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//############################################################################
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//############################################################################
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// Initialisierung
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// Initialisierung
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void init_MM3(void)
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void init_MM3(void)
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//############################################################################
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//############################################################################
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{
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{
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        SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1);  //Interrupt an, Master, 625 kHz Oszillator
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        SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0);        //Interrupt an, Master, 156 kHz Oszillator
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        SPSR = (1<<SPI2X);
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        //SPSR = (1<<SPI2X);
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    DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
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    DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang
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        case MM3_START_TRANSFER:
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        case MM3_START_TRANSFER:
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                PORTB &= ~(1<<PB2);     // J8 auf Low (war ~125 µs auf High)           
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                PORTB &= ~(1<<PB2);     // J8 auf Low (war ~125 µs auf High)           
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                if (MM3.AXIS == MM3_X) SPDR = 0x31;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
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                if (MM3.AXIS == MM3_X) SPDR = 0x31;                     // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus
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                else if (MM3.AXIS == MM3_Y) SPDR = 0x32;                // Micromag Period Select ist auf 256 (0x30)
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                else if (MM3.AXIS == MM3_Y) SPDR = 0x32;                // Micromag Period Select ist auf 256 (0x30)
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                else if (MM3.AXIS == MM3_Z) SPDR = 0x33;                // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
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                else SPDR = 0x33;       //if (MM3.AXIS == MM3_Z)        // 1: x-Achse, 2: Y-Achse, 3: Z-Achse
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                MM3.DRDY = SetDelay(5);         // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms)
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                MM3.DRDY = SetDelay(8);         // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms)
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                MM3.STATE = MM3_WAIT_DRDY;
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                MM3.STATE = MM3_WAIT_DRDY;
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                return;
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                return;
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signed int heading_MM3(void)
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signed int heading_MM3(void)
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//############################################################################
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//############################################################################
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{
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{
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        float sin_nick, cos_nick, sin_roll, cos_roll;
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        float sin_nick, cos_nick, sin_roll, cos_roll;
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        float x_corr, y_corr;
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        float x_corr, y_corr;
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        signed int x_axis,y_axis,z_axis, heading;
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        signed int x_axis,y_axis,z_axis, heading, nicktilt, rolltilt;
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        unsigned int div_faktor;
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        unsigned int div_faktor;
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        div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8;
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        div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8;
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        // Berechung von sinus und cosinus
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        MM3.NickGrad = (IntegralNick/div_faktor);
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        // Berechung von sinus und cosinus
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        //MM3.NickGrad = asin_i(MM3.NickGrad);
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        nicktilt = (IntegralNick/div_faktor);
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        sin_nick = sin_f(MM3.NickGrad);
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        sin_nick = sin_f(nicktilt);
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        cos_nick = cos_f(MM3.NickGrad);
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        cos_nick = cos_f(nicktilt);
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        MM3.RollGrad = (IntegralRoll/div_faktor);
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        //MM3.RollGrad = asin_i(MM3.RollGrad);
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        rolltilt = (IntegralRoll/div_faktor);
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        sin_roll = sin_f(MM3.RollGrad);
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        sin_roll = sin_f(rolltilt);
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        cos_roll = cos_f(MM3.RollGrad);
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        cos_roll = cos_f(rolltilt);
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        // Offset
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        // Offset