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13 | signed int RawMagnet3a,RawMagnet3b; |
13 | signed int RawMagnet3a,RawMagnet3b; |
14 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
14 | signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ; // Messwert-Delta ohne Offset- und Verstärker korrektur |
15 | signed int MagnetN,MagnetR,MagnetZ; // Kalibrierte Messerte |
15 | signed int MagnetN,MagnetR,MagnetZ; // Kalibrierte Messerte |
16 | unsigned int PwmHeading = 0; |
16 | unsigned int PwmHeading = 0; |
17 | unsigned char PC_Connected = 0; |
17 | unsigned char PC_Connected = 0; |
- | 18 | int Heading; |
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18 | #include "main.h" |
19 | #include "main.h" |
Line 19... | Line 20... | ||
19 | 20 | ||
20 | 21 | ||
Line 73... | Line 74... | ||
73 | 74 | ||
74 | // DebugOut.Analog[14] = heading; |
75 | // DebugOut.Analog[14] = heading; |
Line 75... | Line 76... | ||
75 | // if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
76 | // if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60; |
76 | 77 | ||
77 | if(heading < 361) DebugOut.Analog[14] = heading; |
78 | if(heading < 361) DebugOut.Analog[14] = heading; |
78 | AnFlightCtrl.Heading = heading; |
79 | Heading = heading; |
79 | PwmHeading = heading + 10; |
80 | PwmHeading = heading + 10; |
80 | // MicroMag.Heading = heading; |
81 | // MicroMag.Heading = heading; |
Line 98... | Line 99... | ||
98 | LED_ON; |
99 | LED_ON; |
Line 99... | Line 100... | ||
99 | 100 | ||
100 | UART_Init(); |
101 | UART_Init(); |
101 | Timer0_Init(); |
102 | Timer0_Init(); |
- | 103 | ADC_Init(); |
|
102 | ADC_Init(); |
104 | InitIC2_Slave(); |
103 | sei();//Globale Interrupts Einschalten |
105 | sei();//Globale Interrupts Einschalten |
104 | Debug_Timer = SetDelay(100); // Sendeintervall |
- | |
- | 106 | Debug_Timer = SetDelay(100); // Sendeintervall |
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Line 105... | Line 107... | ||
105 | InitIC2_Slave(0x50); |
107 | |
106 | 108 | ||
107 | OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
109 | OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4; |
Line 108... | Line 110... | ||
108 | OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
110 | OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4; |
109 | OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
111 | OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4; |
110 | 112 | ||
Line 111... | Line 113... | ||
111 | VersionInfo.Hauptversion = 0; |
113 | VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
112 | VersionInfo.Nebenversion = 3; |
114 | VersionInfo.Nebenversion = VERSION_NEBENVERSION; |