Rev 726 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 726 | Rev 727 | ||
|---|---|---|---|
| Line 117... | Line 117... | ||
| 117 | void MM3_Update() // called every 102.4 ms by timer 0 ISR |
117 | void MM3_Update() // called every 102.4 ms by timer 0 ISR |
| 118 | { |
118 | { |
| 119 | switch (MM3.STATE) |
119 | switch (MM3.STATE) |
| 120 | { |
120 | { |
| 121 | case MM3_STATE_RESET: |
121 | case MM3_STATE_RESET: |
| - | 122 | PORTC &= ~(1<<PORTC4); // select slave |
|
| 122 | PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
123 | PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
| 123 | MM3.STATE = MM3_STATE_START_TRANSFER; |
124 | MM3.STATE = MM3_STATE_START_TRANSFER; |
| 124 | return; |
125 | return; |
| Line 125... | Line 126... | ||
| 125 | 126 | ||
| Line 191... | Line 192... | ||
| 191 | default: |
192 | default: |
| 192 | MM3.AXIS = MM3_X_AXIS; |
193 | MM3.AXIS = MM3_X_AXIS; |
| 193 | break; |
194 | break; |
| 194 | } |
195 | } |
| 195 | } |
196 | } |
| - | 197 | PORTC |= (1<<PORTC4); // deselect slave |
|
| 196 | MM3.STATE = MM3_STATE_RESET; |
198 | MM3.STATE = MM3_STATE_RESET; |
| 197 | } |
199 | } |
| 198 | } |
200 | } |
| Line 323... | Line 325... | ||
| 323 | Hy_corr /= 8192; |
325 | Hy_corr /= 8192; |
| Line 324... | Line 326... | ||
| 324 | 326 | ||
| 325 | // calculate Heading |
327 | // calculate Heading |
| Line 326... | Line 328... | ||
| 326 | heading = c_atan2(Hy_corr, Hx_corr); |
328 | heading = c_atan2(Hy_corr, Hx_corr); |
| - | 329 | ||
| 327 | 330 | // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
|
| 328 | // transform range from +-180° to 0°- 359° |
331 | // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| Line 329... | Line 332... | ||
| 329 | heading += 360; |
332 | if (heading < 0) heading = -heading; |
| 330 | heading %= 360; |
333 | else heading = 360 - heading; |