Subversion Repositories NaviCtrl

#ifndef __NCMAG_H
#define __NCMAG_H

#include "compass.h"
#include "i2c1.h"

extern s16vec_t ACC_Vector;
extern volatile s16vec_t MagRawVector;
extern volatile s16vec_t AccRawVector;

#define EEPROM_ADR_MAG_CALIBRATION_INTERN       50      // two calibrtion sets for extern and intern sensor
#define EEPROM_ADR_MAG_CALIBRATION_EXTERN   70

#define CALIBRATION_VERSION                     1
#define MAG_CALIBRATION_COMPATIBLE              0xA2

#define NCMAG_MIN_RAWVALUE -2047
#define NCMAG_MAX_RAWVALUE  2047
#define NCMAG_INVALID_DATA -4096

typedef struct
{
        s16 Range;
        s16 Offset;
} __attribute__((packed)) Scaling_t;

typedef struct
{
        Scaling_t MagX;
        Scaling_t MagY;
        Scaling_t MagZ;
        u8 Version;
        u8 crc;
} __attribute__((packed)) Calibration_t;

extern Calibration_t Calibration;               // calibration data in RAM

#define I2C_EXTERN_0    0
#define I2C_INTERN_1    1

extern u8 NCMAG_Init(void);
extern void NCMAG_Update(u8);
extern u8 NCMAG_Present;
extern u8 NCMAG_IsCalibrated;
extern u8 I2C_CompassPort;
extern u8 ExtCompassOrientation;


extern u8 *I2C_BufferPnt;
extern u8 *I2C_ErrorPnt;

typedef u8 (*I2C_TransmissionFunc_t) (u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes);
typedef u8 (*I2C_LockBufferFunc_t) (u32 timeout);
typedef u8 (*I2C_WaitForEndOfTransmissionFunc_t) (u32 timeout);

#endif // __NCMAG_H