Tami Farber
Revised to disable BLE for radio communication as needed.
Dependencies: BLE_API nRF51822 mbed-dev-bin
inc/drivers/MicroBitCompass.h@74:26717338739d, 2019-11-26 (annotated)
- Committer:
- tsfarber
- Date:
- Tue Nov 26 04:12:46 2019 +0000
- Revision:
- 74:26717338739d
- Parent:
- 41:da05ec75cd5d
This program combines samples programs radio TX and radio RX so that both units can send or receive depending on which unit's buttons are pressed. Tested successfully. MicroBitConfig.h has been edited to disable BLE.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Jonathan Austin |
1:8aa5cdb4ab67 | 1 | /* |
| Jonathan Austin |
1:8aa5cdb4ab67 | 2 | The MIT License (MIT) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 3 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 4 | Copyright (c) 2016 British Broadcasting Corporation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 5 | This software is provided by Lancaster University by arrangement with the BBC. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 6 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 7 | Permission is hereby granted, free of charge, to any person obtaining a |
| Jonathan Austin |
1:8aa5cdb4ab67 | 8 | copy of this software and associated documentation files (the "Software"), |
| Jonathan Austin |
1:8aa5cdb4ab67 | 9 | to deal in the Software without restriction, including without limitation |
| Jonathan Austin |
1:8aa5cdb4ab67 | 10 | the rights to use, copy, modify, merge, publish, distribute, sublicense, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 11 | and/or sell copies of the Software, and to permit persons to whom the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 12 | Software is furnished to do so, subject to the following conditions: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 13 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 14 | The above copyright notice and this permission notice shall be included in |
| Jonathan Austin |
1:8aa5cdb4ab67 | 15 | all copies or substantial portions of the Software. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 16 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| Jonathan Austin |
1:8aa5cdb4ab67 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
| Jonathan Austin |
1:8aa5cdb4ab67 | 20 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
| Jonathan Austin |
1:8aa5cdb4ab67 | 22 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
| Jonathan Austin |
1:8aa5cdb4ab67 | 23 | DEALINGS IN THE SOFTWARE. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 24 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 25 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 26 | #ifndef MICROBIT_COMPASS_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 27 | #define MICROBIT_COMPASS_H |
| Jonathan Austin |
1:8aa5cdb4ab67 | 28 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 29 | #include "mbed.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 30 | #include "MicroBitConfig.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 31 | #include "MicroBitComponent.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 32 | #include "MicroBitCoordinateSystem.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 33 | #include "MicroBitAccelerometer.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 34 | #include "MicroBitStorage.h" |
| Jonathan Austin |
1:8aa5cdb4ab67 | 35 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 36 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 37 | * Relevant pin assignments |
| Jonathan Austin |
1:8aa5cdb4ab67 | 38 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 39 | #define MICROBIT_PIN_COMPASS_DATA_READY P0_29 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 40 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 41 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 42 | * I2C constants |
| Jonathan Austin |
1:8aa5cdb4ab67 | 43 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 44 | #define MAG3110_DEFAULT_ADDR 0x1D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 45 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 46 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 47 | * MAG3110 Register map |
| Jonathan Austin |
1:8aa5cdb4ab67 | 48 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 49 | #define MAG_DR_STATUS 0x00 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 50 | #define MAG_OUT_X_MSB 0x01 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 51 | #define MAG_OUT_X_LSB 0x02 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 52 | #define MAG_OUT_Y_MSB 0x03 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 53 | #define MAG_OUT_Y_LSB 0x04 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 54 | #define MAG_OUT_Z_MSB 0x05 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 55 | #define MAG_OUT_Z_LSB 0x06 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 56 | #define MAG_WHOAMI 0x07 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 57 | #define MAG_SYSMOD 0x08 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 58 | #define MAG_OFF_X_MSB 0x09 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 59 | #define MAG_OFF_X_LSB 0x0A |
| Jonathan Austin |
1:8aa5cdb4ab67 | 60 | #define MAG_OFF_Y_MSB 0x0B |
| Jonathan Austin |
1:8aa5cdb4ab67 | 61 | #define MAG_OFF_Y_LSB 0x0C |
| Jonathan Austin |
1:8aa5cdb4ab67 | 62 | #define MAG_OFF_Z_MSB 0x0D |
| Jonathan Austin |
1:8aa5cdb4ab67 | 63 | #define MAG_OFF_Z_LSB 0x0E |
| Jonathan Austin |
1:8aa5cdb4ab67 | 64 | #define MAG_DIE_TEMP 0x0F |
| Jonathan Austin |
1:8aa5cdb4ab67 | 65 | #define MAG_CTRL_REG1 0x10 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 66 | #define MAG_CTRL_REG2 0x11 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 67 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 68 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 69 | * Configuration options |
| Jonathan Austin |
1:8aa5cdb4ab67 | 70 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 71 | struct MAG3110SampleRateConfig |
| Jonathan Austin |
1:8aa5cdb4ab67 | 72 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 73 | uint32_t sample_period; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 74 | uint8_t ctrl_reg1; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 75 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 76 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 77 | extern const MAG3110SampleRateConfig MAG3110SampleRate[]; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 78 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 79 | #define MAG3110_SAMPLE_RATES 11 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 80 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 81 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 82 | * Compass events |
| Jonathan Austin |
1:8aa5cdb4ab67 | 83 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 84 | #define MICROBIT_COMPASS_EVT_CAL_REQUIRED 1 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 85 | #define MICROBIT_COMPASS_EVT_CAL_START 2 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 86 | #define MICROBIT_COMPASS_EVT_CAL_END 3 // DEPRECATED |
| Jonathan Austin |
1:8aa5cdb4ab67 | 87 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 88 | #define MICROBIT_COMPASS_EVT_DATA_UPDATE 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 89 | #define MICROBIT_COMPASS_EVT_CONFIG_NEEDED 5 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 90 | #define MICROBIT_COMPASS_EVT_CALIBRATE 6 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 91 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 92 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 93 | * Status Bits |
| Jonathan Austin |
1:8aa5cdb4ab67 | 94 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 95 | #define MICROBIT_COMPASS_STATUS_CALIBRATED 2 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 96 | #define MICROBIT_COMPASS_STATUS_CALIBRATING 4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 97 | #define MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE 8 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 98 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 99 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 100 | * Term to convert sample data into SI units |
| Jonathan Austin |
1:8aa5cdb4ab67 | 101 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 102 | #define MAG3110_NORMALIZE_SAMPLE(x) (100*x) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 103 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 104 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 105 | * MAG3110 MAGIC ID value |
| Jonathan Austin |
1:8aa5cdb4ab67 | 106 | * Returned from the MAG_WHO_AM_I register for ID purposes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 107 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 108 | #define MAG3110_WHOAMI_VAL 0xC4 |
| Jonathan Austin |
1:8aa5cdb4ab67 | 109 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 110 | struct CompassSample |
| Jonathan Austin |
1:8aa5cdb4ab67 | 111 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 112 | int x; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 113 | int y; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 114 | int z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 115 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 116 | CompassSample() |
| Jonathan Austin |
1:8aa5cdb4ab67 | 117 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 118 | this->x = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 119 | this->y = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 120 | this->z = 0; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 121 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 122 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 123 | CompassSample(int x, int y, int z) |
| Jonathan Austin |
1:8aa5cdb4ab67 | 124 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 125 | this->x = x; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 126 | this->y = y; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 127 | this->z = z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 128 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 129 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 130 | bool operator==(const CompassSample& other) const |
| Jonathan Austin |
1:8aa5cdb4ab67 | 131 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 132 | return x == other.x && y == other.y && z == other.z; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 133 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 134 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 135 | bool operator!=(const CompassSample& other) const |
| Jonathan Austin |
1:8aa5cdb4ab67 | 136 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 137 | return !(x == other.x && y == other.y && z == other.z); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 138 | } |
| Jonathan Austin |
1:8aa5cdb4ab67 | 139 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 140 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 141 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 142 | * Class definition for MicroBit Compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 143 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 144 | * Represents an implementation of the Freescale MAG3110 I2C Magnetmometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 145 | * Also includes basic caching, calibration and on demand activation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 146 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 147 | class MicroBitCompass : public MicroBitComponent |
| Jonathan Austin |
1:8aa5cdb4ab67 | 148 | { |
| Jonathan Austin |
1:8aa5cdb4ab67 | 149 | uint16_t address; // I2C address of the magnetmometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 150 | uint16_t samplePeriod; // The time between samples, in millseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 151 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 152 | CompassSample average; // Centre point of sample data. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 153 | CompassSample sample; // The latest sample data recorded. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 154 | DigitalIn int1; // Data ready interrupt. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 155 | MicroBitI2C& i2c; // The I2C interface the sensor is connected to. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 156 | MicroBitAccelerometer* accelerometer; // The accelerometer to use for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 157 | MicroBitStorage* storage; // An instance of MicroBitStorage used for persistence. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 158 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 159 | public: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 160 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 161 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 162 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 163 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 164 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 165 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 166 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 167 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 168 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 169 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 170 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 171 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 172 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 173 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 174 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 175 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 176 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 177 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 178 | * MicroBitAccelerometer accelerometer(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 179 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 180 | * MicroBitStorage storage; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 181 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 182 | * MicroBitCompass compass(i2c, accelerometer, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 183 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 184 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 185 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 186 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 187 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 188 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 189 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 190 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 191 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 192 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 193 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 194 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 195 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 196 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 197 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 198 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 199 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 200 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 201 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 202 | * MicroBitAccelerometer accelerometer(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 203 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 204 | * MicroBitCompass compass(i2c, accelerometer, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 205 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 206 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 207 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 208 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 209 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 210 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 211 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 212 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 213 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 214 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 215 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 216 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 217 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 218 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 219 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 220 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 221 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 222 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 223 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 224 | * MicroBitStorage storage; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 225 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 226 | * MicroBitCompass compass(i2c, storage); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 227 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 228 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 229 | MicroBitCompass(MicroBitI2C& _i2c, MicroBitStorage& _storage, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 230 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 231 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 232 | * Constructor. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 233 | * Create a software representation of an e-compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 234 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 235 | * @param _i2c an instance of i2c, which the compass is accessible from. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 236 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 237 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 238 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 239 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 240 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 241 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 242 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 243 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 244 | * MicroBitCompass compass(i2c); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 245 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 246 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 247 | MicroBitCompass(MicroBitI2C& _i2c, uint16_t address = MAG3110_DEFAULT_ADDR, uint16_t id = MICROBIT_ID_COMPASS); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 248 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 249 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 250 | * Configures the compass for the sample rate defined in this object. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 251 | * The nearest values are chosen to those defined that are supported by the hardware. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 252 | * The instance variables are then updated to reflect reality. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 253 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 254 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be configured. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 255 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 256 | int configure(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 257 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 258 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 259 | * Attempts to set the sample rate of the compass to the specified value (in ms). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 260 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 261 | * @param period the requested time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 262 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 263 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be updated. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 264 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 265 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 266 | * // sample rate is now 20 ms. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 267 | * compass.setPeriod(20); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 268 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 269 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 270 | * @note The requested rate may not be possible on the hardware. In this case, the |
| Jonathan Austin |
1:8aa5cdb4ab67 | 271 | * nearest lower rate is chosen. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 272 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 273 | int setPeriod(int period); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 274 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 275 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 276 | * Reads the currently configured sample rate of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 277 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 278 | * @return The time between samples, in milliseconds. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 279 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 280 | int getPeriod(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 281 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 282 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 283 | * Gets the current heading of the device, relative to magnetic north. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 284 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 285 | * If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 286 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 287 | * Users wishing to implement their own calibration algorithms should listen for this event, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 288 | * using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before |
| Jonathan Austin |
1:8aa5cdb4ab67 | 289 | * the user program continues. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 290 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 291 | * @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 292 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 293 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 294 | * compass.heading(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 295 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 296 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 297 | int heading(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 298 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 299 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 300 | * Attempts to read the 8 bit ID from the magnetometer, this can be used for |
| Jonathan Austin |
1:8aa5cdb4ab67 | 301 | * validation purposes. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 302 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 303 | * @return the 8 bit ID returned by the magnetometer, or MICROBIT_I2C_ERROR if the request fails. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 304 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 305 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 306 | * compass.whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 307 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 308 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 309 | int whoAmI(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 310 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 311 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 312 | * Reads the value of the X axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 313 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 314 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 315 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 316 | * @return The magnetic force measured in the X axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 317 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 318 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 319 | * compass.getX(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 320 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 321 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 322 | int getX(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 323 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 324 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 325 | * Reads the value of the Y axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 326 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 327 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 328 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 329 | * @return The magnetic force measured in the Y axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 330 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 331 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 332 | * compass.getY(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 333 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 334 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 335 | int getY(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 336 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 337 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 338 | * Reads the value of the Z axis from the latest update retrieved from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 339 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 340 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 341 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 342 | * @return The magnetic force measured in the Z axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 343 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 344 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 345 | * compass.getZ(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 346 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 347 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 348 | int getZ(MicroBitCoordinateSystem system = SIMPLE_CARTESIAN); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 349 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 350 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 351 | * Determines the overall magnetic field strength based on the latest update from the magnetometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 352 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 353 | * @return The magnetic force measured across all axis, in nano teslas. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 354 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 355 | * @code |
| Jonathan Austin |
1:8aa5cdb4ab67 | 356 | * compass.getFieldStrength(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 357 | * @endcode |
| Jonathan Austin |
1:8aa5cdb4ab67 | 358 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 359 | int getFieldStrength(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 360 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 361 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 362 | * Reads the current die temperature of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 363 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 364 | * @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the temperature reading could not be retreived |
| Jonathan Austin |
1:8aa5cdb4ab67 | 365 | * from the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 366 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 367 | int readTemperature(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 368 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 369 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 370 | * Perform a calibration of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 371 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 372 | * This method will be called automatically if a user attempts to read a compass value when |
| Jonathan Austin |
1:8aa5cdb4ab67 | 373 | * the compass is uncalibrated. It can also be called at any time by the user. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 374 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 375 | * The method will only return once the compass has been calibrated. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 376 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 377 | * @return MICROBIT_OK, MICROBIT_I2C_ERROR if the magnetometer could not be accessed, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 378 | * or MICROBIT_CALIBRATION_REQUIRED if the calibration algorithm failed to complete successfully. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 379 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 380 | * @note THIS MUST BE CALLED TO GAIN RELIABLE VALUES FROM THE COMPASS |
| Jonathan Austin |
1:8aa5cdb4ab67 | 381 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 382 | int calibrate(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 383 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 384 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 385 | * Configure the compass to use the calibration data that is supplied to this call. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 386 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 387 | * Calibration data is comprised of the perceived zero offset of each axis of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 388 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 389 | * After calibration this should now take into account trimming errors in the magnetometer, |
| Jonathan Austin |
1:8aa5cdb4ab67 | 390 | * and any "hard iron" offsets on the device. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 391 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 392 | * @param calibration A CompassSample containing the offsets for the x, y and z axis. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 393 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 394 | void setCalibration(CompassSample calibration); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 395 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 396 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 397 | * Provides the calibration data currently in use by the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 398 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 399 | * More specifically, the x, y and z zero offsets of the compass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 400 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 401 | * @return calibration A CompassSample containing the offsets for the x, y and z axis. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 402 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 403 | CompassSample getCalibration(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 404 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 405 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 406 | * Updates the local sample, only if the compass indicates that |
| Jonathan Austin |
1:8aa5cdb4ab67 | 407 | * data is stale. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 408 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 409 | * @note Can be used to trigger manual updates, if the device is running without a scheduler. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 410 | * Also called internally by all get[X,Y,Z]() member functions. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 411 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 412 | int updateSample(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 413 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 414 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 415 | * Periodic callback from MicroBit idle thread. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 416 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 417 | * Calls updateSample(). |
| Jonathan Austin |
1:8aa5cdb4ab67 | 418 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 419 | virtual void idleTick(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 420 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 421 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 422 | * Returns 0 or 1. 1 indicates that the compass is calibrated, zero means the compass requires calibration. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 423 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 424 | int isCalibrated(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 425 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 426 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 427 | * Returns 0 or 1. 1 indicates that the compass is calibrating, zero means the compass is not currently calibrating. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 428 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 429 | int isCalibrating(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 430 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 431 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 432 | * Clears the calibration held in persistent storage, and sets the calibrated flag to zero. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 433 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 434 | void clearCalibration(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 435 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 436 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 437 | * Destructor for MicroBitCompass, where we deregister this instance from the array of fiber components. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 438 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 439 | ~MicroBitCompass(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 440 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 441 | private: |
| Jonathan Austin |
1:8aa5cdb4ab67 | 442 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 443 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 444 | * Issues a standard, 2 byte I2C command write to the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 445 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 446 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 447 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 448 | * @param reg The address of the register to write to. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 449 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 450 | * @param value The value to write. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 451 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 452 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 453 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 454 | int writeCommand(uint8_t reg, uint8_t value); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 455 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 456 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 457 | * Issues a read command, copying data into the specified buffer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 458 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 459 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 460 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 461 | * @param reg The address of the register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 462 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 463 | * @param buffer Memory area to read the data into. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 464 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 465 | * @param length The number of bytes to read. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 466 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 467 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 468 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 469 | int readCommand(uint8_t reg, uint8_t* buffer, int length); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 470 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 471 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 472 | * Issues a read of a given address, and returns the value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 473 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 474 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 475 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 476 | * @param reg The address of the 16 bit register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 477 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 478 | * @return The register value, interpreted as a 16 but signed value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 479 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 480 | int read16(uint8_t reg); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 481 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 482 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 483 | * Issues a read of a given address, and returns the value. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 484 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 485 | * Blocks the calling thread until complete. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 486 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 487 | * @param reg The address of the 16 bit register to access. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 488 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 489 | * @return The register value, interpreted as a 8 bit unsigned value, or MICROBIT_I2C_ERROR if the magnetometer could not be accessed. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 490 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 491 | int read8(uint8_t reg); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 492 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 493 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 494 | * Calculates a tilt compensated bearing of the device, using the accelerometer. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 495 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 496 | int tiltCompensatedBearing(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 497 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 498 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 499 | * Calculates a non-tilt compensated bearing of the device. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 500 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 501 | int basicBearing(); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 502 | |
| Jonathan Austin |
1:8aa5cdb4ab67 | 503 | /** |
| Jonathan Austin |
1:8aa5cdb4ab67 | 504 | * An initialisation member function used by the many constructors of MicroBitCompass. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 505 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 506 | * @param id the unique identifier for this compass instance. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 507 | * |
| Jonathan Austin |
1:8aa5cdb4ab67 | 508 | * @param address the base address of the magnetometer on the i2c bus. |
| Jonathan Austin |
1:8aa5cdb4ab67 | 509 | */ |
| Jonathan Austin |
1:8aa5cdb4ab67 | 510 | void init(uint16_t id, uint16_t address); |
| Jonathan Austin |
1:8aa5cdb4ab67 | 511 | }; |
| Jonathan Austin |
1:8aa5cdb4ab67 | 512 | |
| LancasterUniversity | 41:da05ec75cd5d | 513 | #endif |