnet2a, RawMagnet2b;
 int16_t RawMagnet3a, RawMagnet3b;
 int16_t UncalMagX, UncalMagY, UncalMagZ;        // sensor signal difference without Scaling
-int16_t MagX, MagY, MagZ;                                       // rescaled magnetic field readings
+int16_t MagX = 0, MagY = 0, MagZ = 0;           // rescaled magnetic field readings
-// acc sensor variables
+// acceleration sensor variables
-int16_t RawAccX, RawAccY, RawAccZ;                      // raw acceleration readings
+int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0;                  // raw acceleration readings
-int16_t AccX, AccY, AccZ;                                       // rescaled acceleration readings
+int16_t AccX = 0, AccY = 0, AccZ = 0;                                   // rescaled acceleration readings
-uint8_t AccPresent = 0;
-uint8_t PC_Connected = 0;
+int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0;               // nick and roll angle from acc
-int16_t Heading = -1;
+int16_t Heading = -1;                                           // the current compass heading in deg
 void CalcFields(void)
+{
         UncalMagX = (RawMagnet1a - RawMagnet1b);
         UncalMagY = (RawMagnet3a - RawMagnet3b);
         UncalMagZ = (RawMagnet2a - RawMagnet2b);
         if(Calibration.MagX.Range != 0) MagX = (1024L * (int32_t)(UncalMagX - Calibration.MagX.Offset)) / (Calibration.MagX.Range);
         else MagX = 0;
         if(Calibration.MagY.Range != 0) MagY = (1024L * (int32_t)(UncalMagY - Calibration.MagY.Offset)) / (Calibration.MagY.Range);
         else MagY = 0;
         if(Calibration.MagY.Range != 0) MagZ = (1024L * (int32_t)(UncalMagZ - Calibration.MagZ.Offset)) / (Calibration.MagZ.Range);
         else MagZ = 0;
+        if(AccPresent)
+        {
+                AccX = (RawAccX - Calibration.AccX.Offset);
+                AccY = (RawAccY - Calibration.AccY.Offset);
+                AccZ = (Calibration.AccZ.Offset - RawAccZ);
+                #if (BOARD == 10) // the hardware 1.0 has the LIS3L02AL
+                // acc mode assumes orientation like FC
+                if(AccX >  136) AccAttitudeNick = -800;
+                else
+                if(AccX < -136) AccAttitudeNick = 800;
+                else                    AccAttitudeNick = (int16_t)(-1800.0 * asin((double) AccX / 138.0) / M_PI);
+                if(AccY >  136) AccAttitudeRoll = 800;
+                else
+                if(AccY < -136) AccAttitudeRoll = -800;
+                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
+                #else // the hardware 1.1 has the LIS344ALH with a different axis definition (X -> -Y, Y -> X, Z -> Z)
+                // acc mode assumes orientation like FC
+                if(AccY >  136) AccAttitudeNick = 800;
+                else
+                if(AccY < -136) AccAttitudeNick = -800;
+                else                    AccAttitudeNick = (int16_t)( 1800.0 * asin((double) AccY / 138.0) / M_PI);
+                if(AccX >  136) AccAttitudeRoll = 800;
+                else
+                if(AccX < -136) AccAttitudeRoll = -800;
+                else                    AccAttitudeRoll = (int16_t)( 1800.0 * asin((double) AccX / 138.0) / M_PI);
+                #endif
+        }
+}
 void CalcHeading(void)
+{
-        double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
+        double nick_rad, roll_rad, Hx, Hy, Cx = 0.0, Cy = 0.0, Cz = 0.0;
         int16_t heading = -1;
         // blink code for normal operation
         if(CheckDelay(Led_Timer))
+        {
                 LED_GRN_TOGGLE;
                 Led_Timer = SetDelay(500);
+        }
+        switch(Orientation)
+        {
+                case ORIENTATION_NC:
-        Cx = MagX;
+                        Cx = MagX;
-        Cy = MagY;
+                        Cy = MagY;
+                        Cz = MagZ;
-        Cz = MagZ;
+                        break;
+                case ORIENTATION_FC:
-        if(ExternData.Orientation == 1)
-        {
+                        // rotation of 90 deg compared to NC setup
-                Cx = MagX;
+                        Cx = MagY;
-                Cy = -MagY;
+                        Cy = -MagX;
+                        Cz = MagZ;
-                Cz = MagZ;
+                        break;
+        }
         // calculate nick and roll angle in rad
         switch(AttitudeSource)
+        {
                 case ATTITUDE_SOURCE_I2C:
                         nick_rad = ((double)I2C_WriteAttitude.Nick) * M_PI / (double)(1800.0);
                         roll_rad = ((double)I2C_WriteAttitude.Roll) * M_PI / (double)(1800.0);
                         break;
                 case ATTITUDE_SOURCE_UART:
                         nick_rad = ((double)ExternData.Attitude[NICK]) * M_PI / (double)(1800.0);
                         roll_rad = ((double)ExternData.Attitude[ROLL]) * M_PI / (double)(1800.0);
                         break;
                 case ATTITUDE_SOURCE_ACC:
-                        if(AccX >  125) nick_rad = M_PI / 2;
-                        else
-                        if(AccX < -125) nick_rad = -M_PI / 2;
-                        else
-                        {
-                                nick_rad = asin((double) AccX / 125.0);
+                        nick_rad = ((double)AccAttitudeNick) * M_PI / (double)(1800.0);
-                        }
-                        if(AccY >  125) roll_rad = M_PI / 2;
-                        else
-                        if(AccY < -125) roll_rad = -M_PI / 2;
-                        else
-                        {
-                        roll_rad = asin((double) AccY / 125.0);
+                        roll_rad = ((double)AccAttitudeRoll) * M_PI / (double)(1800.0);
-                        }
                         break;
+                default:
+                        nick_rad = 0;
+                        roll_rad = 0;
+                break;
+        }
         // calculate attitude correction
         Hx = Cx * cos(nick_rad) - Cz * sin(nick_rad);
         Hy = Cy * cos(roll_rad) + Cz * sin(roll_rad);
+        DebugOut.Analog[27] = (int16_t)Hx;
+        DebugOut.Analog[28] = (int16_t)Hy;
         // 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;
         if(cal > 5) cal = 0;
         // 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 1: // 1st step of calibration
                         // initialize ranges
                         // used to change the orientation of the MK3MAG in the horizontal plane
                         Xmin =  10000;
                         Xmax = -10000;
                         Ymin =  10000;
                         Ymax = -10000;
                         Zmin =  10000;
                         Zmax = -10000;
                         Calibration.AccX.Offset = RawAccX;
                         Calibration.AccY.Offset = RawAccY;
                 Calibration.AccZ.Offset = RawAccZ;
                         break;
                 case 2: // 2nd step of calibration
                         // find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
                         if(UncalMagX < Xmin) Xmin = UncalMagX;
                         if(UncalMagX > Xmax) Xmax = UncalMagX;
                         if(UncalMagY < Ymin) Ymin = UncalMagY;
                         if(UncalMagY > Ymax) Ymax = UncalMagY;
                         break;
                 case 3: // 3rd step of calibration
                         // used to change the orientation of the MK3MAG vertical to the horizontal plane
                         break;
                 case 4:
                         // find Min and Max of the Z-Sensor
                         if(UncalMagZ < Zmin) Zmin = UncalMagZ;
                         if(UncalMagZ > Zmax) Zmax = UncalMagZ;
                         break;
                 case 5:
                         // Save values
                         if(cal != calold) // avoid continously writing of eeprom!
+                        {
-                                Calibration.MagY.Range = Xmax - Xmin;
+                                Calibration.MagX.Range = Xmax - Xmin;
                                 Calibration.MagX.Offset = (Xmin + Xmax) / 2;
                                 Calibration.MagY.Range = Ymax - Ymin;
                                 Calibration.MagY.Offset = (Ymin + Ymax) / 2;
                                 Calibration.MagZ.Range = Zmax - Zmin;
                                 Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
                                 if((Calibration.MagX.Range > 150) && (Calibration.MagY.Range > 150) && (Calibration.MagZ.Range > 150))
+                                {
                                         // indicate write process by setting the led
                                         LED_GRN_ON;
                                         eeprom_write_block(&Calibration, &eeCalibration, sizeof(Calibration));
-                                        Delay_ms(2000);
+                                        Led_Timer = SetDelay(2000);
-                                        // reset led state
-                                        LED_GRN_OFF;
                                         // reset  blinkcode
                                         blinkcount = 0;
-                                        Led_Timer = SetDelay(1000);
+                                }
+                        }
                         break;
                 default:
                         break;
+        }
         calold = cal;
+}
 void SetDebugValues(void)
+{
         DebugOut.Analog[0] =  MagX;
         DebugOut.Analog[1] =  MagY;
         DebugOut.Analog[2] =  MagZ;
         DebugOut.Analog[3] =  UncalMagX;
         DebugOut.Analog[4] =  UncalMagY;
         DebugOut.Analog[5] =  UncalMagZ;
         switch(AttitudeSource)
+        {
                 case ATTITUDE_SOURCE_ACC:
+                        DebugOut.Analog[6] =  AccAttitudeNick;
+                        DebugOut.Analog[7] =  AccAttitudeRoll;
                         break;
                 case ATTITUDE_SOURCE_UART:
                         DebugOut.Analog[6] =  ExternData.Attitude[NICK];
                         DebugOut.Analog[7] =  ExternData.Attitude[ROLL];
                         break;
                 case ATTITUDE_SOURCE_I2C:
                         DebugOut.Analog[6] =  I2C_WriteAttitude.Nick;
                         DebugOut.Analog[7] =  I2C_WriteAttitude.Roll;
                         break;
+        }
         DebugOut.Analog[8] =  Calibration.MagX.Offset;
         DebugOut.Analog[9] =  Calibration.MagX.Range;
         DebugOut.Analog[10] = Calibration.MagY.Offset;
         DebugOut.Analog[11] = Calibration.MagY.Range;
         DebugOut.Analog[12] = Calibration.MagZ.Offset;
         DebugOut.Analog[13] = Calibration.MagZ.Range;
         DebugOut.Analog[14] = ExternData.CalState;
         DebugOut.Analog[15] = Heading;
         DebugOut.Analog[16] = ExternData.UserParam[0];
         DebugOut.Analog[17] = ExternData.UserParam[1];
         DebugOut.Analog[18] = AccX;
         DebugOut.Analog[19] = AccY;
         DebugOut.Analog[20] = AccZ;
         DebugOut.Analog[21] = RawAccX;
         DebugOut.Analog[22] = RawAccY;
         DebugOut.Analog[23] = RawAccZ;
         DebugOut.Analog[24] = Calibration.AccX.Offset;
         DebugOut.Analog[25] = Calibration.AccY.Offset;
     DebugOut.Analog[26] = Calibration.AccZ.Offset;
+    DebugOut.Analog[29] = AttitudeSource;
+}
 void AccMeasurement(void)
+{
         if(AccPresent)
+        {
-                RawAccX = (RawAccX + (int16_t)ADC_GetValue(ADC2))/2;
+                RawAccX = (RawAccX + (int16_t)ADC_GetValue(ACC_X))/2;
-                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ADC3))/2;
+                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
-                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ADC6))/2;
+                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
+        }
         else
+        {
                 RawAccX = 0;
                 RawAccY = 0;
                 RawAccZ = 0;
+        }
-                AccX = ((RawAccX - Calibration.AccX.Offset) + AccX * 7) / 8;
-                AccY = ((RawAccY - Calibration.AccY.Offset) + AccY * 7) / 8;
-                AccZ = ((Calibration.AccZ.Offset - RawAccZ) + AccZ * 7) / 8;
+}
 int main (void)
+{
         // reset input pullup
         DDRC &=~((1<<DDC6));
         PORTC |= (1<<PORTC6);
     LED_Init();
     TIMER0_Init();
     USART0_Init();
     ADC_Init();
         I2C_Init();
     sei(); // enable globale interrupts
+    if(AccPresent)
+    {
+                USART0_Print("ACC present\n");
+        }
     LED_GRN_ON;
     Debug_Timer = SetDelay(200);
     Led_Timer = SetDelay(200);
         // read calibration info from eeprom
         eeprom_read_block(&Calibration, &eeCalibration, sizeof(Calibration));
     ExternData.Orientation = 0;
     ExternData.CalState = 0;
     I2C_WriteCal.CalByte = 0;
         // main loop
     while (1)
+    {
                 FLIP_LOW;
                 Delay_ms(2);
-                RawMagnet1a = ADC_GetValue(ADC0);
+                RawMagnet1a = ADC_GetValue(MAG_X);
-                RawMagnet2a = -ADC_GetValue(ADC1);
+                RawMagnet2a = -ADC_GetValue(MAG_Y);
-                RawMagnet3a = ADC_GetValue(ADC7);
+                RawMagnet3a = ADC_GetValue(MAG_Z);
                 AccMeasurement();
                 Delay_ms(1);
                 FLIP_HIGH;
                 Delay_ms(2);
-                RawMagnet1b = ADC_GetValue(ADC0);
+                RawMagnet1b = ADC_GetValue(MAG_X);
-                RawMagnet2b = -ADC_GetValue(ADC1);
+                RawMagnet2b = -ADC_GetValue(MAG_Y);
-                RawMagnet3b = ADC_GetValue(ADC7);
+                RawMagnet3b = ADC_GetValue(MAG_Z);
                 AccMeasurement();
                 Delay_ms(1);
                 CalcFields();
                 if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
                 else CalcHeading();
                 // check data from USART
         USART0_ProcessRxData();
+                if(NC_Connected) NC_Connected--;
+                if(FC_Connected) FC_Connected--;
+                // fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data
+                if(!NC_Connected && ! NC_Connected)
+                {
+                        AttitudeSource = ATTITUDE_SOURCE_ACC;
-                USART0_TransmitTxData();
+                        Orientation = ORIENTATION_FC;
+                }
         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 - Rev 28 → 29