Subversion Repositories MK3Mag

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Ignore whitespace Rev 1 → Rev 2

/tags/V0.4/main.c
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
}