0,0 → 1,163 |
signed int OffsetN, OffsetR, OffsetZ; |
/* |
signed int CalTabelleHorizontalN[4] = {67,-450,77,-411}; // Vier Messwerte 90° Horizontal gedreht |
signed int CalTabelleHorizontalR[4] = {-310,175,183,-333}; |
signed int CalTabelleHorizontalZ[4] = {-100,-390,-400,100}; // Messwinkel des Z-Sensors auch horizontal gemessen |
*/ |
signed int CalTabelleHorizontalN[4] = { 75,-180,-440,-166}; // Vier Messwerte 90° Horizontal gedreht |
signed int CalTabelleHorizontalR[4] = { -5,-230, 66, 246}; |
signed int CalTabelleHorizontalZ[4] = {-290,-280, 44, 33}; // Messwinkel des Z-Sensors auch horizontal gemessen |
|
signed int RawMagnet1a,RawMagnet1b; // reine AD-Messung |
signed int RawMagnet2a,RawMagnet2b; |
signed int RawMagnet3a,RawMagnet3b; |
signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
signed int MagnetN,MagnetR,MagnetZ; // Kalibrierte Messerte |
unsigned int PwmHeading = 0; |
unsigned char PC_Connected = 0; |
#include "main.h" |
|
|
//############################################################################ |
// |
void Wait(unsigned char dauer) |
//############################################################################ |
{ |
dauer = (unsigned char)TCNT0 + dauer; |
while((TCNT0 - dauer) & 0x80); |
} |
|
void CalcFields(void) |
{ |
UncalMagnetN = (2 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 3; |
UncalMagnetR = (2 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 3; |
UncalMagnetZ = (2 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 3; |
MagnetN = UncalMagnetN - OffsetN; |
MagnetR = UncalMagnetR - OffsetR; |
MagnetZ = UncalMagnetZ - OffsetZ; |
} |
|
//------------------------------------------------------ |
void CalcHeading(void) |
{ |
double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz; |
float nick, roll, XEx, XEy, YEy, YEz, YE, XE, XrawCal, YrawCal, ZrawCal, XEz; |
int heading, azimuthgrad; |
|
nick_rad = ((double)WinkelOut.Winkel[0]) * M_PI / (double)(180); |
roll_rad = ((double)WinkelOut.Winkel[1]) * M_PI / (double)(180); |
//roll_rad = 0; nick_rad = 0; |
|
/* |
Cx = (double) (MicroMag.Axis[Y_AXIS] + CY_OFFSET) * 0.707f - (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f; |
Cy = ((double) (MicroMag.Axis[Y_AXIS]+ CY_OFFSET) * 0.707f + (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f); |
Cz = -MicroMag.Axis[Z_AXIS] + CZ_OFFSET; |
*/ |
Cx = MagnetN; |
Cy = MagnetR; |
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 / M_PI); |
else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180 / M_PI); |
else if(Hx > 0 && Hy > 0) heading = 360 - (atan(Hy / Hx) * 180 / M_PI); |
|
// DebugOut.Analog[14] = heading; |
// if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
|
if(heading < 361) DebugOut.Analog[14] = heading; |
AnFlightCtrl.Heading = heading; |
PwmHeading = heading + 10; |
// MicroMag.Heading = heading; |
// DebugOut.Analog[14] = heading; |
} |
|
|
|
//############################################################################ |
//Hauptprogramm |
int main (void) |
//############################################################################ |
{ |
DDRC = 0x08; |
PORTC = 0x08; |
DDRD = 0xf4; |
PORTD = 0xA0; |
DDRB = 0x04; |
PORTB = 0x35; |
|
LED_ON; |
|
UART_Init(); |
Timer0_Init(); |
ADC_Init(); |
sei();//Globale Interrupts Einschalten |
Debug_Timer = SetDelay(100); // Sendeintervall |
InitIC2_Slave(0x50); |
|
OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
|
VersionInfo.Hauptversion = 0; |
VersionInfo.Nebenversion = 3; |
VersionInfo.PCKompatibel = 7; |
|
|
while (1) |
{ |
LED_ON; |
FLIP_LOW; |
Delay_ms(2); |
RawMagnet1a = MessAD(0); |
RawMagnet2a = MessAD(1); |
RawMagnet3a = MessAD(7); |
Delay_ms(1); |
LED_OFF; |
FLIP_HIGH; |
Delay_ms(2); |
RawMagnet1b = MessAD(0); |
RawMagnet2b = MessAD(1); |
RawMagnet3b = MessAD(7); |
Delay_ms(1); |
|
CalcFields(); |
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[3] = RawMagnet1a; |
DebugOut.Analog[4] = RawMagnet1b; |
DebugOut.Analog[5] = RawMagnet3a; |
DebugOut.Analog[6] = RawMagnet3b;*/ |
DebugOut.Analog[6] = WinkelOut.Winkel[0]; |
DebugOut.Analog[7] = WinkelOut.Winkel[1]; |
|
CalcHeading(); |
BearbeiteRxDaten(); |
PC_Connected = 100; |
if(PC_Connected) |
{ |
PC_Connected--; |
DatenUebertragung(); |
DDRD |= 0x02; // TXD-Leitung |
} |
else |
{ |
DDRD &= ~0x02; // TXD-Leitung |
} |
} // while(1) - Hauptschleife |
} |
|