hmc5883.h

00001 
00002 #ifndef SKYSCRAPER_MBED_HMC5883L_H_INCLUDED
00003 #define SKYSCRAPER_MBED_HMC5883L_H_INCLUDED
00004 
00005 #include "magnetometer.h"
00006 #include "I2CBusDevice.h"
00007 
00008 struct hmc5883L : I2CBusDevice{
00009     
00010     hmc5883L(I2C& i2cIn,uint8_t addressIn);
00011 
00012     bool detected(bool verbose)const;
00013     
00014     bool data_ready()const;
00015     
00016     // assume mag_data_ready has returned true before call
00017     bool read(quan::three_d::vect<quan::magnetic_flux_density::uT> & v)const;
00018     
00019     bool start_measurement()const;
00020     
00021 private:
00022 
00023     friend bool mag_init();
00024     
00025     bool make_measurement(
00026         quan::three_d::vect<
00027             quan::magnetic_flux_density::uT
00028         >& result
00029     )const;
00030   //  bool write_reg(uint8_t idx, uint8_t val)const;
00031     bool set_reg_idx(uint8_t idx_in)const;
00032     
00033     // 00 Configuration Register A       R/W
00034     static constexpr char cfg_regA = 0;
00035     
00036     //01 Configuration Register B       R/W
00037     static constexpr char cfg_regB = 1;
00038     
00039     //02 Mode Register                  R/W
00040     static constexpr char mode_reg = 2;
00041     
00042     //03 Data Output X MSB Register     R
00043     static constexpr char dout_reg = 3;
00044     //04 Data Output X LSB Register     R
00045     //05 Data Output Z MSB Register     R
00046     //06 Data Output Z LSB Register     R
00047     //07 Data Output Y MSB Register     R
00048     //08 Data Output Y LSB Register     R
00049     
00050     //    09 Status Register                R
00051     static constexpr char status_reg = 9;
00052     
00053     // 10 Identification Register A      R
00054     static constexpr char id_regA = 10;
00055     // 11 Identification Register B      R
00056     // 12 Identification Register C      R
00057     
00058     bool write_reg(uint8_t idx, uint8_t val)const;
00059     bool get_reg(uint8_t idx_in, uint8_t& result)const;
00060     bool modify_reg(uint8_t idx, uint8_t and_val, uint8_t or_val)const;
00061     bool data_locked()const;
00062     bool set_continuous_measurement_mode()const;
00063     bool set_gain( quan::three_d::vect<double> const & gain);
00064     bool set_offset(quan::three_d::vect<
00065             quan::magnetic_flux_density::uT
00066             > const & offset);
00067     
00068     bool set_idle_mode()const;
00069     
00070     // 1,2,4,8 available
00071     bool set_samples_average(int n_samples)const;
00072     
00073     // may change so that always one-shot
00074     // ignore continousos mode
00075     //data rate 0.75, 1.5, 3 ,7.5, 15 (Default) , 30, 75
00076     template <int N, int D=1>
00077     bool set_data_rate()const;
00078     
00079     bool set_positive_bias()const;
00080     bool set_negative_bias()const;
00081     bool mag_clear_bias()const;
00082     bool set_range(quan::magnetic_flux_density::uT const & range_in);
00083    
00084     quan::magnetic_flux_density::uT 
00085     get_flux_density_range()const;
00086     //------------
00087        // per lsb defualt resolution
00088     quan::magnetic_flux_density::uT mag_resolution;
00089     // range before saturation
00090     quan::magnetic_flux_density::uT mag_range;
00091     quan::three_d::vect<double> mag_gain;
00092     quan::three_d::vect<quan::magnetic_flux_density::uT> mag_offset;
00093 };
00094 
00095 
00096 
00097 
00098 
00099 #endif