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#ifndef _COMPASS_H
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#ifndef _COMPASS_H
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#define _COMPASS_H
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#define _COMPASS_H
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// this is the apstract interface for the magnetometer/compass sensor
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// below this there are different special sensors that are supported
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typedef struct
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typedef struct
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{
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{
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  s16 X;
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  s16 X;
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  s16 Y;
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  s16 Y;
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  s16 Z;
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  s16 Z;
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} __attribute__((packed)) s16vec_t;
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} __attribute__((packed)) s16vec_t;
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extern volatile s16vec_t MagVector;       // current magnetic field vector
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extern volatile s16vec_t AccVector;       // current acceleration vector of compass, not supported by any HW version
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extern volatile s16vec_t MagVector;       // current magnetic field vector
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extern volatile s16 Compass_Heading;  // current heading direction
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extern volatile s16 Compass_Heading;  // current heading direction
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extern volatile u8  Compass_CalState; // current calibration state
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extern volatile u8  Compass_CalState; // current calibration state
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extern s32 EarthMagneticField;
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extern s32 EarthMagneticField;
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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_MK3MAG  1
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#define COMPASS_NCMAG   2
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#define COMPASS_NCMAG   2
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extern u8 Compass_Device;
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extern I2C_TypeDef* Compass_I2CPort;
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extern u8 Compass_Device;
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void Compass_Init(void);        // initialization for compass sensor
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void Compass_Check(void);       // possible check for compass plausibility, called when FC gets calibrates
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void Compass_Init(void);
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void Compass_Update(void);      // updates sensor values, cyclic called
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void Compass_Update(void);
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void Compass_CalcHeading(void); // calculates heading from magent vector componentes
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void Compass_CalcHeading(void);
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void Compass_SetCalState(u8 CalState);  // append to CalState queue
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void Compass_SetCalState(u8 CalState);