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| Rev 232 | Rev 235 | ||
|---|---|---|---|
| Line 46... | Line 46... | ||
| 46 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
46 | PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| Line 47... | Line 47... | ||
| 47 | 47 | ||
| 48 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
48 | if (MM3.AXIS == MM3_X) SPDR = 0x51; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| 49 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
49 | else if (MM3.AXIS == MM3_Y) SPDR = 0x52; // Micromag Period Select ist auf 1024 (0x50) |
| 50 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
- | |
| Line 51... | Line 50... | ||
| 51 | else {MM3.STATE == MM3_IDLE;break;} |
50 | else if (MM3.AXIS == MM3_Z) SPDR = 0x53; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| 52 | 51 | ||
| 53 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
52 | MM3.DRDY = SetDelay(15); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 1024) |
| Line 78... | Line 77... | ||
| 78 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
77 | if (MM3.AXIS == MM3_Z) {MM3.z_axis=SPDR; MM3.z_axis<<=8; SPDR=0x00; MM3.STATE=MM3_Z_BYTE2; break;} |
| Line 79... | Line 78... | ||
| 79 | 78 | ||
| 80 | case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da. |
79 | case MM3_X_BYTE2: // 2. Byte der entsprechenden Achse ist da. |
| 81 | MM3.x_axis |= SPDR; |
80 | MM3.x_axis |= SPDR; |
| 82 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
- | |
| 83 | //MM3.x_axis /= GAIN_X; |
81 | MM3.x_axis -= OFF_X; // Sofort Offset aus der Kalibrierung berücksichtigen |
| 84 | MM3.AXIS = MM3_Y; |
82 | MM3.AXIS = MM3_Y; |
| 85 | MM3.STATE = MM3_RESET; |
83 | MM3.STATE = MM3_RESET; |
| Line 86... | Line 84... | ||
| 86 | break; |
84 | break; |
| 87 | 85 | ||
| 88 | case MM3_Y_BYTE2: |
86 | case MM3_Y_BYTE2: |
| 89 | MM3.y_axis |= SPDR; |
- | |
| 90 | MM3.y_axis -= OFF_Y; |
87 | MM3.y_axis |= SPDR; |
| 91 | //MM3.y_axis /= GAIN_Y; |
88 | MM3.y_axis -= OFF_Y; |
| 92 | MM3.AXIS = MM3_Z; |
89 | MM3.AXIS = MM3_Z; |
| Line 93... | Line 90... | ||
| 93 | MM3.STATE = MM3_RESET; |
90 | MM3.STATE = MM3_RESET; |
| 94 | break; |
91 | break; |
| 95 | 92 | ||
| 96 | case MM3_Z_BYTE2: |
- | |
| 97 | MM3.z_axis |= SPDR; |
93 | case MM3_Z_BYTE2: |
| 98 | MM3.z_axis -= OFF_Z; |
94 | MM3.z_axis |= SPDR; |
| 99 | //MM3.z_axis /= GAIN_Z; |
95 | MM3.z_axis -= OFF_Z; |
| 100 | MM3.AXIS = MM3_X; |
96 | MM3.AXIS = MM3_X; |
| 101 | MM3.STATE = MM3_RESET; |
97 | MM3.STATE = MM3_RESET; |
| Line 119... | Line 115... | ||
| 119 | cos_roll = (float)cos_f(MM3.RollGrad); |
115 | cos_roll = (float)cos_f(MM3.RollGrad); |
| Line 120... | Line 116... | ||
| 120 | 116 | ||
| 121 | //Neigungskompensation |
117 | //Neigungskompensation |
| 122 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
118 | y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| - | 119 | x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
|
| 123 | x_corr = (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick) + (cos_nick * MM3.x_axis); |
120 | |
| 124 | //Winkelberechnung |
121 | //Winkelberechnung |
| Line 125... | Line 122... | ||
| 125 | heading = arctan_i(x_corr, y_corr); |
122 | heading = arctan_i(x_corr, y_corr); |
| 126 | 123 | ||