Mercurial > public > hwos_code

annotate src/compass.h @ 642:a9a0188091e4

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
fix rare upgrade issue with OSTC sport 2019 hardware
author heinrichsweikamp
date Thu, 14 Jan 2021 16:24:07 +0100
parents c40025d8e750
children bc214815deb2
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
0
heinrichsweikamp
parents:
diff changeset
1 //////////////////////////////////////////////////////////////////////////////
heinrichsweikamp
parents:
diff changeset
2 // HISTORY
heinrichsweikamp
parents:
diff changeset
3 // 2013-03-29 [jDG] Creation for tests.
heinrichsweikamp
parents:
diff changeset
4
heinrichsweikamp
parents:
diff changeset
5 //---- Storage classes -------------------------------------------------------
heinrichsweikamp
parents:
diff changeset
6 // Declaring PIC18 and VC++/G++ functions.
heinrichsweikamp
parents:
diff changeset
7 #ifdef UNIX
604
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
8 # define PARAMETER
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
9 # define OVERLAY
0
heinrichsweikamp
parents:
diff changeset
10 #else
heinrichsweikamp
parents:
diff changeset
11 //---- Bank 9 parameters -----------------------------------------------------
604
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
12 # pragma udata overlay bank9_compass = 0x900
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
13 # define PARAMETER static
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
14 # define OVERLAY overlay
0
heinrichsweikamp
parents:
diff changeset
15 #endif
heinrichsweikamp
parents:
diff changeset
16
heinrichsweikamp
parents:
diff changeset
17 //////////////////////////////////////////////////////////////////////////////
heinrichsweikamp
parents:
diff changeset
18
604
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
19 #define Q_PI (18000)
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
20 #define Q_PIO2 (9000)
0
heinrichsweikamp
parents:
diff changeset
21
604
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
22 typedef short int Int16;
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
23 typedef signed char Int8;
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
24 typedef Int16 Angle;
0
heinrichsweikamp
parents:
diff changeset
25
heinrichsweikamp
parents:
diff changeset
26 // The (filtered) components of the magnetometer sensor:
heinrichsweikamp
parents:
diff changeset
27 extern Int16 compass_DX_f;
heinrichsweikamp
parents:
diff changeset
28 extern Int16 compass_DY_f;
heinrichsweikamp
parents:
diff changeset
29 extern Int16 compass_DZ_f;
heinrichsweikamp
parents:
diff changeset
30
623
c40025d8e750 3.03 beta released
heinrichsweikamp
parents: 604
diff changeset
31 // Found soft-iron calibration values, deduced from already filtered values:
0
heinrichsweikamp
parents:
diff changeset
32 extern Int16 compass_CX_f;
heinrichsweikamp
parents:
diff changeset
33 extern Int16 compass_CY_f;
heinrichsweikamp
parents:
diff changeset
34 extern Int16 compass_CZ_f;
heinrichsweikamp
parents:
diff changeset
35
heinrichsweikamp
parents:
diff changeset
36 // The (filtered) components of the accelerometer sensor:
heinrichsweikamp
parents:
diff changeset
37 extern Int16 accel_DX_f;
heinrichsweikamp
parents:
diff changeset
38 extern Int16 accel_DY_f;
heinrichsweikamp
parents:
diff changeset
39 extern Int16 accel_DZ_f;
heinrichsweikamp
parents:
diff changeset
40
623
c40025d8e750 3.03 beta released
heinrichsweikamp
parents: 604
diff changeset
41 // The compass result value:
c40025d8e750 3.03 beta released
heinrichsweikamp
parents: 604
diff changeset
42 extern Int16 compass_heading_new;
c40025d8e750 3.03 beta released
heinrichsweikamp
parents: 604
diff changeset
43 //extern Int16 compass_roll;
c40025d8e750 3.03 beta released
heinrichsweikamp
parents: 604
diff changeset
44 //extern Int16 compass_pitch;
0
heinrichsweikamp
parents:
diff changeset
45
heinrichsweikamp
parents:
diff changeset
46 extern Int16 umul(PARAMETER Int16 a, PARAMETER Int16 b);
heinrichsweikamp
parents:
diff changeset
47 extern Int16 imul(PARAMETER Int16 a, PARAMETER Int16 b);
heinrichsweikamp
parents:
diff changeset
48 extern Int16 udiv(PARAMETER Int16 a, PARAMETER Int16 b);
heinrichsweikamp
parents:
diff changeset
49 extern Angle utan(PARAMETER Int16 a, PARAMETER Int16 b);
heinrichsweikamp
parents:
diff changeset
50 extern Angle itan(PARAMETER Int16 a, PARAMETER Int16 b);
heinrichsweikamp
parents:
diff changeset
51 extern Angle cosxh(PARAMETER Int16 a, PARAMETER Int16 b);
604
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
52
ca4556fb60b9 bump to 2.99beta, work on 3.00 stable
heinrichsweikamp
parents: 282
diff changeset
53 extern void sincos(PARAMETER Int16 a, PARAMETER Int16 b, Int16* sin, Int16* cos);
282
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
54
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
55 //////////////////////////////////////////////////////////////////////////////
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
56 // The user functions
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
57 extern void compass(void);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
58 extern void compass_reset_calibration(void);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
59 extern void compass_add_calibration(void);
7d9edd3b8c86 Make a more compact COMPASS calibration code (<7KB), and add more tests.
jDG
parents: 0
diff changeset
60 extern void compass_solve_calibration(void);