Subversion Repositories NaviCtrl

#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