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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; |
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- | 10 | signed int z_axis; |
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9 | signed int y_axis; |
11 | signed int NickGrad; |
Line 10... | Line 12... | ||
10 | signed int z_axis; |
12 | signed int RollGrad; |
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11 | }MM3_struct; |
13 | }MM3_struct; |
12 | 14 | ||
- | 15 | extern MM3_struct MM3; |
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- | 16 | ||
- | 17 | void init_spi(void); |
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- | 18 | void MM3_timer0(void); |
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13 | extern MM3_struct MM3; |
19 | signed int MM3_heading(void); |
14 | 20 | ||
15 | void init_spi(void); |
21 | #define Int2Grad_Faktor 1024 |
16 | void MM3_timer0(void); |
22 | |
17 | 23 | // Die Werte der Statemachine |
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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 |
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- | 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 |