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// +  POSSIBILITY OF SUCH DAMAGE.
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "91x_lib.h"
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#include "91x_lib.h"
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#include "compass.h"
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#include "compass.h"
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#include "mk3mag.h"
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#include "mk3mag.h"
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#include "hmc5843.h"
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#include "ncmag.h"
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#include "uart1.h"
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#include "uart1.h"
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volatile MagVector_t MagVector;
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volatile s16vec_t MagVector;
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volatile s16 CompassHeading;
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volatile s16 CompassHeading;
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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_HMC5843 2
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#define COMPASS_MK3MAG  1
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#define COMPASS_NCMAG   2
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u8 CompassDevice = COMPASS_NONE;
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u8 CompassDevice = COMPASS_NONE;
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void Compass_Init(void)
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void Compass_Init(void)
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{
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{
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        UART1_PutString("\r\n Looking for compass");
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        UART1_PutString("\r\n Looking for compass");
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        if(       MK3MAG_Init() )       CompassDevice = COMPASS_MK3MAG;
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        else if( HMC5843_Init() )       CompassDevice = COMPASS_HMC5843;
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        else                                            CompassDevice = COMPASS_NONE;
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        if(CompassDevice == COMPASS_NONE)
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        {
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        if(     MK3MAG_Init() ) CompassDevice = COMPASS_MK3MAG;
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                UART1_PutString(" not found!");
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        else if( NCMAG_Init() ) CompassDevice = COMPASS_NCMAG;
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        }
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        else                                    CompassDevice = COMPASS_NONE;
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}
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}
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void Compass_UpdateHeading(void)
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void Compass_UpdateHeading(void)
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{
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{
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        switch(CompassDevice)
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        switch(CompassDevice)
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        {
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        {
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                case COMPASS_MK3MAG:
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                case COMPASS_MK3MAG:
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                        MK3MAG_UpdateCompass();
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                        MK3MAG_UpdateCompass();
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                        break;
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                        break;
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                case COMPASS_HMC5843:
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                case COMPASS_NCMAG:
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                        HMC5843_UpdateCompass();
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                        NCMAG_UpdateCompass();
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        switch(CompassDevice)
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        switch(CompassDevice)
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        {
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        {
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                case COMPASS_MK3MAG:
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                case COMPASS_MK3MAG:
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                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT);
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                        MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT);
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                        break;
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                        break;
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                case COMPASS_HMC5843:
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                case COMPASS_NCMAG:
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                        HMC5843_UpdateCompass();
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                        NCMAG_UpdateCompass();
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                default:
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                default:
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                        break;
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                        break;
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        }
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        }
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}
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}