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comparison src/compass.h @ 0:11d4fc797f74

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author heinrichsweikamp
date Wed, 24 Apr 2013 19:22:45 +0200
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children 7d9edd3b8c86
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-1:000000000000 0:11d4fc797f74
1 //////////////////////////////////////////////////////////////////////////////
2 // HISTORY
3 // 2013-03-29 [jDG] Creation for tests.
4
5 //---- Storage classes -------------------------------------------------------
6 // Declaring PIC18 and VC++/G++ functions.
7 #ifdef UNIX
8 # define PARAMETER
9 # define OVERLAY
10 #else
11 //---- Bank 9 parameters -----------------------------------------------------
12 # pragma udata overlay bank9_compass = 0x900
13 # define PARAMETER static
14 # define OVERLAY overlay
15 #endif
16
17 //////////////////////////////////////////////////////////////////////////////
18
19 #define Q_PI (18000)
20 #define Q_PIO2 (9000)
21
22 typedef short int Int16;
23 typedef signed char Int8;
24 typedef Int16 Angle;
25
26 // The (filtered) components of the magnetometer sensor:
27 extern Int16 compass_DX_f;
28 extern Int16 compass_DY_f;
29 extern Int16 compass_DZ_f;
30
31 // Found soft-iron calibration values, deduced from already filtered values.
32 extern Int16 compass_CX_f;
33 extern Int16 compass_CY_f;
34 extern Int16 compass_CZ_f;
35
36 // The (filtered) components of the accelerometer sensor:
37 extern Int16 accel_DX_f;
38 extern Int16 accel_DY_f;
39 extern Int16 accel_DZ_f;
40
41 // The compass result value.
42 extern Int16 compass_heading;
43 extern Int16 compass_roll;
44 extern Int16 compass_pitch;
45
46 extern Int16 umul(PARAMETER Int16 a, PARAMETER Int16 b);
47 extern Int16 imul(PARAMETER Int16 a, PARAMETER Int16 b);
48 extern Int16 udiv(PARAMETER Int16 a, PARAMETER Int16 b);
49 extern Angle utan(PARAMETER Int16 a, PARAMETER Int16 b);
50 extern Angle itan(PARAMETER Int16 a, PARAMETER Int16 b);
51 extern Angle cosxh(PARAMETER Int16 a, PARAMETER Int16 b);
52 extern void sincos(PARAMETER Int16 a, PARAMETER Int16 b, Int16* sin, Int16* cos);