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4 | #include "compass.h" |
4 | #include "compass.h" |
5 | #include "i2c1.h" |
5 | #include "i2c1.h" |
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6 | 6 | ||
7 | extern s16vec_t ACC_Vector; |
7 | extern s16vec_t ACC_Vector; |
- | 8 | extern volatile s16vec_t MagRawVector; |
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- | 9 | extern volatile s16vec_t AccRawVector; |
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- | 10 | ||
- | 11 | #define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 // two calibrtion sets for extern and intern sensor |
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- | 12 | #define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70 |
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- | 13 | ||
- | 14 | #define CALIBRATION_VERSION 1 |
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- | 15 | #define MAG_CALIBRATION_COMPATIBLE 0xA2 |
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- | 16 | ||
- | 17 | #define NCMAG_MIN_RAWVALUE -2047 |
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- | 18 | #define NCMAG_MAX_RAWVALUE 2047 |
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- | 19 | #define NCMAG_INVALID_DATA -4096 |
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- | 20 | ||
- | 21 | typedef struct |
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- | 22 | { |
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- | 23 | s16 Range; |
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- | 24 | s16 Offset; |
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- | 25 | } __attribute__((packed)) Scaling_t; |
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- | 26 | ||
- | 27 | typedef struct |
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- | 28 | { |
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- | 29 | Scaling_t MagX; |
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- | 30 | Scaling_t MagY; |
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- | 31 | Scaling_t MagZ; |
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- | 32 | u8 Version; |
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- | 33 | u8 crc; |
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- | 34 | } __attribute__((packed)) Calibration_t; |
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- | 35 | ||
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8 | extern volatile s16vec_t MagRawVector; |
36 | extern Calibration_t Calibration; // calibration data in RAM |
9 | 37 | ||
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10 | #define I2C_EXTERN_0 0 |
38 | #define I2C_EXTERN_0 0 |
11 | #define I2C_INTERN_1 1 |
39 | #define I2C_INTERN_1 1 |
12 | 40 | ||
13 | u8 NCMAG_Init(void); |
41 | u8 NCMAG_Init(void); |
14 | void NCMAG_Update(void); |
42 | void NCMAG_Update(void); |
- | 43 | extern u8 NCMAG_Present; |
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- | 44 | extern u8 NCMAG_IsCalibrated; |
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15 | extern u8 NCMAG_Present; |
45 | extern u8 I2C_CompassPort; |
16 | extern u8 NCMAG_IsCalibrated; |
46 | extern u8 ExtCompassOrientation; |
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17 | extern u8 I2C_CompassPort; |
47 |