MeCompass.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef MECOMPASS_H
#define MECOMPASS_H
 
/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include <stdbool.h>
#include <Arduino.h>
#include "MeConfig.h"
 
#ifdef ME_PORT_DEFINED
#include "MePort.h"
#endif /* ME_PORT_DEFINED */
 
/* Exported macro ------------------------------------------------------------*/
//#define COMPASS_SERIAL_DEBUG
 
#define I2C_ERROR                  (-1)
 
// Me Compass only has one address
#define COMPASS_DEFAULT_ADDRESS    (0x1E)   
 
//Me Compass Register Address
#define COMPASS_RA_CONFIG_A        (0x00)
#define COMPASS_RA_CONFIG_B        (0x01)
#define COMPASS_RA_MODE            (0x02)
#define COMPASS_RA_DATAX_H         (0x03)
#define COMPASS_RA_DATAX_L         (0x04)
#define COMPASS_RA_DATAZ_H         (0x05)
#define COMPASS_RA_DATAZ_L         (0x06)
#define COMPASS_RA_DATAY_H         (0x07)
#define COMPASS_RA_DATAY_L         (0x08)
#define COMPASS_RA_STATUS          (0x09)
#define COMPASS_RA_ID_A            (0x0A)
#define COMPASS_RA_ID_B            (0x0B)
#define COMPASS_RA_ID_C            (0x0C)
 
//define number of samples averaged per measurement
#define COMPASS_AVERAGING_1        (0x00)
#define COMPASS_AVERAGING_2        (0x20)
#define COMPASS_AVERAGING_4        (0x40)
#define COMPASS_AVERAGING_8        (0x60)
 
//define data output rate value (Hz)
#define COMPASS_RATE_0P75          (0x00)   // 0.75 (Hz)
#define COMPASS_RATE_1P5           (0x40)   // 1.5  (Hz)
#define COMPASS_RATE_3             (0x08)   // 3    (Hz)
#define COMPASS_RATE_7P5           (0x0C)   // 7.5  (Hz)
#define COMPASS_RATE_15            (0x10)   // 15   (Hz)
#define COMPASS_RATE_30            (0x14)   // 30   (Hz)
#define COMPASS_RATE_75            (0x18)   // 75   (Hz)
 
//define measurement bias value
#define COMPASS_BIAS_NORMAL        (0x00)
#define COMPASS_BIAS_POSITIVE      (0x01)
#define COMPASS_BIAS_NEGATIVE      (0x02)
 
//define magnetic field gain value
/* -+-------------+-----------------
 *  | Field Range | Gain (LSB/Gauss)
 * -+-------------+-----------------
 *  | +/- 0.88 Ga | 1370
 *  | +/- 1.3 Ga  | 1090 (Default)
 *  | +/- 1.9 Ga  | 820
 *  | +/- 2.5 Ga  | 660
 *  | +/- 4.0 Ga  | 440
 *  | +/- 4.7 Ga  | 390
 *  | +/- 5.6 Ga  | 330
 *  | +/- 8.1 Ga  | 230
 * -+-------------+-----------------*/
#define COMPASS_GAIN_1370          (0x00)
#define COMPASS_GAIN_1090          (0x20)
#define COMPASS_GAIN_820           (0x40)
#define COMPASS_GAIN_660           (0x60)
#define COMPASS_GAIN_440           (0x80)
#define COMPASS_GAIN_390           (0xA0)
#define COMPASS_GAIN_330           (0xC0)
#define COMPASS_GAIN_220           (0xE0)
 
//define measurement mode
#define COMPASS_MODE_CONTINUOUS    (0x00)
#define COMPASS_MODE_SINGLE        (0x01)
#define COMPASS_MODE_IDLE          (0x02)
 
//define others parameter
#define COMPASS_PI 3.14159265F
#define START_ADDRESS_OF_EEPROM_BUFFER  (int16_t)(0x00)
 
/* define a struct to save calibration parameters------------------------------*/
struct Compass_Calibration_Parameter
{
  float X_excursion;
  float Y_excursion;
  float Z_excursion;
  float X_gain;
  float Y_gain;
  float Z_gain;
  uint8_t Rotation_Axis;   //1:X_Axis   2:Y_Axis   3:Z_Axis
 
  uint8_t verify_flag;
};
 
#ifndef ME_PORT_DEFINED
class MeCompass
#else // !ME_PORT_DEFINED
class MeCompass : public MePort
#endif // !ME_PORT_DEFINED
{
public:
#ifdef ME_PORT_DEFINED
  MeCompass();
 
  MeCompass(uint8_t port);
 
  MeCompass(uint8_t port, uint8_t address);
#else
  MeCompass(uint8_t keyPin, uint8_t ledPin);
 
  MeCompass(uint8_t keyPin, uint8_t ledPin, uint8_t address);
#endif  //  ME_PORT_DEFINED
  void setpin(uint8_t keyPin, uint8_t ledPin);
 
  void begin(void);
 
  bool testConnection(void);
 
  double getAngle(void);  
 
  int16_t getHeadingX(void);
 
  int16_t getHeadingY(void);
 
  int16_t getHeadingZ(void);
 
  int16_t getHeading(int16_t *x, int16_t *y, int16_t *z);
private:
  static volatile uint8_t  _keyPin;
  static volatile uint8_t  _ledPin;
  bool Calibration_Flag;
  uint8_t buffer[6];
  uint8_t Device_Address;
  uint8_t Measurement_Mode;
  struct Compass_Calibration_Parameter Cal_parameter;
 
  int8_t writeReg(int16_t reg, uint8_t data);
 
  int8_t writeData(uint8_t start, const uint8_t *pData, uint8_t size);
 
  int8_t readData(uint8_t start, uint8_t *buffer, uint8_t size);  
 
  void deviceCalibration(void);
 
  void read_EEPROM_Buffer(void);
 
  void write_EEPROM_Buffer(struct Compass_Calibration_Parameter *parameter_pointer);
};
#endif // MECOMPASS_H