| 0,0 → 1,41 |
|---|
| #ifndef _COMPASS_H |
| #define _COMPASS_H |
| |
| // this is the abstract interface for the magnetometer/compass sensor |
| // below this there are different special sensors that are supported |
| |
| typedef struct |
| { |
| s16 X; |
| s16 Y; |
| s16 Z; |
| } __attribute__((packed)) s16vec_t; |
| |
| extern volatile s16vec_t MagVector; // current magnetic field vector |
| extern volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
| extern volatile s16vec_t MagVectorHorizontal; // vector componenents in horizontal projection |
| extern volatile s16 Compass_Heading; // current heading direction |
| extern volatile u8 Compass_CalState; // current calibration state |
| extern s32 EarthMagneticField; |
| extern s32 EarthMagneticFieldFiltered; |
| extern s32 EarthMagneticInclination; |
| extern s32 EarthMagneticInclinationFiltered; |
| extern s32 EarthMagneticInclinationTheoretic; |
| extern u8 ErrorDisturbedEarthMagnetField; |
| extern s16 EarthMagneticStrengthTheoretic; |
| |
| #define COMPASS_NONE 0 |
| #define COMPASS_MK3MAG 1 |
| #define COMPASS_NCMAG 2 |
| extern u8 Compass_Device; |
| extern I2C_TypeDef* Compass_I2CPort; |
| extern u32 CompassValueErrorCount; |
| |
| void Compass_Init(void); // initialization for compass sensor |
| void Compass_Check(void); // possible check for compass plausibility, called when FC gets calibrates |
| void Compass_Update(void); // updates sensor values, cyclic called |
| void Compass_CalcHeading(void); // calculates heading from magent vector componentes |
| void Compass_SetCalState(u8 CalState); // append to CalState queue |
| void Compass_UpdateCalState(void); // process CalState queue |
| |
| #endif // _COMPASS_H |