mirror of
https://github.com/k3ng/k3ng_rotator_controller.git
synced 2024-12-22 06:27:50 +00:00
136 lines
4.1 KiB
C++
Executable File
136 lines
4.1 KiB
C++
Executable File
#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "hh12.h"
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/*
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Code adapted from here: http://www.madscientisthut.com/forum_php/viewtopic.php?f=11&t=7
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*/
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int hh12_clock_pin = 0;
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int hh12_cs_pin = 0;
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int hh12_data_pin = 0;
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int inputstream = 0; //one bit read from pin
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long packeddata = 0; //two bytes concatenated from inputstream
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long angle = 0; //holds processed angle value
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float floatangle = 0;
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long anglemask = 65472; //0x1111111111000000: mask to obtain first 10 digits with position info
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long statusmask = 63; //0x000000000111111; mask to obtain last 6 digits containing status info
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long statusbits; //holds status/error information
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int DECn; //bit holding decreasing magnet field error data
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int INCn; //bit holding increasing magnet field error data
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int OCF; //bit holding startup-valid bit
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int COF; //bit holding cordic DSP processing error data
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int LIN; //bit holding magnet field displacement error data
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//-----------------------------------------------------------------------------------------------------
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hh12::hh12(){
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}
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//-----------------------------------------------------------------------------------------------------
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void hh12::initialize(int _hh12_clock_pin, int _hh12_cs_pin, int _hh12_data_pin){
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hh12_clock_pin = _hh12_clock_pin;
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hh12_cs_pin = _hh12_cs_pin;
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hh12_data_pin = _hh12_data_pin;
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pinMode(hh12_clock_pin, OUTPUT);
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pinMode(hh12_cs_pin, OUTPUT);
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pinMode(hh12_data_pin, INPUT);
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}
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//-----------------------------------------------------------------------------------------------------
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float hh12::heading(){
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digitalWrite(hh12_cs_pin, HIGH); // CSn high
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digitalWrite(hh12_clock_pin, HIGH); // CLK high
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digitalWrite(hh12_cs_pin, LOW); // CSn low: start of transfer
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delayMicroseconds(HH12_DELAY); // delay for chip initialization
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digitalWrite(hh12_clock_pin, LOW); // CLK goes low: start clocking
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delayMicroseconds(HH12_DELAY); // hold low
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for (int x=0; x <16; x++) // clock signal, 16 transitions, output to clock pin
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{
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digitalWrite(hh12_clock_pin, HIGH); //clock goes high
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delayMicroseconds(HH12_DELAY); //
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inputstream =digitalRead(hh12_data_pin); // read one bit of data from pin
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#ifdef DEBUG_HH12
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Serial.print(inputstream, DEC);
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#endif
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packeddata = ((packeddata << 1) + inputstream);// left-shift summing variable, add pin value
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digitalWrite(hh12_clock_pin, LOW);
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delayMicroseconds(HH12_DELAY); // end of one clock cycle
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}
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// end of entire clock cycle
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#ifdef DEBUG_HH12
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Serial.print("hh12: packed:");
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Serial.println(packeddata,DEC);
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Serial.print("hh12: pack bin: ");
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Serial.println(packeddata,BIN);
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#endif
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angle = packeddata & anglemask; // mask rightmost 6 digits of packeddata to zero, into angle
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#ifdef DEBUG_HH12
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Serial.print("hh12: mask: ");
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Serial.println(anglemask, BIN);
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Serial.print("hh12: bin angle:");
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Serial.println(angle, BIN);
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Serial.print("hh12: angle: ");
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Serial.println(angle, DEC);
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#endif
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angle = (angle >> 6); // shift 16-digit angle right 6 digits to form 10-digit value
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#ifdef DEBUG_HH12
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Serial.print("hh12: angleshft:");
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Serial.println(angle, BIN);
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Serial.print("hh12: angledec: ");
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Serial.println(angle, DEC);
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#endif
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floatangle = angle * 0.3515; // angle * (360/1024) == actual degrees
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#ifdef DEBUG_HH12
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statusbits = packeddata & statusmask;
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DECn = statusbits & 2; // goes high if magnet moved away from IC
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INCn = statusbits & 4; // goes high if magnet moved towards IC
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LIN = statusbits & 8; // goes high for linearity alarm
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COF = statusbits & 16; // goes high for cordic overflow: data invalid
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OCF = statusbits & 32; // this is 1 when the chip startup is finished
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if (DECn && INCn) {
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Serial.println("hh12: magnet moved out of range");
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} else {
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if (DECn) {
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Serial.println("hh12: magnet moved away from chip");
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}
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if (INCn) {
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Serial.println("hh12: magnet moved towards chip");
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}
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}
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if (LIN) {
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Serial.println("hh12: linearity alarm: magnet misaligned? data questionable");
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}
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if (COF) {
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Serial.println("hh12: cordic overflow: magnet misaligned? data invalid");
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}
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#endif //DEBUG_HH12
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return(floatangle);
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}
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