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| Rev 312 | Rev 321 | ||
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| Line 563... | Line 563... | ||
| 563 | 563 | ||
| 564 | // -------------------------------------------------------- |
564 | // -------------------------------------------------------- |
| 565 | void NCMAG_Update(void) |
565 | void NCMAG_Update(void) |
| 566 | { |
566 | { |
| - | 567 | static u32 TimerUpdate = 0; |
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| Line 567... | Line 568... | ||
| 567 | static u32 TimerUpdate = 0; |
568 | static u8 send_config = 0; |
| 568 | 569 | ||
| 569 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
570 | if( (I2C_State == I2C_STATE_OFF) || !NCMAG_Present ) |
| 570 | { |
571 | { |
| 571 | Compass_Heading = -1; |
572 | Compass_Heading = -1; |
| Line 572... | Line 573... | ||
| 572 | return; |
573 | return; |
| 573 | } |
574 | } |
| - | 575 | ||
| - | 576 | if(CheckDelay(TimerUpdate)) |
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| - | 577 | { |
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| - | 578 | if(++send_config == 100) // every two seconds |
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| - | 579 | { |
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| - | 580 | send_config = 0; |
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| - | 581 | MagConfig.mode = MODE_CONTINUOUS; |
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| - | 582 | // activate positive bias field |
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| - | 583 | NCMAG_SetMagConfig(); |
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| - | 584 | TimerUpdate = SetDelay(15); // back into the old time-slot |
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| 574 | 585 | } |
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| 575 | if(CheckDelay(TimerUpdate)) |
586 | else |
| 576 | { |
587 | { |
| 577 | // check for new calibration state |
588 | // check for new calibration state |
| - | 589 | Compass_UpdateCalState(); |
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| 578 | Compass_UpdateCalState(); |
590 | if(Compass_CalState) NCMAG_Calibrate(); |
| - | 591 | NCMAG_GetMagVector(); //Get new data; |
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| 579 | if(Compass_CalState) NCMAG_Calibrate(); |
592 | if(send_config == 99) TimerUpdate = SetDelay(5); // next event is the re-configuration |
| 580 | NCMAG_GetMagVector(); //Get new data; |
593 | else TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
| Line 581... | Line 594... | ||
| 581 | TimerUpdate = SetDelay(20); // every 20 ms are 50 Hz |
594 | } |
| 582 | } |
595 | } |