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| Rev | Author | Line No. | Line |
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| 366 | Nick666 | 1 | /* |
| 2 | |||
| 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 | MM3_working_struct MM3; |
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| 19 | |||
| 20 | MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
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| 21 | MM3_calib_struct MM3_calib; |
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| 22 | |||
| 23 | |||
| 24 | //############################################################################ |
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| 25 | // Initialisierung |
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| 26 | void MM3_init(void) |
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| 27 | //############################################################################ |
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| 28 | { |
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| 29 | SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
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| 30 | //SPSR = (1<<SPI2X); |
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| 31 | |||
| 32 | DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
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| 33 | |||
| 34 | PORTD &= ~(1<<PD3); // J5 auf Low |
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| 35 | |||
| 36 | MM3.AXIS = MM3_X; |
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| 37 | MM3.STATE = MM3_RESET; |
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| 38 | |||
| 39 | // Kalibrierung aus dem EEprom lesen |
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| 40 | eeprom_read_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
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| 41 | } |
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| 42 | |||
| 43 | |||
| 44 | //############################################################################ |
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| 45 | // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
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| 46 | void MM3_timer0(void) |
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| 47 | //############################################################################ |
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| 48 | { |
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| 49 | switch (MM3.STATE) |
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| 50 | { |
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| 51 | case MM3_RESET: |
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| 52 | PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
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| 53 | MM3.STATE = MM3_START_TRANSFER; |
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| 54 | return; |
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| 55 | |||
| 56 | case MM3_START_TRANSFER: |
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| 57 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
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| 58 | |||
| 59 | if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
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| 60 | else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
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| 61 | else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
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| 62 | |||
| 63 | MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
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| 64 | MM3.STATE = MM3_WAIT_DRDY; |
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| 65 | return; |
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| 66 | |||
| 67 | case MM3_WAIT_DRDY: |
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| 68 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
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| 69 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
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| 70 | /* |
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| 71 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
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| 72 | MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
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| 73 | MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
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| 74 | |||
| 75 | MM3.AXIS = MM3_X; |
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| 76 | MM3.STATE = MM3_RESET; |
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| 77 | return; |
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| 78 | */ |
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| 79 | } |
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| 80 | } |
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| 81 | |||
| 82 | |||
| 83 | //############################################################################ |
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| 84 | // SPI byte ready |
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| 85 | SIGNAL (SIG_SPI) |
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| 86 | //############################################################################ |
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| 87 | { |
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| 88 | switch (MM3.STATE) |
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| 89 | { |
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| 90 | case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
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| 91 | if (MM3.AXIS == MM3_X) |
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| 92 | { |
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| 93 | MM3.x_axis = SPDR; |
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| 94 | MM3.x_axis <<= 8; |
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| 95 | } |
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| 96 | else if (MM3.AXIS == MM3_Y) |
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| 97 | { |
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| 98 | MM3.y_axis = SPDR; |
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| 99 | MM3.y_axis <<= 8; |
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| 100 | } |
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| 101 | else // if (MM3.AXIS == MM3_Z) |
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| 102 | { |
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| 103 | MM3.z_axis = SPDR; |
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| 104 | MM3.z_axis <<= 8; |
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| 105 | } |
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| 106 | |||
| 107 | SPDR=0x00; // Übertragung von 2. Byte auslösen |
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| 108 | MM3.STATE=MM3_BYTE2; |
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| 109 | return; |
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| 110 | |||
| 111 | case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
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| 112 | if (MM3.AXIS == MM3_X) |
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| 113 | { |
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| 114 | MM3.x_axis |= SPDR; |
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| 115 | // Spikes filtern |
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| 116 | if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
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| 117 | else MM3.x_axis = MM3.x_axis_old; |
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| 118 | MM3.AXIS = MM3_Y; |
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| 119 | MM3.STATE = MM3_RESET; |
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| 120 | } |
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| 121 | else if (MM3.AXIS == MM3_Y) |
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| 122 | { |
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| 123 | MM3.y_axis |= SPDR; |
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| 124 | if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
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| 125 | else MM3.y_axis = MM3.y_axis_old; |
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| 126 | MM3.AXIS = MM3_Z; |
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| 127 | MM3.STATE = MM3_RESET; |
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| 128 | } |
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| 129 | else // if (MM3.AXIS == MM3_Z) |
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| 130 | { |
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| 131 | MM3.z_axis |= SPDR; |
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| 132 | if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
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| 133 | else MM3.z_axis = MM3.z_axis_old; |
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| 134 | MM3.AXIS = MM3_X; |
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| 135 | MM3.STATE = MM3_RESET; |
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| 136 | } |
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| 137 | |||
| 138 | return; |
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| 139 | } |
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| 140 | } |
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| 141 | |||
| 142 | //############################################################################ |
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| 143 | // Kompass kalibrieren |
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| 144 | void calib_MM3(void) |
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| 145 | //############################################################################ |
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| 146 | { |
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| 147 | signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
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| 148 | uint8_t measurement=50,beeper=0; |
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| 149 | unsigned int timer; |
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| 150 | |||
| 370 | Nick666 | 151 | GRN_ON; |
| 152 | ROT_OFF; |
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| 153 | |||
| 366 | Nick666 | 154 | while (measurement) |
| 155 | { |
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| 156 | //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
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| 157 | |||
| 158 | if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
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| 159 | else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
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| 160 | |||
| 161 | if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
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| 162 | else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
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| 163 | |||
| 164 | if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
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| 165 | else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
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| 166 | |||
| 167 | if (!beeper) |
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| 168 | { |
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| 370 | Nick666 | 169 | ROT_FLASH; |
| 170 | GRN_FLASH; |
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| 366 | Nick666 | 171 | beeper = 50; |
| 172 | } |
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| 173 | beeper--; |
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| 174 | |||
| 175 | // Schleife mit 100 Hz voll ausreichend |
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| 176 | timer = SetDelay(10); |
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| 177 | while(!CheckDelay(timer)); |
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| 178 | |||
| 179 | // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
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| 180 | if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
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| 181 | } |
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| 182 | |||
| 183 | // Offset der Achsen berechnen |
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| 184 | MM3_calib.X_off = (x_max + x_min) / 2; |
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| 185 | MM3_calib.Y_off = (y_max + y_min) / 2; |
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| 186 | MM3_calib.Z_off = (z_max + z_min) / 2; |
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| 187 | |||
| 188 | // und im EEProm abspeichern |
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| 189 | eeprom_write_block(&MM3_calib,&ee_calib,sizeof(MM3_calib_struct)); |
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| 190 | |||
| 191 | } |
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| 192 | |||
| 193 | |||
| 194 | //############################################################################ |
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| 195 | // Neigungskompensierung und Berechnung der Ausrichtung |
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| 196 | signed int MM3_heading(void) |
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| 197 | //############################################################################ |
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| 198 | { |
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| 199 | float sin_nick, cos_nick, sin_roll, cos_roll; |
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| 200 | signed int x_corr, y_corr, heading; |
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| 201 | signed int x_axis,y_axis,z_axis; |
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| 202 | |||
| 203 | MM3.NickGrad = -(IntegralNick/(EE_Parameter.UserParam1*8)); |
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| 204 | MM3.RollGrad = -(IntegralRoll/(EE_Parameter.UserParam2*8)); |
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| 205 | |||
| 206 | // Berechung von sinus und cosinus |
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| 207 | sin_nick = sin_f(MM3.NickGrad); |
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| 208 | cos_nick = cos_f(MM3.NickGrad); |
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| 209 | sin_roll = sin_f(MM3.RollGrad); |
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| 210 | cos_roll = cos_f(MM3.RollGrad); |
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| 211 | |||
| 212 | // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
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| 370 | Nick666 | 213 | x_axis = -(MM3.x_axis - MM3_calib.X_off); |
| 214 | y_axis = -(MM3.y_axis - MM3_calib.Y_off); |
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| 215 | z_axis = -(MM3.z_axis - MM3_calib.Z_off); |
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| 366 | Nick666 | 216 | |
| 217 | // Neigungskompensation |
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| 218 | x_corr = (cos_nick * x_axis) + (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |
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| 219 | y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis)); |
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| 220 | |||
| 221 | // Winkelberechnung |
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| 222 | heading = atan2_i(x_corr, y_corr); |
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| 223 | |||
| 224 | return (heading); |
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| 225 | } |