Rev 308 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
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| 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 |
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 | */ |
14 | */ |
| - | 15 | ||
| Line 15... | Line 16... | ||
| 15 | 16 | #include "main.h" |
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| Line 16... | Line 17... | ||
| 16 | #include "main.h" |
17 | #include "math.h" |
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| 61 | case MM3_WAIT_DRDY: |
62 | case MM3_WAIT_DRDY: |
| 62 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
63 | if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| 63 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
64 | return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| Line 64... | Line 65... | ||
| 64 | 65 | ||
| 65 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
66 | case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| 66 | MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
67 | MM3.NickGrad = IntegralNick/(120*8); |
| Line 67... | Line 68... | ||
| 67 | MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
68 | MM3.RollGrad = IntegralRoll/(120*8); |
| 68 | 69 | ||
| 69 | MM3.AXIS = MM3_X; |
70 | MM3.AXIS = MM3_X; |
| 70 | MM3.STATE = MM3_RESET; |
71 | MM3.STATE = MM3_RESET; |
| Line 132... | Line 133... | ||
| 132 | float sin_nick, cos_nick, sin_roll, cos_roll; |
133 | float sin_nick, cos_nick, sin_roll, cos_roll; |
| 133 | signed int x_corr, y_corr; |
134 | signed int x_corr, y_corr; |
| 134 | signed int heading; |
135 | signed int heading; |
| Line 135... | Line 136... | ||
| 135 | 136 | ||
| 136 | // Berechung von sinus und cosinus |
137 | // Berechung von sinus und cosinus |
| 137 | sin_nick = sin_i(MM3.NickGrad); |
138 | sin_nick = sin_f(MM3.NickGrad); |
| 138 | cos_nick = cos_i(MM3.NickGrad); |
139 | cos_nick = cos_f(MM3.NickGrad); |
| 139 | sin_roll = sin_i(MM3.RollGrad); |
140 | sin_roll = sin_f(MM3.RollGrad); |
| Line 140... | Line 141... | ||
| 140 | cos_roll = cos_i(MM3.RollGrad); |
141 | cos_roll = cos_f(MM3.RollGrad); |
| 141 | 142 | ||
| 142 | // Neigungskompensation |
143 | // Neigungskompensation |