Andy Little / Mbed OS mag_test3

First draft HMC5883 magnetometer sensor using physical quantities, outputting via serial port using std::cout on mbed os 5

magnetometer.cpp@9:87a7169b4d5c, 2020-03-26 (annotated)

Committer:
skyscraper
Date:
Thu Mar 26 21:35:19 2020 +0000
Revision:
9:87a7169b4d5c
Parent:
8:c5dc1ce10722
Child:
10:75c8ce89aeb7
make the interface simpler. Really need a mag service that send s via a queue etc. Also need to think about multiple mags

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skyscraper 8:c5dc1ce10722 1
skyscraper 8:c5dc1ce10722 2 #include "magnetometer.h"
skyscraper 8:c5dc1ce10722 3 #include "quan_time.h"
skyscraper 8:c5dc1ce10722 4 #include "hmc5883.h"
skyscraper 8:c5dc1ce10722 5 #include "resourceManager.h"
skyscraper 8:c5dc1ce10722 6
skyscraper 8:c5dc1ce10722 7 namespace {
skyscraper 8:c5dc1ce10722 8 hmc5883L hmc5883L_ID1{resource::i2c1,0x3D};
skyscraper 8:c5dc1ce10722 9 }
skyscraper 8:c5dc1ce10722 10
skyscraper 8:c5dc1ce10722 11 bool mag_init()
skyscraper 8:c5dc1ce10722 12 {
skyscraper 8:c5dc1ce10722 13 // allow magnetometer hardware time to start
skyscraper 9:87a7169b4d5c 14 if ( Kernel::get_ms_count() < 500U){
skyscraper 9:87a7169b4d5c 15 ThisThread::sleep_until(500U);
skyscraper 8:c5dc1ce10722 16 }
skyscraper 8:c5dc1ce10722 17 if (! hmc5883L_ID1.detected(true)){
skyscraper 8:c5dc1ce10722 18 return false; // usr has been notified
skyscraper 8:c5dc1ce10722 19 }
skyscraper 8:c5dc1ce10722 20
skyscraper 8:c5dc1ce10722 21 hmc5883L_ID1.set_idle_mode();
skyscraper 8:c5dc1ce10722 22
skyscraper 8:c5dc1ce10722 23 constexpr auto earth_magnetic_field_flux_density = 31.869_uT;
skyscraper 8:c5dc1ce10722 24 bool const success =
skyscraper 8:c5dc1ce10722 25 hmc5883L_ID1.set_samples_average(8) &&
skyscraper 8:c5dc1ce10722 26 hmc5883L_ID1.set_range( earth_magnetic_field_flux_density * 2U);
skyscraper 8:c5dc1ce10722 27
skyscraper 9:87a7169b4d5c 28 // gains from calib engine
skyscraper 8:c5dc1ce10722 29 quan::three_d::vect<double> gain{1.37689,1.35057,1.56647};
skyscraper 8:c5dc1ce10722 30 hmc5883L_ID1.set_gain(gain);
skyscraper 8:c5dc1ce10722 31
skyscraper 8:c5dc1ce10722 32 // offsets from calib engine
skyscraper 8:c5dc1ce10722 33 quan::three_d::vect<
skyscraper 8:c5dc1ce10722 34 quan::magnetic_flux_density::uT
skyscraper 8:c5dc1ce10722 35 > offset{10.5724_uT,-10.869_uT,2.241468_uT};
skyscraper 8:c5dc1ce10722 36 hmc5883L_ID1.set_offset(offset);
skyscraper 9:87a7169b4d5c 37 return success;
skyscraper 8:c5dc1ce10722 38 }
skyscraper 8:c5dc1ce10722 39
skyscraper 8:c5dc1ce10722 40 bool mag_start_measurement()
skyscraper 8:c5dc1ce10722 41 {
skyscraper 8:c5dc1ce10722 42 return hmc5883L_ID1.start_measurement();
skyscraper 8:c5dc1ce10722 43 }
skyscraper 8:c5dc1ce10722 44
skyscraper 8:c5dc1ce10722 45 bool mag_data_ready()
skyscraper 8:c5dc1ce10722 46 {
skyscraper 8:c5dc1ce10722 47 return hmc5883L_ID1.data_ready();
skyscraper 8:c5dc1ce10722 48 }
skyscraper 8:c5dc1ce10722 49
skyscraper 8:c5dc1ce10722 50 bool mag_read(quan::three_d::vect<quan::magnetic_flux_density::uT> & v)
skyscraper 8:c5dc1ce10722 51 {
skyscraper 9:87a7169b4d5c 52 return hmc5883L_ID1.read(v);
skyscraper 8:c5dc1ce10722 53 }