| 157,7 → 157,7 |
|---|
| //---------------------------------------------------------------- |
| void MK3MAG_SendCommand(u8 command) |
| { |
| // trya to catch the I2C buffer |
| // try to catch the I2C buffer |
| if(I2C_LockBuffer(0)) |
| { |
| u16 TxBytes = 0; |
| 279,17 → 279,17 |
|---|
| } |
| if(MK3MAG_WriteCal.CalByte == 2) |
| { |
| Compass_UpdateMagVector(); |
| if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 30; }; |
| if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 30; }; |
| if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 30; }; |
| if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 30; }; |
| MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); |
| if(MagVector.X > x_max) { x_max = MagVector.X; BeepTime = 30; }; |
| if(MagVector.Y > y_max) { y_max = MagVector.Y; BeepTime = 30; }; |
| if(MagVector.X < x_min) { x_min = MagVector.X; BeepTime = 30; }; |
| if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 30; }; |
| } |
| if(MK3MAG_WriteCal.CalByte == 4) |
| { |
| Compass_UpdateMagVector(); |
| if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 30; }; |
| if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 30; }; |
| MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); |
| if(MagVector.Z > z_max) { z_max = MagVector.Z; BeepTime = 30; }; |
| if(MagVector.Z < z_min) { z_min = MagVector.Z; BeepTime = 30; }; |
| } |
| else // request current heading |
| { |