/home/krtko/robocup_2018/robocup_2018/compass.h

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#ifndef _COMPASS_H_
#define _COMPASS_H_

#include "ch.h"
#include "hal.h"
#include "chprintf.h"
#include "leds.h"

#define COMPASS_SERIAL &SD1

#define LOAD_COMPASS_DEGREE -385

int16_t get_compass_degree(void);

int16_t get_azimuth(void);

void compass_init(void);

void read(uint8_t address, uint8_t length);

void write(uint8_t address, uint8_t value);

void start(void);

uint8_t start2(void);


void get_compass_values(void);

void get_calibration_status(void);

void get_calibration_values(void);

void set_calibration_values(void);

void set_calibration_values2(void);

void clean_serial(SerialDriver* SD);

#endif