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Rev 366 | Rev 371 | ||
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1 | 1 | ||
2 | 2 | ||
3 | typedef struct |
3 | typedef struct |
4 | { |
4 | { |
5 | uint8_t STATE; |
5 | uint8_t STATE; |
6 | unsigned int DRDY; |
6 | unsigned int DRDY; |
7 | uint8_t AXIS; |
7 | uint8_t AXIS; |
8 | signed int x_axis; |
8 | signed int x_axis; |
9 | signed int x_axis_old; |
9 | signed int x_axis_old; |
10 | signed int y_axis; |
10 | signed int y_axis; |
11 | signed int y_axis_old; |
11 | signed int y_axis_old; |
12 | signed int z_axis; |
12 | signed int z_axis; |
13 | signed int z_axis_old; |
13 | signed int z_axis_old; |
14 | signed int NickGrad; |
14 | signed int NickGrad; |
15 | signed int RollGrad; |
15 | signed int RollGrad; |
16 | }MM3_working_struct; |
16 | }MM3_working_struct; |
17 | 17 | ||
18 | 18 | ||
19 | typedef struct |
19 | typedef struct |
20 | { |
20 | { |
21 | int8_t X_off; |
21 | int8_t X_off; |
22 | int8_t Y_off; |
22 | int8_t Y_off; |
23 | int8_t Z_off; |
23 | int8_t Z_off; |
24 | }MM3_calib_struct; |
24 | }MM3_calib_struct; |
25 | 25 | ||
26 | extern MM3_working_struct MM3; |
26 | extern MM3_working_struct MM3; |
27 | extern MM3_calib_struct MM3_calib; |
27 | extern MM3_calib_struct MM3_calib; |
28 | 28 | ||
29 | void MM3_init(void); |
29 | void init_MM3(void); |
30 | void MM3_timer0(void); |
30 | void timer0_MM3(void); |
31 | void calib_MM3(void); |
31 | void calib_MM3(void); |
32 | signed int MM3_heading(void); |
32 | signed int heading_MM3(void); |
33 | 33 | ||
34 | #define Max_Axis_Value 500 |
34 | #define Max_Axis_Value 500 |
35 | 35 | ||
36 | // Die Werte der Statemachine |
36 | // Die Werte der Statemachine |
37 | #define MM3_RESET 0 |
37 | #define MM3_RESET 0 |
38 | #define MM3_START_TRANSFER 1 |
38 | #define MM3_START_TRANSFER 1 |
39 | #define MM3_WAIT_DRDY 2 |
39 | #define MM3_WAIT_DRDY 2 |
40 | #define MM3_DRDY 4 |
40 | #define MM3_DRDY 4 |
41 | #define MM3_BYTE2 8 |
41 | #define MM3_BYTE2 8 |
42 | #define MM3_X 16 |
42 | #define MM3_X 16 |
43 | #define MM3_Y 32 |
43 | #define MM3_Y 32 |
44 | #define MM3_Z 64 |
44 | #define MM3_Z 64 |
45 | #define MM3_TILT 128 |
45 | #define MM3_TILT 128 |
46 | 46 |