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1 | 1 | ||
2 | 2 | ||
3 | typedef struct |
3 | typedef struct |
4 | { |
4 | { |
5 | unsigned char STATE; |
5 | uint8_t STATE; |
6 | unsigned int DRDY; |
6 | unsigned int DRDY; |
7 | unsigned char AXIS; |
7 | uint8_t AXIS; |
8 | signed int x_axis; |
8 | signed int x_axis; |
9 | signed int y_axis; |
9 | signed int y_axis; |
10 | signed int z_axis; |
10 | signed int z_axis; |
- | 11 | signed int NickGrad; |
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- | 12 | signed int RollGrad; |
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11 | }MM3_struct; |
13 | }MM3_struct; |
12 | 14 | ||
13 | extern MM3_struct MM3; |
15 | extern MM3_struct MM3; |
14 | 16 | ||
15 | void init_spi(void); |
17 | void init_spi(void); |
16 | void MM3_timer0(void); |
18 | void MM3_timer0(void); |
- | 19 | signed int MM3_heading(void); |
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- | 20 | ||
- | 21 | #define Int2Grad_Faktor 1024 |
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- | 22 | ||
17 | 23 | // Die Werte der Statemachine |
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18 | #define MM3_RESET 0 |
24 | #define MM3_RESET 0 |
19 | #define MM3_START_TRANSFER 1 |
25 | #define MM3_START_TRANSFER 1 |
20 | #define MM3_WAIT_DRDY 2 |
26 | #define MM3_WAIT_DRDY 2 |
21 | #define MM3_DRDY 3 |
27 | #define MM3_DRDY 3 |
22 | #define MM3_X_BYTE2 4 |
28 | #define MM3_X_BYTE2 4 |
23 | #define MM3_Y_BYTE2 5 |
29 | #define MM3_Y_BYTE2 5 |
24 | #define MM3_Z_BYTE2 6 |
30 | #define MM3_Z_BYTE2 6 |
25 | #define MM3_X 7 |
31 | #define MM3_X 7 |
26 | #define MM3_Y 8 |
32 | #define MM3_Y 8 |
27 | #define MM3_Z 9 |
33 | #define MM3_Z 9 |
28 | #define MM3_IDLE 255 |
34 | #define MM3_IDLE 255 |
- | 35 | ||
- | 36 | ||
- | 37 | // Die Werte der Kompasskalibrierung |
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- | 38 | #define RANGE_X 1161 |
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- | 39 | #define RANGE_Y 1209 |
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- | 40 | #define RANGE_Z 1276 |
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29 | 41 | ||
30 | #define PS2 6 |
42 | #define OFF_X -46 |
31 | #define PS1 5 |
43 | #define OFF_Y 52 |
- | 44 | #define OFF_Z 25 |
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- | 45 | ||
32 | #define PS0 5 |
46 | #define GAIN_X 14 |
33 | #define AS1 1 |
47 | #define GAIN_Y 15 |
34 | #define AS0 0 |
48 | #define GAIN_Z 16 |
35 | 49 |