| 0,0 → 1,54 |
|---|
| |
| |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int y_axis; |
| signed int z_axis; |
| signed int x_axis_last_valid; |
| signed int y_axis_last_valid; |
| signed int z_axis_last_valid; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| |
| extern MM3_struct MM3; |
| |
| void init_spi(void); |
| void MM3_timer0(void); |
| signed int MM3_heading(void); |
| |
| #define Int2Grad_Faktor 1024 |
| |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| |
| |
| // Die Werte der Kompasskalibrierung |
| |
| #define MM3_Xmin -806 |
| #define MM3_Xmax 784 |
| #define MM3_Ymin -865 |
| #define MM3_Ymax 925 |
| #define MM3_Zmin -813 |
| #define MM3_Zmax 849 |
| |
| |
| |
| // Die Werte der Kompasskalibrierung |
| |
| // OFFSET: (Maximaler Wert + minimaler Wert) / 2 |
| #define OFF_X (MM3_Xmax + MM3_Xmin) /2 //-11 |
| #define OFF_Y (MM3_Ymax + MM3_Ymin) /2 //30 |
| #define OFF_Z (MM3_Zmax + MM3_Zmin) /2 //18 |