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

hmc5883.cpp@8:c5dc1ce10722, 2020-03-26 (annotated)

Committer:
skyscraper
Date:
Thu Mar 26 21:13:44 2020 +0000
Revision:
8:c5dc1ce10722
Parent:
7:5d14da0b4c95
Child:
9:87a7169b4d5c
Try to make magnetometer more generic. Next to do a mag service and put in own thread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skyscraper 2:9ffb2f18756b 1
skyscraper 2:9ffb2f18756b 2
skyscraper 2:9ffb2f18756b 3 #include "mbed.h"
skyscraper 8:c5dc1ce10722 4 #include "hmc5883.h"
skyscraper 8:c5dc1ce10722 5 #include "resourceManager.h"
skyscraper 7:5d14da0b4c95 6
skyscraper 2:9ffb2f18756b 7 #include <iostream>
skyscraper 2:9ffb2f18756b 8 #include <quan/out/magnetic_flux_density.hpp>
skyscraper 2:9ffb2f18756b 9 #include <quan/three_d/out/vect.hpp>
skyscraper 2:9ffb2f18756b 10
skyscraper 8:c5dc1ce10722 11 namespace
skyscraper 8:c5dc1ce10722 12 {
skyscraper 3:2834be4e10ef 13
skyscraper 8:c5dc1ce10722 14 template <int N, int D=1> struct mag_data_rate_id;
skyscraper 8:c5dc1ce10722 15 // values are mag settings for each data rate
skyscraper 8:c5dc1ce10722 16 template <> struct mag_data_rate_id<3,4> : std::integral_constant<uint8_t,(0b000U << 2U)> {};
skyscraper 8:c5dc1ce10722 17 template <> struct mag_data_rate_id<3,2> : std::integral_constant<uint8_t,(0b001U << 2U)> {};
skyscraper 8:c5dc1ce10722 18 template <> struct mag_data_rate_id<3> : std::integral_constant<uint8_t,(0b010U << 2U)> {};
skyscraper 8:c5dc1ce10722 19 template <> struct mag_data_rate_id<15,2> : std::integral_constant<uint8_t,(0b011U << 2U)> {};
skyscraper 8:c5dc1ce10722 20 template <> struct mag_data_rate_id<15> : std::integral_constant<uint8_t,(0b100U << 2U)> {};
skyscraper 8:c5dc1ce10722 21 template <> struct mag_data_rate_id<30> : std::integral_constant<uint8_t,(0b101U << 2U)> {};
skyscraper 8:c5dc1ce10722 22 template <> struct mag_data_rate_id<75> : std::integral_constant<uint8_t,(0b110U << 2U)> {};
skyscraper 8:c5dc1ce10722 23
skyscraper 8:c5dc1ce10722 24 }//namespace
skyscraper 8:c5dc1ce10722 25
skyscraper 8:c5dc1ce10722 26 hmc5883L::hmc5883L(I2C& i2cIn,uint8_t addressIn)
skyscraper 8:c5dc1ce10722 27 :I2CBusDevice{i2cIn,addressIn}
skyscraper 8:c5dc1ce10722 28 ,mag_resolution{0.92_milli_gauss}
skyscraper 8:c5dc1ce10722 29 ,mag_range{1.3_gauss}
skyscraper 8:c5dc1ce10722 30 ,mag_gain{1.0,1.0,1.0}
skyscraper 8:c5dc1ce10722 31 ,mag_offset{0.0_uT,0.0_uT,0.0_uT}
skyscraper 8:c5dc1ce10722 32 {}
skyscraper 3:2834be4e10ef 33
skyscraper 8:c5dc1ce10722 34 bool hmc5883L::set_reg_idx(uint8_t idx_in)const
skyscraper 8:c5dc1ce10722 35 {
skyscraper 8:c5dc1ce10722 36 char const idx = static_cast<char>(idx_in);
skyscraper 8:c5dc1ce10722 37 bool const result = this->i2c_write(&idx,1) == 0;
skyscraper 8:c5dc1ce10722 38 if(result) {
skyscraper 8:c5dc1ce10722 39 return true;
skyscraper 8:c5dc1ce10722 40 } else {
skyscraper 8:c5dc1ce10722 41 std::cout << "mag_set_reg_idx failed\n";
skyscraper 8:c5dc1ce10722 42 return false;
skyscraper 8:c5dc1ce10722 43 }
skyscraper 8:c5dc1ce10722 44 }
skyscraper 8:c5dc1ce10722 45
skyscraper 8:c5dc1ce10722 46 bool hmc5883L::write_reg(uint8_t idx, uint8_t val)const
skyscraper 8:c5dc1ce10722 47 {
skyscraper 8:c5dc1ce10722 48 char const ar[2] = {idx,val};
skyscraper 8:c5dc1ce10722 49 bool const result = this->i2c_write(ar,2) == 0;
skyscraper 8:c5dc1ce10722 50 if(result) {
skyscraper 8:c5dc1ce10722 51 return true;
skyscraper 8:c5dc1ce10722 52 } else {
skyscraper 8:c5dc1ce10722 53 std::cout << " mag_write_reg failed\n";
skyscraper 8:c5dc1ce10722 54 return false;
skyscraper 8:c5dc1ce10722 55 }
skyscraper 8:c5dc1ce10722 56 }
skyscraper 8:c5dc1ce10722 57
skyscraper 8:c5dc1ce10722 58 bool hmc5883L::get_reg(uint8_t idx_in, uint8_t& result)const
skyscraper 8:c5dc1ce10722 59 {
skyscraper 8:c5dc1ce10722 60 if ( this->set_reg_idx(idx_in)) {
skyscraper 8:c5dc1ce10722 61 char temp_result = 0;
skyscraper 8:c5dc1ce10722 62 bool const success = this->i2c_read(&temp_result,1,false) == 0;
skyscraper 8:c5dc1ce10722 63 if (success) {
skyscraper 8:c5dc1ce10722 64 result = temp_result;
skyscraper 2:9ffb2f18756b 65 return true;
skyscraper 2:9ffb2f18756b 66 } else {
skyscraper 8:c5dc1ce10722 67 std::cout << "mag_get_reg read failed\n";
skyscraper 2:9ffb2f18756b 68 return false;
skyscraper 2:9ffb2f18756b 69 }
skyscraper 8:c5dc1ce10722 70 } else {
skyscraper 8:c5dc1ce10722 71 return false;
skyscraper 2:9ffb2f18756b 72 }
skyscraper 8:c5dc1ce10722 73 }
skyscraper 8:c5dc1ce10722 74
skyscraper 8:c5dc1ce10722 75 bool hmc5883L::modify_reg(uint8_t idx, uint8_t and_val, uint8_t or_val)const
skyscraper 8:c5dc1ce10722 76 {
skyscraper 8:c5dc1ce10722 77 uint8_t cur_val = 0;
skyscraper 8:c5dc1ce10722 78 if(this->get_reg(idx,cur_val)) {
skyscraper 8:c5dc1ce10722 79 uint8_t const new_val = (cur_val & and_val ) | or_val;
skyscraper 8:c5dc1ce10722 80 return this->write_reg(idx,new_val);
skyscraper 8:c5dc1ce10722 81 } else {
skyscraper 8:c5dc1ce10722 82 return false;
skyscraper 2:9ffb2f18756b 83 }
skyscraper 8:c5dc1ce10722 84 }
skyscraper 2:9ffb2f18756b 85
skyscraper 8:c5dc1ce10722 86 bool hmc5883L::detected(bool verbose)const
skyscraper 2:9ffb2f18756b 87 {
skyscraper 8:c5dc1ce10722 88 if ( this->set_reg_idx(id_regA) ) {
skyscraper 2:9ffb2f18756b 89 char id_input[4];
skyscraper 8:c5dc1ce10722 90 bool success = this->i2c_read(id_input,3) == 0;
skyscraper 3:2834be4e10ef 91 if(success) {
skyscraper 2:9ffb2f18756b 92 id_input[3] = '\0';
skyscraper 2:9ffb2f18756b 93 bool const is_hmc = (strcmp(id_input,"H43") == 0);
skyscraper 2:9ffb2f18756b 94 if (is_hmc) {
skyscraper 2:9ffb2f18756b 95 return true;
skyscraper 2:9ffb2f18756b 96 } else {
skyscraper 8:c5dc1ce10722 97 if( verbose) {
skyscraper 2:9ffb2f18756b 98 std::cout << "hmc5883 ID string didnt match\n";
skyscraper 8:c5dc1ce10722 99 }
skyscraper 2:9ffb2f18756b 100 return false;
skyscraper 2:9ffb2f18756b 101 }
skyscraper 2:9ffb2f18756b 102 } else {
skyscraper 8:c5dc1ce10722 103 if( verbose) {
skyscraper 8:c5dc1ce10722 104 std::cout << "id mag read failed\n";
skyscraper 8:c5dc1ce10722 105 }
skyscraper 2:9ffb2f18756b 106 return false;
skyscraper 2:9ffb2f18756b 107 }
skyscraper 2:9ffb2f18756b 108 } else {
skyscraper 2:9ffb2f18756b 109 return false;
skyscraper 2:9ffb2f18756b 110 }
skyscraper 2:9ffb2f18756b 111 }
skyscraper 2:9ffb2f18756b 112
skyscraper 2:9ffb2f18756b 113 // only 1,2,4,8 available
skyscraper 8:c5dc1ce10722 114 bool hmc5883L::set_samples_average(int n_samples)const
skyscraper 2:9ffb2f18756b 115 {
skyscraper 2:9ffb2f18756b 116 uint8_t or_val = 0;
skyscraper 2:9ffb2f18756b 117 switch (n_samples) {
skyscraper 2:9ffb2f18756b 118 case 1 :
skyscraper 2:9ffb2f18756b 119 or_val = 0b00U << 5U;
skyscraper 2:9ffb2f18756b 120 break;
skyscraper 2:9ffb2f18756b 121 case 2 :
skyscraper 2:9ffb2f18756b 122 or_val = 0b01U << 5U;
skyscraper 2:9ffb2f18756b 123 break;
skyscraper 2:9ffb2f18756b 124 case 4 :
skyscraper 2:9ffb2f18756b 125 or_val = 0b10U << 5U;
skyscraper 2:9ffb2f18756b 126 break;
skyscraper 2:9ffb2f18756b 127 case 8 :
skyscraper 2:9ffb2f18756b 128 or_val = 0b11U << 5U;
skyscraper 2:9ffb2f18756b 129 break;
skyscraper 2:9ffb2f18756b 130 default:
skyscraper 2:9ffb2f18756b 131 std::cout << "mag_set_samples_average : invalid n_samples (" << n_samples << ")\n";
skyscraper 2:9ffb2f18756b 132 return false;
skyscraper 2:9ffb2f18756b 133 }
skyscraper 2:9ffb2f18756b 134 uint8_t constexpr and_val = ~(0b11 << 5U);
skyscraper 8:c5dc1ce10722 135 return this->modify_reg(cfg_regA,and_val,or_val);
skyscraper 2:9ffb2f18756b 136 }
skyscraper 2:9ffb2f18756b 137
skyscraper 2:9ffb2f18756b 138 template <int N, int D>
skyscraper 8:c5dc1ce10722 139 bool hmc5883L::set_data_rate()const
skyscraper 2:9ffb2f18756b 140 {
skyscraper 2:9ffb2f18756b 141 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b111U << 2U));
skyscraper 2:9ffb2f18756b 142 uint8_t constexpr or_val = mag_data_rate_id<N,D>::value;
skyscraper 8:c5dc1ce10722 143 return this->modify_reg(cfg_regA,and_val,or_val);
skyscraper 8:c5dc1ce10722 144 }
skyscraper 8:c5dc1ce10722 145 //data rate 0.75, 1.5, 3 ,7.5, 15 (Default) , 30, 75
skyscraper 8:c5dc1ce10722 146 template bool hmc5883L::set_data_rate<3,4>() const;
skyscraper 8:c5dc1ce10722 147 template bool hmc5883L::set_data_rate<3,2>() const;
skyscraper 8:c5dc1ce10722 148 template bool hmc5883L::set_data_rate<3>() const;
skyscraper 8:c5dc1ce10722 149 template bool hmc5883L::set_data_rate<15,2>() const;
skyscraper 8:c5dc1ce10722 150 template bool hmc5883L::set_data_rate<15>() const;
skyscraper 8:c5dc1ce10722 151 template bool hmc5883L::set_data_rate<30>() const;
skyscraper 8:c5dc1ce10722 152 template bool hmc5883L::set_data_rate<75>() const;
skyscraper 8:c5dc1ce10722 153
skyscraper 8:c5dc1ce10722 154 bool hmc5883L::set_positive_bias()const
skyscraper 8:c5dc1ce10722 155 {
skyscraper 8:c5dc1ce10722 156 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 8:c5dc1ce10722 157 uint8_t constexpr or_val = 0b01U;
skyscraper 8:c5dc1ce10722 158 return this->modify_reg(cfg_regA,and_val,or_val);
skyscraper 2:9ffb2f18756b 159 }
skyscraper 2:9ffb2f18756b 160
skyscraper 8:c5dc1ce10722 161 bool hmc5883L::set_negative_bias()const
skyscraper 8:c5dc1ce10722 162 {
skyscraper 8:c5dc1ce10722 163 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 8:c5dc1ce10722 164 uint8_t constexpr or_val = 0b10U;
skyscraper 8:c5dc1ce10722 165 return this->modify_reg(cfg_regA,and_val,or_val);
skyscraper 2:9ffb2f18756b 166 }
skyscraper 2:9ffb2f18756b 167
skyscraper 8:c5dc1ce10722 168 bool hmc5883L::mag_clear_bias()const
skyscraper 8:c5dc1ce10722 169 {
skyscraper 8:c5dc1ce10722 170 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 8:c5dc1ce10722 171 uint8_t constexpr or_val = 0b00U;
skyscraper 8:c5dc1ce10722 172 return this->modify_reg(cfg_regA,and_val,or_val);
skyscraper 8:c5dc1ce10722 173 }
skyscraper 8:c5dc1ce10722 174
skyscraper 8:c5dc1ce10722 175 bool hmc5883L::set_range(quan::magnetic_flux_density::uT const & range_in)
skyscraper 2:9ffb2f18756b 176 {
skyscraper 2:9ffb2f18756b 177 uint8_t or_value = 0;
skyscraper 2:9ffb2f18756b 178 auto const range = abs(range_in);
skyscraper 2:9ffb2f18756b 179
skyscraper 2:9ffb2f18756b 180 if ( range <= 0.88_gauss) {
skyscraper 2:9ffb2f18756b 181 or_value = 0b001U << 5U ;
skyscraper 2:9ffb2f18756b 182 mag_range = 0.88_gauss;
skyscraper 2:9ffb2f18756b 183 mag_resolution = 0.73_milli_gauss;
skyscraper 2:9ffb2f18756b 184 } else if (range <= 1.3_gauss) {
skyscraper 2:9ffb2f18756b 185 or_value = 0b001U << 5U ;
skyscraper 2:9ffb2f18756b 186 mag_range = 1.3_gauss;
skyscraper 2:9ffb2f18756b 187 mag_resolution = 0.92_milli_gauss;
skyscraper 2:9ffb2f18756b 188 } else if (range <= 1.9_gauss) {
skyscraper 2:9ffb2f18756b 189 or_value = 0b010U << 5U ;
skyscraper 2:9ffb2f18756b 190 mag_range = 1.9_gauss;
skyscraper 2:9ffb2f18756b 191 mag_resolution = 1.22_milli_gauss;
skyscraper 2:9ffb2f18756b 192 } else if (range <= 2.5_gauss) {
skyscraper 2:9ffb2f18756b 193 or_value = 0b011U << 5U ;
skyscraper 2:9ffb2f18756b 194 mag_range = 2.5_gauss;
skyscraper 2:9ffb2f18756b 195 mag_resolution = 1.52_milli_gauss;
skyscraper 2:9ffb2f18756b 196 } else if (range <= 4.0_gauss) {
skyscraper 2:9ffb2f18756b 197 or_value = 0b100U << 5U ;
skyscraper 2:9ffb2f18756b 198 mag_range = 4.0_gauss;
skyscraper 2:9ffb2f18756b 199 mag_resolution = 2.27_milli_gauss;
skyscraper 2:9ffb2f18756b 200 } else if (range <= 4.7_gauss) {
skyscraper 2:9ffb2f18756b 201 or_value = 0b101U << 5U ;
skyscraper 2:9ffb2f18756b 202 mag_range = 4.7_gauss;
skyscraper 2:9ffb2f18756b 203 mag_resolution = 2.56_milli_gauss;
skyscraper 2:9ffb2f18756b 204 } else if (range <=5.6_gauss) {
skyscraper 2:9ffb2f18756b 205 or_value = 0b110U << 5U ;
skyscraper 2:9ffb2f18756b 206 mag_range = 5.6_gauss;
skyscraper 2:9ffb2f18756b 207 mag_resolution = 3.03_milli_gauss;
skyscraper 2:9ffb2f18756b 208 } else if ( range <= 8.1_gauss) {
skyscraper 2:9ffb2f18756b 209 or_value = 0b111U << 5U ;
skyscraper 2:9ffb2f18756b 210 mag_range = 8.1_gauss;
skyscraper 2:9ffb2f18756b 211 mag_resolution = 4.35_milli_gauss;
skyscraper 2:9ffb2f18756b 212 } else {
skyscraper 2:9ffb2f18756b 213 quan::magnetic_flux_density::uT constexpr max_range = 8.1_gauss;
skyscraper 2:9ffb2f18756b 214 std::cout << "range too big: max +- range = " << max_range <<"\n";
skyscraper 2:9ffb2f18756b 215 return false;
skyscraper 2:9ffb2f18756b 216 }
skyscraper 2:9ffb2f18756b 217 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b111U << 5U));
skyscraper 2:9ffb2f18756b 218 std::cout << "mag range set to : +- " << mag_range <<'\n';
skyscraper 8:c5dc1ce10722 219 return this->modify_reg(cfg_regB,and_val,or_value);
skyscraper 2:9ffb2f18756b 220
skyscraper 2:9ffb2f18756b 221 }
skyscraper 2:9ffb2f18756b 222
skyscraper 8:c5dc1ce10722 223 quan::magnetic_flux_density::uT
skyscraper 8:c5dc1ce10722 224 hmc5883L::get_flux_density_range()const
skyscraper 2:9ffb2f18756b 225 {
skyscraper 2:9ffb2f18756b 226 return mag_range;
skyscraper 2:9ffb2f18756b 227 }
skyscraper 2:9ffb2f18756b 228
skyscraper 8:c5dc1ce10722 229 bool hmc5883L::set_continuous_measurement_mode()const
skyscraper 2:9ffb2f18756b 230 {
skyscraper 2:9ffb2f18756b 231 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 2:9ffb2f18756b 232 uint8_t constexpr or_val = 0b00U;
skyscraper 8:c5dc1ce10722 233 return this->modify_reg(mode_reg,and_val,or_val);
skyscraper 2:9ffb2f18756b 234 }
skyscraper 2:9ffb2f18756b 235
skyscraper 8:c5dc1ce10722 236 bool hmc5883L::start_measurement()const
skyscraper 2:9ffb2f18756b 237 {
skyscraper 2:9ffb2f18756b 238 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 2:9ffb2f18756b 239 uint8_t constexpr or_val = 0b01U;
skyscraper 8:c5dc1ce10722 240 return this->modify_reg(mode_reg,and_val,or_val);
skyscraper 2:9ffb2f18756b 241 }
skyscraper 2:9ffb2f18756b 242
skyscraper 8:c5dc1ce10722 243 bool hmc5883L::set_idle_mode()const
skyscraper 2:9ffb2f18756b 244 {
skyscraper 2:9ffb2f18756b 245 uint8_t constexpr and_val = static_cast<uint8_t>(~(0b11U ));
skyscraper 2:9ffb2f18756b 246 uint8_t constexpr or_val = 0b10U;
skyscraper 8:c5dc1ce10722 247 return this->modify_reg(mode_reg,and_val,or_val);
skyscraper 2:9ffb2f18756b 248 }
skyscraper 2:9ffb2f18756b 249
skyscraper 8:c5dc1ce10722 250 bool hmc5883L::data_ready()const
skyscraper 2:9ffb2f18756b 251 {
skyscraper 2:9ffb2f18756b 252 uint8_t result = 0;
skyscraper 8:c5dc1ce10722 253 if ( this->get_reg(status_reg, result)) {
skyscraper 2:9ffb2f18756b 254 return (result & 0b1U) != 0U;
skyscraper 2:9ffb2f18756b 255 } else {
skyscraper 2:9ffb2f18756b 256 std::cout << "mag data ready failed\n";
skyscraper 2:9ffb2f18756b 257 return false;
skyscraper 2:9ffb2f18756b 258 }
skyscraper 2:9ffb2f18756b 259 }
skyscraper 2:9ffb2f18756b 260
skyscraper 8:c5dc1ce10722 261 bool hmc5883L::data_locked()const
skyscraper 2:9ffb2f18756b 262 {
skyscraper 2:9ffb2f18756b 263 uint8_t result = 0;
skyscraper 8:c5dc1ce10722 264 if ( this->get_reg(status_reg, result)) {
skyscraper 2:9ffb2f18756b 265 return (result & 0b10U) != 0U;
skyscraper 2:9ffb2f18756b 266 } else {
skyscraper 2:9ffb2f18756b 267 std::cout << "mag data locked failed\n";
skyscraper 2:9ffb2f18756b 268 return false;
skyscraper 2:9ffb2f18756b 269 }
skyscraper 2:9ffb2f18756b 270 }
skyscraper 2:9ffb2f18756b 271
skyscraper 2:9ffb2f18756b 272 // assume mag_data_ready has returned true before call
skyscraper 8:c5dc1ce10722 273 bool hmc5883L::read(quan::three_d::vect<quan::magnetic_flux_density::uT> & v)const
skyscraper 2:9ffb2f18756b 274 {
skyscraper 8:c5dc1ce10722 275 if( this->set_reg_idx(dout_reg)) {
skyscraper 2:9ffb2f18756b 276 char arr[7];
skyscraper 8:c5dc1ce10722 277 bool success= this->i2c_read(arr,7) == 0;
skyscraper 3:2834be4e10ef 278 if(success) {
skyscraper 2:9ffb2f18756b 279 // TODO check status reg arr[6]
skyscraper 2:9ffb2f18756b 280 quan::three_d::vect<int16_t> temp;
skyscraper 2:9ffb2f18756b 281 temp.x = static_cast<int16_t>(arr[1]) + ( static_cast<int16_t>(arr[0]) << 8U);
skyscraper 2:9ffb2f18756b 282 temp.y = static_cast<int16_t>(arr[5]) + ( static_cast<int16_t>(arr[4]) << 8U);
skyscraper 2:9ffb2f18756b 283 temp.z = static_cast<int16_t>(arr[3]) + ( static_cast<int16_t>(arr[2]) << 8U);
skyscraper 8:c5dc1ce10722 284
skyscraper 8:c5dc1ce10722 285 quan::three_d::vect<quan::magnetic_flux_density::uT> result
skyscraper 8:c5dc1ce10722 286 = temp * mag_resolution;
skyscraper 8:c5dc1ce10722 287
skyscraper 8:c5dc1ce10722 288 result.x *= this->mag_gain.x;
skyscraper 8:c5dc1ce10722 289 result.y *= this->mag_gain.y;
skyscraper 8:c5dc1ce10722 290 result.z *= this->mag_gain.z;
skyscraper 8:c5dc1ce10722 291
skyscraper 8:c5dc1ce10722 292 result -= this->mag_offset;
skyscraper 8:c5dc1ce10722 293
skyscraper 8:c5dc1ce10722 294 v = result;
skyscraper 8:c5dc1ce10722 295
skyscraper 2:9ffb2f18756b 296 return true;
skyscraper 2:9ffb2f18756b 297 } else {
skyscraper 2:9ffb2f18756b 298 std::cout << "mag_read failed\n";
skyscraper 2:9ffb2f18756b 299 return false;
skyscraper 2:9ffb2f18756b 300 }
skyscraper 2:9ffb2f18756b 301 } else {
skyscraper 2:9ffb2f18756b 302 return false;
skyscraper 2:9ffb2f18756b 303 }
skyscraper 2:9ffb2f18756b 304 }
skyscraper 2:9ffb2f18756b 305
skyscraper 8:c5dc1ce10722 306 bool hmc5883L::make_measurement(quan::three_d::vect<quan::magnetic_flux_density::uT>& result)const
skyscraper 2:9ffb2f18756b 307 {
skyscraper 8:c5dc1ce10722 308 if ( ! this->start_measurement()) {
skyscraper 2:9ffb2f18756b 309 return false;
skyscraper 2:9ffb2f18756b 310 }
skyscraper 2:9ffb2f18756b 311
skyscraper 8:c5dc1ce10722 312 while (! this->data_ready()) {
skyscraper 2:9ffb2f18756b 313 ThisThread::sleep_for(5U);
skyscraper 2:9ffb2f18756b 314 }
skyscraper 8:c5dc1ce10722 315 return this->read(result);
skyscraper 8:c5dc1ce10722 316 }
skyscraper 8:c5dc1ce10722 317
skyscraper 8:c5dc1ce10722 318 bool hmc5883L::set_gain( quan::three_d::vect<double> const & gain)
skyscraper 8:c5dc1ce10722 319 {
skyscraper 8:c5dc1ce10722 320 this->mag_gain = gain;
skyscraper 8:c5dc1ce10722 321 return true;
skyscraper 2:9ffb2f18756b 322 }
skyscraper 2:9ffb2f18756b 323
skyscraper 8:c5dc1ce10722 324 bool hmc5883L::set_offset(
skyscraper 8:c5dc1ce10722 325 quan::three_d::vect<
skyscraper 8:c5dc1ce10722 326 quan::magnetic_flux_density::uT
skyscraper 8:c5dc1ce10722 327 > const & offset
skyscraper 8:c5dc1ce10722 328 )
skyscraper 8:c5dc1ce10722 329 {
skyscraper 8:c5dc1ce10722 330 this->mag_offset = offset;
skyscraper 8:c5dc1ce10722 331 return true;
skyscraper 8:c5dc1ce10722 332 }
skyscraper 8:c5dc1ce10722 333
skyscraper 8:c5dc1ce10722 334