bexus-26-imu-fusion-flight-software/Inc/bexus_mag.h

#ifndef bexus_mag_h
#define bexus_mag_h
#ifdef __cplusplus
 extern "C" {
#endif

//#include "cmsis_os.h"
#include "main.h"
#include <stdbool.h>
#include "bexus_variables.h"
#include "i2c.h"
#include <math.h>
#include <stdlib.h>

    // register addresses
		    enum regAddr
    {
      WHO_AM_I    = 0x0F,

      CTRL_REG1   = 0x20,
      CTRL_REG2   = 0x21,
      CTRL_REG3   = 0x22,
      CTRL_REG4   = 0x23,
      CTRL_REG5   = 0x24,

      STATUS_REG  = 0x27,
      OUT_X_L     = 0x28,
      OUT_X_H     = 0x29,
      OUT_Y_L     = 0x2A,
      OUT_Y_H     = 0x2B,
      OUT_Z_L     = 0x2C,
      OUT_Z_H     = 0x2D,
      TEMP_OUT_L  = 0x2E,
      TEMP_OUT_H  = 0x2F,
      INT_CFG     = 0x30,
      INT_SRC     = 0x31,
      INT_THS_L   = 0x32,
      INT_THS_H   = 0x33,
    };

		void Mag_cal(void);
		
    void Mag_Init(void);

    void writeReg(uint8_t reg, uint8_t value);

    uint8_t readReg(uint8_t reg);

    int Mag_Read(void);

    uint8_t testReg(uint8_t address, uint8_t reg);


/*
	void vector_cross (struct vector_Uint *a,struct vector_Uint *b,struct vector_Uint *out )
{
  out->x = (a->y * b->z) - (a->z * b->y);
  out->y = (a->z * b->x) - (a->x * b->z);
  out->z = (a->x * b->y) - (a->y * b->x);
}*/


#ifdef __cplusplus
 }
#endif
#endif