Subversion Repositories MK3Mag

/*#######################################################################################
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;

typedef struct
{
        int16_t Range;
        int16_t Offset;
}  Scaling_t;

typedef struct
{
        Scaling_t MagX;
        Scaling_t MagY;
        Scaling_t MagZ;
        Scaling_t AccX;
        Scaling_t AccY;
        Scaling_t AccZ;
}  Calibration_t;

Calibration_t eeCalibration EEMEM;      // calibration data in EEProm
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 = 0, MagY = 0, MagZ = 0;           // rescaled magnetic field readings

// acceleration sensor variables
int16_t RawAccX = 0, RawAccY = 0, RawAccZ = 0;                  // raw acceleration readings
int16_t AccX = 0, AccY = 0, AccZ = 0;                                   // rescaled acceleration readings
int16_t AccAttitudeNick = 0, AccAttitudeRoll = 0;               // nick and roll angle from acc

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 = 0.0, Cy = 0.0, Cz = 0.0;
    int16_t nick, roll;
        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;
                        Cy = MagY;
                        Cz = MagZ;
                        break;

                case ORIENTATION_FC:
                        // rotation of 90 deg compared to NC setup
                        Cx = MagY;
                        Cy = -MagX;
                        Cz = MagZ;
                        break;
        }

        // calculate nick and roll angle in rad
        switch(AttitudeSource)
        {
                case ATTITUDE_SOURCE_I2C:
           cli(); // stop interrupts
            nick = I2C_WriteAttitude.Nick;
                        roll = I2C_WriteAttitude.Roll;
           sei(); // start interrupts
                        break;
                case ATTITUDE_SOURCE_UART:
           cli(); // stop interrupts
            nick = ExternData.Attitude[NICK];
            roll = ExternData.Attitude[ROLL];
           sei(); // start interrupts
                        break;
                case ATTITUDE_SOURCE_ACC:
            nick = AccAttitudeNick;
            roll = AccAttitudeRoll;
                        break;
                default:
                        nick_rad = 0;
                        roll_rad = 0;
                break;
        }
    nick_rad = ((double)nick) * M_PI / (double)(1800.0);
    roll_rad = ((double)roll) * M_PI / (double)(1800.0);

        // 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;

   cli(); // stop interrupts
        if(abs(heading) < 361) Heading = heading;
        else (Heading = -1);
   sei(); // start interrupts
   
}


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;
        static uint8_t invert_blinking = 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) if(invert_blinking) LED_GRN_ON; else LED_GRN_OFF;
                        else if(invert_blinking) 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
        {
                if(invert_blinking) LED_GRN_ON; 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;
            invert_blinking = 0;
                        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;
            invert_blinking = 1;
                        break;

                case 3: // 3rd step of calibration
                        // used to change the orientation of the MK3MAG vertical to the horizontal plane
            invert_blinking = 0;
                        break;

                case 4:
                        // find Min and Max of the Z-Sensor
                        if(UncalMagZ < Zmin) Zmin = UncalMagZ;
                        if(UncalMagZ > Zmax) Zmax = UncalMagZ;
            invert_blinking = 1;
                        break;

                case 5:
                        // Save values
                        if(cal != calold) // avoid continously writing of eeprom!
                        {
                                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));
                                        Led_Timer = SetDelay(2000);
                                        // reset  blinkcode
                                        blinkcount = 0;
                                }
                        }
            invert_blinking = 0;
                        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(ACC_X))/2;
                RawAccY = (RawAccY + (int16_t)ADC_GetValue(ACC_Y))/2;
                RawAccZ = (RawAccZ + (int16_t)ADC_GetValue(ACC_Z))/2;
        }
        else
        {
                RawAccX = 0;
                RawAccY = 0;
                RawAccZ = 0;
        }
}

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.CalState = 0;
    I2C_WriteCal.CalByte = 0;


        // main loop
    while (1)
    {
                FLIP_LOW;
                Delay_ms(2);
                RawMagnet1a = ADC_GetValue(MAG_X);
                RawMagnet2a = -ADC_GetValue(MAG_Y);
                RawMagnet3a = ADC_GetValue(MAG_Z);
                AccMeasurement();
                Delay_ms(1);

                FLIP_HIGH;
                Delay_ms(2);
                RawMagnet1b = ADC_GetValue(MAG_X);
                RawMagnet2b = -ADC_GetValue(MAG_Y);
                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(!FC_Connected && ! NC_Connected)
                {
                        AttitudeSource = ATTITUDE_SOURCE_ACC;
                        Orientation = ORIENTATION_FC;
                }

        if(PC_Connected)
        {
            USART0_EnableTXD();
            USART0_TransmitTxData();
            PC_Connected--;
                }
                else
                {
                        USART0_DisableTXD();
                }
        } // while(1)
}