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| Rev 308 | Rev 309 | ||
|---|---|---|---|
| Line 61... | Line 61... | ||
| 61 | case MM3_WAIT_DRDY: |
61 | case MM3_WAIT_DRDY: |
| 62 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
62 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| 63 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
63 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| Line 64... | Line 64... | ||
| 64 | 64 | ||
| 65 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
65 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| 66 | MM3.NickGrad = asin_i((float)Aktuell_ax/EE_Parameter.UserParam1*200); |
66 | MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| Line 67... | Line 67... | ||
| 67 | MM3.RollGrad = asin_i((float)Aktuell_ay/EE_Parameter.UserParam2*200); |
67 | MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| 68 | 68 | ||
| 69 | MM3.AXIS = MM3_X; |
69 | MM3.AXIS = MM3_X; |
| 70 | MM3.STATE = MM3_RESET; |
70 | MM3.STATE = MM3_RESET; |
| Line 138... | Line 138... | ||
| 138 | cos_nick = cos_f(MM3.NickGrad); |
138 | cos_nick = cos_f(MM3.NickGrad); |
| 139 | sin_roll = sin_f(MM3.RollGrad); |
139 | sin_roll = sin_f(MM3.RollGrad); |
| 140 | cos_roll = cos_f(MM3.RollGrad); |
140 | cos_roll = cos_f(MM3.RollGrad); |
| Line 141... | Line 141... | ||
| 141 | 141 | ||
| - | 142 | // Neigungskompensation |
|
| - | 143 | //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
|
| 142 | // Neigungskompensation |
144 | |
| 143 | x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
145 | x_corr = (cos_nick * MM3.x_axis) - (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| Line 144... | Line 146... | ||
| 144 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
146 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| 145 | 147 | ||