232 lines
6.5 KiB
C
232 lines
6.5 KiB
C
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#include "Compass_RM3100.h"
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#include <stdio.h>
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#define RM3100_POLL_REG 0x00
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#define RM3100_CMM_REG 0x01
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#define RM3100_CCX1_REG 0x04
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#define RM3100_CCX0_REG 0x05
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#define RM3100_CCY1_REG 0x06
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#define RM3100_CCY0_REG 0x07
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#define RM3100_CCZ1_REG 0x08
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#define RM3100_CCZ0_REG 0x09
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#define RM3100_TMRC_REG 0x0B
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#define RM3100_MX2_REG 0x24
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#define RM3100_MX1_REG 0x25
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#define RM3100_MX0_REG 0x26
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#define RM3100_MY2_REG 0x27
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#define RM3100_MY1_REG 0x28
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#define RM3100_MY0_REG 0x29
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#define RM3100_MZ2_REG 0x2A
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#define RM3100_MZ1_REG 0x2B
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#define RM3100_MZ0_REG 0x2C
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#define RM3100_BIST_REG 0x33
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#define RM3100_STATUS_REG 0x34
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#define RM3100_HSHAKE_REG 0x34
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#define RM3100_REVID_REG 0x36
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#define CCP0 0xC8 // Cycle Count values
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#define CCP1 0x00
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#define CCP0_DEFAULT 0xC8 // Default Cycle Count values (used as a whoami check)
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#define CCP1_DEFAULT 0x00
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#define GAIN_CC50 20.0f // LSB/uT
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#define GAIN_CC100 38.0f
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#define GAIN_CC200 75.0f
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#define UTESLA_TO_MGAUSS 10.0f // uT to mGauss conversion
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#define TMRC 0x94 // Update rate 150Hz
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#define CMM 0x71 // read 3 axes and set data ready if 3 axes are ready
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static bool read_registers(SPI_DEV_t *dev, uint8_t reg, uint8_t *buf,
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uint32_t size)
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{
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SPI_DEV_select(dev);
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bool rslt = SPI_DEV_read_registers(dev, reg, buf, size);
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SPI_DEV_unselect(dev);
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return rslt;
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}
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static bool write_register(SPI_DEV_t *dev, uint8_t reg, uint8_t val)
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{
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SPI_DEV_select(dev);
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bool rslt = SPI_DEV_write_register(dev, reg, val);
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SPI_DEV_unselect(dev);
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return rslt;
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}
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bool Compass_RM3100_init(Compass_RM3100_t *cps, const char *name, SPI_DEV_t *dev, GPIO_EXIT_t *drdy)
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{
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int i;
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cps->name = name;
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cps->dev = dev;
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cps->drdy = drdy;
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cps->_scaler = 1.0;
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cps->success = false;
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SPI_DEV_begin(dev, -1);
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// read has high bit set for SPI
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SPI_DEV_set_read_flag(dev, 0x80);
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// high retries for init
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//dev->set_retries(10);
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// use default cycle count values as a whoami test
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uint8_t ccx0;
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uint8_t ccx1;
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uint8_t ccy0;
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uint8_t ccy1;
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uint8_t ccz0;
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uint8_t ccz1;
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if (!read_registers(dev, RM3100_CCX1_REG, &ccx1, 1) ||
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!read_registers(dev, RM3100_CCX0_REG, &ccx0, 1) ||
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!read_registers(dev, RM3100_CCY1_REG, &ccy1, 1) ||
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!read_registers(dev, RM3100_CCY0_REG, &ccy0, 1) ||
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!read_registers(dev, RM3100_CCZ1_REG, &ccz1, 1) ||
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!read_registers(dev, RM3100_CCZ0_REG, &ccz0, 1) ||
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ccx1 != CCP1_DEFAULT || ccx0 != CCP0_DEFAULT ||
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ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
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ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT)
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{
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// couldn't read one of the cycle count registers or didn't recognize the default cycle count values
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SPI_DEV_end(dev);
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return false;
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}
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write_register(dev, RM3100_TMRC_REG, TMRC); // CMM data rate
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write_register(dev, RM3100_CMM_REG, CMM); // CMM configuration
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write_register(dev, RM3100_CCX1_REG, CCP1); // cycle count x
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write_register(dev, RM3100_CCX0_REG, CCP0); // cycle count x
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write_register(dev, RM3100_CCY1_REG, CCP1); // cycle count y
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write_register(dev, RM3100_CCY0_REG, CCP0); // cycle count y
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write_register(dev, RM3100_CCZ1_REG, CCP1); // cycle count z
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write_register(dev, RM3100_CCZ0_REG, CCP0); // cycle count z
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cps->_scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; // has to be changed if using a different cycle count
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// lower retries for run
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//dev->set_retries(3);
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//Built-in Test
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write_register(dev, RM3100_BIST_REG, 0b10001010); // test
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for (i = 0; i < 10; ++i)
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{
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uint8_t status;
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if (!read_registers(cps->dev, RM3100_STATUS_REG, (uint8_t *)&status, 1))
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{
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break;
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}
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if ((status & 0x80))
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{
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if (read_registers(dev, RM3100_BIST_REG, &status, 1))
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{
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if ((status & 0b01110000) == 0b01110000)
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{
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write_register(dev, RM3100_BIST_REG, 0b00000000); // done
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cps->success = true;
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}
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}
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break;
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}
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osDelay(10);
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}
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SPI_DEV_end(dev);
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printf("RM3100: Foundas compass.\n");
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return cps->success;
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}
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void Compass_RM3100_update(Compass_RM3100_t *cps)
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{
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struct PACKED
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{
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uint8_t magx_2;
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uint8_t magx_1;
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uint8_t magx_0;
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uint8_t magy_2;
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uint8_t magy_1;
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uint8_t magy_0;
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uint8_t magz_2;
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uint8_t magz_1;
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uint8_t magz_0;
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} data;
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int32_t magx = 0;
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int32_t magy = 0;
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int32_t magz = 0;
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if (cps->success && SPI_DEV_begin(cps->dev, 0))
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{
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// check data ready on 3 axis
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uint8_t status;
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if (!read_registers(cps->dev, RM3100_STATUS_REG, (uint8_t *)&status, 1))
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{
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cps->bad_cnt++;
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goto check_registers;
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}
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if (!(status & 0x80))
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{
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// data not available yet
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cps->nrdy_cnt++;
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goto check_registers;
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}
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if (!read_registers(cps->dev, RM3100_MX2_REG, (uint8_t *)&data, sizeof(data)))
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{
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cps->bad_cnt++;
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goto check_registers;
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}
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// the 24 bits of data for each axis are in 2s complement representation
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// each byte is shifted to its position in a 24-bit unsigned integer and from 8 more bits to be left-aligned in a 32-bit integer
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magx = ((uint32_t)data.magx_2 << 24) | ((uint32_t)data.magx_1 << 16) | ((uint32_t)data.magx_0 << 8);
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magy = ((uint32_t)data.magy_2 << 24) | ((uint32_t)data.magy_1 << 16) | ((uint32_t)data.magy_0 << 8);
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magz = ((uint32_t)data.magz_2 << 24) | ((uint32_t)data.magz_1 << 16) | ((uint32_t)data.magz_0 << 8);
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// right-shift signed integer back to get correct measurement value
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magx >>= 8;
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magy >>= 8;
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magz >>= 8;
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// apply scaler and store in field vector
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cps->magx = magx * cps->_scaler;
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cps->magy = magy * cps->_scaler;
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cps->magz = magz * cps->_scaler;
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cps->good_cnt++;
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cps->seq++;
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check_registers:
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SPI_DEV_end(cps->dev);
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}
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}
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void Compass_RM3100_monitor(Compass_RM3100_t *cps)
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{
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cps->good_pps = cps->good_cnt;
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cps->bad_pps = cps->bad_cnt;
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cps->nrdy_pps = cps->nrdy_cnt;
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cps->nrdy_cnt = 0;
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cps->good_cnt = 0;
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cps->bad_cnt = 0;
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}
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void Compass_RM3100_loop(Compass_RM3100_t *cps)
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{
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while (true)
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{
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cps->drdy->task = xTaskGetCurrentTaskHandle();
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ulTaskNotifyTake(pdTRUE, 50);
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Compass_RM3100_update(cps);
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}
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}
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