disabled BLE to use radio
Dependencies: BLE_API nRF51822 mbed-dev-bin
source/drivers/MicroBitCompass.cpp@45:23b71960fe6c, 2016-07-13 (annotated)
- Committer:
- LancasterUniversity
- Date:
- Wed Jul 13 12:18:24 2016 +0100
- Revision:
- 45:23b71960fe6c
- Parent:
- 44:bb4aa1985f37
- Child:
- 48:34d1adb6771c
Synchronized with git rev e9353806
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 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 27 | * Class definition for MicroBit Compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 28 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 29 | * Represents an implementation of the Freescale MAG3110 I2C Magnetmometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 30 | * Also includes basic caching, calibration and on demand activation. |
Jonathan Austin |
1:8aa5cdb4ab67 | 31 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 32 | #include "MicroBitConfig.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 33 | #include "MicroBitCompass.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 34 | #include "MicroBitFiber.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 35 | #include "ErrorNo.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 36 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 37 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 38 | * An initialisation member function used by the many constructors of MicroBitCompass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 39 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 40 | * @param id the unique identifier for this compass instance. |
Jonathan Austin |
1:8aa5cdb4ab67 | 41 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 42 | * @param address the base address of the magnetometer on the i2c bus. |
Jonathan Austin |
1:8aa5cdb4ab67 | 43 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 44 | void MicroBitCompass::init(uint16_t id, uint16_t address) |
Jonathan Austin |
1:8aa5cdb4ab67 | 45 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 46 | this->id = id; |
Jonathan Austin |
1:8aa5cdb4ab67 | 47 | this->address = address; |
Jonathan Austin |
1:8aa5cdb4ab67 | 48 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 49 | // Select 10Hz update rate, with oversampling, and enable the device. |
Jonathan Austin |
1:8aa5cdb4ab67 | 50 | this->samplePeriod = 100; |
Jonathan Austin |
1:8aa5cdb4ab67 | 51 | this->configure(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 52 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 53 | // Assume that we have no calibration information. |
Jonathan Austin |
1:8aa5cdb4ab67 | 54 | status &= ~MICROBIT_COMPASS_STATUS_CALIBRATED; |
Jonathan Austin |
1:8aa5cdb4ab67 | 55 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 56 | if(this->storage != NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 57 | { |
LancasterUniversity | 45:23b71960fe6c | 58 | KeyValuePair *calibrationData = storage->get(ManagedString("compassCal")); |
Jonathan Austin |
1:8aa5cdb4ab67 | 59 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 60 | if(calibrationData != NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 61 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 62 | CompassSample storedSample = CompassSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 63 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 64 | memcpy(&storedSample, calibrationData->value, sizeof(CompassSample)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 65 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 66 | setCalibration(storedSample); |
Jonathan Austin |
1:8aa5cdb4ab67 | 67 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 68 | delete calibrationData; |
Jonathan Austin |
1:8aa5cdb4ab67 | 69 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 70 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 71 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 72 | // Indicate that we're up and running. |
Jonathan Austin |
1:8aa5cdb4ab67 | 73 | status |= MICROBIT_COMPONENT_RUNNING; |
Jonathan Austin |
1:8aa5cdb4ab67 | 74 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 75 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 76 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 77 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 78 | * Create a software representation of an e-compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 79 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 80 | * @param _i2c an instance of i2c, which the compass is accessible from. |
Jonathan Austin |
1:8aa5cdb4ab67 | 81 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 82 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
Jonathan Austin |
1:8aa5cdb4ab67 | 83 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 84 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
Jonathan Austin |
1:8aa5cdb4ab67 | 85 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 86 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 87 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 88 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 89 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 90 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 91 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 92 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 93 | * MicroBitAccelerometer accelerometer(i2c); |
Jonathan Austin |
1:8aa5cdb4ab67 | 94 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 95 | * MicroBitStorage storage; |
Jonathan Austin |
1:8aa5cdb4ab67 | 96 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 97 | * MicroBitCompass compass(i2c, accelerometer, storage); |
Jonathan Austin |
1:8aa5cdb4ab67 | 98 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 99 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 100 | MicroBitCompass::MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, MicroBitStorage& _storage, uint16_t address, uint16_t id) : |
Jonathan Austin |
1:8aa5cdb4ab67 | 101 | average(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 102 | sample(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 103 | int1(MICROBIT_PIN_COMPASS_DATA_READY), |
Jonathan Austin |
1:8aa5cdb4ab67 | 104 | i2c(_i2c), |
Jonathan Austin |
1:8aa5cdb4ab67 | 105 | accelerometer(&_accelerometer), |
Jonathan Austin |
1:8aa5cdb4ab67 | 106 | storage(&_storage) |
Jonathan Austin |
1:8aa5cdb4ab67 | 107 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 108 | init(id, address); |
Jonathan Austin |
1:8aa5cdb4ab67 | 109 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 110 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 111 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 112 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 113 | * Create a software representation of an e-compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 114 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 115 | * @param _i2c an instance of i2c, which the compass is accessible from. |
Jonathan Austin |
1:8aa5cdb4ab67 | 116 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 117 | * @param _accelerometer an instance of the accelerometer, used for tilt compensation. |
Jonathan Austin |
1:8aa5cdb4ab67 | 118 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 119 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 120 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 121 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 122 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 123 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 124 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 125 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 126 | * MicroBitAccelerometer accelerometer(i2c); |
Jonathan Austin |
1:8aa5cdb4ab67 | 127 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 128 | * MicroBitCompass compass(i2c, accelerometer, storage); |
Jonathan Austin |
1:8aa5cdb4ab67 | 129 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 130 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 131 | MicroBitCompass::MicroBitCompass(MicroBitI2C& _i2c, MicroBitAccelerometer& _accelerometer, uint16_t address, uint16_t id) : |
Jonathan Austin |
1:8aa5cdb4ab67 | 132 | average(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 133 | sample(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 134 | int1(MICROBIT_PIN_COMPASS_DATA_READY), |
Jonathan Austin |
1:8aa5cdb4ab67 | 135 | i2c(_i2c), |
Jonathan Austin |
1:8aa5cdb4ab67 | 136 | accelerometer(&_accelerometer), |
Jonathan Austin |
1:8aa5cdb4ab67 | 137 | storage(NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 138 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 139 | init(id, address); |
Jonathan Austin |
1:8aa5cdb4ab67 | 140 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 141 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 142 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 143 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 144 | * Create a software representation of an e-compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 145 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 146 | * @param _i2c an instance of i2c, which the compass is accessible from. |
Jonathan Austin |
1:8aa5cdb4ab67 | 147 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 148 | * @param _storage an instance of MicroBitStorage, used to persist calibration data across resets. |
Jonathan Austin |
1:8aa5cdb4ab67 | 149 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 150 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 151 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 152 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 153 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 154 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 155 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 156 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 157 | * MicroBitStorage storage; |
Jonathan Austin |
1:8aa5cdb4ab67 | 158 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 159 | * MicroBitCompass compass(i2c, storage); |
Jonathan Austin |
1:8aa5cdb4ab67 | 160 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 161 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 162 | MicroBitCompass::MicroBitCompass(MicroBitI2C& _i2c, MicroBitStorage& _storage, uint16_t address, uint16_t id) : |
Jonathan Austin |
1:8aa5cdb4ab67 | 163 | average(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 164 | sample(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 165 | int1(MICROBIT_PIN_COMPASS_DATA_READY), |
Jonathan Austin |
1:8aa5cdb4ab67 | 166 | i2c(_i2c), |
Jonathan Austin |
1:8aa5cdb4ab67 | 167 | accelerometer(NULL), |
Jonathan Austin |
1:8aa5cdb4ab67 | 168 | storage(&_storage) |
Jonathan Austin |
1:8aa5cdb4ab67 | 169 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 170 | init(id, address); |
Jonathan Austin |
1:8aa5cdb4ab67 | 171 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 172 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 173 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 174 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 175 | * Create a software representation of an e-compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 176 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 177 | * @param _i2c an instance of i2c, which the compass is accessible from. |
Jonathan Austin |
1:8aa5cdb4ab67 | 178 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 179 | * @param address the default address for the compass register on the i2c bus. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 180 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 181 | * @param id the ID of the new MicroBitCompass object. Defaults to MAG3110_DEFAULT_ADDR. |
Jonathan Austin |
1:8aa5cdb4ab67 | 182 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 183 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 184 | * MicroBitI2C i2c(I2C_SDA0, I2C_SCL0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 185 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 186 | * MicroBitCompass compass(i2c); |
Jonathan Austin |
1:8aa5cdb4ab67 | 187 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 188 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 189 | MicroBitCompass::MicroBitCompass(MicroBitI2C& _i2c, uint16_t address, uint16_t id) : |
Jonathan Austin |
1:8aa5cdb4ab67 | 190 | average(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 191 | sample(), |
Jonathan Austin |
1:8aa5cdb4ab67 | 192 | int1(MICROBIT_PIN_COMPASS_DATA_READY), |
Jonathan Austin |
1:8aa5cdb4ab67 | 193 | i2c(_i2c), |
Jonathan Austin |
1:8aa5cdb4ab67 | 194 | accelerometer(NULL), |
Jonathan Austin |
1:8aa5cdb4ab67 | 195 | storage(NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 196 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 197 | init(id, address); |
Jonathan Austin |
1:8aa5cdb4ab67 | 198 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 199 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 200 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 201 | * Issues a standard, 2 byte I2C command write to the accelerometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 202 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 203 | * Blocks the calling thread until complete. |
Jonathan Austin |
1:8aa5cdb4ab67 | 204 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 205 | * @param reg The address of the register to write to. |
Jonathan Austin |
1:8aa5cdb4ab67 | 206 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 207 | * @param value The value to write. |
Jonathan Austin |
1:8aa5cdb4ab67 | 208 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 209 | * @return MICROBIT_OK on success, MICROBIT_I2C_ERROR if the the write request failed. |
Jonathan Austin |
1:8aa5cdb4ab67 | 210 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 211 | int MicroBitCompass::writeCommand(uint8_t reg, uint8_t value) |
Jonathan Austin |
1:8aa5cdb4ab67 | 212 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 213 | uint8_t command[2]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 214 | command[0] = reg; |
Jonathan Austin |
1:8aa5cdb4ab67 | 215 | command[1] = value; |
Jonathan Austin |
1:8aa5cdb4ab67 | 216 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 217 | return i2c.write(address, (const char *)command, 2); |
Jonathan Austin |
1:8aa5cdb4ab67 | 218 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 219 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 220 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 221 | * Issues a read command, copying data into the specified buffer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 222 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 223 | * Blocks the calling thread until complete. |
Jonathan Austin |
1:8aa5cdb4ab67 | 224 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 225 | * @param reg The address of the register to access. |
Jonathan Austin |
1:8aa5cdb4ab67 | 226 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 227 | * @param buffer Memory area to read the data into. |
Jonathan Austin |
1:8aa5cdb4ab67 | 228 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 229 | * @param length The number of bytes to read. |
Jonathan Austin |
1:8aa5cdb4ab67 | 230 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 231 | * @return MICROBIT_OK on success, MICROBIT_INVALID_PARAMETER or MICROBIT_I2C_ERROR if the the read request failed. |
Jonathan Austin |
1:8aa5cdb4ab67 | 232 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 233 | int MicroBitCompass::readCommand(uint8_t reg, uint8_t* buffer, int length) |
Jonathan Austin |
1:8aa5cdb4ab67 | 234 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 235 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 236 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 237 | if (buffer == NULL || length <= 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 238 | return MICROBIT_INVALID_PARAMETER; |
Jonathan Austin |
1:8aa5cdb4ab67 | 239 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 240 | result = i2c.write(address, (const char *)®, 1, true); |
Jonathan Austin |
1:8aa5cdb4ab67 | 241 | if (result !=0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 242 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 243 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 244 | result = i2c.read(address, (char *)buffer, length); |
Jonathan Austin |
1:8aa5cdb4ab67 | 245 | if (result !=0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 246 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 247 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 248 | return MICROBIT_OK; |
Jonathan Austin |
1:8aa5cdb4ab67 | 249 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 250 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 251 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 252 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 253 | * Issues a read of a given address, and returns the value. |
Jonathan Austin |
1:8aa5cdb4ab67 | 254 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 255 | * Blocks the calling thread until complete. |
Jonathan Austin |
1:8aa5cdb4ab67 | 256 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 257 | * @param reg The address of the 16 bit register to access. |
Jonathan Austin |
1:8aa5cdb4ab67 | 258 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 259 | * @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 | 260 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 261 | int MicroBitCompass::read16(uint8_t reg) |
Jonathan Austin |
1:8aa5cdb4ab67 | 262 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 263 | uint8_t cmd[2]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 264 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 265 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 266 | cmd[0] = reg; |
Jonathan Austin |
1:8aa5cdb4ab67 | 267 | result = i2c.write(address, (const char *)cmd, 1); |
Jonathan Austin |
1:8aa5cdb4ab67 | 268 | if (result !=0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 269 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 270 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 271 | cmd[0] = 0x00; |
Jonathan Austin |
1:8aa5cdb4ab67 | 272 | cmd[1] = 0x00; |
Jonathan Austin |
1:8aa5cdb4ab67 | 273 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 274 | result = i2c.read(address, (char *)cmd, 2); |
Jonathan Austin |
1:8aa5cdb4ab67 | 275 | if (result !=0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 276 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 277 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 278 | return (int16_t) ((cmd[1] | (cmd[0] << 8))); //concatenate the MSB and LSB |
Jonathan Austin |
1:8aa5cdb4ab67 | 279 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 280 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 281 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 282 | * Issues a read of a given address, and returns the value. |
Jonathan Austin |
1:8aa5cdb4ab67 | 283 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 284 | * Blocks the calling thread until complete. |
Jonathan Austin |
1:8aa5cdb4ab67 | 285 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 286 | * @param reg The address of the 16 bit register to access. |
Jonathan Austin |
1:8aa5cdb4ab67 | 287 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 288 | * @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 | 289 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 290 | int MicroBitCompass::read8(uint8_t reg) |
Jonathan Austin |
1:8aa5cdb4ab67 | 291 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 292 | uint8_t data; |
Jonathan Austin |
1:8aa5cdb4ab67 | 293 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 294 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 295 | data = 0; |
Jonathan Austin |
1:8aa5cdb4ab67 | 296 | result = readCommand(reg, (uint8_t*) &data, 1); |
Jonathan Austin |
1:8aa5cdb4ab67 | 297 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 298 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 299 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 300 | return data; |
Jonathan Austin |
1:8aa5cdb4ab67 | 301 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 302 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 303 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 304 | * Calculates a tilt compensated bearing of the device, using the accelerometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 305 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 306 | int MicroBitCompass::tiltCompensatedBearing() |
Jonathan Austin |
1:8aa5cdb4ab67 | 307 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 308 | // Precompute the tilt compensation parameters to improve readability. |
Jonathan Austin |
1:8aa5cdb4ab67 | 309 | float phi = accelerometer->getRollRadians(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 310 | float theta = accelerometer->getPitchRadians(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 311 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 312 | float x = (float) getX(NORTH_EAST_DOWN); |
Jonathan Austin |
1:8aa5cdb4ab67 | 313 | float y = (float) getY(NORTH_EAST_DOWN); |
Jonathan Austin |
1:8aa5cdb4ab67 | 314 | float z = (float) getZ(NORTH_EAST_DOWN); |
Jonathan Austin |
1:8aa5cdb4ab67 | 315 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 316 | // Precompute cos and sin of pitch and roll angles to make the calculation a little more efficient. |
Jonathan Austin |
1:8aa5cdb4ab67 | 317 | float sinPhi = sin(phi); |
Jonathan Austin |
1:8aa5cdb4ab67 | 318 | float cosPhi = cos(phi); |
Jonathan Austin |
1:8aa5cdb4ab67 | 319 | float sinTheta = sin(theta); |
Jonathan Austin |
1:8aa5cdb4ab67 | 320 | float cosTheta = cos(theta); |
Jonathan Austin |
1:8aa5cdb4ab67 | 321 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 322 | float bearing = (360*atan2(z*sinPhi - y*cosPhi, x*cosTheta + y*sinTheta*sinPhi + z*sinTheta*cosPhi)) / (2*PI); |
Jonathan Austin |
1:8aa5cdb4ab67 | 323 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 324 | if (bearing < 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 325 | bearing += 360.0; |
Jonathan Austin |
1:8aa5cdb4ab67 | 326 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 327 | return (int) bearing; |
Jonathan Austin |
1:8aa5cdb4ab67 | 328 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 329 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 330 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 331 | * Calculates a non-tilt compensated bearing of the device. |
Jonathan Austin |
1:8aa5cdb4ab67 | 332 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 333 | int MicroBitCompass::basicBearing() |
Jonathan Austin |
1:8aa5cdb4ab67 | 334 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 335 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 336 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 337 | float bearing = (atan2((double)(sample.y - average.y),(double)(sample.x - average.x)))*180/PI; |
Jonathan Austin |
1:8aa5cdb4ab67 | 338 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 339 | if (bearing < 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 340 | bearing += 360.0; |
Jonathan Austin |
1:8aa5cdb4ab67 | 341 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 342 | return (int)(360.0 - bearing); |
Jonathan Austin |
1:8aa5cdb4ab67 | 343 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 344 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 345 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 346 | * Gets the current heading of the device, relative to magnetic north. |
Jonathan Austin |
1:8aa5cdb4ab67 | 347 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 348 | * If the compass is not calibrated, it will raise the MICROBIT_COMPASS_EVT_CALIBRATE event. |
Jonathan Austin |
1:8aa5cdb4ab67 | 349 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 350 | * Users wishing to implement their own calibration algorithms should listen for this event, |
Jonathan Austin |
1:8aa5cdb4ab67 | 351 | * using MESSAGE_BUS_LISTENER_IMMEDIATE model. This ensures that calibration is complete before |
Jonathan Austin |
1:8aa5cdb4ab67 | 352 | * the user program continues. |
Jonathan Austin |
1:8aa5cdb4ab67 | 353 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 354 | * @return the current heading, in degrees. Or MICROBIT_CALIBRATION_IN_PROGRESS if the compass is calibrating. |
Jonathan Austin |
1:8aa5cdb4ab67 | 355 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 356 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 357 | * compass.heading(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 358 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 359 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 360 | int MicroBitCompass::heading() |
Jonathan Austin |
1:8aa5cdb4ab67 | 361 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 362 | if(status & MICROBIT_COMPASS_STATUS_CALIBRATING) |
Jonathan Austin |
1:8aa5cdb4ab67 | 363 | return MICROBIT_CALIBRATION_IN_PROGRESS; |
Jonathan Austin |
1:8aa5cdb4ab67 | 364 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 365 | if(!(status & MICROBIT_COMPASS_STATUS_CALIBRATED)) |
Jonathan Austin |
1:8aa5cdb4ab67 | 366 | calibrate(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 367 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 368 | if(accelerometer != NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 369 | return tiltCompensatedBearing(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 370 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 371 | return basicBearing(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 372 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 373 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 374 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 375 | * Updates the local sample, only if the compass indicates that |
Jonathan Austin |
1:8aa5cdb4ab67 | 376 | * data is stale. |
Jonathan Austin |
1:8aa5cdb4ab67 | 377 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 378 | * @note Can be used to trigger manual updates, if the device is running without a scheduler. |
Jonathan Austin |
1:8aa5cdb4ab67 | 379 | * Also called internally by all get[X,Y,Z]() member functions. |
Jonathan Austin |
1:8aa5cdb4ab67 | 380 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 381 | int MicroBitCompass::updateSample() |
Jonathan Austin |
1:8aa5cdb4ab67 | 382 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 383 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 384 | * Adds the compass to idle, if it hasn't been added already. |
Jonathan Austin |
1:8aa5cdb4ab67 | 385 | * This is an optimisation so that the compass is only added on first 'use'. |
Jonathan Austin |
1:8aa5cdb4ab67 | 386 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 387 | if(!(status & MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE)) |
Jonathan Austin |
1:8aa5cdb4ab67 | 388 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 389 | fiber_add_idle_component(this); |
Jonathan Austin |
1:8aa5cdb4ab67 | 390 | status |= MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE; |
Jonathan Austin |
1:8aa5cdb4ab67 | 391 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 392 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 393 | // Poll interrupt line from compass (Active HI). |
Jonathan Austin |
1:8aa5cdb4ab67 | 394 | // Interrupt is cleared on data read of MAG_OUT_X_MSB. |
Jonathan Austin |
1:8aa5cdb4ab67 | 395 | if(int1) |
Jonathan Austin |
1:8aa5cdb4ab67 | 396 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 397 | sample.x = MAG3110_NORMALIZE_SAMPLE((int) read16(MAG_OUT_X_MSB)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 398 | sample.y = MAG3110_NORMALIZE_SAMPLE((int) read16(MAG_OUT_Y_MSB)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 399 | sample.z = MAG3110_NORMALIZE_SAMPLE((int) read16(MAG_OUT_Z_MSB)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 400 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 401 | // Indicate that a new sample is available |
Jonathan Austin |
1:8aa5cdb4ab67 | 402 | MicroBitEvent e(id, MICROBIT_COMPASS_EVT_DATA_UPDATE); |
Jonathan Austin |
1:8aa5cdb4ab67 | 403 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 404 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 405 | return MICROBIT_OK; |
Jonathan Austin |
1:8aa5cdb4ab67 | 406 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 407 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 408 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 409 | * Periodic callback from MicroBit idle thread. |
Jonathan Austin |
1:8aa5cdb4ab67 | 410 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 411 | * Calls updateSample(). |
Jonathan Austin |
1:8aa5cdb4ab67 | 412 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 413 | void MicroBitCompass::idleTick() |
Jonathan Austin |
1:8aa5cdb4ab67 | 414 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 415 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 416 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 417 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 418 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 419 | * Reads the value of the X axis from the latest update retrieved from the magnetometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 420 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 421 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
Jonathan Austin |
1:8aa5cdb4ab67 | 422 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 423 | * @return The magnetic force measured in the X axis, in nano teslas. |
Jonathan Austin |
1:8aa5cdb4ab67 | 424 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 425 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 426 | * compass.getX(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 427 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 428 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 429 | int MicroBitCompass::getX(MicroBitCoordinateSystem system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 430 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 431 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 432 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 433 | switch (system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 434 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 435 | case SIMPLE_CARTESIAN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 436 | return sample.x - average.x; |
Jonathan Austin |
1:8aa5cdb4ab67 | 437 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 438 | case NORTH_EAST_DOWN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 439 | return -(sample.y - average.y); |
Jonathan Austin |
1:8aa5cdb4ab67 | 440 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 441 | case RAW: |
Jonathan Austin |
1:8aa5cdb4ab67 | 442 | default: |
Jonathan Austin |
1:8aa5cdb4ab67 | 443 | return sample.x; |
Jonathan Austin |
1:8aa5cdb4ab67 | 444 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 445 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 446 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 447 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 448 | * Reads the value of the Y axis from the latest update retrieved from the magnetometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 449 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 450 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
Jonathan Austin |
1:8aa5cdb4ab67 | 451 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 452 | * @return The magnetic force measured in the Y axis, in nano teslas. |
Jonathan Austin |
1:8aa5cdb4ab67 | 453 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 454 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 455 | * compass.getY(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 456 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 457 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 458 | int MicroBitCompass::getY(MicroBitCoordinateSystem system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 459 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 460 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 461 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 462 | switch (system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 463 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 464 | case SIMPLE_CARTESIAN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 465 | return -(sample.y - average.y); |
Jonathan Austin |
1:8aa5cdb4ab67 | 466 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 467 | case NORTH_EAST_DOWN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 468 | return (sample.x - average.x); |
Jonathan Austin |
1:8aa5cdb4ab67 | 469 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 470 | case RAW: |
Jonathan Austin |
1:8aa5cdb4ab67 | 471 | default: |
Jonathan Austin |
1:8aa5cdb4ab67 | 472 | return sample.y; |
Jonathan Austin |
1:8aa5cdb4ab67 | 473 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 474 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 475 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 476 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 477 | * Reads the value of the Z axis from the latest update retrieved from the magnetometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 478 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 479 | * @param system The coordinate system to use. By default, a simple cartesian system is provided. |
Jonathan Austin |
1:8aa5cdb4ab67 | 480 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 481 | * @return The magnetic force measured in the Z axis, in nano teslas. |
Jonathan Austin |
1:8aa5cdb4ab67 | 482 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 483 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 484 | * compass.getZ(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 485 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 486 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 487 | int MicroBitCompass::getZ(MicroBitCoordinateSystem system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 488 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 489 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 490 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 491 | switch (system) |
Jonathan Austin |
1:8aa5cdb4ab67 | 492 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 493 | case SIMPLE_CARTESIAN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 494 | case NORTH_EAST_DOWN: |
Jonathan Austin |
1:8aa5cdb4ab67 | 495 | return -(sample.z - average.z); |
Jonathan Austin |
1:8aa5cdb4ab67 | 496 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 497 | case RAW: |
Jonathan Austin |
1:8aa5cdb4ab67 | 498 | default: |
Jonathan Austin |
1:8aa5cdb4ab67 | 499 | return sample.z; |
Jonathan Austin |
1:8aa5cdb4ab67 | 500 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 501 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 502 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 503 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 504 | * Determines the overall magnetic field strength based on the latest update from the magnetometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 505 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 506 | * @return The magnetic force measured across all axis, in nano teslas. |
Jonathan Austin |
1:8aa5cdb4ab67 | 507 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 508 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 509 | * compass.getFieldStrength(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 510 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 511 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 512 | int MicroBitCompass::getFieldStrength() |
Jonathan Austin |
1:8aa5cdb4ab67 | 513 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 514 | double x = getX(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 515 | double y = getY(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 516 | double z = getZ(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 517 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 518 | return (int) sqrt(x*x + y*y + z*z); |
Jonathan Austin |
1:8aa5cdb4ab67 | 519 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 520 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 521 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 522 | * Configures the compass for the sample rate defined in this object. |
Jonathan Austin |
1:8aa5cdb4ab67 | 523 | * The nearest values are chosen to those defined that are supported by the hardware. |
Jonathan Austin |
1:8aa5cdb4ab67 | 524 | * The instance variables are then updated to reflect reality. |
Jonathan Austin |
1:8aa5cdb4ab67 | 525 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 526 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be configured. |
Jonathan Austin |
1:8aa5cdb4ab67 | 527 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 528 | int MicroBitCompass::configure() |
Jonathan Austin |
1:8aa5cdb4ab67 | 529 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 530 | const MAG3110SampleRateConfig *actualSampleRate; |
Jonathan Austin |
1:8aa5cdb4ab67 | 531 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 532 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 533 | // First, take the device offline, so it can be configured. |
Jonathan Austin |
1:8aa5cdb4ab67 | 534 | result = writeCommand(MAG_CTRL_REG1, 0x00); |
Jonathan Austin |
1:8aa5cdb4ab67 | 535 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 536 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 537 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 538 | // Wait for the part to enter standby mode... |
Jonathan Austin |
1:8aa5cdb4ab67 | 539 | while(1) |
Jonathan Austin |
1:8aa5cdb4ab67 | 540 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 541 | // Read the status of the part... |
Jonathan Austin |
1:8aa5cdb4ab67 | 542 | // If we can't communicate with it over I2C, pass on the error. |
Jonathan Austin |
1:8aa5cdb4ab67 | 543 | result = this->read8(MAG_SYSMOD); |
Jonathan Austin |
1:8aa5cdb4ab67 | 544 | if (result == MICROBIT_I2C_ERROR) |
Jonathan Austin |
1:8aa5cdb4ab67 | 545 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 546 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 547 | // if the part in in standby, we're good to carry on. |
Jonathan Austin |
1:8aa5cdb4ab67 | 548 | if((result & 0x03) == 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 549 | break; |
Jonathan Austin |
1:8aa5cdb4ab67 | 550 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 551 | // Perform a power efficient sleep... |
Jonathan Austin |
1:8aa5cdb4ab67 | 552 | fiber_sleep(100); |
Jonathan Austin |
1:8aa5cdb4ab67 | 553 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 554 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 555 | // Find the nearest sample rate to that specified. |
Jonathan Austin |
1:8aa5cdb4ab67 | 556 | actualSampleRate = &MAG3110SampleRate[MAG3110_SAMPLE_RATES-1]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 557 | for (int i=MAG3110_SAMPLE_RATES-1; i>=0; i--) |
Jonathan Austin |
1:8aa5cdb4ab67 | 558 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 559 | if(MAG3110SampleRate[i].sample_period < this->samplePeriod * 1000) |
Jonathan Austin |
1:8aa5cdb4ab67 | 560 | break; |
Jonathan Austin |
1:8aa5cdb4ab67 | 561 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 562 | actualSampleRate = &MAG3110SampleRate[i]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 563 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 564 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 565 | // OK, we have the correct data. Update our local state. |
Jonathan Austin |
1:8aa5cdb4ab67 | 566 | this->samplePeriod = actualSampleRate->sample_period / 1000; |
Jonathan Austin |
1:8aa5cdb4ab67 | 567 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 568 | // Enable automatic reset after each sample; |
Jonathan Austin |
1:8aa5cdb4ab67 | 569 | result = writeCommand(MAG_CTRL_REG2, 0xA0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 570 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 571 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 572 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 573 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 574 | // Bring the device online, with the requested sample frequency. |
Jonathan Austin |
1:8aa5cdb4ab67 | 575 | result = writeCommand(MAG_CTRL_REG1, actualSampleRate->ctrl_reg1 | 0x01); |
Jonathan Austin |
1:8aa5cdb4ab67 | 576 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 577 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 578 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 579 | return MICROBIT_OK; |
Jonathan Austin |
1:8aa5cdb4ab67 | 580 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 581 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 582 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 583 | * Attempts to set the sample rate of the compass to the specified value (in ms). |
Jonathan Austin |
1:8aa5cdb4ab67 | 584 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 585 | * @param period the requested time between samples, in milliseconds. |
Jonathan Austin |
1:8aa5cdb4ab67 | 586 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 587 | * @return MICROBIT_OK or MICROBIT_I2C_ERROR if the magnetometer could not be updated. |
Jonathan Austin |
1:8aa5cdb4ab67 | 588 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 589 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 590 | * // sample rate is now 20 ms. |
Jonathan Austin |
1:8aa5cdb4ab67 | 591 | * compass.setPeriod(20); |
Jonathan Austin |
1:8aa5cdb4ab67 | 592 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 593 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 594 | * @note The requested rate may not be possible on the hardware. In this case, the |
Jonathan Austin |
1:8aa5cdb4ab67 | 595 | * nearest lower rate is chosen. |
Jonathan Austin |
1:8aa5cdb4ab67 | 596 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 597 | int MicroBitCompass::setPeriod(int period) |
Jonathan Austin |
1:8aa5cdb4ab67 | 598 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 599 | this->samplePeriod = period; |
Jonathan Austin |
1:8aa5cdb4ab67 | 600 | return this->configure(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 601 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 602 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 603 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 604 | * Reads the currently configured sample rate of the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 605 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 606 | * @return The time between samples, in milliseconds. |
Jonathan Austin |
1:8aa5cdb4ab67 | 607 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 608 | int MicroBitCompass::getPeriod() |
Jonathan Austin |
1:8aa5cdb4ab67 | 609 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 610 | return (int)samplePeriod; |
Jonathan Austin |
1:8aa5cdb4ab67 | 611 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 612 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 613 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 614 | * Attempts to read the 8 bit ID from the magnetometer, this can be used for |
Jonathan Austin |
1:8aa5cdb4ab67 | 615 | * validation purposes. |
Jonathan Austin |
1:8aa5cdb4ab67 | 616 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 617 | * @return the 8 bit ID returned by the magnetometer, or MICROBIT_I2C_ERROR if the request fails. |
Jonathan Austin |
1:8aa5cdb4ab67 | 618 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 619 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 620 | * compass.whoAmI(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 621 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 622 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 623 | int MicroBitCompass::whoAmI() |
Jonathan Austin |
1:8aa5cdb4ab67 | 624 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 625 | uint8_t data; |
Jonathan Austin |
1:8aa5cdb4ab67 | 626 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 627 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 628 | result = readCommand(MAG_WHOAMI, &data, 1); |
Jonathan Austin |
1:8aa5cdb4ab67 | 629 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 630 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 631 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 632 | return (int)data; |
Jonathan Austin |
1:8aa5cdb4ab67 | 633 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 634 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 635 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 636 | * Reads the current die temperature of the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 637 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 638 | * @return the temperature in degrees celsius, or MICROBIT_I2C_ERROR if the temperature reading could not be retreived |
Jonathan Austin |
1:8aa5cdb4ab67 | 639 | * from the accelerometer. |
Jonathan Austin |
1:8aa5cdb4ab67 | 640 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 641 | int MicroBitCompass::readTemperature() |
Jonathan Austin |
1:8aa5cdb4ab67 | 642 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 643 | int8_t temperature; |
Jonathan Austin |
1:8aa5cdb4ab67 | 644 | int result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 645 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 646 | result = readCommand(MAG_DIE_TEMP, (uint8_t *)&temperature, 1); |
Jonathan Austin |
1:8aa5cdb4ab67 | 647 | if (result != MICROBIT_OK) |
Jonathan Austin |
1:8aa5cdb4ab67 | 648 | return MICROBIT_I2C_ERROR; |
Jonathan Austin |
1:8aa5cdb4ab67 | 649 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 650 | return temperature; |
Jonathan Austin |
1:8aa5cdb4ab67 | 651 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 652 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 653 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 654 | * Perform a calibration of the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 655 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 656 | * This method will be called automatically if a user attempts to read a compass value when |
Jonathan Austin |
1:8aa5cdb4ab67 | 657 | * the compass is uncalibrated. It can also be called at any time by the user. |
Jonathan Austin |
1:8aa5cdb4ab67 | 658 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 659 | * The method will only return once the compass has been calibrated. |
Jonathan Austin |
1:8aa5cdb4ab67 | 660 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 661 | * @return MICROBIT_OK, MICROBIT_I2C_ERROR if the magnetometer could not be accessed, |
Jonathan Austin |
1:8aa5cdb4ab67 | 662 | * or MICROBIT_CALIBRATION_REQUIRED if the calibration algorithm failed to complete successfully. |
Jonathan Austin |
1:8aa5cdb4ab67 | 663 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 664 | * @note THIS MUST BE CALLED TO GAIN RELIABLE VALUES FROM THE COMPASS |
Jonathan Austin |
1:8aa5cdb4ab67 | 665 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 666 | int MicroBitCompass::calibrate() |
Jonathan Austin |
1:8aa5cdb4ab67 | 667 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 668 | // Only perform one calibration process at a time. |
Jonathan Austin |
1:8aa5cdb4ab67 | 669 | if(isCalibrating()) |
Jonathan Austin |
1:8aa5cdb4ab67 | 670 | return MICROBIT_CALIBRATION_IN_PROGRESS; |
Jonathan Austin |
1:8aa5cdb4ab67 | 671 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 672 | updateSample(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 673 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 674 | // Delete old calibration data |
Jonathan Austin |
1:8aa5cdb4ab67 | 675 | clearCalibration(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 676 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 677 | // Record that we've started calibrating. |
Jonathan Austin |
1:8aa5cdb4ab67 | 678 | status |= MICROBIT_COMPASS_STATUS_CALIBRATING; |
Jonathan Austin |
1:8aa5cdb4ab67 | 679 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 680 | // Launch any registred calibration alogrithm visialisation |
Jonathan Austin |
1:8aa5cdb4ab67 | 681 | MicroBitEvent(id, MICROBIT_COMPASS_EVT_CALIBRATE); |
Jonathan Austin |
1:8aa5cdb4ab67 | 682 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 683 | // Record that we've finished calibrating. |
Jonathan Austin |
1:8aa5cdb4ab67 | 684 | status &= ~MICROBIT_COMPASS_STATUS_CALIBRATING; |
Jonathan Austin |
1:8aa5cdb4ab67 | 685 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 686 | // If there are no changes to our sample data, we either have no calibration algorithm, or it couldn't complete succesfully. |
Jonathan Austin |
1:8aa5cdb4ab67 | 687 | if(!(status & MICROBIT_COMPASS_STATUS_CALIBRATED)) |
Jonathan Austin |
1:8aa5cdb4ab67 | 688 | return MICROBIT_CALIBRATION_REQUIRED; |
Jonathan Austin |
1:8aa5cdb4ab67 | 689 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 690 | return MICROBIT_OK; |
Jonathan Austin |
1:8aa5cdb4ab67 | 691 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 692 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 693 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 694 | * Configure the compass to use the calibration data that is supplied to this call. |
Jonathan Austin |
1:8aa5cdb4ab67 | 695 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 696 | * Calibration data is comprised of the perceived zero offset of each axis of the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 697 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 698 | * After calibration this should now take into account trimming errors in the magnetometer, |
Jonathan Austin |
1:8aa5cdb4ab67 | 699 | * and any "hard iron" offsets on the device. |
Jonathan Austin |
1:8aa5cdb4ab67 | 700 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 701 | * @param calibration A CompassSample containing the offsets for the x, y and z axis. |
Jonathan Austin |
1:8aa5cdb4ab67 | 702 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 703 | void MicroBitCompass::setCalibration(CompassSample calibration) |
Jonathan Austin |
1:8aa5cdb4ab67 | 704 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 705 | if(this->storage != NULL) |
LancasterUniversity | 37:b624ae5e94a5 | 706 | this->storage->put(ManagedString("compassCal"), (uint8_t *)&calibration, sizeof(CompassSample)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 707 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 708 | average = calibration; |
Jonathan Austin |
1:8aa5cdb4ab67 | 709 | status |= MICROBIT_COMPASS_STATUS_CALIBRATED; |
Jonathan Austin |
1:8aa5cdb4ab67 | 710 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 711 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 712 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 713 | * Provides the calibration data currently in use by the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 714 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 715 | * More specifically, the x, y and z zero offsets of the compass. |
Jonathan Austin |
1:8aa5cdb4ab67 | 716 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 717 | * @return calibration A CompassSample containing the offsets for the x, y and z axis. |
Jonathan Austin |
1:8aa5cdb4ab67 | 718 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 719 | CompassSample MicroBitCompass::getCalibration() |
Jonathan Austin |
1:8aa5cdb4ab67 | 720 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 721 | return average; |
Jonathan Austin |
1:8aa5cdb4ab67 | 722 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 723 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 724 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 725 | * Returns 0 or 1. 1 indicates that the compass is calibrated, zero means the compass requires calibration. |
Jonathan Austin |
1:8aa5cdb4ab67 | 726 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 727 | int MicroBitCompass::isCalibrated() |
Jonathan Austin |
1:8aa5cdb4ab67 | 728 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 729 | return status & MICROBIT_COMPASS_STATUS_CALIBRATED; |
Jonathan Austin |
1:8aa5cdb4ab67 | 730 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 731 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 732 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 733 | * Returns 0 or 1. 1 indicates that the compass is calibrating, zero means the compass is not currently calibrating. |
Jonathan Austin |
1:8aa5cdb4ab67 | 734 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 735 | int MicroBitCompass::isCalibrating() |
Jonathan Austin |
1:8aa5cdb4ab67 | 736 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 737 | return status & MICROBIT_COMPASS_STATUS_CALIBRATING; |
Jonathan Austin |
1:8aa5cdb4ab67 | 738 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 739 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 740 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 741 | * Clears the calibration held in persistent storage, and sets the calibrated flag to zero. |
Jonathan Austin |
1:8aa5cdb4ab67 | 742 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 743 | void MicroBitCompass::clearCalibration() |
Jonathan Austin |
1:8aa5cdb4ab67 | 744 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 745 | status &= ~MICROBIT_COMPASS_STATUS_CALIBRATED; |
Jonathan Austin |
1:8aa5cdb4ab67 | 746 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 747 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 748 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 749 | * Destructor for MicroBitCompass, where we deregister this instance from the array of fiber components. |
Jonathan Austin |
1:8aa5cdb4ab67 | 750 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 751 | MicroBitCompass::~MicroBitCompass() |
Jonathan Austin |
1:8aa5cdb4ab67 | 752 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 753 | fiber_remove_idle_component(this); |
Jonathan Austin |
1:8aa5cdb4ab67 | 754 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 755 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 756 | const MAG3110SampleRateConfig MAG3110SampleRate[MAG3110_SAMPLE_RATES] = { |
Jonathan Austin |
1:8aa5cdb4ab67 | 757 | {12500, 0x00}, // 80 Hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 758 | {25000, 0x20}, // 40 Hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 759 | {50000, 0x40}, // 20 Hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 760 | {100000, 0x60}, // 10 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 761 | {200000, 0x80}, // 5 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 762 | {400000, 0x88}, // 2.5 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 763 | {800000, 0x90}, // 1.25 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 764 | {1600000, 0xb0}, // 0.63 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 765 | {3200000, 0xd0}, // 0.31 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 766 | {6400000, 0xf0}, // 0.16 hz |
Jonathan Austin |
1:8aa5cdb4ab67 | 767 | {12800000, 0xf8} // 0.08 hz |
LancasterUniversity | 30:db87179335d5 | 768 | }; |