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#ifndef _COMPASS_H
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#ifndef _COMPASS_H
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#define _COMPASS_H
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#define _COMPASS_H
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typedef struct
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typedef struct
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{
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{
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  s16 X;
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  s16 X;
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  s16 Y;
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  s16 Y;
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  s16 Z;
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  s16 Z;
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} __attribute__((packed)) s16vec_t;
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} __attribute__((packed)) s16vec_t;
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extern volatile s16vec_t MagVector;       // current magnetic field vector
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extern volatile s16vec_t MagVector;       // current magnetic field vector
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extern volatile s16 Compass_Heading;  // current heading direction
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extern volatile s16 Compass_Heading;  // current heading direction
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extern volatile u8  Compass_CalState; // current calibration state
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extern volatile u8  Compass_CalState; // current calibration state
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#define COMPASS_NONE    0
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#define COMPASS_NONE    0
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#define COMPASS_MK3MAG  1
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#define COMPASS_MK3MAG  1
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#define COMPASS_NCMAG   2
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#define COMPASS_NCMAG   2
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extern u8 Compass_Device;
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extern u8 Compass_Device;
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void Compass_Init(void);
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void Compass_Init(void);
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void Compass_UpdateHeading(void);
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void Compass_Update(void);
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void Compass_UpdateMagVector(void);
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void Compass_CalcHeading(void);
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void Compass_SetCalState(u8 CalState);
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void Compass_SetCalState(u8 CalState);
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void Compass_UpdateCalState(void);
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void Compass_UpdateCalState(void);
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#endif  //  _COMPASS_H
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#endif  //  _COMPASS_H
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