Subversion Repositories MK3Mag

Rev

Rev 5 | Rev 8 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 5 Rev 7
Line 1... Line 1...
1 
/*#######################################################################################
 1 
/*#######################################################################################
2 
Flight Control
 2 
MK3Mag 3D-Magnet sensor
3 
#######################################################################################*/
 3 
#######################################################################################*/
4 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 4 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5 
// + Copyright (c) 04.2007 Holger Buss
 5 
// + Copyright (c) 05.2008 Holger Buss
- 
 
 6 
// + Thanks to Ilja Fähnrich
6 
// + Nur für den privaten Gebrauch
 7 
// + Nur für den privaten Gebrauch
7 
// + www.MikroKopter.com
 8 
// + www.MikroKopter.com
8 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 9 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
9 
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10 
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10 
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11 
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
Line 35... Line 36...
35 
// +     from this software without specific prior written permission.
 36 
// +     from this software without specific prior written permission.
36 
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
37 
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
37 
// +     for non-commercial use (directly or indirectly)
 38 
// +     for non-commercial use (directly or indirectly)
38 
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
39 
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
39 
// +     with our written permission
 40 
// +     with our written permission
40 
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41 
// +   * If sources or documentations are redistributet on other webpages, our webpage (http://www.MikroKopter.de) must be
- 
 
 42 
// +     clearly linked as origin
41 
// +     clearly linked as origin // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 43 
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
42 
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 44 
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
43 
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 45 
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
44 
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 46 
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
45 
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 47 
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
46 
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 48 
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Line 49... Line 51...
49 
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 51 
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
50 
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 52 
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
51 
// +  POSSIBILITY OF SUCH DAMAGE.
53 
// +  POSSIBILITY OF SUCH DAMAGE.
52 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 54 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 53... Line 55...
53 
 
 55 
 
54 
 signed int OffsetN, OffsetR, OffsetZ;
 - 
 
55 
/*
 - 
 
56 
 signed int CalTabelleHorizontalN[4] = {67,-450,77,-411};    // Vier Messwerte 90° Horizontal gedreht
 - 
 
57 
 signed int CalTabelleHorizontalR[4] = {-310,175,183,-333};  
 - 
 
58 
 signed int CalTabelleHorizontalZ[4] = {-100,-390,-400,100}; // Messwinkel des Z-Sensors auch horizontal gemessen
 - 
 
59 
*/
 - 
 
60 
 signed int CalTabelleHorizontalN[4] = {  75,-180,-440,-166};    // Vier Messwerte 90° Horizontal gedreht
 - 
 
61 
 signed int CalTabelleHorizontalR[4] = {  -5,-230,  66, 246};  
 - 
 
Line 62... Line 56...
62 
 signed int CalTabelleHorizontalZ[4] = {-290,-280,  44,  33}; // Messwinkel des Z-Sensors auch horizontal gemessen
 56 
signed int OffsetN, OffsetR, OffsetZ;
63 
 
 57 
 
64 
  signed int RawMagnet1a,RawMagnet1b;  // reine AD-Messung
 58 
  signed int RawMagnet1a,RawMagnet1b;  // raw AD-Data
- 
 
 59 
  signed int RawMagnet2a,RawMagnet2b;
65 
  signed int RawMagnet2a,RawMagnet2b;
 60 
  signed int RawMagnet3a,RawMagnet3b;
66 
  signed int RawMagnet3a,RawMagnet3b;
 61 
  signed int Xmin = 0, Xmax = 0; Ymin = 0, Ymax = 0; Zmin = 0, Zmax = 0;
67 
  signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ;  // Messwert-Delta ohne Offset- und Verstärker korrektur
 62 
  signed int UncalMagnetN,UncalMagnetR,UncalMagnetZ;  // Messwert-Delta ohne Offset- und Verstärker korrektur
68 
  signed int MagnetN,MagnetR,MagnetZ;                 // Kalibrierte Messerte
 63 
  signed int MagnetN,MagnetR,MagnetZ;
69 
  unsigned int PwmHeading = 0;
 64 
  unsigned int PwmHeading = 0;
70 
  unsigned char PC_Connected = 0;
 65 
  unsigned int PC_Connected = 0;
Line -... Line 66...
- 
 
 66 
  unsigned int Heading;
- 
 
 67 
#include "main.h"
- 
 
 68 
 
- 
 
 69 
uint16_t eeXmin EEMEM = 0;
- 
 
 70 
uint16_t eeXmax EEMEM = 0;
- 
 
 71 
uint16_t eeYmin EEMEM = 0;
- 
 
 72 
uint16_t eeYmax EEMEM = 0;
Line 71... Line 73...
71 
  int Heading;
 73 
uint16_t eeZmin EEMEM = 0;
72 
#include "main.h"
 74 
uint16_t eeZmax EEMEM = 0;
73 
 
 75 
 
74 
 
 76 
 
Line 80... Line 82...
80 
    dauer = (unsigned char)TCNT0 + dauer;
 82 
    dauer = (unsigned char)TCNT0 + dauer;
81 
    while((TCNT0 - dauer) & 0x80);
 83 
    while((TCNT0 - dauer) & 0x80);
82 
}
 84 
}
Line 83... Line 85...
83 
 
 85 
 
84 
void CalcFields(void)
 86 
void CalcFields(void)
85 
{
 87 
{
86 
 UncalMagnetN = (2 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 3;
 88 
 UncalMagnetN = (1 * UncalMagnetN + (RawMagnet1a - RawMagnet1b)) / 2;
87 
 UncalMagnetR = (2 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 3;
 89 
 UncalMagnetR = (1 * UncalMagnetR + (RawMagnet3a - RawMagnet3b)) / 2;
- 
 
 90 
 UncalMagnetZ = (1 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 2;
- 
 
 91 
 
- 
 
 92 
 OffsetN = (Xmin + Xmax) / 2;
- 
 
 93 
 OffsetR = (Ymin + Ymax) / 2;
- 
 
 94 
 OffsetZ = (Zmin + Zmax) / 2;
88 
 UncalMagnetZ = (2 * UncalMagnetZ + (RawMagnet2a - RawMagnet2b)) / 3;
 95 
 
89 
 MagnetN = UncalMagnetN - OffsetN;
 96 
 MagnetN = (1024L * (long)(UncalMagnetN - OffsetN)) / (Xmax - Xmin);
90 
 MagnetR = UncalMagnetR - OffsetR;
 97 
 MagnetR = (1024L * (long)(UncalMagnetR - OffsetR)) / (Ymax - Ymin);
91 
 MagnetZ = UncalMagnetZ - OffsetZ;
 98 
 MagnetZ = (1024L * (long)(UncalMagnetZ - OffsetZ)) / (Zmax - Zmin);
Line 92... Line -...
92 
}
 - 
 
93 
 
 99 
}
94 
//------------------------------------------------------
 100 
 
95 
void CalcHeading(void)
 101 
void CalcHeading(void)
96 
{
 - 
 
97 
   double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
 102 
{
Line 98... Line 103...
98 
   float nick, roll, XEx, XEy, YEy, YEz, YE, XE, XrawCal, YrawCal, ZrawCal, XEz;
 103 
   double nick_rad, roll_rad, Hx, Hy, Cx, Cy, Cz;
99 
   int heading, azimuthgrad;
 104 
   int heading;
100 
   
 - 
 
101 
   nick_rad = ((double)WinkelOut.Winkel[0]) * M_PI / (double)(180);
 105 
   
102 
   roll_rad = ((double)WinkelOut.Winkel[1]) * M_PI / (double)(180);
 - 
 
103 
   //roll_rad = 0;   nick_rad = 0;
 - 
 
104 
 
 - 
 
105 
/*
 - 
 
106 
   Cx =  (double) (MicroMag.Axis[Y_AXIS] + CY_OFFSET) * 0.707f - (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f;
 - 
 
107 
   Cy =  ((double) (MicroMag.Axis[Y_AXIS]+ CY_OFFSET) * 0.707f + (double) (MicroMag.Axis[X_AXIS]+ CX_OFFSET) * 0.707f);
 106 
   nick_rad = ((double)ExternData.Winkel[0]) * M_PI / (double)(1800);
108 
   Cz = -MicroMag.Axis[Z_AXIS] + CZ_OFFSET;
 107 
   roll_rad = ((double)ExternData.Winkel[1]) * M_PI / (double)(1800);
109 
*/
 108 
 
- 
 
 109 
   Cx = MagnetN;
- 
 
 110 
   Cy = MagnetR;
- 
 
 111 
   Cz = MagnetZ;
- 
 
 112 
 
- 
 
 113 
 if(ExternData.Orientation == 1)
- 
 
 114 
  {
- 
 
 115 
   Cx = MagnetR;
110 
   Cx = MagnetN;
 116 
   Cy = -MagnetN;
111 
   Cy = MagnetR;
 117 
   Cz = MagnetZ;
112 
   Cz = -MagnetZ;
 118 
  }
113 
   
 119 
 
Line 114... Line 120...
114 
   Hx = Cx * (double)cos(nick_rad) +
 120 
   Hx = Cx * (double)cos(nick_rad) +
115 
        Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
 121 
        Cy * (double)sin(nick_rad) * (double)sin(roll_rad) -
Line 116... Line 122...
116 
        Cz * (double)sin(nick_rad) * (double)cos(roll_rad);      
 122 
        Cz * (double)sin(nick_rad) * (double)cos(roll_rad);      
117 
               
 123 
               
118 
   Hy = Cy * (double)cos(roll_rad) +
 124 
   Hy = Cy * (double)cos(roll_rad) +
119 
        Cz * (double)sin(roll_rad);
 125 
        Cz * (double)sin(roll_rad);
120 
 
 126 
 
Line 121... Line -...
121 
               
 - 
 
122 
   if(Hx == 0 && Hy < 0) heading = 90;
 - 
 
123 
   else if(Hx == 0 && Hy > 0) heading = 270;
 - 
 
124 
   else if(Hx < 0) heading  = 180 - (atan(Hy / Hx) * 180 / M_PI);
 127 
               
125 
   else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180 / M_PI);
 - 
 
126 
   else if(Hx > 0 && Hy > 0) heading  = 360 - (atan(Hy / Hx) * 180 / M_PI);
 128 
   if(Hx == 0 && Hy < 0) heading = 90;
127 
 
 - 
 
128 
  // DebugOut.Analog[14] = heading;
 - 
 
129 
  // if (FromFlightCtrl.IntegralNick > 0) heading = heading + FromFlightCtrl.IntegralNick/60;
 129 
   else if(Hx == 0 && Hy > 0) heading = 270;
Line -... Line 130...
- 
 
 130 
   else if(Hx < 0) heading  = 180 - (atan(Hy / Hx) * 180.0) / M_PI;
- 
 
 131 
   else if(Hx > 0 && Hy < 0) heading = - (atan(Hy / Hx) * 180.0) / M_PI;
- 
 
 132 
   else if(Hx > 0 && Hy > 0) heading  = 360 - (atan(Hy / Hx) * 180.0) / M_PI;
- 
 
 133 
 
- 
 
 134 
 if(abs(heading) < 361) Heading = heading;
- 
 
 135 
 PwmHeading = Heading + 10;
- 
 
 136 
}
- 
 
 137 
 
- 
 
 138 
 
- 
 
 139 
void Calibrate(void)
- 
 
 140 
{
- 
 
 141 
 unsigned char cal;
- 
 
 142 
 if(I2C_WriteCal.CalByte) cal = I2C_WriteCal.CalByte;
- 
 
 143 
 else                     cal = ExternData.CalState;
- 
 
 144 
 switch(cal)
- 
 
 145 
  {
- 
 
 146 
   case 0:
- 
 
 147 
                LED_ON;
- 
 
 148 
          break;
- 
 
 149 
   case 1:
- 
 
 150 
        Xmin =  10000;
- 
 
 151 
        Xmax = -10000;
- 
 
 152 
        Ymin =  10000;
- 
 
 153 
        Ymax = -10000;
- 
 
 154 
        Zmin =  10000;
- 
 
 155 
        Zmax = -10000;
- 
 
 156 
                LED_OFF;
- 
 
 157 
          break;
- 
 
 158 
   case 2:
- 
 
 159 
                LED_ON;  // find Min and Max of the X- and Y-Sensors
- 
 
 160 
              if(UncalMagnetN < Xmin) Xmin = UncalMagnetN;
- 
 
 161 
              if(UncalMagnetN > Xmax) Xmax = UncalMagnetN;
- 
 
 162 
              if(UncalMagnetR < Ymin) Ymin = UncalMagnetR;
- 
 
 163 
              if(UncalMagnetR > Ymax) Ymax = UncalMagnetR;
- 
 
 164 
          break;
- 
 
 165 
   case 3:
- 
 
 166 
                LED_OFF;
- 
 
 167 
          break;
- 
 
 168 
   case 4:
- 
 
 169 
                LED_ON;  // find Min and Max of the Z-Sensor
- 
 
 170 
          if(UncalMagnetZ < Zmin) Zmin = UncalMagnetZ;
- 
 
 171 
              if(UncalMagnetZ > Zmax) Zmax = UncalMagnetZ;
- 
 
 172 
          break;
- 
 
 173 
   case 5:
- 
 
 174 
                LED_OFF; // Save values
- 
 
 175 
         if((Xmax - Xmin) > 150 && (Ymax - Ymin) > 150 && (Zmax - Zmin) > 150)
- 
 
 176 
          {
- 
 
 177 
               eeprom_write_word(&eeXmin, Xmin);
- 
 
 178 
               eeprom_write_word(&eeXmax, Xmax);
- 
 
 179 
               eeprom_write_word(&eeYmin, Ymin);
- 
 
 180 
               eeprom_write_word(&eeYmax, Ymax);
- 
 
 181 
               eeprom_write_word(&eeZmin, Zmin);
- 
 
 182 
               eeprom_write_word(&eeZmax, Zmax);
- 
 
 183 
           Delay_ms(2000);
- 
 
 184 
          }
- 
 
 185 
                LED_ON;
- 
 
 186 
        break;
- 
 
 187 
  }
- 
 
 188 
}
- 
 
 189 
 
- 
 
 190 
 
- 
 
 191 
void SetDebugValues(void)
- 
 
 192 
{
- 
 
 193 
         DebugOut.Analog[0] =  MagnetN;
- 
 
 194 
         DebugOut.Analog[1] =  MagnetR;
- 
 
 195 
         DebugOut.Analog[2] =  MagnetZ;
- 
 
 196 
                 DebugOut.Analog[3] =  UncalMagnetN;
- 
 
 197 
                 DebugOut.Analog[4] =  UncalMagnetR;
- 
 
 198 
                 DebugOut.Analog[5] =  UncalMagnetZ;             
- 
 
 199 
         DebugOut.Analog[6] =  ExternData.Winkel[0];
- 
 
 200 
         DebugOut.Analog[7] =  ExternData.Winkel[1];
- 
 
 201 
                 DebugOut.Analog[8] =  Xmin;
- 
 
 202 
                 DebugOut.Analog[9] =  Xmax;
- 
 
 203 
                 DebugOut.Analog[10] = Ymin;   
Line 130... Line 204...
130 
   
 204 
                 DebugOut.Analog[11] = Ymax;
131 
 if(heading < 361) DebugOut.Analog[14] = heading;
 205 
                 DebugOut.Analog[12] = Zmin;
132 
 Heading = heading;
 206 
                 DebugOut.Analog[13] = Zmax;   
133 
 PwmHeading = heading + 10;
 207 
                 DebugOut.Analog[14] = ExternData.CalState;
Line 156... Line 230...
156 
    ADC_Init();
 230 
    ADC_Init();
157 
        InitIC2_Slave();
 231 
        InitIC2_Slave();
158 
    sei();//Globale Interrupts Einschalten
 232 
    sei();//Globale Interrupts Einschalten
159 
    Debug_Timer = SetDelay(100);   // Sendeintervall    
 233 
    Debug_Timer = SetDelay(100);   // Sendeintervall    
Line 160... Line -...
160 
                           
 - 
 
161 
 
 234 
                           
- 
 
 235 
        Xmin = eeprom_read_word(&eeXmin);
162 
    OffsetN = (CalTabelleHorizontalN[0] + CalTabelleHorizontalN[1] + CalTabelleHorizontalN[2] + CalTabelleHorizontalN[3]) / 4;
 236 
        Xmax = eeprom_read_word(&eeXmax);
- 
 
 237 
        Ymin = eeprom_read_word(&eeYmin);
163 
    OffsetR = (CalTabelleHorizontalR[0] + CalTabelleHorizontalR[1] + CalTabelleHorizontalR[2] + CalTabelleHorizontalR[3]) / 4;
 238 
        Ymax = eeprom_read_word(&eeYmax);
- 
 
 239 
        Zmin = eeprom_read_word(&eeZmin);
Line 164... Line 240...
164 
    OffsetZ = (CalTabelleHorizontalZ[0] + CalTabelleHorizontalZ[1] + CalTabelleHorizontalZ[2] + CalTabelleHorizontalZ[3]) / 4;
 240 
        Zmax = eeprom_read_word(&eeZmax);
165 
 
 241 
 
166 
    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
 242 
    VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
Line -... Line 243...
- 
 
 243 
    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
- 
 
 244 
    VersionInfo.PCKompatibel = 7;
- 
 
 245 
 
Line 167... Line 246...
167 
    VersionInfo.Nebenversion = VERSION_NEBENVERSION;
 246 
    ExternData.Orientation = 0;
168 
    VersionInfo.PCKompatibel = 7;
 247 
    ExternData.CalState = 0;
169 
 
 - 
 
170 
       
 248 
    I2C_WriteCal.CalByte = 0;
171 
    while (1)
 249 
       
172 
        {
 250 
    while (1)
173 
    LED_ON;
 251 
        {
174 
         FLIP_LOW;
 252 
         FLIP_LOW;
175 
         Delay_ms(2);
 253 
         Delay_ms(2);
176 
         RawMagnet1a = MessAD(0);
 254 
         RawMagnet1a = MessAD(0);
177 
         RawMagnet2a = MessAD(1);
 255 
         RawMagnet2a = -MessAD(1);
178 
         RawMagnet3a = MessAD(7);
 256 
         RawMagnet3a = MessAD(7);
179 
         Delay_ms(1);
 257 
         Delay_ms(1);
180 
LED_OFF;
 258 
 
181 
         FLIP_HIGH;
 259 
         FLIP_HIGH;
182 
         Delay_ms(2);
 260 
         Delay_ms(2);
Line 183... Line 261...
183 
         RawMagnet1b = MessAD(0);
 261 
         RawMagnet1b = MessAD(0);
184 
         RawMagnet2b = MessAD(1);
 - 
 
185 
         RawMagnet3b = MessAD(7);
 - 
 
186 
         Delay_ms(1);
 - 
 
187 
 
 - 
 
188 
         CalcFields();
 - 
 
189 
         DebugOut.Analog[0] = MagnetN;
 - 
 
190 
         DebugOut.Analog[1] = MagnetR;
 - 
 
191 
         DebugOut.Analog[2] = MagnetZ;
 - 
 
192 
         DebugOut.Analog[3] = UncalMagnetN;
 - 
 
193 
         DebugOut.Analog[4] = UncalMagnetR;
 - 
 
194 
         DebugOut.Analog[5] = UncalMagnetZ;
 - 
 
195 
/*
 - 
 
196 
         DebugOut.Analog[3] = RawMagnet1a;
 - 
 
197 
         DebugOut.Analog[4] = RawMagnet1b;
 - 
 
198 
         DebugOut.Analog[5] = RawMagnet3a;
 262 
         RawMagnet2b = -MessAD(1);
199 
         DebugOut.Analog[6] = RawMagnet3b;*/
 - 
 
200 
         DebugOut.Analog[6] = WinkelOut.Winkel[0];
 - 
 
201 
         DebugOut.Analog[7] = WinkelOut.Winkel[1];
 - 
 
202 
 
 - 
 
203 
         DebugOut.Analog[8] =  WinkelOut.UserParameter[0];
 - 
 
204 
         DebugOut.Analog[9] =  WinkelOut.UserParameter[1];
 263 
         RawMagnet3b = MessAD(7);
205 
         DebugOut.Analog[10] = WinkelOut.UserParameter[2];
 264 
         Delay_ms(1);
206 
         DebugOut.Analog[11] = WinkelOut.UserParameter[3];
 - 
 
- 
 
 265 
 
207 
 
 266 
         CalcFields();
208 
 
 267 
         if(ExternData.CalState || I2C_WriteCal.CalByte) Calibrate();
- 
 
 268 
         else CalcHeading();
209 
         CalcHeading();
 269 
         BearbeiteRxDaten();
210 
         BearbeiteRxDaten();
 270 
 
211 
         PC_Connected = 100;
 271 
         if(PC_Connected)
212 
         if(PC_Connected)
 272 
          {
213 
          {
 273 
            DDRD  |= 0x02; // TXD-Portpin
214 
            PC_Connected--;        
 274 
                UCR |= (1 << TXEN);
- 
 
 275 
            DatenUebertragung();
215 
            DatenUebertragung();
 276 
            PC_Connected--;        
216 
            DDRD  |= 0x02; // TXD-Leitung
 277 
          }  
217 
          }  
 278 
          else
218 
          else
 279 
           {