Diff: hmc5883.cpp

Revision:

3:2834be4e10ef

Parent:

2:9ffb2f18756b

Child:

7:5d14da0b4c95

--- a/hmc5883.cpp	Tue Mar 24 15:21:34 2020 +0000
+++ b/hmc5883.cpp	Tue Mar 24 22:43:44 2020 +0000
@@ -5,6 +5,34 @@
 #include <quan/out/magnetic_flux_density.hpp>
 #include <quan/three_d/out/vect.hpp>
 
+/*
+
+   MySensor sensor;
+   
+   "HMC5883" -> HMC5883
+   I2C ->
+         list of I2CBuses 
+            I2CBusID -> I2C(I2C_SCL,I2C_SDA) 
+               I2CAddress ->  "0x3d" atoi -> 0x3D 
+   
+   if (!sensor.open("HMC5883L.I2C[I2CBusID,0x3d]")){
+       loop_forever("failed to open \"HMC5883L.I2C[I2CBusID,0x3d]\"");
+   }
+   sensor.Attach(50.0_Hz, onMagDataUpdated);
+   sensor.run();
+   
+   template <typename Quantity>
+   struct Sensor{
+      static bool open(Sensor& sensor, const char* name);
+      bool connected()const;
+      bool running() const;
+      bool idle() const
+      void close();
+      bool read(Quantity & q);
+      setUpdateCallback(void(*pFun)());
+   };
+*/
+
 namespace {
     /*
     00 Configuration Register A       R/W
@@ -36,7 +64,9 @@
     bool mag_set_reg_idx(uint8_t idx_in)
     {
         char const idx = static_cast<char>(idx_in);
-        bool const result = (i2c.write(i2c_addr,&idx,1) == 0);
+        i2c.lock();
+        bool const result = i2c.write(i2c_addr,&idx,1) == 0;
+        i2c.unlock();
         if(result) {
             return true;
         } else {
@@ -50,7 +80,9 @@
     bool mag_write_reg(uint8_t idx, uint8_t val)
     {
         char ar[2] = {idx,val};
-        bool const result = (i2c.write(i2c_addr,ar,2) == 0);
+        i2c.lock();
+        bool const result = i2c.write(i2c_addr,ar,2) == 0;
+        i2c.unlock();
         if(result) {
             return true;
         } else {
@@ -64,9 +96,12 @@
     bool mag_get_reg(uint8_t idx_in, uint8_t& result)
     {
         if ( mag_set_reg_idx(idx_in)) {
-            char result1 = 0;
-            if (i2c.read(i2c_addr,&result1,1) == 0) {
-                result = result1;
+            char temp_result = 0;
+            i2c.lock();
+            bool const success = i2c.read(i2c_addr,&temp_result,1) == 0;
+            i2c.unlock();
+            if (success) {
+                result = temp_result;
                 return true;
             } else {
                 std::cout << "mag_get_reg read failed\n";
@@ -99,7 +134,10 @@
 {
     if ( mag_set_reg_idx(id_regA) ) {
         char id_input[4];
-        if(i2c.read(i2c_addr,id_input,3) == 0) {
+        i2c.lock();
+        bool success = i2c.read(i2c_addr,id_input,3) == 0;
+        i2c.unlock();
+        if(success) {
             id_input[3] = '\0';
             bool const is_hmc = (strcmp(id_input,"H43") == 0);
             if (is_hmc) {
@@ -312,7 +350,10 @@
 {
     if( mag_set_reg_idx(dout_reg)) {
         char arr[7];
-        if(i2c.read(i2c_addr,arr,7) == 0) {
+        i2c.lock();
+        bool success= i2c.read(i2c_addr,arr,7) == 0;
+        i2c.unlock();
+        if(success) {
             // TODO check status reg arr[6]
             // if
             quan::three_d::vect<int16_t> temp;