Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Magnetometer.h@14:d9fbb3ccd482, 2015-03-17 (annotated)
- Committer:
- pvaibhav
- Date:
- Tue Mar 17 15:50:41 2015 +0000
- Revision:
- 14:d9fbb3ccd482
- Parent:
- 12:1632d7391453
- Child:
- 32:d37447aec6b4
Magnetometer now has automatic background calibration for hard-iron and soft-iron effects
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pvaibhav | 4:e759b8c756da | 1 | #ifndef _H_MAGNETOMETER_H |
pvaibhav | 4:e759b8c756da | 2 | #define _H_MAGNETOMETER_H |
pvaibhav | 4:e759b8c756da | 3 | |
pvaibhav | 4:e759b8c756da | 4 | #include "I2CPeripheral.h" |
pvaibhav | 11:d21275e60ebb | 5 | #include "Sensor.h" |
pvaibhav | 14:d9fbb3ccd482 | 6 | #include "CalibrateMagneto.h" |
pvaibhav | 4:e759b8c756da | 7 | |
pvaibhav | 12:1632d7391453 | 8 | class Magnetometer : public I2CPeripheral, public Sensor |
pvaibhav | 12:1632d7391453 | 9 | { |
pvaibhav | 4:e759b8c756da | 10 | public: |
pvaibhav | 4:e759b8c756da | 11 | Magnetometer(I2C &i2c); |
pvaibhav | 12:1632d7391453 | 12 | |
pvaibhav | 11:d21275e60ebb | 13 | virtual bool powerOn(); |
pvaibhav | 11:d21275e60ebb | 14 | virtual void powerOff(); |
pvaibhav | 11:d21275e60ebb | 15 | virtual void start(); |
pvaibhav | 11:d21275e60ebb | 16 | virtual void stop(); |
pvaibhav | 11:d21275e60ebb | 17 | |
pvaibhav | 11:d21275e60ebb | 18 | virtual Vector3 read(); |
pvaibhav | 12:1632d7391453 | 19 | |
pvaibhav | 12:1632d7391453 | 20 | bool performSelfTest(); |
pvaibhav | 12:1632d7391453 | 21 | |
pvaibhav | 11:d21275e60ebb | 22 | private: |
pvaibhav | 11:d21275e60ebb | 23 | // Calibration data |
pvaibhav | 11:d21275e60ebb | 24 | int8_t dig_x1; |
pvaibhav | 11:d21275e60ebb | 25 | int8_t dig_y1; |
pvaibhav | 11:d21275e60ebb | 26 | int8_t dig_x2; |
pvaibhav | 11:d21275e60ebb | 27 | int8_t dig_y2; |
pvaibhav | 11:d21275e60ebb | 28 | uint16_t dig_z1; |
pvaibhav | 11:d21275e60ebb | 29 | int16_t dig_z2; |
pvaibhav | 11:d21275e60ebb | 30 | int16_t dig_z3; |
pvaibhav | 11:d21275e60ebb | 31 | int16_t dig_z4; |
pvaibhav | 11:d21275e60ebb | 32 | uint8_t dig_xy1; |
pvaibhav | 11:d21275e60ebb | 33 | int8_t dig_xy2; |
pvaibhav | 11:d21275e60ebb | 34 | uint16_t dig_xyz1; |
pvaibhav | 12:1632d7391453 | 35 | |
pvaibhav | 11:d21275e60ebb | 36 | // Hard iron cancellation data |
pvaibhav | 14:d9fbb3ccd482 | 37 | CalibrateMagneto calibrator; |
pvaibhav | 12:1632d7391453 | 38 | |
pvaibhav | 11:d21275e60ebb | 39 | void readCalibrationData(); |
pvaibhav | 4:e759b8c756da | 40 | }; |
pvaibhav | 4:e759b8c756da | 41 | |
pvaibhav | 4:e759b8c756da | 42 | #endif//_H_MAGNETOMETER_H |