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?
User | Revision | Line number | New 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 | } |