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annotate src/compass.h @ 639:0ff82370991d

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author heinrichsweikamp
date Mon, 10 Aug 2020 15:34:38 +0200
parents c40025d8e750
children bc214815deb2
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1 //////////////////////////////////////////////////////////////////////////////
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2 // HISTORY
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3 // 2013-03-29 [jDG] Creation for tests.
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4
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5 //---- Storage classes -------------------------------------------------------
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6 // Declaring PIC18 and VC++/G++ functions.
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7 #ifdef UNIX
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8 # define PARAMETER
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9 # define OVERLAY
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10 #else
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11 //---- Bank 9 parameters -----------------------------------------------------
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12 # pragma udata overlay bank9_compass = 0x900
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13 # define PARAMETER static
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14 # define OVERLAY overlay
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15 #endif
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16
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17 //////////////////////////////////////////////////////////////////////////////
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18
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19 #define Q_PI (18000)
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20 #define Q_PIO2 (9000)
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21
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22 typedef short int Int16;
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23 typedef signed char Int8;
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24 typedef Int16 Angle;
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25
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26 // The (filtered) components of the magnetometer sensor:
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27 extern Int16 compass_DX_f;
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28 extern Int16 compass_DY_f;
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29 extern Int16 compass_DZ_f;
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30
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31 // Found soft-iron calibration values, deduced from already filtered values:
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32 extern Int16 compass_CX_f;
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33 extern Int16 compass_CY_f;
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34 extern Int16 compass_CZ_f;
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35
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36 // The (filtered) components of the accelerometer sensor:
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37 extern Int16 accel_DX_f;
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38 extern Int16 accel_DY_f;
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39 extern Int16 accel_DZ_f;
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40
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41 // The compass result value:
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42 extern Int16 compass_heading_new;
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43 //extern Int16 compass_roll;
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44 //extern Int16 compass_pitch;
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45
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46 extern Int16 umul(PARAMETER Int16 a, PARAMETER Int16 b);
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47 extern Int16 imul(PARAMETER Int16 a, PARAMETER Int16 b);
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48 extern Int16 udiv(PARAMETER Int16 a, PARAMETER Int16 b);
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49 extern Angle utan(PARAMETER Int16 a, PARAMETER Int16 b);
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50 extern Angle itan(PARAMETER Int16 a, PARAMETER Int16 b);
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51 extern Angle cosxh(PARAMETER Int16 a, PARAMETER Int16 b);
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52
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53 extern void sincos(PARAMETER Int16 a, PARAMETER Int16 b, Int16* sin, Int16* cos);
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54
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55 //////////////////////////////////////////////////////////////////////////////
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56 // The user functions
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57 extern void compass(void);
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58 extern void compass_reset_calibration(void);
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59 extern void compass_add_calibration(void);
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60 extern void compass_solve_calibration(void);