Subversion Repositories MK3Mag

 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

}