85 lines
1.7 KiB
C
85 lines
1.7 KiB
C
#ifndef MAGNETOMETER_CONFIG_H
|
|
#define MAGNETOMETER_CONFIG_H
|
|
|
|
#define I2C_PORT i2c0
|
|
#define I2C_SDA (8)
|
|
#define I2C_SCL (9)
|
|
|
|
#define DIRECTION_READ_DELAY (200)
|
|
|
|
#define NUM_READINGS \
|
|
(5) // Number of readings to
|
|
// take before
|
|
// calculating
|
|
// direction
|
|
|
|
// #define ALPHA ( 0.1f ) // Low Pass Filter
|
|
// Coefficient
|
|
|
|
// LSM303DLHC temperature compensation coefficients
|
|
#define SCALE_Z (1.0f) // Scale for Z-axis
|
|
#define OFFSET_Z (0.0f) // Offset for Z-axis
|
|
|
|
#define TEMPERATURE_OFFSET \
|
|
(32.0f) // Reference
|
|
// temperature for
|
|
// calibration
|
|
|
|
#define TEMPERATURE_COEFFICIENT_Z \
|
|
(0.33f) // Temperature
|
|
// coefficient for
|
|
// Z-axis
|
|
|
|
/**
|
|
* @brief The orientation of the car
|
|
*/
|
|
|
|
typedef enum
|
|
{
|
|
NORTH,
|
|
NORTH_EAST,
|
|
EAST,
|
|
SOUTH_EAST,
|
|
SOUTH,
|
|
SOUTH_WEST,
|
|
WEST,
|
|
NORTH_WEST
|
|
} compass_direction_t;
|
|
|
|
/**
|
|
* Angle of the car
|
|
*/
|
|
typedef enum
|
|
{
|
|
UP = 0,
|
|
DOWN = 1,
|
|
LEFT = 2,
|
|
RIGHT = 3
|
|
} angle_t;
|
|
|
|
typedef struct s_calibration_data
|
|
{
|
|
int16_t accelerometerBias[3];
|
|
int16_t magnetometerBias[3];
|
|
} calibration_data_t;
|
|
|
|
/**
|
|
* @brief The direction of the car
|
|
* roll = angle of the car (left or right)
|
|
* pitch = angle of the car (up or down)
|
|
* heading = direction of the car (north, east, south, west) in degrees
|
|
* orientation = orientation of the car (north, east, south, west)
|
|
*/
|
|
typedef struct
|
|
{
|
|
float roll;
|
|
float pitch;
|
|
float yaw;
|
|
compass_direction_t orientation;
|
|
angle_t roll_angle;
|
|
angle_t pitch_angle;
|
|
calibration_data_t *calibration_data;
|
|
} direction_t;
|
|
|
|
#endif
|