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Ignore whitespace Rev 436 → Rev 437

/branches/v0.60_MicroMag3_Nick666/trunc/Flight-Ctrl_MEGA644_V0_66c.hex
1,1719 → 1,1889
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/branches/v0.60_MicroMag3_Nick666/trunc/compass.c
0,0 → 1,244
/*
 
Copyright 2007, Niklas Nold
 
This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
 
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
*/
 
#include "main.h"
 
struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM
 
struct MM3_working_struct MM3;
struct MM3_calib_struct MM3_calib;
 
 
//############################################################################
// Initialisierung
void init_MM3(void)
//############################################################################
{
SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1); //Interrupt an, Master, 625 kHz Oszillator
SPSR = (1<<SPI2X);
DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
PORTD &= ~(1<<PD3); // J5 auf Low
MM3.AXIS = MM3_X;
MM3.STATE = MM3_RESET;
// Kalibrierung aus dem EEprom lesen
eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct));
}
 
 
//############################################################################
// Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen
void timer0_MM3(void)
//############################################################################
{
switch (MM3.STATE)
{
case MM3_RESET:
PORTB |= (1<<PB2); // J8 auf High, MM3 Reset
MM3.STATE = MM3_START_TRANSFER;
return;
case MM3_START_TRANSFER:
PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High)
if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30)
else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
MM3.DRDY = SetDelay(5); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms)
MM3.STATE = MM3_WAIT_DRDY;
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
return; // Jetzt gehts weiter in SIGNAL (SIG_SPI)
}
}
 
 
//############################################################################
// SPI byte ready
SIGNAL (SIG_SPI)
//############################################################################
{
static char tmp;
int wert;
 
switch (MM3.STATE)
{
case MM3_DRDY: // 1. Byte ist da, zwischenspeichern
tmp = SPDR;
SPDR = 0x00; // Übertragung von 2. Byte auslösen
MM3.STATE = MM3_BYTE2;
return;
case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da
wert = tmp;
wert <<= 8; // 1. Byte an MSB-Stelle rücken
wert |= SPDR; // 2. Byte dranpappen
if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten
switch (MM3.AXIS)
{
case MM3_X:
MM3.x_axis = wert;
MM3.AXIS = MM3_Y;
break;
case MM3_Y:
MM3.y_axis = wert;
MM3.AXIS = MM3_Z;
break;
default: //case MM3_Z:
MM3.z_axis = wert;
MM3.AXIS = MM3_X;
}
MM3.STATE = MM3_RESET;
}
}
 
//############################################################################
// Kompass kalibrieren
void calib_MM3(void)
//############################################################################
{
signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0;
uint8_t measurement=50,beeper=0;
unsigned int timer;
GRN_ON;
ROT_OFF;
while (measurement)
{
//H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis;
if (MM3.x_axis > x_max) x_max = MM3.x_axis;
else if (MM3.x_axis < x_min) x_min = MM3.x_axis;
if (MM3.y_axis > y_max) y_max = MM3.y_axis;
else if (MM3.y_axis < y_min) y_min = MM3.y_axis;
if (MM3.z_axis > z_max) z_max = MM3.z_axis;
else if (MM3.z_axis < z_min) z_min = MM3.z_axis;
if (!beeper)
{
ROT_FLASH;
GRN_FLASH;
beeptime = 50;
beeper = 50;
}
beeper--;
// Schleife mit 100 Hz
timer = SetDelay(10);
while(!CheckDelay(timer));
// Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden
if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--;
}
// Wertebereich der Achsen
MM3_calib.X_range = (x_max - x_min);
MM3_calib.Y_range = (y_max - y_min);
MM3_calib.Z_range = (z_max - z_min);
// Offset der Achsen
MM3_calib.X_off = (x_max + x_min) / 2;
MM3_calib.Y_off = (y_max + y_min) / 2;
MM3_calib.Z_off = (z_max + z_min) / 2;
 
// und im EEProm abspeichern
eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct));
}
 
 
//############################################################################
// Neigungskompensierung und Berechnung der Ausrichtung
signed int heading_MM3(void)
//############################################################################
{
float sin_nick, cos_nick, sin_roll, cos_roll;
float x_corr, y_corr;
signed int x_axis,y_axis,z_axis, heading;
unsigned int div_faktor;
div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8;
// Berechung von sinus und cosinus
MM3.NickGrad = (IntegralNick/div_faktor);
//MM3.NickGrad = asin_i(MM3.NickGrad);
sin_nick = sin_f(MM3.NickGrad);
cos_nick = cos_f(MM3.NickGrad);
MM3.RollGrad = (IntegralRoll/div_faktor);
//MM3.RollGrad = asin_i(MM3.RollGrad);
sin_roll = sin_f(MM3.RollGrad);
cos_roll = cos_f(MM3.RollGrad);
// Offset
x_axis = (MM3.x_axis - MM3_calib.X_off);
y_axis = (MM3.y_axis - MM3_calib.Y_off);
z_axis = (MM3.z_axis - MM3_calib.Z_off);
 
// Normierung Wertebereich
if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range))
{
y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range;
z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range;
}
else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range))
{
x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range;
z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range;
}
else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range))
{
x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range;
y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range;
}
DebugOut.Analog[9] = x_axis;
DebugOut.Analog[10] = y_axis;
DebugOut.Analog[11] = z_axis;
// Neigungskompensation
x_corr = x_axis * cos_nick;
x_corr += y_axis * sin_roll * sin_nick;
x_corr -= z_axis * cos_roll * sin_nick;
y_corr = y_axis * cos_roll;
y_corr += z_axis * sin_roll;
// Winkelberechnung
heading = atan2_i(x_corr, y_corr);
if (heading < 0) heading = -heading;
else heading = 360 - heading;
/*
if (!x_corr && y_corr <0) return (90);
if (!x_corr && y_corr >0) return (270);
heading = atan(y_corr/x_corr)*57.29578;
if (x_corr < 0) heading = 180-heading;
if (x_corr > 0 && y_corr < 0) heading = -heading;
if (x_corr > 0 && y_corr > 0) heading = 360 - heading;
*/
return (heading);
}
/branches/v0.60_MicroMag3_Nick666/trunc/compass.h
0,0 → 1,46
 
 
struct MM3_working_struct
{
uint8_t STATE;
unsigned int DRDY;
uint8_t AXIS;
signed int x_axis;
signed int y_axis;
signed int z_axis;
signed int NickGrad;
signed int RollGrad;
};
 
 
struct MM3_calib_struct
{
int8_t X_off;
int8_t Y_off;
int8_t Z_off;
uint16_t X_range;
uint16_t Y_range;
uint16_t Z_range;
};
 
extern struct MM3_working_struct MM3;
extern struct MM3_calib_struct MM3_calib;
 
void init_MM3(void);
void timer0_MM3(void);
void calib_MM3(void);
signed int heading_MM3(void);
 
#define Max_Axis_Value 500
 
// Die Werte der Statemachine
#define MM3_RESET 0
#define MM3_START_TRANSFER 1
#define MM3_WAIT_DRDY 2
#define MM3_DRDY 3
#define MM3_BYTE2 4
#define MM3_X 5
#define MM3_Y 6
#define MM3_Z 7
#define MM3_TILT 8
#define MM3_IDLE 9
/branches/v0.60_MicroMag3_Nick666/trunc/eeprom.c
36,7 → 36,7
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
EE_Parameter.I_Faktor = 0;
EE_Parameter.UserParam1 = 0; //zur freien Verwendung
EE_Parameter.UserParam1 = 178; //zur freien Verwendung
EE_Parameter.UserParam2 = 0; //zur freien Verwendung
EE_Parameter.UserParam3 = 0; //zur freien Verwendung
EE_Parameter.UserParam4 = 0; //zur freien Verwendung
89,7 → 89,7
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
EE_Parameter.I_Faktor = 0;
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam1 = 178; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
142,7 → 142,7
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation
EE_Parameter.I_Faktor = 0;
EE_Parameter.UserParam1 = 0; // zur freien Verwendung
EE_Parameter.UserParam1 = 178; // zur freien Verwendung
EE_Parameter.UserParam2 = 0; // zur freien Verwendung
EE_Parameter.UserParam3 = 0; // zur freien Verwendung
EE_Parameter.UserParam4 = 0; // zur freien Verwendung
/branches/v0.60_MicroMag3_Nick666/trunc/eeprom.d
0,0 → 1,0
eeprom.o eeprom.d : eeprom.c
/branches/v0.60_MicroMag3_Nick666/trunc/fc.c
463,7 → 463,6
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte
{
unsigned char setting = 2;
if(++delay_neutral > 200) // nicht sofort
{
GRN_OFF;
833,14 → 832,14
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Kompass
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
int w,v;
static int SignalSchlecht = 0;
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /512);
w = abs(IntegralNick /1024); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /1024);
if(v > w) w = v; // grösste Neigung ermitteln
if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
if(w < 35 && NeueKompassRichtungMerken && !SignalSchlecht)
{
KompassStartwert = KompassValue;
NeueKompassRichtungMerken = 0;
/branches/v0.60_MicroMag3_Nick666/trunc/flight.pnproj
1,0 → 0,0
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="license_buss.txt"></File><File path="math.c"></File><File path="math.h"></File><File path="compass.c"></File><File path="compass.h"></File><File path="COPYING"></File><File path="COPYING.LESSER"></File></Project>
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="license_buss.txt"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="compass.c"></File><File path="compass.h"></File><File path="COPYING"></File><File path="COPYING.LESSER"></File><File path="eeprom.c"></File><File path="eeprom.h"></File></Project>
/branches/v0.60_MicroMag3_Nick666/trunc/main.c
158,7 → 158,24
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
 
//kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht
timer = SetDelay(500);
while(!CheckDelay(timer));
//Kompass kalibrieren?
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100)
{
printf("\n\rKalibriere Kompass");
calib_MM3();
}
/*
//Neutrallage kalibrieren?
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100)
{
printf("\n\rKalibriere Neutrallage");
calib_acc();
}
*/
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
printf("\n\rAbgleich Luftdrucksensor..");
/branches/v0.60_MicroMag3_Nick666/trunc/main.h
14,10 → 14,10
// neue Hardware
#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;}
#define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;}
#define ROT_FLASH PORTB ^= 0x01
#define GRN_OFF PORTB &=~0x02
#define GRN_ON PORTB |= 0x02
#define GRN_FLASH PORTB ^= 0x02
#define ROT_FLASH PORTB ^= (1<<PB0)
#define GRN_OFF PORTB &=~(1<<PB1)
#define GRN_ON PORTB |= (1<<PB1)
#define GRN_FLASH PORTB ^= (1<<PB1)
 
#define F_CPU SYSCLK
//#ifndef F_CPU
76,8 → 76,9
#include "rc.h"
#include "fc.h"
#include "gps.h"
#include "compass.h"
#include "mymath.h"
 
 
#ifndef EEMEM
#define EEMEM __attribute__ ((section (".eeprom")))
#endif
/branches/v0.60_MicroMag3_Nick666/trunc/makefile
64,10 → 64,9
 
##########################################################################################################
# List C source files here. (C dependencies are automatically generated.)
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c
SRC += twimaster.c rc.c fc.c GPS.c
#spi.c
 
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c
SRC += twimaster.c rc.c fc.c GPS.c
SRC += compass.c mymath.c
##########################################################################################################
 
 
/branches/v0.60_MicroMag3_Nick666/trunc/mymath.c
0,0 → 1,126
/*
 
Copyright 2007, Niklas Nold
 
This program (files math.c and math.h) is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation;
either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
 
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
*/
 
#include "main.h"
 
 
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)
//############################################################################
{
int i,angle;
int8_t m;
if (!x && !y) return 0; //atan2 = 0 für x und y = 0
if (y < 0) m=-1;
else m=1;
if (x==0) return (90*m); // atan2 = 90° für x = 0
i = abs(((long)y*50) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50)
 
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) && (m > 0)) return (-angle + 180); // Quadrant II
else return (angle - 180); // x < 0 && y < 0 Quadrant III
}
 
 
const float pgm_sinus_f[91] PROGMEM = {0.0,0.0174524,0.0348995,0.0523360,0.0697565,0.0871557,0.1045285,0.1218693,0.1391731,0.1564345,0.1736482,0.1908090,0.2079117,0.2249510,0.2419219,0.2588190,0.2756373,0.2923717,0.3090170,0.3255681,0.3420201,0.3583679,0.3746066,0.3907311,0.4067366,0.4226182,0.4383711,0.4539905,0.4694715,0.4848096,0.5000000,0.5150381,0.5299193,0.5446390,0.5591929,0.5735764,0.5877852,0.6018150,0.6156615,0.6293204,0.6427876,0.6560590,0.6691306,0.6819983,0.6946584,0.7071068,0.7193398,0.7313537,0.7431448,0.7547096,0.7660444,0.7771459,0.7880107,0.7986355,0.8090170,0.8191520,0.8290376,0.8386706,0.8480481,0.8571673,0.8660254,0.8746197,0.8829476,0.8910065,0.8987940,0.9063078,0.9135454,0.9205048,0.9271838,0.9335804,0.9396926,0.9455186,0.9510565,0.9563047,0.9612617,0.9659258,0.9702957,0.9743701,0.9781476,0.9816272,0.9848077,0.9876883,0.9902681,0.9925461,0.9945219,0.9961947,0.9975640,0.9986295,0.9993908,0.9998477,1.0};
 
inline float pgm_read_float(const float *addr)
{
union
{
uint16_t i[2]; // 2 16-bit-Worte
float f;
} u;
u.i[0]=pgm_read_word((PGM_P)addr);
u.i[1]=pgm_read_word((PGM_P)addr+2);
return u.f;
}
 
//############################################################################
// Kosinusfunktion im Gradmaß
float cos_f(signed int winkel)
//############################################################################
{
return (sin_f(90-winkel));
}
 
//############################################################################
// Sinusfunktion im Gradmaß
float sin_f(signed int winkel)
//############################################################################
{
short int m,n;
float sinus;
//winkel = winkel % 360;
if (winkel < 0)
{
m = -1;
winkel = abs(winkel);
}
else m = +1;
// Quadranten auswerten
if (winkel <= 90) n=1;
else if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;}
else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;}
else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360))
 
sinus = pgm_read_float(&pgm_sinus_f[winkel]);
 
return (sinus*m*n);
}
 
/*
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};
 
//############################################################################
// Akurssinusfunktion im Gradmaß
int8_t asin_i(signed int i)
//############################################################################
{
signed char m;
if (i < 0) {m=-1;i=abs(i);}
else m=1;
i = i % 200;
return (pgm_read_byte(&pgm_asin[i]) * m);
}
*/
/branches/v0.60_MicroMag3_Nick666/trunc/mymath.h
0,0 → 1,11
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Peter Muehlenbrock
// Definitionen fuer Modul math
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
extern signed int atan2_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);
/branches/v0.60_MicroMag3_Nick666/trunc/timer0.c
62,24 → 62,19
else PORTC &= ~(1<<7);
}
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
if(PINC & 0x10)
{
cntKompass++;
}
else
{
if((cntKompass) && (cntKompass < 4000))
{
KompassValue = cntKompass;
}
// if(cntKompass < 10) cntKompass = 10;
// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 0;
}
}
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
{
timer0_MM3(); // Kompass auslesen
 
if (!cntKompass--) // Aufruf mit 10 Hz
{
int heading;
heading = heading_MM3();
KompassValue = (KompassValue * 3 + heading) / 4; // Filtern
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
cntKompass = 980;
}
}
}