/*
 * Compass.h
 *
 * Created: 1/26/2012 9:14:02 AM
 *  Author: Andrew Kooiman
 */ 

#ifndef COMPASS_H
#include "oulib.h"
#include "i2c_isr.h"

#define COMPASS_STANDBY_MODE 0
#define COMPASS_QUERY_MODE 1
#define COMPASS_CONTINUOUS_MODE 2
#define COMPASS_HZ_1  0
#define COMPASS_HZ_5  32
#define COMPASS_HZ_10 64
#define COMPASS_HZ_20 96
#define COMPASS_PERIODIC_SET_RESET_OFF 0
#define COMPASS_PERIODIC_SET_RESET_ON  16

/************************************************************************/
/* Prepares the processor for I2C communication, the compass for        */
/* operation, and enables global interrupts                             */
/************************************************************************/
void compass_init(void);

/************************************************************************/
/* Queries the compass for the present heading.  This method assumes    */
/* that the compass is in query mode.                                   */
/* The heading will be returned in the range 0 ... 3599 in tenths of a  */
/* degree.                                                              */
/************************************************************************/
int16_t compass_query(void);

/************************************************************************/
/* Initiates a calibration routine.  The user will have to spin the     */
/* compass through two full rotations.                                  */
/************************************************************************/
void compass_calib_start(void);

/************************************************************************/
/* Ends the calibration routine.  The user should have already called   */
/* start_calibration(void) and should have rotated the compass two times in */
/* the past 6 seconds - 3 minutes (20 seconds ideal).                   */
/************************************************************************/
void compass_calib_end(void);

/************************************************************************/
/* Sets the mode of the compass using the format described on the data  */
/* sheet.  The flag bits are defined at the top of this file, and may   */ 
/* be added together.                                                   */
/************************************************************************/
void set_mode(uint8_t mode);

/************************************************************************/
/* Saves the current operating mode to EEPROM                           */
/************************************************************************/
void save_settings_to_EEPROM(void);

#endif