| /branches/v0.60_MicroMag3_Nick666/compass.c |
|---|
| 144,7 → 144,7 |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| heading = arctan_i(x_corr, y_corr); |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/v0.60_MicroMag3_Nick666/compass.h |
|---|
| 35,6 → 35,6 |
| // Die Werte der Kompasskalibrierung |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X 0 |
| #define OFF_Y 0 |
| #define OFF_Z 0 |
| #define OFF_X -63 |
| #define OFF_Y 61 |
| #define OFF_Z 7 |
| /branches/v0.60_MicroMag3_Nick666/math.c |
|---|
| 18,7 → 18,8 |
| 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}; |
| signed int arctan_i(signed int x, signed int y) |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| { |
| int i,angle; |
| int8_t m; |
| 70,13 → 71,13 |
| return u.f; |
| } |
| // cosinus Funktion: Eingabewert Winkel in Grad |
| // Kosinsusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // sinus Funktion: Eingabewert Winkel in Grad |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| 105,7 → 106,7 |
| 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/math.h |
|---|
| 5,7 → 5,7 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int arctan_i(signed int x, signed int y); |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |