Andy Little
First draft HMC5883 magnetometer sensor using physical quantities, outputting via serial port using std::cout on mbed os 5
magnetometer.cpp@8:c5dc1ce10722, 2020-03-26 (annotated)
- Committer:
- skyscraper
- Date:
- Thu Mar 26 21:13:44 2020 +0000
- Revision:
- 8:c5dc1ce10722
- 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?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| skyscraper | 8:c5dc1ce10722 | 1 | |
| skyscraper | 8:c5dc1ce10722 | 2 | |
| skyscraper | 8:c5dc1ce10722 | 3 | #include "magnetometer.h" |
| skyscraper | 8:c5dc1ce10722 | 4 | #include "quan_time.h" |
| skyscraper | 8:c5dc1ce10722 | 5 | #include "hmc5883.h" |
| skyscraper | 8:c5dc1ce10722 | 6 | #include "resourceManager.h" |
| skyscraper | 8:c5dc1ce10722 | 7 | |
| skyscraper | 8:c5dc1ce10722 | 8 | namespace { |
| skyscraper | 8:c5dc1ce10722 | 9 | hmc5883L hmc5883L_ID1{resource::i2c1,0x3D}; |
| skyscraper | 8:c5dc1ce10722 | 10 | } |
| skyscraper | 8:c5dc1ce10722 | 11 | |
| skyscraper | 8:c5dc1ce10722 | 12 | bool mag_init() |
| skyscraper | 8:c5dc1ce10722 | 13 | { |
| skyscraper | 8:c5dc1ce10722 | 14 | // allow magnetometer hardware time to start |
| skyscraper | 8:c5dc1ce10722 | 15 | auto now = Kernel::get_ms_count(); |
| skyscraper | 8:c5dc1ce10722 | 16 | if ( now < 500U){ |
| skyscraper | 8:c5dc1ce10722 | 17 | ThisThread::sleep_until(500); |
| skyscraper | 8:c5dc1ce10722 | 18 | } |
| skyscraper | 8:c5dc1ce10722 | 19 | if (! hmc5883L_ID1.detected(true)){ |
| skyscraper | 8:c5dc1ce10722 | 20 | return false; // usr has been notified |
| skyscraper | 8:c5dc1ce10722 | 21 | } |
| skyscraper | 8:c5dc1ce10722 | 22 | |
| skyscraper | 8:c5dc1ce10722 | 23 | hmc5883L_ID1.set_idle_mode(); |
| skyscraper | 8:c5dc1ce10722 | 24 | |
| skyscraper | 8:c5dc1ce10722 | 25 | constexpr auto earth_magnetic_field_flux_density = 31.869_uT; |
| skyscraper | 8:c5dc1ce10722 | 26 | bool const success = |
| skyscraper | 8:c5dc1ce10722 | 27 | hmc5883L_ID1.set_samples_average(8) && |
| skyscraper | 8:c5dc1ce10722 | 28 | hmc5883L_ID1.set_range( earth_magnetic_field_flux_density * 2U); |
| skyscraper | 8:c5dc1ce10722 | 29 | |
| skyscraper | 8:c5dc1ce10722 | 30 | //gains frm calib engine |
| skyscraper | 8:c5dc1ce10722 | 31 | quan::three_d::vect<double> gain{1.37689,1.35057,1.56647}; |
| skyscraper | 8:c5dc1ce10722 | 32 | hmc5883L_ID1.set_gain(gain); |
| skyscraper | 8:c5dc1ce10722 | 33 | |
| skyscraper | 8:c5dc1ce10722 | 34 | // offsets from calib engine |
| skyscraper | 8:c5dc1ce10722 | 35 | quan::three_d::vect< |
| skyscraper | 8:c5dc1ce10722 | 36 | quan::magnetic_flux_density::uT |
| skyscraper | 8:c5dc1ce10722 | 37 | > offset{10.5724_uT,-10.869_uT,2.241468_uT}; |
| skyscraper | 8:c5dc1ce10722 | 38 | hmc5883L_ID1.set_offset(offset); |
| skyscraper | 8:c5dc1ce10722 | 39 | // set gain and offsets |
| skyscraper | 8:c5dc1ce10722 | 40 | return success; |
| skyscraper | 8:c5dc1ce10722 | 41 | } |
| skyscraper | 8:c5dc1ce10722 | 42 | |
| skyscraper | 8:c5dc1ce10722 | 43 | bool mag_start_measurement() |
| skyscraper | 8:c5dc1ce10722 | 44 | { |
| skyscraper | 8:c5dc1ce10722 | 45 | return hmc5883L_ID1.start_measurement(); |
| skyscraper | 8:c5dc1ce10722 | 46 | } |
| skyscraper | 8:c5dc1ce10722 | 47 | |
| skyscraper | 8:c5dc1ce10722 | 48 | bool mag_data_ready() |
| skyscraper | 8:c5dc1ce10722 | 49 | { |
| skyscraper | 8:c5dc1ce10722 | 50 | return hmc5883L_ID1.data_ready(); |
| skyscraper | 8:c5dc1ce10722 | 51 | } |
| skyscraper | 8:c5dc1ce10722 | 52 | |
| skyscraper | 8:c5dc1ce10722 | 53 | bool mag_read(quan::three_d::vect<quan::magnetic_flux_density::uT> & v) |
| skyscraper | 8:c5dc1ce10722 | 54 | { |
| skyscraper | 8:c5dc1ce10722 | 55 | return hmc5883L_ID1.read(v); |
| skyscraper | 8:c5dc1ce10722 | 56 | } |