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hwOS tech 3.22 release
author heinrichsweikamp
date Mon, 29 Apr 2024 13:05:18 +0200
parents 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 # define PARAMETER static
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12 # define OVERLAY overlay
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13 #endif
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14
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15 //////////////////////////////////////////////////////////////////////////////
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16
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17 #define Q_PI (18000)
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18 #define Q_PIO2 (9000)
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19
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20 typedef short int Int16;
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21 typedef signed char Int8;
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22 typedef Int16 Angle;
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23
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24 // The (filtered) components of the magnetometer sensor:
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25 extern Int16 compass_DX_f;
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26 extern Int16 compass_DY_f;
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27 extern Int16 compass_DZ_f;
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28
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29 // Found soft-iron calibration values, deduced from already filtered values:
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30 extern Int16 compass_CX_f;
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31 extern Int16 compass_CY_f;
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32 extern Int16 compass_CZ_f;
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33
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34 // The (filtered) components of the accelerometer sensor:
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35 extern Int16 accel_DX_f;
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36 extern Int16 accel_DY_f;
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37 extern Int16 accel_DZ_f;
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38
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39 // The compass result value:
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40 extern Int16 compass_heading_new;
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41 //extern Int16 compass_roll;
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42 //extern Int16 compass_pitch;
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43
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44 extern Int16 umul (PARAMETER Int16 a, PARAMETER Int16 b);
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45 extern Int16 imul (PARAMETER Int16 a, PARAMETER Int16 b);
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46 extern Int16 udiv (PARAMETER Int16 a, PARAMETER Int16 b);
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47 extern Angle utan (PARAMETER Int16 a, PARAMETER Int16 b);
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48 extern Angle itan (PARAMETER Int16 a, PARAMETER Int16 b);
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49 extern Angle cosxh(PARAMETER Int16 a, PARAMETER Int16 b);
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50
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51 extern void sincos(PARAMETER Int16 a, PARAMETER Int16 b, Int16* sin, Int16* cos);
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52
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53 //////////////////////////////////////////////////////////////////////////////
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54 // The user functions
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55 extern void compass (void);
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56 extern void compass_reset_calibration(void);
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57 extern void compass_add_calibration (void);
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58 extern void compass_solve_calibration(void);