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Ignore whitespace Rev 369 → Rev 370

/branches/v0.60_MicroMag3_Nick666/trunc/compass.c
148,6 → 148,9
uint8_t measurement=50,beeper=0;
unsigned int timer;
GRN_ON;
ROT_OFF;
while (measurement)
{
//H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis;
163,8 → 166,9
if (!beeper)
{
ROT_FLASH;
GRN_FLASH;
beeper = 50;
beeptime = 50;
}
beeper--;
206,9 → 210,9
cos_roll = cos_f(MM3.RollGrad);
 
// Offset der Achsen nur bei Bedarf (also hier) berücksichtigen
x_axis = (MM3.x_axis - MM3_calib.X_off);
y_axis = (MM3.y_axis - MM3_calib.Y_off);
z_axis = (MM3.z_axis - MM3_calib.Z_off);
x_axis = -(MM3.x_axis - MM3_calib.X_off);
y_axis = -(MM3.y_axis - MM3_calib.Y_off);
z_axis = -(MM3.z_axis - MM3_calib.Z_off);
// Neigungskompensation
x_corr = (cos_nick * x_axis) + (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick);
/branches/v0.60_MicroMag3_Nick666/trunc/main.h
18,7 → 18,7
#define ROT_FLASH PORTB ^= (1<<PB0)
#define GRN_OFF PORTB &=~(1<<PB1)
#define GRN_ON PORTB |= (1<<PB1)
#define GRN_FLASH PORTD ^= (1<<PB1)
#define GRN_FLASH PORTB ^= (1<<PB1)
 
//#ifndef F_CPU
//#error ################## F_CPU nicht definiert oder ungültig #############
/branches/v0.60_MicroMag3_Nick666/trunc/math.c
18,8 → 18,10
 
const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
 
//############################################################################
// Arkustangens2 im Gradmaß
signed int atan2_i(signed int x, signed int y)
//############################################################################
{
int i,angle;
int8_t m;
26,12 → 28,16
if (!x && !y) return 0; //atan2 = 0 für x und y = 0
if (y < 0) m=-1;
if (y < 0)
{
m=-1;
y=abs(y);
}
else m=1;
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
i = ((long)y*50) / abs(x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
 
if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>5750) angle = 90; // Grenzwert ist 90°
47,14 → 53,11
else angle = 80; // (i>=270)
if (x > 0) return (angle*m); // Quadrant I und IV
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II
else if ((x < 0) && (m > 0)) return ((angle*-1) + 180); // Quadrant II
else return (angle - 180); // x < 0 && y < 0 Quadrant III
}
 
 
 
 
 
const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000};
 
inline float pgm_read_float(const float *addr)
71,14 → 74,18
return u.f;
}
 
//############################################################################
// Kosinusfunktion im Gradmaß
float cos_f(signed int winkel)
//############################################################################
{
return (sin_f(90-winkel));
}
 
//############################################################################
// Sinusfunktion im Gradmaß
float sin_f(signed int winkel)
//############################################################################
{
short int m,n;
float sinus;
106,8 → 113,10
 
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90};
 
//############################################################################
// Akurssinusfunktion im Gradmaß
int8_t asin_i(signed int i)
//############################################################################
{
signed char m;
/branches/v0.60_MicroMag3_Nick666/trunc/timer0.c
37,7 → 37,7
if(beeptime > 1)
{
beeptime--;
PORTD &= ~(1<<PD2);//PORTD |= (1<<PD2);
PORTD |= (1<<PD2);
}
else
PORTD &= ~(1<<PD2);