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Ignore whitespace Rev 277 → Rev 278

/branches/v0.60_MicroMag3_Nick666/compass.c
50,9 → 50,9
case MM3_START_TRANSFER:
PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)
if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50)
else SPDR = 0x53; // if (MM3.AXIS == MM3_Z)
if (MM3.AXIS == MM3_X) SPDR = 0x41; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
else if (MM3.AXIS == MM3_Y) SPDR = 0x42; // Micromag Period Select ist auf 1024 (0x50)
else if (MM3.AXIS == MM3_Z) SPDR = 0x43; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024)
MM3.STATE = MM3_WAIT_DRDY;
59,7 → 59,7
return;
case MM3_WAIT_DRDY:
if (CheckDelay(MM3.DRDY)) {SPDR = 0x00; MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei
return; // Jetzt gehts weiter in SIGNAL (SIG_SPI)
case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in °
80,49 → 80,29
switch (MM3.STATE)
{
case MM3_DRDY:
// 1. Byte ist da, abspeichern, an die MSB-Stelle rücken
if (MM3.AXIS == MM3_X)
{
MM3.x_axis=SPDR;
MM3.x_axis<<=8;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis=SPDR;
MM3.y_axis<<=8;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis=SPDR;
MM3.z_axis<<=8;
}
SPDR=0x00; // Übertragung von 2. Byte auslösen
MM3.STATE=MM3_BYTE2;
// 1. Byte ist da, abspeichern, an die MSB-Stelle rücken und Übertragung von 2. Byte auslösen
if (MM3.AXIS == MM3_X) {MM3.x_axis=SPDR; MM3.x_axis<<=8; SPDR=0x00; MM3.STATE=MM3_X_BYTE2; return;}
if (MM3.AXIS == MM3_Y) {MM3.y_axis=SPDR; MM3.y_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Y_BYTE2; return;}
if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; return;}
case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da.
MM3.x_axis |= SPDR;
MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen
MM3.AXIS = MM3_Y;
MM3.STATE = MM3_RESET;
return;
case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da.
if (MM3.AXIS == MM3_X)
{
MM3.x_axis |= SPDR;
MM3.x_axis -= OFF_X;
MM3.AXIS = MM3_Y;
MM3.STATE = MM3_RESET;
}
else if (MM3.AXIS == MM3_Y)
{
MM3.y_axis |= SPDR;
MM3.y_axis -= OFF_Y;
MM3.AXIS = MM3_Z;
MM3.STATE = MM3_RESET;
}
else // if (MM3.AXIS == MM3_Z)
{
MM3.z_axis |= SPDR;
MM3.z_axis -= OFF_Z;
MM3.STATE = MM3_TILT;
}
case MM3_Y_BYTE2:
MM3.y_axis |= SPDR;
MM3.y_axis -= OFF_Y;
MM3.AXIS = MM3_Z;
MM3.STATE = MM3_RESET;
return;
case MM3_Z_BYTE2:
MM3.z_axis |= SPDR;
MM3.z_axis -= OFF_Z;
MM3.STATE = MM3_TILT;
return;
}
}
144,7 → 124,7
y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis));
// Winkelberechnung
heading = atan2_i(x_corr, y_corr);
heading = arctan_i(x_corr, y_corr);
 
return (heading);
}
/branches/v0.60_MicroMag3_Nick666/compass.h
25,7 → 25,9
#define MM3_START_TRANSFER 1
#define MM3_WAIT_DRDY 2
#define MM3_DRDY 3
#define MM3_BYTE2 4
#define MM3_X_BYTE2 4
#define MM3_Y_BYTE2 5
#define MM3_Z_BYTE2 6
#define MM3_X 7
#define MM3_Y 8
#define MM3_Z 9
/branches/v0.60_MicroMag3_Nick666/math.c
16,10 → 16,9
#include "main.h"
 
 
const uint8_t pgm_atan[540] PROGMEM = {0,1,1,2,2,3,3,4,5,5,6,6,7,7,8,9,9,10,10,11,11,12,12,13,13,14,15,15,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,27,28,28,29,29,30,30,31,31,31,32,32,33,33,33,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,40,41,41,41,42,42,42,43,43,43,44,44,44,44,45,45,45,46,46,46,46,47,47,47,47,48,48,48,48,49,49,49,49,50,50,50,50,51,51,51,51,52,52,52,52,52,53,53,53,53,53,54,54,54,54,54,55,55,55,55,55,56,56,56,56,56,56,57,57,57,57,57,58,58,58,58,58,58,58,59,59,59,59,59,59,60,60,60,60,60,60,60,61,61,61,61,61,61,61,61,62,62,62,62,62,62,62,62,63,63,63,63,63,63,63,63,64,64,64,64,64,64,64,64,64,65,65,65,65,65,65,65,65,65,65,66,66,66,66,66,66,66,66,66,66,67,67,67,67,67,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79};
 
// Arkustangens2 im Gradmaß
signed int atan2_i(signed int x, signed int y)
signed int arctan_i(signed int x, signed int y)
{
int i,angle;
int8_t m;
31,20 → 30,20
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((double)y / x) * 100); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.01 -> *100)
i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
 
if (i<540) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>11458) angle = 90; // Grenzwert ist 90°
else if (i>3818) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>2290) angle = 88;
else if (i>1634) angle = 87;
else if (i>1270) angle = 86;
else if (i>1038) angle = 85;
else if (i>877) angle = 84;
else if (i>759) angle = 83;
else if (i>669) angle = 82;
else if (i>597) angle = 81;
else angle = 80; // (i>539)
if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79°
else if (i>5750) angle = 90; // Grenzwert ist 90°
else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche
else if (i>=1150) angle = 88;
else if (i>=820) angle = 87;
else if (i>=640) angle = 86;
else if (i>=520) angle = 85;
else if (i>=440) angle = 84;
else if (i>=380) angle = 83;
else if (i>=335) angle = 82;
else if (i>=299) angle = 81;
else angle = 80; // (i>=270)
if (x > 0) return (angle*m); // Quadrant I und IV
else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II
71,36 → 70,34
return u.f;
}
 
 
// Kosinusfunktion im Gradmaß
float cos_f(signed int alpha)
// cosinus Funktion: Eingabewert Winkel in Grad
float cos_f(signed int winkel)
{
return (sin_f(90-alpha));
return (sin_f(90-winkel));
}
 
 
// Sinusfunktion im Gradmaß
float sin_f(signed int alpha)
// sinus Funktion: Eingabewert Winkel in Grad
float sin_f(signed int winkel)
{
short int m,n;
float sinus;
//alpha = alpha % 360;
//winkel = winkel % 360;
if (alpha < 0)
if (winkel < 0)
{
m = -1;
alpha = abs(alpha);
winkel = abs(winkel);
}
else m = +1;
// Quadranten auswerten
if ((alpha > 90 ) && (alpha <= 180)) {alpha = 180 - alpha; n = 1;}
else if ((alpha > 180 ) && (alpha <= 270)) {alpha = alpha - 180; n = -1;}
else if ((alpha > 270) && (alpha <= 360)) {alpha = 360 - alpha; n = -1;}
if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;}
else n = 1; //0 - 90 Grad
 
sinus = pgm_read_float(&pgm_sinus_f[alpha]);
sinus = pgm_read_float(&pgm_sinus_f[winkel]);
 
return (sinus*m*n);
}
109,8 → 106,7
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90};
 
 
// Arkussinusfunktion im Gradmaß
signed char asin_i(signed int i)
int8_t asin_i(signed int i)
{
signed char m;
/branches/v0.60_MicroMag3_Nick666/math.h
5,7 → 5,7
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
extern signed int atan2_i(signed int x, signed int y);
extern float cos_f(signed int alpha);
extern float sin_f(signed int alpha);
extern signed char asin_i(signed int i);
extern signed int arctan_i(signed int x, signed int y);
extern float cos_f(signed int winkel);
extern float sin_f(signed int winkel);
extern int8_t asin_i(signed int i);