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Roulis v4

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This commit is contained in:
leo 2025-11-25 17:40:36 +01:00
parent 192147aa9e
commit 9e198138da
1 changed files with 9 additions and 8 deletions
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17
Services/roulis.c
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@ -4,7 +4,8 @@
#include <MySPI.h>
#include <MyTimer.h>
char x1,x2,y1,y2,z1,z2;
//char x1,x2
char y1,y2,z1,z2;
void MyRoulis_Init(void){
MySPI_Init(SPI1);
@ -33,11 +34,11 @@ void MyRoulis_Init(void){
void MyRoulis_Data(void){
// Récupération des registred DATAX0..DATAZ1 (6 registres)
MySPI_Clear_NSS(); // Début transmission X
MySPI_Send((0x32)|(0<<7)|(1<<6)); // On veut lire les 2 bytes DATAX
x1 = MySPI_Read(); // premier byte
x2 = MySPI_Read(); // deuxième byte
MySPI_Set_NSS(); // Fin transmission X
// MySPI_Clear_NSS(); // Début transmission X
// MySPI_Send((0x32)|(0<<7)|(1<<6)); // On veut lire les 2 bytes DATAX
// x1 = MySPI_Read(); // premier byte
// x2 = MySPI_Read(); // deuxième byte
// MySPI_Set_NSS(); // Fin transmission X
MySPI_Clear_NSS(); // Début transmission Y
MySPI_Send((0x34)|(0<<7)|(1<<6)); // On veut lire les 2 bytes DATAY
@ -54,9 +55,9 @@ void MyRoulis_Data(void){
float MyRoulis_Angle(){
//Calcul de l'angle alpha
int x = x1 + (x2 << 8);
//int x = x1 + (x2 << 8);
int y = y1 + (y2 << 8);
int z = z1 + (z2 << 8);
float alpha = atan( sqrtf(x*x + y*y) / z );
float alpha = atan(y / z); //sqrtf(x*x + y*y)
return alpha;
}