Magnetometer.h

00001 #ifndef _H_MAGNETOMETER_H
00002 #define _H_MAGNETOMETER_H
00003 
00004 #include "I2CPeripheral.h"
00005 #include "Sensor.h"
00006 #include "CalibrateMagneto.h"
00007 
00008 class Magnetometer : public I2CPeripheral, public Sensor
00009 {
00010 public:
00011     Magnetometer(I2C &i2c);
00012 
00013     virtual bool powerOn();
00014     virtual void powerOff();
00015     virtual void start();
00016     virtual void stop();
00017 
00018     virtual Vector3 read();
00019 
00020     bool performSelfTest();
00021 
00022     void getCalibration(Vector3 &mins, Vector3 &maxs);
00023 
00024 private:
00025     // Calibration data
00026     int8_t   dig_x1;
00027     int8_t   dig_y1;
00028     int8_t   dig_x2;
00029     int8_t   dig_y2;
00030     uint16_t dig_z1;
00031     int16_t  dig_z2;
00032     int16_t  dig_z3;
00033     int16_t  dig_z4;
00034     uint8_t  dig_xy1;
00035     int8_t   dig_xy2;
00036     uint16_t dig_xyz1;
00037 
00038     // Hard iron cancellation data
00039     CalibrateMagneto calibrator;
00040 
00041     void readCalibrationData();
00042 
00043     InterruptIn int1;
00044     InterruptIn int2;
00045 };
00046 
00047 #endif//_H_MAGNETOMETER_H