| 119,6 → 119,7 |
|---|
| switch (MM3.STATE) |
| { |
| case MM3_STATE_RESET: |
| PORTC &= ~(1<<PORTC4); // select slave |
| PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
| MM3.STATE = MM3_STATE_START_TRANSFER; |
| return; |
| 193,6 → 194,7 |
|---|
| break; |
| } |
| } |
| PORTC |= (1<<PORTC4); // deselect slave |
| MM3.STATE = MM3_STATE_RESET; |
| } |
| } |
| 325,9 → 327,10 |
|---|
| // calculate Heading |
| heading = c_atan2(Hy_corr, Hx_corr); |
| |
| // transform range from +-180° to 0°- 359° |
| heading += 360; |
| heading %= 360; |
| // atan 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; |
| |
| return heading; |
| } |