Subversion Repositories MK3Mag

/*#######################################################################################
MK3Mag 3D-Magnet sensor
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 05.2008 Holger Buss
// + Thanks to Ilja Fähnrich (P_Latzhalter)
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + Benutzung auf eigene Gefahr
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * 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
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

signed int OffsetN, OffsetR, OffsetZ;

  signed int RawMagnet1a,RawMagnet1b;  // raw AD-Data
  signed int RawMagnet2a,RawMagnet2b;
  signed int RawMagnet3a,RawMagnet3b;
  signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0;
  signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ;  // Messwert-Delta ohne Offset- und Verstärker korrektur
  signed int MagnetN,MagnetR,MagnetZ;
  unsigned int PwmHeading = 0;
  unsigned int PC_Connected = 0;
  unsigned int Heading;
#include "main.h"

uint16_t eeXmin EEMEM = 0;
uint16_t eeXmax EEMEM = 0;
uint16_t eeYmin EEMEM = 0;
uint16_t eeYmax EEMEM = 0;
uint16_t eeZmin EEMEM = 0;
uint16_t eeZmax EEMEM = 0;


//############################################################################
//
void Wait(unsigned char dauer)
//############################################################################
{
    dauer = (unsigned char)TCNT0 + dauer;
    while((TCNT0 - dauer) & 0x80);
}

void CalcFields(void)
{
 UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2;
 UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2;
 UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;

 OffsetN = (Xmin + Xmax) / 2;
 OffsetR = (Ymin + Ymax) / 2;
 OffsetZ = (Zmin + Zmax) / 2;

 MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin);
 MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin);
 MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin);
}

void CalcHeading(void)
{
   double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
   int heading;
   
   nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800);
   roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800);

   Cx = MagnetN;
   Cy = MagnetR;
   Cz = MagnetZ;

 if(ExternData.Orientation == 1)
  {
   Cx = MagnetR;
   Cy = -MagnetN;
   Cz = MagnetZ;
  }

   Hx = Cx * (double)cos(nick_rad) +
        Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
        Cz * (double)sin(nick_rad) * (double)cos(roll_rad);      
               
   Hy = Cy * (double)cos(roll_rad) +
        Cz * (double)sin(roll_rad);
 
               
   if(Hx == 0 && Hy < 0) heading = 90;
   else if(Hx == 0 && Hy > 0) heading = 270;
   else if(Hx < 0) heading  = 180 - (atan(Hy / Hx) * 180.0) / M_PI;
   else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;
   else if(Hx > 0 && Hy > 0) heading  = 360 - (atan(Hy / Hx) * 180.0) / M_PI;

 if(abs(heading) < 361) Heading = heading;
 PwmHeading = Heading + 10;
}


void Calibrate(void)
{
 unsigned char cal;
 if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
 else                     cal = ExternData.CalState;
 switch(cal)
  {
   case 0:
                LED_ON;
          break;
   case 1:
        Xmin =  10000;
        Xmax = -10000;
        Ymin =  10000;
        Ymax = -10000;
        Zmin =  10000;
        Zmax = -10000;
                LED_OFF;
          break;
   case 2:
                LED_ON;  // find Min and Max of the X- and Y-Sensors
              if(UncalMagnetN < Xmin) Xmin = UncalMagnetN;
              if(UncalMagnetN > Xmax) Xmax = UncalMagnetN;
              if(UncalMagnetR < Ymin) Ymin = UncalMagnetR;
              if(UncalMagnetR > Ymax) Ymax = UncalMagnetR;
          break;
   case 3:
                LED_OFF;
          break;
   case 4:
                LED_ON;  // find Min and Max of the Z-Sensor
          if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
              if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
          break;
   case 5:
                LED_OFF; // Save values
         if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150)
          {
               eeprom_write_word(&eeXmin, Xmin);
               eeprom_write_word(&eeXmax, Xmax);
               eeprom_write_word(&eeYmin, Ymin);
               eeprom_write_word(&eeYmax, Ymax);
               eeprom_write_word(&eeZmin, Zmin);
               eeprom_write_word(&eeZmax, Zmax);
           Delay_ms(2000);
          }
                LED_ON;
        break;
  }
}


void SetDebugValues(void)
{
         DebugOut.Analog[0] =  MagnetN;
         DebugOut.Analog[1] =  MagnetR;
         DebugOut.Analog[2] =  MagnetZ;
                 DebugOut.Analog[3] =  UncalMagnetN;
                 DebugOut.Analog[4] =  UncalMagnetR;
                 DebugOut.Analog[5] =  UncalMagnetZ;             
         DebugOut.Analog[6] =  ExternData.Winkel[0];
         DebugOut.Analog[7] =  ExternData.Winkel[1];
                 DebugOut.Analog[8] =  Xmin;
                 DebugOut.Analog[9] =  Xmax;
                 DebugOut.Analog[10] = Ymin;   
                 DebugOut.Analog[11] = Ymax;
                 DebugOut.Analog[12] = Zmin;
                 DebugOut.Analog[13] = Zmax;   
                 DebugOut.Analog[14] = ExternData.CalState;
         DebugOut.Analog[15] = Heading;
         DebugOut.Analog[16] = ExternData.UserParameter[0];
         DebugOut.Analog[17] = ExternData.UserParameter[1];
}


//############################################################################
//Hauptprogramm
int main (void)
//############################################################################
{
    DDRC  = 0x08;
    PORTC = 0x08;
    DDRD  = 0xf4;
    PORTD = 0xA0;
    DDRB  = 0x04;
    PORTB = 0x35;
       
    LED_ON;
   
    UART_Init();
    Timer0_Init();
    ADC_Init();
        InitIC2_Slave();
    sei();//Globale Interrupts Einschalten
    Debug_Timer = SetDelay(100);   // Sendeintervall    
                           
        Xmin = eeprom_read_word(&eeXmin);
        Xmax = eeprom_read_word(&eeXmax);
        Ymin = eeprom_read_word(&eeYmin);
        Ymax = eeprom_read_word(&eeYmax);
        Zmin = eeprom_read_word(&eeZmin);
        Zmax = eeprom_read_word(&eeZmax);

    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
    VersionInfo.PCKompatibel = 7;
 
    ExternData.Orientation = 0;
    ExternData.CalState = 0;
    I2C_WriteCal.CalByte = 0;
       
    while (1)
        {
         FLIP_LOW;
         Delay_ms(2);
         RawMagnet1a = MessAD(0);
         RawMagnet2a = -MessAD(1);
         RawMagnet3a = MessAD(7);
         Delay_ms(1);

         FLIP_HIGH;
         Delay_ms(2);
         RawMagnet1b = MessAD(0);
         RawMagnet2b = -MessAD(1);
         RawMagnet3b = MessAD(7);
         Delay_ms(1);

         CalcFields();
         if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
         else CalcHeading();
         BearbeiteRxDaten();

         if(PC_Connected)
          {
            DDRD  |= 0x02; // TXD-Portpin
                UCR |= (1 << TXEN);
            DatenUebertragung();
            PC_Connected--;        
          }  
          else
           {
                UCR &= ~(1 << TXEN);
            DDRD &= ~0x02; // TXD-Portpin
           }
        } // while(1)
}