Martin Cottrell
No Changes
Dependencies: BLE_API mbed-dev-bin nRF51822
Fork of
microbit-dal
by 
Lancaster University
Diff: inc/drivers/MicroBitCompass.h
- Revision:
- 1:8aa5cdb4ab67
- Child:
- 41:da05ec75cd5d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/drivers/MicroBitCompass.h Thu Apr 07 01:33:22 2016 +0100
@@ -0,0 +1,518 @@
+/*
+The MIT License (MIT)
+
+Copyright (c) 2016 British Broadcasting Corporation.
+This software is provided by Lancaster University by arrangement with the BBC.
+
+Permission is hereby granted, free of charge, to any person obtaining a
+copy of this software and associated documentation files (the "Software"),
+to deal in the Software without restriction, including without limitation
+the rights to use, copy, modify, merge, publish, distribute, sublicense,
+and/or sell copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef MICROBIT_COMPASS_H
+#define MICROBIT_COMPASS_H
+
+#include "mbed.h"
+#include "MicroBitConfig.h"
+#include "MicroBitComponent.h"
+#include "MicroBitCoordinateSystem.h"
+#include "MicroBitAccelerometer.h"
+#include "MicroBitStorage.h"
+
+/**
+ * Relevant pin assignments
+ */
+#define MICROBIT_PIN_COMPASS_DATA_READY P0_29
+
+/**
+ * I2C constants
+ */
+#define MAG3110_DEFAULT_ADDR 0x1D
+
+/**
+ * MAG3110 Register map
+ */
+#define MAG_DR_STATUS 0x00
+#define MAG_OUT_X_MSB 0x01
+#define MAG_OUT_X_LSB 0x02
+#define MAG_OUT_Y_MSB 0x03
+#define MAG_OUT_Y_LSB 0x04
+#define MAG_OUT_Z_MSB 0x05
+#define MAG_OUT_Z_LSB 0x06
+#define MAG_WHOAMI 0x07
+#define MAG_SYSMOD 0x08
+#define MAG_OFF_X_MSB 0x09
+#define MAG_OFF_X_LSB 0x0A
+#define MAG_OFF_Y_MSB 0x0B
+#define MAG_OFF_Y_LSB 0x0C
+#define MAG_OFF_Z_MSB 0x0D
+#define MAG_OFF_Z_LSB 0x0E
+#define MAG_DIE_TEMP 0x0F
+#define MAG_CTRL_REG1 0x10
+#define MAG_CTRL_REG2 0x11
+
+/**
+ * Configuration options
+ */
+struct MAG3110SampleRateConfig
+{
+ uint32_t sample_period;
+ uint8_t ctrl_reg1;
+};
+
+extern const MAG3110SampleRateConfig MAG3110SampleRate[];
+
+#define MAG3110_SAMPLE_RATES 11
+
+/**
+ * Compass events
+ */
+#define MICROBIT_COMPASS_EVT_CAL_REQUIRED 1 // DEPRECATED
+#define MICROBIT_COMPASS_EVT_CAL_START 2 // DEPRECATED
+#define MICROBIT_COMPASS_EVT_CAL_END 3 // DEPRECATED
+
+#define MICROBIT_COMPASS_EVT_DATA_UPDATE 4
+#define MICROBIT_COMPASS_EVT_CONFIG_NEEDED 5
+#define MICROBIT_COMPASS_EVT_CALIBRATE 6
+
+/**
+ * Status Bits
+ */
+#define MICROBIT_COMPASS_STATUS_CALIBRATED 2
+#define MICROBIT_COMPASS_STATUS_CALIBRATING 4
+#define MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE 8
+
+/**
+ * Term to convert sample data into SI units
+ */
+#define MAG3110_NORMALIZE_SAMPLE(x) (100*x)
+
+/**
+ * MAG3110 MAGIC ID value
+ * Returned from the MAG_WHO_AM_I register for ID purposes.
+ */
+#define MAG3110_WHOAMI_VAL 0xC4
+
+struct CompassSample
+{
+ int x;
+ int y;
+ int z;
+
+ CompassSample()
+ {
+ this->x = 0;
+ this->y = 0;
+ this->z = 0;
+ }
+
+ CompassSample(int x, int y, int z)
+ {
+ this->x = x;
+ this->y = y;
+ this->z = z;
+ }
+
+ bool operator==(const CompassSample& other) const
+ {
+ return x == other.x && y == other.y && z == other.z;
+ }
+
+ bool operator!=(const CompassSample& other) const
+ {
+ return !(x == other.x && y == other.y && z == other.z);
+ }
+};
+
+/**
+ * Class definition for MicroBit Compass.
+ *
+ * Represents an implementation of the Freescale MAG3110 I2C Magnetmometer.
+ * Also includes basic caching, calibration and on demand activation.
+ */
+class MicroBitCompass : public MicroBitComponent
+{
+ uint16_t address; // I2C address of the magnetmometer.
+ uint16_t samplePeriod; // The time between samples, in millseconds.
+
+ CompassSample average; // Centre point of sample data.
+ CompassSample sample; // The latest sample data recorded.
+ DigitalIn int1; // Data ready interrupt.
+ MicroBitI2C& i2c; // The I2C interface the sensor is connected to.
+ MicroBitAccelerometer* accelerometer; // The accelerometer to use for tilt compensation.
+ MicroBitStorage* storage; // An instance of MicroBitStorage used for persistence.
+
+ public:
+
+ /**
+ * Constructor.
+ * Create a software representation of an e-compass.
+ *
+ * @param _i2c an instance of i2c, which the compass is accessible from.
+ *
+ * @param _accelerometer an instance of the accelerometer, used for tilt compensation.
+ *
+ * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets.
+ *
+ * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @code
+ * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0);
+ *
+ * MicroBitAccelerometer accelerometer(i2c);
+ *
+ * MicroBitStorage storage;
+ *
+ * MicroBitCompass compass(i2c, accelerometer, storage);
+ * @endcode
+ */
+ MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+ /**
+ * Constructor.
+ * Create a software representation of an e-compass.
+ *
+ * @param _i2c an instance of i2c, which the compass is accessible from.
+ *
+ * @param _accelerometer an instance of the accelerometer, used for tilt compensation.
+ *
+ * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @code
+ * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0);
+ *
+ * MicroBitAccelerometer accelerometer(i2c);
+ *
+ * MicroBitCompass compass(i2c, accelerometer, storage);
+ * @endcode
+ */
+ MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+ /**
+ * Constructor.
+ * Create a software representation of an e-compass.
+ *
+ * @param _i2c an instance of i2c, which the compass is accessible from.
+ *
+ * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets.
+ *
+ * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @code
+ * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0);
+ *
+ * MicroBitStorage storage;
+ *
+ * MicroBitCompass compass(i2c, storage);
+ * @endcode
+ */
+ MicroBitCompass(MicroBitI2C& _i2c, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+ /**
+ * Constructor.
+ * Create a software representation of an e-compass.
+ *
+ * @param _i2c an instance of i2c, which the compass is accessible from.
+ *
+ * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR.
+ *
+ * @code
+ * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0);
+ *
+ * MicroBitCompass compass(i2c);
+ * @endcode
+ */
+ MicroBitCompass(MicroBitI2C& _i2c, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS);
+
+ /**
+ * Configures the compass for the sample rate defined in this object.
+ * The nearest values are chosen to those defined that are supported by the hardware.
+ * The instance variables are then updated to reflect reality.
+ *
+ * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be configured.
+ */
+ int configure();
+
+ /**
+ * Attempts to set the sample rate of the compass to the specified value (in ms).
+ *
+ * @param period the requested time between samples, in milliseconds.
+ *
+ * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be updated.
+ *
+ * @code
+ * // sample rate is now 20 ms.
+ * compass.setPeriod(20);
+ * @endcode
+ *
+ * @note The requested rate may not be possible on the hardware. In this case, the
+ * nearest lower rate is chosen.
+ */
+ int setPeriod(int period);
+
+ /**
+ * Reads the currently configured sample rate of the compass.
+ *
+ * @return The time between samples, in milliseconds.
+ */
+ int getPeriod();
+
+ /**
+ * Gets the current heading of the device, relative to magnetic north.
+ *
+ * If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event.
+ *
+ * Users wishing to implement their own calibration algorithms should listen for this event,
+ * using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before
+ * the user program continues.
+ *
+ * @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating.
+ *
+ * @code
+ * compass.heading();
+ * @endcode
+ */
+ int heading();
+
+ /**
+ * Attempts to read the 8 bit ID from the magnetometer, this can be used for
+ * validation purposes.
+ *
+ * @return the 8 bit ID returned by the magnetometer, or MICROBIT_I2C_ERROR if the request fails.
+ *
+ * @code
+ * compass.whoAmI();
+ * @endcode
+ */
+ int whoAmI();
+
+ /**
+ * Reads the value of the X axis from the latest update retrieved from the magnetometer.
+ *
+ * @param system The coordinate system to use. By default, a simple cartesian system is provided.
+ *
+ * @return The magnetic force measured in the X axis, in nano teslas.
+ *
+ * @code
+ * compass.getX();
+ * @endcode
+ */
+ int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
+
+ /**
+ * Reads the value of the Y axis from the latest update retrieved from the magnetometer.
+ *
+ * @param system The coordinate system to use. By default, a simple cartesian system is provided.
+ *
+ * @return The magnetic force measured in the Y axis, in nano teslas.
+ *
+ * @code
+ * compass.getY();
+ * @endcode
+ */
+ int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
+
+ /**
+ * Reads the value of the Z axis from the latest update retrieved from the magnetometer.
+ *
+ * @param system The coordinate system to use. By default, a simple cartesian system is provided.
+ *
+ * @return The magnetic force measured in the Z axis, in nano teslas.
+ *
+ * @code
+ * compass.getZ();
+ * @endcode
+ */
+ int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN);
+
+ /**
+ * Determines the overall magnetic field strength based on the latest update from the magnetometer.
+ *
+ * @return The magnetic force measured across all axis, in nano teslas.
+ *
+ * @code
+ * compass.getFieldStrength();
+ * @endcode
+ */
+ int getFieldStrength();
+
+ /**
+ * Reads the current die temperature of the compass.
+ *
+ * @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the temperature reading could not be retreived
+ * from the accelerometer.
+ */
+ int readTemperature();
+
+ /**
+ * Perform a calibration of the compass.
+ *
+ * This method will be called automatically if a user attempts to read a compass value when
+ * the compass is uncalibrated. It can also be called at any time by the user.
+ *
+ * The method will only return once the compass has been calibrated.
+ *
+ * @return MICROBIT_OK, MICROBIT_I2C_ERROR if the magnetometer could not be accessed,
+ * or MICROBIT_CALIBRATION_REQUIRED if the calibration algorithm failed to complete successfully.
+ *
+ * @note THIS MUST BE CALLED TO GAIN RELIABLE VALUES FROM THE COMPASS
+ */
+ int calibrate();
+
+ /**
+ * Configure the compass to use the calibration data that is supplied to this call.
+ *
+ * Calibration data is comprised of the perceived zero offset of each axis of the compass.
+ *
+ * After calibration this should now take into account trimming errors in the magnetometer,
+ * and any "hard iron" offsets on the device.
+ *
+ * @param calibration A CompassSample containing the offsets for the x, y and z axis.
+ */
+ void setCalibration(CompassSample calibration);
+
+ /**
+ * Provides the calibration data currently in use by the compass.
+ *
+ * More specifically, the x, y and z zero offsets of the compass.
+ *
+ * @return calibration A CompassSample containing the offsets for the x, y and z axis.
+ */
+ CompassSample getCalibration();
+
+ /**
+ * Updates the local sample, only if the compass indicates that
+ * data is stale.
+ *
+ * @note Can be used to trigger manual updates, if the device is running without a scheduler.
+ * Also called internally by all get[X,Y,Z]() member functions.
+ */
+ int updateSample();
+
+ /**
+ * Periodic callback from MicroBit idle thread.
+ *
+ * Calls updateSample().
+ */
+ virtual void idleTick();
+
+ /**
+ * Returns 0 or 1. 1 indicates that the compass is calibrated, zero means the compass requires calibration.
+ */
+ int isCalibrated();
+
+ /**
+ * Returns 0 or 1. 1 indicates that the compass is calibrating, zero means the compass is not currently calibrating.
+ */
+ int isCalibrating();
+
+ /**
+ * Clears the calibration held in persistent storage, and sets the calibrated flag to zero.
+ */
+ void clearCalibration();
+
+ /**
+ * Returns 0 or 1. 1 indicates data is waiting to be read, zero means data is not ready to be read.
+ */
+ virtual int isIdleCallbackNeeded();
+
+ /**
+ * Destructor for MicroBitCompass, where we deregister this instance from the array of fiber components.
+ */
+ ~MicroBitCompass();
+
+ private:
+
+ /**
+ * Issues a standard, 2 byte I2C command write to the accelerometer.
+ *
+ * Blocks the calling thread until complete.
+ *
+ * @param reg The address of the register to write to.
+ *
+ * @param value The value to write.
+ *
+ * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed.
+ */
+ int writeCommand(uint8_t reg, uint8_t value);
+
+ /**
+ * Issues a read command, copying data into the specified buffer.
+ *
+ * Blocks the calling thread until complete.
+ *
+ * @param reg The address of the register to access.
+ *
+ * @param buffer Memory area to read the data into.
+ *
+ * @param length The number of bytes to read.
+ *
+ * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed.
+ */
+ int readCommand(uint8_t reg, uint8_t* buffer, int length);
+
+ /**
+ * Issues a read of a given address, and returns the value.
+ *
+ * Blocks the calling thread until complete.
+ *
+ * @param reg The address of the 16 bit register to access.
+ *
+ * @return The register value, interpreted as a 16 but signed value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed.
+ */
+ int read16(uint8_t reg);
+
+ /**
+ * Issues a read of a given address, and returns the value.
+ *
+ * Blocks the calling thread until complete.
+ *
+ * @param reg The address of the 16 bit register to access.
+ *
+ * @return The register value, interpreted as a 8 bit unsigned value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed.
+ */
+ int read8(uint8_t reg);
+
+ /**
+ * Calculates a tilt compensated bearing of the device, using the accelerometer.
+ */
+ int tiltCompensatedBearing();
+
+ /**
+ * Calculates a non-tilt compensated bearing of the device.
+ */
+ int basicBearing();
+
+ /**
+ * An initialisation member function used by the many constructors of MicroBitCompass.
+ *
+ * @param id the unique identifier for this compass instance.
+ *
+ * @param address the base address of the magnetometer on the i2c bus.
+ */
+ void init(uint16_t id, uint16_t address);
+};
+
+#endif