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787 | Nick666 | 1 | /* |
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3 | Copyright 2007, Niklas Nold |
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4 | |||
5 | This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
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6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
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7 | either version 3 of the License, or (at your option) any later version. |
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8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
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9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
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11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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12 | |||
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
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14 | */ |
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15 | |||
16 | #include "main.h" |
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17 | |||
18 | struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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19 | |||
20 | struct MM3_working_struct MM3; |
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21 | struct MM3_calib_struct MM3_calib; |
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22 | |||
23 | |||
24 | //############################################################################ |
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25 | // Initialisierung |
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26 | void init_MM3(void) |
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27 | //############################################################################ |
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28 | { |
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29 | // SPI-Schnittstelle initialisieren |
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30 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
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31 | |||
32 | DDRB |= (1<<PB7)|(1<<PB5); // MOSI, SCK Ausgang |
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33 | DDRC |= (1<<PC4)|(1<<PC5); // PC5 (RESET) und PC4 (SSNOT) als Ausgang |
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34 | PORTC |= (1<<PC4); // PC4 (SSNOT) auf High -> MM3 passiv |
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35 | PORTC &= ~(1<<PC5); // PC5 (RESET) auf Low |
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36 | |||
37 | // Init Statemachine |
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38 | MM3.AXIS = MM3_X; |
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39 | MM3.STATE = MM3_RESET; |
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40 | |||
41 | // Kalibrierung aus dem EEprom lesen |
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42 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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43 | } |
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44 | |||
45 | |||
46 | //############################################################################ |
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47 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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48 | void timer0_MM3(void) |
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49 | //############################################################################ |
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50 | { |
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51 | switch (MM3.STATE) |
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52 | { |
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53 | case MM3_RESET: |
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54 | PORTC &= ~(1<<PC4); // MM3 aktiv |
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55 | PORTC |= (1<<PC5); // MM3 Reset |
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56 | MM3.STATE = MM3_START_TRANSFER; |
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57 | return; |
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58 | |||
59 | case MM3_START_TRANSFER: |
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60 | PORTC &= ~(1<<PC5); // PC5 auf Low (war ~125 µs auf High) |
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61 | |||
62 | if (MM3.AXIS == MM3_X) SPDR = MM3_PERIOD_512 + MM3_X_AXIS; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
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63 | else if (MM3.AXIS == MM3_Y) SPDR = MM3_PERIOD_512 + MM3_Y_AXIS; // Micromag Period Select ist 256 (0x30) |
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64 | else SPDR = MM3_PERIOD_512 + MM3_Z_AXIS; //if (MM3.AXIS == MM3_Z) |
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65 | |||
66 | MM3.DRDY = SetDelay(10); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 512 eigentlich 8 ms) |
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67 | MM3.STATE = MM3_WAIT_DRDY; |
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68 | return; |
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69 | |||
70 | case MM3_WAIT_DRDY: |
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71 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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72 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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73 | } |
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74 | } |
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75 | |||
76 | |||
77 | //############################################################################ |
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78 | // SPI byte ready |
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79 | SIGNAL (SIG_SPI) |
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80 | //############################################################################ |
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81 | { |
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82 | static char tmp; |
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83 | int value; |
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84 | |||
85 | switch (MM3.STATE) |
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86 | { |
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87 | case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
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88 | tmp = SPDR; |
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89 | SPDR = 0x00; // Übertragung von 2. Byte auslösen |
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90 | MM3.STATE = MM3_BYTE2; |
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91 | return; |
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92 | |||
93 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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94 | value = tmp; |
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95 | value <<= 8; // 1. Byte an MSB-Stelle rücken |
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96 | value |= SPDR; // 2. Byte dranpappen |
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97 | |||
98 | if(abs(value) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
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99 | switch (MM3.AXIS) |
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100 | { |
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101 | case MM3_X: |
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102 | MM3.x_axis = value; |
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103 | MM3.AXIS = MM3_Y; |
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104 | break; |
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105 | case MM3_Y: |
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106 | MM3.y_axis = value; |
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107 | MM3.AXIS = MM3_Z; |
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108 | break; |
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109 | default: //case MM3_Z: |
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110 | MM3.z_axis = value; |
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111 | MM3.AXIS = MM3_X; |
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112 | } |
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113 | PORTC |= (1<<PC4); // MM3 passiv |
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114 | MM3.STATE = MM3_RESET; |
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115 | } |
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116 | } |
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117 | |||
118 | //############################################################################ |
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119 | // Kompass kalibrieren |
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120 | void calib_MM3(void) |
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121 | //############################################################################ |
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122 | { |
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123 | int16_t x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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124 | int16_t x_axis, y_axis, z_axis; |
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125 | uint8_t measurement=50,beeper=0; |
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126 | |||
127 | GRN_ON; |
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128 | ROT_OFF; |
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129 | |||
130 | while (measurement) |
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131 | { |
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132 | uint8_t tmp_sreg = SREG; |
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133 | cli(); |
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134 | x_axis = MM3.x_axis; |
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135 | y_axis = MM3.y_axis; |
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136 | z_axis = MM3.z_axis; |
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137 | SREG = tmp_sreg; |
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138 | |||
139 | if (x_axis > x_max) x_max = x_axis; |
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140 | else if (x_axis < x_min) x_min = x_axis; |
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141 | |||
142 | if (y_axis > y_max) y_max = y_axis; |
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143 | else if (y_axis < y_min) y_min = y_axis; |
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144 | |||
145 | if (z_axis > z_max) z_max = z_axis; |
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146 | else if (z_axis < z_min) z_min = z_axis; |
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147 | |||
148 | if (!beeper) |
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149 | { |
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150 | ROT_FLASH; |
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151 | GRN_FLASH; |
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152 | beeptime = 50; |
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153 | beeper = 50; |
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154 | } |
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155 | beeper--; |
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156 | |||
157 | // Schleife mit 100 Hz |
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158 | Delay_ms(10); |
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159 | |||
160 | // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
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161 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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162 | } |
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163 | |||
164 | // Wertebereich der Achsen |
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165 | MM3_calib.X_range = (x_max - x_min); |
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166 | MM3_calib.Y_range = (y_max - y_min); |
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167 | MM3_calib.Z_range = (z_max - z_min); |
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168 | |||
169 | // Offset der Achsen |
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170 | MM3_calib.X_off = (x_max + x_min) /2; |
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171 | MM3_calib.Y_off = (y_max + y_min) /2; |
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172 | MM3_calib.Z_off = (z_max + z_min) /2; |
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173 | |||
174 | // und im EEProm abspeichern |
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175 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
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176 | } |
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177 | |||
178 | |||
179 | //############################################################################ |
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180 | // Neigungskompensierung und Berechnung der Ausrichtung |
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181 | int heading_MM3(void) |
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182 | //############################################################################ |
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183 | { |
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184 | int16_t sin_nick, cos_nick, sin_roll, cos_roll; |
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185 | int16_t mm3_x_axis, mm3_y_axis, mm3_z_axis; |
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186 | int32_t Hx, Hy, Hz, x_corr, y_corr; |
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187 | int16_t heading; |
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188 | int8_t tilt; |
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189 | |||
190 | // 16bit-Werte lesen |
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191 | uint8_t tmp_sreg = SREG; |
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192 | cli(); |
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193 | mm3_x_axis = MM3.x_axis; |
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194 | mm3_y_axis = MM3.y_axis; |
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195 | mm3_z_axis = MM3.z_axis; |
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196 | SREG = tmp_sreg; |
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851 | Nick666 | 197 | /* |
198 | int temp = Aktuell_az-550; |
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199 | DebugOut.Analog[2] = temp; |
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787 | Nick666 | 200 | // Lage-Berechnung mittels Acc-Messwerte |
851 | Nick666 | 201 | tilt = atan2_i(temp,AdWertAccNick*64); |
202 | DebugOut.Analog[0] = tilt; |
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787 | Nick666 | 203 | sin_nick = sin_i(tilt); |
204 | cos_nick = cos_i(tilt); |
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205 | |||
851 | Nick666 | 206 | tilt = atan2_i(temp,AdWertAccRoll*64); |
207 | DebugOut.Analog[1] = tilt; |
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787 | Nick666 | 208 | sin_roll = sin_i(tilt); |
209 | cos_roll = cos_i(tilt); |
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851 | Nick666 | 210 | */ |
787 | Nick666 | 211 | // Lage-Berechnung mittels Gyro-Integral |
212 | uint16_t div_faktor; |
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213 | div_faktor = (uint16_t)EE_Parameter.UserParam3 *8; |
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214 | |||
215 | tilt = (IntegralNick /div_faktor); |
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216 | sin_nick = sin_i(tilt); |
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217 | cos_nick = cos_i(tilt); |
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218 | |||
219 | tilt = (IntegralRoll /div_faktor); |
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220 | sin_roll = sin_i(tilt); |
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221 | cos_roll = cos_i(tilt); |
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851 | Nick666 | 222 | |
787 | Nick666 | 223 | // Offset und Normalisierung |
224 | Hx = (((int32_t)(mm3_x_axis - MM3_calib.X_off)) *512) /MM3_calib.X_range; |
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225 | Hy = (((int32_t)(mm3_y_axis - MM3_calib.Y_off)) *512) /MM3_calib.Y_range; |
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226 | Hz = (((int32_t)(mm3_z_axis - MM3_calib.Z_off)) *512) /MM3_calib.Z_range; |
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227 | |||
228 | // Neigungskompensierung |
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229 | x_corr = Hx * cos_nick; |
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230 | x_corr -= Hz * sin_nick; |
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231 | x_corr /= 1024; |
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232 | |||
233 | y_corr = Hy * cos_roll; |
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234 | y_corr += Hz * sin_roll; |
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235 | y_corr /= 16; // atan2_i erwartet y_corr *64. Deshalb /16 und nicht /1024 |
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236 | |||
237 | // Winkelberechnung |
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238 | heading = atan2_i(x_corr, y_corr); |
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239 | |||
240 | // Skalieren von +-180° auf 0-360° |
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241 | if (heading < 0) heading = -heading; |
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242 | else heading = 360 - heading; |
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243 | |||
244 | return (heading); |
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245 | } |