text: /*
   * razor_config.h
   *
   * Created: 29/06/2012 20:49:22
   * Author: Juan Navarro Moreno
   */
  
  #ifndef RAZOR_CONFIG_H_
  #define RAZOR_CONFIG_H_
  
  #include <stdbool.h>
  
  #define REINIT_GLOBALS 1
  
  
  /*****************************************************************/
  /*********** USER SETUP AREA! Set your options here! *************/
  /*****************************************************************/
  
  // Sensor data output interval in milliseconds
  // This may not work, if faster than 20ms (=50Hz)
  // Code is tuned for 20ms, so better leave it like that
  #define OUTPUT__DATA_INTERVAL 8  // in milliseconds
  
  // Output mode
  //typedef enum {
  	//OUTPUT__MODE_CALIBRATE_SENSORS,  // Outputs sensor min/max values as text for manual calibration.
  	//OUTPUT__MODE_SENSORS_RAW,  // Raw (uncalibrated) sensor values:
  							//// "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ".
  	//OUTPUT__MODE_SENSORS_CALIB,  // Calibrated sensor values:
  							//// "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ".
  	//OUTPUT__MODE_SENSORS_BOTH,  // Raw and calibrated sensor values:
  							//// "AccXraw,AccYraw,AccZraw,GyroXraw,GyroYraw,GyroZraw,MagXraw,MagYraw,MagZraw",
  							//// "AccXcal,AccYcal,AccZcal,GyroXcal,GyroYcal,GyroZcal,MagXcal,MagYcal,MagZcal".
  	//OUTPUT__MODE_YPR_RAZOR,  // Angle values: "#YPR=Yaw,Pitch,Roll".
  	//OUTPUT__MODE_YPR_MADGWICK,
  	//OUTPUT__MODE_YPR_FREEIMU,
  //} output_mode_t;
  extern output_mode_t output_mode;
  #define STARTUP_OUTPUT_MODE OUTPUT__MODE_YPR_FREEIMU
  
  extern bool output_serialchart;
  
  // Output format
  //typedef enum {
  	//OUTPUT__FORMAT_BINARY,  // Output values as binary floats.
  	//OUTPUT__FORMAT_TEXT
  //} output_format_t;
  extern output_format_t output_format;
  #define STARTUP_OUTPUT_FORMAT OUTPUT__FORMAT_TEXT
  
  // Select if serial continuous streaming output is enabled per default on startup.
  #define OUTPUT__STARTUP_STREAM_ON true  // true or false
  
  // If set true, an error message will be output if we fail to read sensor data.
  // Message format: "!ERR: reading <sensor>", followed by "\r\n".
  extern char output_errors;  // true or false
  
  
  
  
  
  
  // Magnetometer (extended calibration)
  // Uncommend to use extended magnetometer calibration (compensates hard & soft iron errors)
  //#define CALIBRATION__MAGN_USE_EXTENDED true
  extern double magn_ellipsoid_center[3];
  extern double magn_ellipsoid_transform[3][3];
  
  
  
  
  // DEBUG OPTIONS
  /*****************************************************************/
  
  // Print elapsed time after each I/O loop
  #define DEBUG__PRINT_LOOP_TIME false
  
  
  /*****************************************************************/
  /****************** END OF USER SETUP AREA!  *********************/
  /*****************************************************************/
  
  #endif // RAZOR_CONFIG_H_
  