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| 1 | #ifndef _COMPASS_H |
1 | #ifndef _COMPASS_H |
| 2 | #define _COMPASS_H |
2 | #define _COMPASS_H |
| Line -... | Line 3... | ||
| - | 3 | ||
| - | 4 | // this is the apstract interface for the magnetometer/compass sensor |
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| - | 5 | // below this there are different special sensors that are supported |
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| 3 | 6 | ||
| 4 | typedef struct |
7 | typedef struct |
| 5 | { |
8 | { |
| 6 | s16 X; |
9 | s16 X; |
| 7 | s16 Y; |
10 | s16 Y; |
| 8 | s16 Z; |
11 | s16 Z; |
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| 9 | } __attribute__((packed)) s16vec_t; |
12 | } __attribute__((packed)) s16vec_t; |
| - | 13 | ||
| 10 | 14 | extern volatile s16vec_t MagVector; // current magnetic field vector |
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| 11 | extern volatile s16vec_t MagVector; // current magnetic field vector |
15 | extern volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version |
| 12 | extern volatile s16 Compass_Heading; // current heading direction |
16 | extern volatile s16 Compass_Heading; // current heading direction |
| 13 | extern volatile u8 Compass_CalState; // current calibration state |
17 | extern volatile u8 Compass_CalState; // current calibration state |
| 14 | extern s32 EarthMagneticField; |
18 | extern s32 EarthMagneticField; |
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| 22 | 26 | ||
| 23 | #define COMPASS_NONE 0 |
27 | #define COMPASS_NONE 0 |
| 24 | #define COMPASS_MK3MAG 1 |
28 | #define COMPASS_MK3MAG 1 |
| 25 | #define COMPASS_NCMAG 2 |
29 | #define COMPASS_NCMAG 2 |
| - | 30 | extern u8 Compass_Device; |
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| 26 | extern u8 Compass_Device; |
31 | extern I2C_TypeDef* Compass_I2CPort; |
| - | 32 | ||
| 27 | 33 | void Compass_Init(void); // initialization for compass sensor |
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| 28 | void Compass_Init(void); |
34 | void Compass_Check(void); // possible check for compass plausibility, called when FC gets calibrates |
| 29 | void Compass_Update(void); |
35 | void Compass_Update(void); // updates sensor values, cyclic called |
| 30 | void Compass_CalcHeading(void); |
36 | void Compass_CalcHeading(void); // calculates heading from magent vector componentes |
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| 31 | void Compass_SetCalState(u8 CalState); |
37 | void Compass_SetCalState(u8 CalState); // append to CalState queue |