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| Rev 340 | Rev 342 | ||
|---|---|---|---|
| Line 76... | Line 76... | ||
| 76 | s32 EarthMagneticFieldFiltered = 100; |
76 | s32 EarthMagneticFieldFiltered = 100; |
| 77 | s32 EarthMagneticInclination = 0; |
77 | s32 EarthMagneticInclination = 0; |
| 78 | s32 EarthMagneticInclinationFiltered = 0; |
78 | s32 EarthMagneticInclinationFiltered = 0; |
| 79 | s32 EarthMagneticInclinationTheoretic = 0; |
79 | s32 EarthMagneticInclinationTheoretic = 0; |
| 80 | u8 ErrorDisturbedEarthMagnetField = 0; |
80 | u8 ErrorDisturbedEarthMagnetField = 0; |
| - | 81 | s16 EarthMagneticStrengthTheoretic = 0; // in mT (50 in Germany - 22 in Brazil) |
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| Line 81... | Line 82... | ||
| 81 | 82 | ||
| 82 | #define COMPASS_NONE 0 |
83 | #define COMPASS_NONE 0 |
| 83 | #define COMPASS_MK3MAG 1 |
84 | #define COMPASS_MK3MAG 1 |
| 84 | #define COMPASS_NCMAG 2 |
85 | #define COMPASS_NCMAG 2 |
| Line 88... | Line 89... | ||
| 88 | { |
89 | { |
| 89 | switch(Compass_Device) |
90 | switch(Compass_Device) |
| 90 | { |
91 | { |
| 91 | case COMPASS_NONE: |
92 | case COMPASS_NONE: |
| 92 | UART1_PutString("\r\n Looking for compass"); |
93 | UART1_PutString("\r\n Looking for compass"); |
| - | 94 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
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| - | 95 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
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| - | 96 | ||
| 93 | if(Version_HW > 11) |
97 | /* if(Version_HW > 11) |
| 94 | { |
98 | { |
| 95 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
99 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| 96 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
100 | else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG; |
| 97 | } |
101 | } |
| 98 | else |
102 | else |
| 99 | { |
103 | { |
| 100 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
104 | if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG; |
| 101 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
105 | else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
| 102 | } |
106 | } |
| - | 107 | */ |
|
| 103 | break; |
108 | break; |
| Line 104... | Line 109... | ||
| 104 | 109 | ||
| 105 | case COMPASS_NCMAG: |
110 | case COMPASS_NCMAG: |
| 106 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |
111 | if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG; |