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        }
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        }
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}
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}
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void Compass_Update(void)
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void Compass_Update(void)
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{
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static s16vec_t old;  
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{
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static u32 check_value_counter = 0;
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        // check for new cal state
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        // check for new cal state
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        Compass_UpdateCalState();
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        Compass_UpdateCalState();
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        // initiate new compass communication
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        // initiate new compass communication
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        switch(Compass_Device)
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        switch(Compass_Device)
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                        break;
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                        break;
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        }
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        }
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        DebugOut.Analog[24] = MagVector.X;
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        DebugOut.Analog[24] = MagVector.X;
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        DebugOut.Analog[25] = MagVector.Y;
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        DebugOut.Analog[25] = MagVector.Y;
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        DebugOut.Analog[26] = MagVector.Z;
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        DebugOut.Analog[26] = MagVector.Z;
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    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
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        if(check_value_counter > 5000)
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         {
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          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
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         }
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         else check_value_counter++;
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DebugOut.Analog[16] = check_value_counter;
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        old.X = MagVector.X;
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        old.Y = MagVector.Y;
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        old.Z = MagVector.Z;
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}
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}
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// put cal state into fifo
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// put cal state into fifo
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void Compass_SetCalState(u8 CalState)
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void Compass_SetCalState(u8 CalState)