sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
27 lines
638 B
C
27 lines
638 B
C
#ifndef MAG_H
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#define MAG_H
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#include <stdint.h>
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typedef enum {
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MAG_NONE = 0,
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MAG_QMC5883L, /* I2C 0x0D — most common on external compass modules */
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MAG_HMC5883L, /* I2C 0x1E — legacy Honeywell part */
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MAG_IST8310, /* I2C 0x0E — iSentek part, common on CUAV boards */
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} mag_type_t;
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/*
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* Auto-detect magnetometer on I2C1.
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* Returns detected type (MAG_NONE if nothing found).
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* Requires i2c1_init() before calling.
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*/
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mag_type_t mag_init(void);
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/*
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* Read compass heading (degrees × 10, 0–3599).
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* Returns -1 if data not ready or no sensor.
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*/
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int16_t mag_read_heading(void);
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#endif /* MAG_H */
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