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| 1 | #ifndef _COMPASS_H |
1 | #ifndef _COMPASS_H |
| 2 | #define _COMPASS_H |
2 | #define _COMPASS_H |
| 3 | 3 | ||
| 4 | typedef struct |
4 | typedef struct |
| 5 | { |
5 | { |
| 6 | s16 X; |
6 | s16 X; |
| 7 | s16 Y; |
7 | s16 Y; |
| 8 | s16 Z; |
8 | s16 Z; |
| 9 | } __attribute__((packed)) s16vec_t; |
9 | } __attribute__((packed)) s16vec_t; |
| 10 | 10 | ||
| 11 | extern volatile s16vec_t MagVector; // current magnetic field vector |
11 | extern volatile s16vec_t MagVector; // current magnetic field vector |
| 12 | extern volatile s16 Compass_Heading; // current heading direction |
12 | extern volatile s16 Compass_Heading; // current heading direction |
| 13 | extern volatile u8 Compass_CalState; // current calibration state |
13 | extern volatile u8 Compass_CalState; // current calibration state |
| 14 | extern s32 EarthMagneticField; |
14 | extern s32 EarthMagneticField; |
| 15 | extern s32 EarthMagneticInclination; |
15 | extern s32 EarthMagneticInclination; |
| 16 | extern s32 EarthMagneticInclinationFiltered; |
16 | extern s32 EarthMagneticInclinationFiltered; |
| 17 | extern s32 EarthMagneticInclinationTheoretic; |
17 | extern s32 EarthMagneticInclinationTheoretic; |
| 18 | extern s32 EarthMagneticFieldFiltered; |
18 | extern s32 EarthMagneticFieldFiltered; |
| 19 | extern u8 ErrorDisturbedEarthMagnetField; |
19 | extern u8 ErrorDisturbedEarthMagnetField; |
| 20 | extern s16 EarthMagneticStrengthTheoretic; |
20 | extern s16 EarthMagneticStrengthTheoretic; |
| 21 | extern s16 Hx, Hy; |
21 | extern s16 Hx, Hy; |
| - | 22 | ||
| - | 23 | extern u32 CompassValueErrorCount; |
|
| 22 | 24 | ||
| 23 | #define COMPASS_NONE 0 |
25 | #define COMPASS_NONE 0 |
| 24 | #define COMPASS_MK3MAG 1 |
26 | #define COMPASS_MK3MAG 1 |
| 25 | #define COMPASS_NCMAG 2 |
27 | #define COMPASS_NCMAG 2 |
| 26 | extern u8 Compass_Device; |
28 | extern u8 Compass_Device; |
| 27 | 29 | ||
| 28 | void Compass_Init(void); |
30 | void Compass_Init(void); |
| 29 | void Compass_Update(void); |
31 | void Compass_Update(void); |
| 30 | void Compass_CalcHeading(void); |
32 | void Compass_CalcHeading(void); |
| 31 | void Compass_SetCalState(u8 CalState); |
33 | void Compass_SetCalState(u8 CalState); |
| 32 | void Compass_UpdateCalState(void); |
34 | void Compass_UpdateCalState(void); |
| 33 | 35 | ||
| 34 | #endif // _COMPASS_H |
36 | #endif // _COMPASS_H |
| 35 | 37 | ||