Cristiano Barbosa / microbit-dal2

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Fork of microbit-dal by Lancaster University

inc/drivers/MicroBitCompassCalibrator.h@74:8cb1c4aa4527, 2018-01-26 (annotated)

Committer:
cristianobarbosa
Date:
Fri Jan 26 14:11:55 2018 +0000
Revision:
74:8cb1c4aa4527
Parent:
1:8aa5cdb4ab67 
sender

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan Austin 1:8aa5cdb4ab67 1 /*
Jonathan Austin 1:8aa5cdb4ab67 2 The MIT License (MIT)
Jonathan Austin 1:8aa5cdb4ab67 3
Jonathan Austin 1:8aa5cdb4ab67 4 Copyright (c) 2016 British Broadcasting Corporation.
Jonathan Austin 1:8aa5cdb4ab67 5 This software is provided by Lancaster University by arrangement with the BBC.
Jonathan Austin 1:8aa5cdb4ab67 6
Jonathan Austin 1:8aa5cdb4ab67 7 Permission is hereby granted, free of charge, to any person obtaining a
Jonathan Austin 1:8aa5cdb4ab67 8 copy of this software and associated documentation files (the "Software"),
Jonathan Austin 1:8aa5cdb4ab67 9 to deal in the Software without restriction, including without limitation
Jonathan Austin 1:8aa5cdb4ab67 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
Jonathan Austin 1:8aa5cdb4ab67 11 and/or sell copies of the Software, and to permit persons to whom the
Jonathan Austin 1:8aa5cdb4ab67 12 Software is furnished to do so, subject to the following conditions:
Jonathan Austin 1:8aa5cdb4ab67 13
Jonathan Austin 1:8aa5cdb4ab67 14 The above copyright notice and this permission notice shall be included in
Jonathan Austin 1:8aa5cdb4ab67 15 all copies or substantial portions of the Software.
Jonathan Austin 1:8aa5cdb4ab67 16
Jonathan Austin 1:8aa5cdb4ab67 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jonathan Austin 1:8aa5cdb4ab67 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jonathan Austin 1:8aa5cdb4ab67 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
Jonathan Austin 1:8aa5cdb4ab67 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
Jonathan Austin 1:8aa5cdb4ab67 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 23 DEALINGS IN THE SOFTWARE.
Jonathan Austin 1:8aa5cdb4ab67 24 */
Jonathan Austin 1:8aa5cdb4ab67 25
Jonathan Austin 1:8aa5cdb4ab67 26 #ifndef MICROBIT_COMPASS_CALIBRATOR_H
Jonathan Austin 1:8aa5cdb4ab67 27 #define MICROBIT_COMPASS_CALIBRATOR_H
Jonathan Austin 1:8aa5cdb4ab67 28
Jonathan Austin 1:8aa5cdb4ab67 29 #include "MicroBitConfig.h"
Jonathan Austin 1:8aa5cdb4ab67 30 #include "MicroBitCompass.h"
Jonathan Austin 1:8aa5cdb4ab67 31 #include "MicroBitAccelerometer.h"
Jonathan Austin 1:8aa5cdb4ab67 32 #include "MicroBitDisplay.h"
Jonathan Austin 1:8aa5cdb4ab67 33
Jonathan Austin 1:8aa5cdb4ab67 34
Jonathan Austin 1:8aa5cdb4ab67 35 /**
Jonathan Austin 1:8aa5cdb4ab67 36 * Class definition for an interactive compass calibration algorithm.
Jonathan Austin 1:8aa5cdb4ab67 37 *
Jonathan Austin 1:8aa5cdb4ab67 38 * The algorithm uses an accelerometer to ensure that a broad range of sample data has been gathered
Jonathan Austin 1:8aa5cdb4ab67 39 * from the compass module, then performs a least mean squares optimisation of the
Jonathan Austin 1:8aa5cdb4ab67 40 * results to determine the calibration data for the compass.
Jonathan Austin 1:8aa5cdb4ab67 41 *
Jonathan Austin 1:8aa5cdb4ab67 42 * The LED matrix display is used to provide feedback to the user on the gestures required.
Jonathan Austin 1:8aa5cdb4ab67 43 *
Jonathan Austin 1:8aa5cdb4ab67 44 * This class listens for calibration requests from the compass (on the default event model),
Jonathan Austin 1:8aa5cdb4ab67 45 * and automatically initiates a calibration sequence as necessary.
Jonathan Austin 1:8aa5cdb4ab67 46 */
Jonathan Austin 1:8aa5cdb4ab67 47 class MicroBitCompassCalibrator
Jonathan Austin 1:8aa5cdb4ab67 48 {
Jonathan Austin 1:8aa5cdb4ab67 49 MicroBitCompass& compass;
Jonathan Austin 1:8aa5cdb4ab67 50 MicroBitAccelerometer& accelerometer;
Jonathan Austin 1:8aa5cdb4ab67 51 MicroBitDisplay& display;
Jonathan Austin 1:8aa5cdb4ab67 52
Jonathan Austin 1:8aa5cdb4ab67 53 public:
Jonathan Austin 1:8aa5cdb4ab67 54
Jonathan Austin 1:8aa5cdb4ab67 55 /**
Jonathan Austin 1:8aa5cdb4ab67 56 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 57 *
Jonathan Austin 1:8aa5cdb4ab67 58 * Create an object capable of calibrating the compass.
Jonathan Austin 1:8aa5cdb4ab67 59 *
Jonathan Austin 1:8aa5cdb4ab67 60 * The algorithm uses an accelerometer to ensure that a broad range of sample data has been gathered
Jonathan Austin 1:8aa5cdb4ab67 61 * from the compass module, then performs a least mean squares optimisation of the
Jonathan Austin 1:8aa5cdb4ab67 62 * results to determine the calibration data for the compass.
Jonathan Austin 1:8aa5cdb4ab67 63 *
Jonathan Austin 1:8aa5cdb4ab67 64 * The LED matrix display is used to provide feedback to the user on the gestures required.
Jonathan Austin 1:8aa5cdb4ab67 65 *
Jonathan Austin 1:8aa5cdb4ab67 66 * @param compass The compass instance to calibrate.
Jonathan Austin 1:8aa5cdb4ab67 67 *
Jonathan Austin 1:8aa5cdb4ab67 68 * @param accelerometer The accelerometer to gather contextual data from.
Jonathan Austin 1:8aa5cdb4ab67 69 *
Jonathan Austin 1:8aa5cdb4ab67 70 * @param display The LED matrix to display user feedback on.
Jonathan Austin 1:8aa5cdb4ab67 71 */
Jonathan Austin 1:8aa5cdb4ab67 72 MicroBitCompassCalibrator(MicroBitCompass& _compass, MicroBitAccelerometer& _accelerometer, MicroBitDisplay& _display);
Jonathan Austin 1:8aa5cdb4ab67 73
Jonathan Austin 1:8aa5cdb4ab67 74 /**
Jonathan Austin 1:8aa5cdb4ab67 75 * Performs a simple game that in parallel, calibrates the compass.
Jonathan Austin 1:8aa5cdb4ab67 76 *
Jonathan Austin 1:8aa5cdb4ab67 77 * This function is executed automatically when the user requests a compass bearing, and compass calibration is required.
Jonathan Austin 1:8aa5cdb4ab67 78 *
Jonathan Austin 1:8aa5cdb4ab67 79 * This function is, by design, synchronous and only returns once calibration is complete.
Jonathan Austin 1:8aa5cdb4ab67 80 */
Jonathan Austin 1:8aa5cdb4ab67 81 void calibrate(MicroBitEvent);
Jonathan Austin 1:8aa5cdb4ab67 82 };
Jonathan Austin 1:8aa5cdb4ab67 83
Jonathan Austin 1:8aa5cdb4ab67 84 #endif