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66 | 66 | ||
67 | /*********************************************/ |
67 | /*********************************************/ |
68 | /* Initialize Interface to MM3 Compass */ |
68 | /* Initialize Interface to MM3 Compass */ |
69 | /*********************************************/ |
69 | /*********************************************/ |
70 | void MM3_init(void) |
70 | void MM3_Init(void) |
Line 71... | Line 71... | ||
71 | { |
71 | { |
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112 | 112 | ||
113 | 113 | ||
114 | /*********************************************/ |
114 | /*********************************************/ |
115 | /* Get Data from MM3 */ |
115 | /* Get Data from MM3 */ |
116 | /*********************************************/ |
116 | /*********************************************/ |
117 | void MM3_timer0() // called every 102.4 ms by timer 0 ISR |
117 | void MM3_Update() // called every 102.4 ms by timer 0 ISR |
118 | { |
118 | { |
119 | switch (MM3.STATE) |
119 | switch (MM3.STATE) |
120 | { |
120 | { |
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200 | 200 | ||
201 | 201 | ||
202 | /*********************************************/ |
202 | /*********************************************/ |
203 | /* Calibrate Compass */ |
203 | /* Calibrate Compass */ |
204 | /*********************************************/ |
204 | /*********************************************/ |
205 | void MM3_calibrate(void) |
205 | void MM3_Calibrate(void) |
206 | { |
206 | { |
207 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
207 | int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
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261 | 261 | ||
262 | 262 | ||
263 | /*********************************************/ |
263 | /*********************************************/ |
264 | /* Calculate north direction (heading) */ |
264 | /* Calculate north direction (heading) */ |
265 | /*********************************************/ |
265 | /*********************************************/ |
266 | int16_t MM3_heading(void) |
266 | int16_t MM3_Heading(void) |
267 | { |
267 | { |
268 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
268 | int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
269 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
269 | int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |