Philip Holifield
from bbc microbit library
Dependencies: BLE_API mbed-dev-bin nRF51822
Fork of
microbit-dal
by 
Lancaster University
inc/drivers/MicroBitCompass.h@75:c700add33ba5, 2018-01-11 (annotated)
- Committer:
- euxton
- Date:
- Thu Jan 11 21:54:30 2018 +0000
- Revision:
- 75:c700add33ba5
- Parent:
- 41:da05ec75cd5d
1st commit
Who changed what in which revision?
| User | Revision | Line number | New 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_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 27 | #define MICROBIT_COMPASS_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 28 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 29 | #include "mbed.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 30 | #include "MicroBitConfig.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 31 | #include "MicroBitComponent.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 32 | #include "MicroBitCoordinateSystem.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 33 | #include "MicroBitAccelerometer.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 34 | #include "MicroBitStorage.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 35 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 36 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 37 | * Relevant pin assignments |
| Jonathan Austin |
1:8aa5cdb4ab67 | 38 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 39 | #define MICROBIT_PIN_COMPASS_DATA_READY P0_29 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 40 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 41 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 42 | * I2C constants |
| Jonathan Austin |
1:8aa5cdb4ab67 | 43 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 44 | #define MAG3110_DEFAULT_ADDR 0x1D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 45 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 46 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 47 | * MAG3110 Register map |
| Jonathan Austin |
1:8aa5cdb4ab67 | 48 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 49 | #define MAG_DR_STATUS 0x00 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 50 | #define MAG_OUT_X_MSB 0x01 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 51 | #define MAG_OUT_X_LSB 0x02 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 52 | #define MAG_OUT_Y_MSB 0x03 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 53 | #define MAG_OUT_Y_LSB 0x04 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 54 | #define MAG_OUT_Z_MSB 0x05 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 55 | #define MAG_OUT_Z_LSB 0x06 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 56 | #define MAG_WHOAMI 0x07 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 57 | #define MAG_SYSMOD 0x08 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 58 | #define MAG_OFF_X_MSB 0x09 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 59 | #define MAG_OFF_X_LSB 0x0A |
| Jonathan Austin |
1:8aa5cdb4ab67 | 60 | #define MAG_OFF_Y_MSB 0x0B |
| Jonathan Austin |
1:8aa5cdb4ab67 | 61 | #define MAG_OFF_Y_LSB 0x0C |
| Jonathan Austin |
1:8aa5cdb4ab67 | 62 | #define MAG_OFF_Z_MSB 0x0D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 63 | #define MAG_OFF_Z_LSB 0x0E |
| Jonathan Austin |
1:8aa5cdb4ab67 | 64 | #define MAG_DIE_TEMP 0x0F |
| Jonathan Austin |
1:8aa5cdb4ab67 | 65 | #define MAG_CTRL_REG1 0x10 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 66 | #define MAG_CTRL_REG2 0x11 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 67 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 68 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 69 | * Configuration options |
| Jonathan Austin |
1:8aa5cdb4ab67 | 70 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 71 | struct MAG3110SampleRateConfig |
| Jonathan Austin |
1:8aa5cdb4ab67 | 72 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 73 | uint32_t sample_period; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 74 | uint8_t ctrl_reg1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 75 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 76 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 77 | extern const MAG3110SampleRateConfig MAG3110SampleRate[]; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 78 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 79 | #define MAG3110_SAMPLE_RATES 11 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 80 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 81 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 82 | * Compass events |
| Jonathan Austin |
1:8aa5cdb4ab67 | 83 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 84 | #define MICROBIT_COMPASS_EVT_CAL_REQUIRED 1 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 85 | #define MICROBIT_COMPASS_EVT_CAL_START 2 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 86 | #define MICROBIT_COMPASS_EVT_CAL_END 3 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 87 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 88 | #define MICROBIT_COMPASS_EVT_DATA_UPDATE 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 89 | #define MICROBIT_COMPASS_EVT_CONFIG_NEEDED 5 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 90 | #define MICROBIT_COMPASS_EVT_CALIBRATE 6 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 91 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 92 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 93 | * Status Bits |
| Jonathan Austin |
1:8aa5cdb4ab67 | 94 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 95 | #define MICROBIT_COMPASS_STATUS_CALIBRATED 2 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 96 | #define MICROBIT_COMPASS_STATUS_CALIBRATING 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 97 | #define MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE 8 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 98 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 99 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 100 | * Term to convert sample data into SI units |
| Jonathan Austin |
1:8aa5cdb4ab67 | 101 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 102 | #define MAG3110_NORMALIZE_SAMPLE(x) (100*x) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 103 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 104 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 105 | * MAG3110 MAGIC ID value |
| Jonathan Austin |
1:8aa5cdb4ab67 | 106 | * Returned from the MAG_WHO_AM_I register for ID purposes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 107 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 108 | #define MAG3110_WHOAMI_VAL 0xC4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 109 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 110 | struct CompassSample |
| Jonathan Austin |
1:8aa5cdb4ab67 | 111 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 112 | int x; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 113 | int y; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 114 | int z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 115 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 116 | CompassSample() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 117 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 118 | this->x = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 119 | this->y = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 120 | this->z = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 121 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 122 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 123 | CompassSample(int x, int y, int z) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 124 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 125 | this->x = x; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 126 | this->y = y; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 127 | this->z = z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 128 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 129 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 130 | bool operator==(const CompassSample& other) const |
| Jonathan Austin |
1:8aa5cdb4ab67 | 131 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 132 | return x == other.x && y == other.y && z == other.z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 133 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 134 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 135 | bool operator!=(const CompassSample& other) const |
| Jonathan Austin |
1:8aa5cdb4ab67 | 136 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 137 | return !(x == other.x && y == other.y && z == other.z); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 138 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 139 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 140 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 141 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 142 | * Class definition for MicroBit Compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 143 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 144 | * Represents an implementation of the Freescale MAG3110 I2C Magnetmometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 145 | * Also includes basic caching, calibration and on demand activation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 146 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 147 | class MicroBitCompass : public MicroBitComponent |
| Jonathan Austin |
1:8aa5cdb4ab67 | 148 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 149 | uint16_t address; // I2C address of the magnetmometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 150 | uint16_t samplePeriod; // The time between samples, in millseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 151 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 152 | CompassSample average; // Centre point of sample data. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 153 | CompassSample sample; // The latest sample data recorded. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 154 | DigitalIn int1; // Data ready interrupt. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 155 | MicroBitI2C& i2c; // The I2C interface the sensor is connected to. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 156 | MicroBitAccelerometer* accelerometer; // The accelerometer to use for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 157 | MicroBitStorage* storage; // An instance of MicroBitStorage used for persistence. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 158 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 159 | public: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 160 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 161 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 162 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 163 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 164 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 165 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 166 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 167 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 168 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 169 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 170 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 171 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 172 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 173 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 174 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 175 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 176 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 177 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 178 | * MicroBitAccelerometer accelerometer(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 179 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 180 | * MicroBitStorage storage; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 181 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 182 | * MicroBitCompass compass(i2c, accelerometer, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 183 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 184 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 185 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 186 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 187 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 188 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 189 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 190 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 191 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 192 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 193 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 194 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 195 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 196 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 197 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 198 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 199 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 200 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 201 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 202 | * MicroBitAccelerometer accelerometer(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 203 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 204 | * MicroBitCompass compass(i2c, accelerometer, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 205 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 206 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 207 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 208 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 209 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 210 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 211 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 212 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 213 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 214 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 215 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 216 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 217 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 218 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 219 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 220 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 221 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 222 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 223 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 224 | * MicroBitStorage storage; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 225 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 226 | * MicroBitCompass compass(i2c, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 227 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 228 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 229 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 230 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 231 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 232 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 233 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 234 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 235 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 236 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 237 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 238 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 239 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 240 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 241 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 242 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 243 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 244 | * MicroBitCompass compass(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 245 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 246 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 247 | MicroBitCompass(MicroBitI2C& _i2c, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 248 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 249 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 250 | * Configures the compass for the sample rate defined in this object. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 251 | * The nearest values are chosen to those defined that are supported by the hardware. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 252 | * The instance variables are then updated to reflect reality. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 253 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 254 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be configured. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 255 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 256 | int configure(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 257 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 258 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 259 | * Attempts to set the sample rate of the compass to the specified value (in ms). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 260 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 261 | * @param period the requested time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 262 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 263 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be updated. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 264 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 265 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 266 | * // sample rate is now 20 ms. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 267 | * compass.setPeriod(20); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 268 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 269 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 270 | * @note The requested rate may not be possible on the hardware. In this case, the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 271 | * nearest lower rate is chosen. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 272 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 273 | int setPeriod(int period); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 274 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 275 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 276 | * Reads the currently configured sample rate of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 277 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 278 | * @return The time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 279 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 280 | int getPeriod(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 281 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 282 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 283 | * Gets the current heading of the device, relative to magnetic north. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 284 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 285 | * If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 286 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 287 | * Users wishing to implement their own calibration algorithms should listen for this event, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 288 | * using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before |
| Jonathan Austin |
1:8aa5cdb4ab67 | 289 | * the user program continues. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 290 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 291 | * @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 292 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 293 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 294 | * compass.heading(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 295 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 296 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 297 | int heading(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 298 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 299 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 300 | * Attempts to read the 8 bit ID from the magnetometer, this can be used for |
| Jonathan Austin |
1:8aa5cdb4ab67 | 301 | * validation purposes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 302 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 303 | * @return the 8 bit ID returned by the magnetometer, or MICROBIT_I2C_ERROR if the request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 304 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 305 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 306 | * compass.whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 307 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 308 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 309 | int whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 310 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 311 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 312 | * Reads the value of the X axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 313 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 314 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 315 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 316 | * @return The magnetic force measured in the X axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 317 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 318 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 319 | * compass.getX(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 320 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 321 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 322 | int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 323 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 324 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 325 | * Reads the value of the Y axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 326 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 327 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 328 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 329 | * @return The magnetic force measured in the Y axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 330 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 331 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 332 | * compass.getY(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 333 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 334 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 335 | int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 336 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 337 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 338 | * Reads the value of the Z axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 339 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 340 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 341 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 342 | * @return The magnetic force measured in the Z axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 343 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 344 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 345 | * compass.getZ(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 346 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 347 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 348 | int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 349 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 350 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 351 | * Determines the overall magnetic field strength based on the latest update from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 352 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 353 | * @return The magnetic force measured across all axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 354 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 355 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 356 | * compass.getFieldStrength(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 357 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 358 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 359 | int getFieldStrength(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 360 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 361 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 362 | * Reads the current die temperature of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 363 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 364 | * @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the temperature reading could not be retreived |
| Jonathan Austin |
1:8aa5cdb4ab67 | 365 | * from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 366 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 367 | int readTemperature(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 368 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 369 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 370 | * Perform a calibration of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 371 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 372 | * This method will be called automatically if a user attempts to read a compass value when |
| Jonathan Austin |
1:8aa5cdb4ab67 | 373 | * the compass is uncalibrated. It can also be called at any time by the user. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 374 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 375 | * The method will only return once the compass has been calibrated. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 376 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 377 | * @return MICROBIT_OK, MICROBIT_I2C_ERROR if the magnetometer could not be accessed, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 378 | * or MICROBIT_CALIBRATION_REQUIRED if the calibration algorithm failed to complete successfully. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 379 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 380 | * @note THIS MUST BE CALLED TO GAIN RELIABLE VALUES FROM THE COMPASS |
| Jonathan Austin |
1:8aa5cdb4ab67 | 381 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 382 | int calibrate(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 383 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 384 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 385 | * Configure the compass to use the calibration data that is supplied to this call. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 386 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 387 | * Calibration data is comprised of the perceived zero offset of each axis of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 388 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 389 | * After calibration this should now take into account trimming errors in the magnetometer, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 390 | * and any "hard iron" offsets on the device. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 391 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 392 | * @param calibration A CompassSample containing the offsets for the x, y and z axis. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 393 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 394 | void setCalibration(CompassSample calibration); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 395 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 396 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 397 | * Provides the calibration data currently in use by the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 398 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 399 | * More specifically, the x, y and z zero offsets of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 400 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 401 | * @return calibration A CompassSample containing the offsets for the x, y and z axis. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 402 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 403 | CompassSample getCalibration(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 404 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 405 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 406 | * Updates the local sample, only if the compass indicates that |
| Jonathan Austin |
1:8aa5cdb4ab67 | 407 | * data is stale. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 408 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 409 | * @note Can be used to trigger manual updates, if the device is running without a scheduler. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 410 | * Also called internally by all get[X,Y,Z]() member functions. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 411 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 412 | int updateSample(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 413 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 414 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 415 | * Periodic callback from MicroBit idle thread. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 416 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 417 | * Calls updateSample(). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 418 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 419 | virtual void idleTick(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 420 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 421 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 422 | * Returns 0 or 1. 1 indicates that the compass is calibrated, zero means the compass requires calibration. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 423 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 424 | int isCalibrated(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 425 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 426 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 427 | * Returns 0 or 1. 1 indicates that the compass is calibrating, zero means the compass is not currently calibrating. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 428 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 429 | int isCalibrating(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 430 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 431 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 432 | * Clears the calibration held in persistent storage, and sets the calibrated flag to zero. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 433 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 434 | void clearCalibration(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 435 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 436 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 437 | * Destructor for MicroBitCompass, where we deregister this instance from the array of fiber components. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 438 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 439 | ~MicroBitCompass(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 440 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 441 | private: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 442 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 443 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 444 | * Issues a standard, 2 byte I2C command write to the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 445 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 446 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 447 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 448 | * @param reg The address of the register to write to. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 449 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 450 | * @param value The value to write. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 451 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 452 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 453 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 454 | int writeCommand(uint8_t reg, uint8_t value); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 455 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 456 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 457 | * Issues a read command, copying data into the specified buffer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 458 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 459 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 460 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 461 | * @param reg The address of the register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 462 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 463 | * @param buffer Memory area to read the data into. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 464 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 465 | * @param length The number of bytes to read. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 466 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 467 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 468 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 469 | int readCommand(uint8_t reg, uint8_t* buffer, int length); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 470 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 471 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 472 | * Issues a read of a given address, and returns the value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 473 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 474 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 475 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 476 | * @param reg The address of the 16 bit register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 477 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 478 | * @return The register value, interpreted as a 16 but signed value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 479 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 480 | int read16(uint8_t reg); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 481 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 482 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 483 | * Issues a read of a given address, and returns the value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 484 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 485 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 486 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 487 | * @param reg The address of the 16 bit register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 488 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 489 | * @return The register value, interpreted as a 8 bit unsigned value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 490 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 491 | int read8(uint8_t reg); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 492 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 493 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 494 | * Calculates a tilt compensated bearing of the device, using the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 495 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 496 | int tiltCompensatedBearing(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 497 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 498 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 499 | * Calculates a non-tilt compensated bearing of the device. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 500 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 501 | int basicBearing(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 502 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 503 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 504 | * An initialisation member function used by the many constructors of MicroBitCompass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 505 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 506 | * @param id the unique identifier for this compass instance. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 507 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 508 | * @param address the base address of the magnetometer on the i2c bus. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 509 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 510 | void init(uint16_t id, uint16_t address); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 511 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 512 | |
| LancasterUniversity | 41:da05ec75cd5d | 513 | #endif |