/branches/MK3Mag V0.14 Code Redesign Killagreg/main.c |
---|
72,24 → 72,24 |
uint16_t Led_Timer = 0; |
struct Scaling_t |
typedef struct |
{ |
int16_t Range; |
int16_t Offset; |
} ; |
} Scaling_t; |
struct Calibration_t |
typedef struct |
{ |
struct Scaling_t MagX; |
struct Scaling_t MagY; |
struct Scaling_t MagZ; |
struct Scaling_t AccX; |
struct Scaling_t AccY; |
struct Scaling_t AccZ; |
}; |
Scaling_t MagX; |
Scaling_t MagY; |
Scaling_t MagZ; |
Scaling_t AccX; |
Scaling_t AccY; |
Scaling_t AccZ; |
} Calibration_t; |
struct Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
struct Calibration_t Calibration; // calibration data in RAM |
Calibration_t eeCalibration EEMEM; // calibration data in EEProm |
Calibration_t Calibration; // calibration data in RAM |
// magnet sensor variable |
int16_t RawMagnet1a, RawMagnet1b; // raw magnet sensor data |
455,7 → 455,7 |
if(NC_Connected) NC_Connected--; |
if(FC_Connected) FC_Connected--; |
// fall back to attitude estimation from acc sensor if NC or FC does'nt send attittude data |
if(!NC_Connected && ! NC_Connected) |
if(!FC_Connected && ! NC_Connected) |
{ |
AttitudeSource = ATTITUDE_SOURCE_ACC; |
Orientation = ORIENTATION_FC; |
/branches/MK3Mag V0.14 Code Redesign Killagreg/twislave.c |
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71,11 → 71,11 |
volatile uint8_t I2C_PrimRxBuffer[10]; |
uint8_t NC_Connected = 0; |
struct I2C_Heading_t I2C_Heading; |
struct I2C_WriteAttitude_t I2C_WriteAttitude; |
struct I2C_Mag_t I2C_Mag; |
struct I2C_Version_t I2C_Version; |
struct I2C_WriteCal_t I2C_WriteCal; |
I2C_Heading_t I2C_Heading; |
I2C_WriteAttitude_t I2C_WriteAttitude; |
I2C_Mag_t I2C_Mag; |
I2C_Version_t I2C_Version; |
I2C_WriteCal_t I2C_WriteCal; |
void I2C_Init(void) |
/branches/MK3Mag V0.14 Code Redesign Killagreg/twislave.h |
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14,46 → 14,46 |
#define I2C_CMD_READ_EEPROM 0x0B |
struct I2C_Version_t |
typedef struct |
{ |
uint8_t Major; |
uint8_t Minor; |
uint8_t Compatible; |
} ; |
} I2C_Version_t; |
struct I2C_Mag_t |
typedef struct |
{ |
int16_t MagX; |
int16_t MagY; |
int16_t MagZ; |
} ; |
} I2C_Mag_t; |
struct I2C_WriteAttitude_t |
typedef struct |
{ |
int16_t Nick; |
int16_t Roll; |
} ; |
} I2C_WriteAttitude_t; |
struct I2C_WriteCal_t |
typedef struct |
{ |
uint8_t CalByte; |
uint8_t Dummy1; |
uint8_t Dummy2; |
} ; |
} I2C_WriteCal_t; |
struct I2C_Heading_t |
typedef struct |
{ |
int16_t Heading; |
} ; |
} I2C_Heading_t; |
extern uint8_t NC_Connected; |
extern struct I2C_Heading_t I2C_Heading; |
extern struct I2C_WriteAttitude_t I2C_WriteAttitude; |
extern struct I2C_Mag_t I2C_Mag; |
extern struct I2C_Version_t I2C_Version; |
extern struct I2C_WriteCal_t I2C_WriteCal; |
extern I2C_Heading_t I2C_Heading; |
extern I2C_WriteAttitude_t I2C_WriteAttitude; |
extern I2C_Mag_t I2C_Mag; |
extern I2C_Version_t I2C_Version; |
extern I2C_WriteCal_t I2C_WriteCal; |
void I2C_Init(void); |
/branches/MK3Mag V0.14 Code Redesign Killagreg/uart.c |
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90,10 → 90,10 |
uint8_t MySlaveAddr = 0; |
struct DebugOut_t DebugOut; |
struct ExternData_t ExternData; |
struct ExternControl_t ExternControl; |
struct VersionInfo_t VersionInfo; |
DebugOut_t DebugOut; |
ExternData_t ExternData; |
ExternControl_t ExternControl; |
VersionInfo_t VersionInfo; |
uint16_t Debug_Timer; |
/branches/MK3Mag V0.14 Code Redesign Killagreg/uart.h |
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23,28 → 23,28 |
struct DebugOut_t |
typedef struct |
{ |
uint8_t Digital[2]; |
uint16_t Analog[32]; // Debugvalues |
} ; |
} DebugOut_t; |
extern struct DebugOut_t DebugOut; |
extern DebugOut_t DebugOut; |
struct ExternData_t |
typedef struct |
{ |
int16_t Attitude[2]; // nick and roll angle in 0.1 deg |
uint8_t UserParam[2]; |
uint8_t CalState; |
uint8_t Orientation; |
} ; |
} ExternData_t; |
extern struct ExternData_t ExternData; |
extern ExternData_t ExternData; |
struct ExternControl_t |
typedef struct |
{ |
uint8_t Digital[2]; |
uint8_t RemoteButtons; |
56,12 → 56,12 |
uint8_t Par1; |
uint8_t Par2; |
uint8_t Par3; |
} ; |
} ExternControl_t; |
extern struct ExternControl_t ExternControl; |
extern ExternControl_t ExternControl; |
struct VersionInfo_t |
typedef struct |
{ |
uint8_t Major; |
uint8_t Minor; |
69,7 → 69,7 |
uint8_t Reserved[7]; |
} VersionInfo_t; |
extern struct VersionInfo_t VersionInfo; |
extern VersionInfo_t VersionInfo; |
extern uint8_t PC_Connected; |
extern uint8_t FC_Connected; |