C++ (Cpp) compassConfig Examples

Example #1

bool compassInit(void)
{
    // initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
    // calculate magnetic declination
    mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.

    if (!compassDetect(&magDev)) {
        return false;
    }

    const int16_t deg = compassConfig()->mag_declination / 100;
    const int16_t min = compassConfig()->mag_declination % 100;
    mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
    LED1_ON;
    magDev.init(&magDev);
    LED1_OFF;
    magInit = 1;
    if (compassConfig()->mag_align != ALIGN_DEFAULT) {
        magDev.magAlign = compassConfig()->mag_align;
    }
    return true;
}

Example #2

File: fc_tasks.c Project: oleost/inav

void taskUpdateCompass(timeUs_t currentTimeUs)
{
    if (sensors(SENSOR_MAG)) {
        compassUpdate(currentTimeUs, &compassConfig()->magZero);
    }
}

Example #3

bool compassDetect(magDev_t *dev)
{
    magSensor_e magHardware = MAG_NONE;

    busDevice_t *busdev = &dev->busdev;

#ifdef USE_MAG_DATA_READY_SIGNAL
    dev->magIntExtiTag = compassConfig()->interruptTag;
#endif

    switch (compassConfig()->mag_bustype) {
#ifdef USE_I2C
    case BUSTYPE_I2C:
        busdev->bustype = BUSTYPE_I2C;
        busdev->busdev_u.i2c.device = I2C_CFG_TO_DEV(compassConfig()->mag_i2c_device);
        busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
#endif
        break;

#ifdef USE_SPI
    case BUSTYPE_SPI:
        busdev->bustype = BUSTYPE_SPI;
        spiBusSetInstance(busdev, spiInstanceByDevice(SPI_CFG_TO_DEV(compassConfig()->mag_spi_device)));
        busdev->busdev_u.spi.csnPin = IOGetByTag(compassConfig()->mag_spi_csn);
#endif
        break;

#if defined(USE_MAG_AK8963) && (defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250))
    case BUSTYPE_MPU_SLAVE:
        {
            if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
                busdev->bustype = BUSTYPE_MPU_SLAVE;
                busdev->busdev_u.mpuSlave.master = gyroSensorBus();
                busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
            } else {
                return false;
            }
        }
#endif
        break;

    default:
        return false;
    }

    dev->magAlign = ALIGN_DEFAULT;

    switch (compassConfig()->mag_hardware) {
    case MAG_DEFAULT:
        FALLTHROUGH;

    case MAG_HMC5883:
#if defined(USE_MAG_HMC5883) || defined(USE_MAG_SPI_HMC5883)
        if (busdev->bustype == BUSTYPE_I2C) {
                busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
        }

        if (hmc5883lDetect(dev)) {
#ifdef MAG_HMC5883_ALIGN
            dev->magAlign = MAG_HMC5883_ALIGN;
#endif
            magHardware = MAG_HMC5883;
            break;
        }
#endif
        FALLTHROUGH;

    case MAG_AK8975:
#ifdef USE_MAG_AK8975
        if (busdev->bustype == BUSTYPE_I2C) {
                busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
        }

        if (ak8975Detect(dev)) {
#ifdef MAG_AK8975_ALIGN
            dev->magAlign = MAG_AK8975_ALIGN;
#endif
            magHardware = MAG_AK8975;
            break;
        }
#endif
        FALLTHROUGH;

    case MAG_AK8963:
#if defined(USE_MAG_AK8963) || defined(USE_MAG_SPI_AK8963)
        if (busdev->bustype == BUSTYPE_I2C) {
            busdev->busdev_u.i2c.address = compassConfig()->mag_i2c_address;
        }
        if (gyroMpuDetectionResult()->sensor == MPU_9250_SPI) {
            dev->busdev.bustype = BUSTYPE_MPU_SLAVE;
            busdev->busdev_u.mpuSlave.address = compassConfig()->mag_i2c_address;
            dev->busdev.busdev_u.mpuSlave.master = gyroSensorBus();
        }

        if (ak8963Detect(dev)) {
#ifdef MAG_AK8963_ALIGN
            dev->magAlign = MAG_AK8963_ALIGN;
#endif
            magHardware = MAG_AK8963;
            break;
        }
#endif
        FALLTHROUGH;

    case MAG_NONE:
        magHardware = MAG_NONE;
        break;
    }

    if (magHardware == MAG_NONE) {
        return false;
    }

    detectedSensors[SENSOR_INDEX_MAG] = magHardware;
    sensorsSet(SENSOR_MAG);
    return true;
}