minor change to support non-Wi-Go platforms
Fork of Wi-Go_eCompass_Lib_V3 by
eCompass_Lib_V3.h@2:15ecb3c9d22f, 2014-04-07 (annotated)
- Committer:
- JimCarver
- Date:
- Mon Apr 07 21:02:15 2014 +0000
- Revision:
- 2:15ecb3c9d22f
- Parent:
- Wi-Go_eCompass_Lib_V3.h@1:c37fee2125c6
Version 1.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
frankvnk | 1:c37fee2125c6 | 1 | /************************************************************************************************ |
frankvnk | 0:6296487369d8 | 2 | * File : eCompass.h |
frankvnk | 0:6296487369d8 | 3 | * Date : 18/07/2013 |
frankvnk | 1:c37fee2125c6 | 4 | * Purpose : Wi-Go eCompass interface and hardware peripherals definition |
frankvnk | 0:6296487369d8 | 5 | * Author : Frank Vannieuwkerke |
frankvnk | 1:c37fee2125c6 | 6 | * Description: ported from Avnet Wi-Go code |
frankvnk | 1:c37fee2125c6 | 7 | * For additional information on Wi-Go please visit |
frankvnk | 1:c37fee2125c6 | 8 | * www.em.avnet.com/wi-go |
frankvnk | 1:c37fee2125c6 | 9 | * Additional info on the Freescale eCompass software is available at |
frankvnk | 1:c37fee2125c6 | 10 | * http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=E-Compass |
frankvnk | 1:c37fee2125c6 | 11 | ************************************************************************************************/ |
frankvnk | 0:6296487369d8 | 12 | #ifndef ECOMPASS_H__ |
frankvnk | 0:6296487369d8 | 13 | #define ECOMPASS_H__ |
frankvnk | 0:6296487369d8 | 14 | |
frankvnk | 0:6296487369d8 | 15 | //#include "common.h" |
frankvnk | 0:6296487369d8 | 16 | //#include "Wi-Go_eCompass_Lib_V3.ar" |
frankvnk | 0:6296487369d8 | 17 | |
frankvnk | 0:6296487369d8 | 18 | #ifdef __cplusplus |
frankvnk | 0:6296487369d8 | 19 | extern "C" { |
frankvnk | 0:6296487369d8 | 20 | #endif |
frankvnk | 0:6296487369d8 | 21 | |
frankvnk | 0:6296487369d8 | 22 | typedef short int16; |
frankvnk | 0:6296487369d8 | 23 | typedef unsigned short uint16; |
frankvnk | 0:6296487369d8 | 24 | typedef unsigned int uint32; |
frankvnk | 0:6296487369d8 | 25 | typedef unsigned char byte; |
frankvnk | 0:6296487369d8 | 26 | |
frankvnk | 0:6296487369d8 | 27 | extern void run_eCompass(void); |
frankvnk | 0:6296487369d8 | 28 | extern void init_eCompass(void); |
frankvnk | 0:6296487369d8 | 29 | extern void calibrate_eCompass(void); |
frankvnk | 0:6296487369d8 | 30 | |
frankvnk | 0:6296487369d8 | 31 | #define NED_COMPASS 1 |
frankvnk | 0:6296487369d8 | 32 | #define ANDROID_COMPASS 2 |
frankvnk | 0:6296487369d8 | 33 | #define WINDOWS_COMPASS 3 |
frankvnk | 0:6296487369d8 | 34 | |
frankvnk | 0:6296487369d8 | 35 | // Macros for constants used in fractional decimal conversion routine. |
frankvnk | 0:6296487369d8 | 36 | // FRAC_2d1 = 2^-1 = 0.5 |
frankvnk | 0:6296487369d8 | 37 | // FRAC_2d2 = 2^-2 = 0.25 etc... |
frankvnk | 0:6296487369d8 | 38 | #define FRAC_2d1 5000 |
frankvnk | 0:6296487369d8 | 39 | #define FRAC_2d2 2500 |
frankvnk | 0:6296487369d8 | 40 | #define FRAC_2d3 1250 |
frankvnk | 0:6296487369d8 | 41 | #define FRAC_2d4 625 |
frankvnk | 0:6296487369d8 | 42 | |
frankvnk | 0:6296487369d8 | 43 | // sensor scaling constants |
frankvnk | 0:6296487369d8 | 44 | #define FCOUNTSPERUT 10.0F // sensor specific: MAG3110 provide 10 counts / uT |
frankvnk | 0:6296487369d8 | 45 | #define FCOUNTSPERG 4096.0F // sensor specific: MMA8451 provide 4096 counts / g in 2g mode |
frankvnk | 0:6296487369d8 | 46 | |
frankvnk | 0:6296487369d8 | 47 | typedef struct { |
frankvnk | 0:6296487369d8 | 48 | // Always 1 |
frankvnk | 0:6296487369d8 | 49 | uint16 packet_id; |
frankvnk | 0:6296487369d8 | 50 | // Light sensor |
frankvnk | 0:6296487369d8 | 51 | int16 light; |
frankvnk | 0:6296487369d8 | 52 | // Counts at a 0.020MS interval when sensor data is processed |
frankvnk | 0:6296487369d8 | 53 | uint32 timestamp; |
frankvnk | 0:6296487369d8 | 54 | // Ineeger data from accelerometer |
frankvnk | 0:6296487369d8 | 55 | int16 acc_x, acc_y, acc_z; |
frankvnk | 0:6296487369d8 | 56 | // Integer data from Magnetometer |
frankvnk | 0:6296487369d8 | 57 | int16 mag_x, mag_y, mag_z; |
frankvnk | 0:6296487369d8 | 58 | // Roll, Pitch, Yaw and Compass from the eCompass algorithm |
frankvnk | 0:6296487369d8 | 59 | int16 roll, pitch, yaw, compass; |
frankvnk | 0:6296487369d8 | 60 | // Altitude and temperature |
frankvnk | 0:6296487369d8 | 61 | int16 alt, temp; |
frankvnk | 0:6296487369d8 | 62 | // Data from Accelerometer converted to floating point |
frankvnk | 0:6296487369d8 | 63 | float fax, fay, faz; |
frankvnk | 0:6296487369d8 | 64 | // Accelerometer data converted to G's |
frankvnk | 0:6296487369d8 | 65 | float fGax, fGay, fGaz; |
frankvnk | 0:6296487369d8 | 66 | // Data from Magnetometer converted to floating point |
frankvnk | 0:6296487369d8 | 67 | float fmx, fmy, fmz; |
frankvnk | 0:6296487369d8 | 68 | // Magnetometer data converted to UT's |
frankvnk | 0:6296487369d8 | 69 | float fUTmx, fUTmy, fUTmz; |
frankvnk | 0:6296487369d8 | 70 | float q0, q1, q2, q3; |
frankvnk | 0:6296487369d8 | 71 | |
frankvnk | 0:6296487369d8 | 72 | } axis6_t; |
frankvnk | 0:6296487369d8 | 73 | |
frankvnk | 0:6296487369d8 | 74 | #ifdef __cplusplus |
frankvnk | 0:6296487369d8 | 75 | } |
frankvnk | 0:6296487369d8 | 76 | #endif |
frankvnk | 0:6296487369d8 | 77 | |
frankvnk | 0:6296487369d8 | 78 | #endif |