MakeBlock Drive Updated Updated library for MakeBlock Ranger

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MeCompass.h
Go to the documentation of this file.
1
47/* Define to prevent recursive inclusion -------------------------------------*/
48#ifndef MECOMPASS_H
49#define MECOMPASS_H
50
51/* Includes ------------------------------------------------------------------*/
52#include <stdint.h>
53#include <stdbool.h>
54#include <Arduino.h>
55#include "MeConfig.h"
56
57#ifdef ME_PORT_DEFINED
58#include "MePort.h"
59#endif /* ME_PORT_DEFINED */
60
61/* Exported macro ------------------------------------------------------------*/
62//#define COMPASS_SERIAL_DEBUG
63
64#define I2C_ERROR (-1)
65
66// Me Compass only has one address
67#define COMPASS_DEFAULT_ADDRESS (0x1E)
68
69//Me Compass Register Address
70#define COMPASS_RA_CONFIG_A (0x00)
71#define COMPASS_RA_CONFIG_B (0x01)
72#define COMPASS_RA_MODE (0x02)
73#define COMPASS_RA_DATAX_H (0x03)
74#define COMPASS_RA_DATAX_L (0x04)
75#define COMPASS_RA_DATAZ_H (0x05)
76#define COMPASS_RA_DATAZ_L (0x06)
77#define COMPASS_RA_DATAY_H (0x07)
78#define COMPASS_RA_DATAY_L (0x08)
79#define COMPASS_RA_STATUS (0x09)
80#define COMPASS_RA_ID_A (0x0A)
81#define COMPASS_RA_ID_B (0x0B)
82#define COMPASS_RA_ID_C (0x0C)
83
84//define number of samples averaged per measurement
85#define COMPASS_AVERAGING_1 (0x00)
86#define COMPASS_AVERAGING_2 (0x20)
87#define COMPASS_AVERAGING_4 (0x40)
88#define COMPASS_AVERAGING_8 (0x60)
89
90//define data output rate value (Hz)
91#define COMPASS_RATE_0P75 (0x00) // 0.75 (Hz)
92#define COMPASS_RATE_1P5 (0x40) // 1.5 (Hz)
93#define COMPASS_RATE_3 (0x08) // 3 (Hz)
94#define COMPASS_RATE_7P5 (0x0C) // 7.5 (Hz)
95#define COMPASS_RATE_15 (0x10) // 15 (Hz)
96#define COMPASS_RATE_30 (0x14) // 30 (Hz)
97#define COMPASS_RATE_75 (0x18) // 75 (Hz)
98
99//define measurement bias value
100#define COMPASS_BIAS_NORMAL (0x00)
101#define COMPASS_BIAS_POSITIVE (0x01)
102#define COMPASS_BIAS_NEGATIVE (0x02)
103
104//define magnetic field gain value
105/* -+-------------+-----------------
106 * | Field Range | Gain (LSB/Gauss)
107 * -+-------------+-----------------
108 * | +/- 0.88 Ga | 1370
109 * | +/- 1.3 Ga | 1090 (Default)
110 * | +/- 1.9 Ga | 820
111 * | +/- 2.5 Ga | 660
112 * | +/- 4.0 Ga | 440
113 * | +/- 4.7 Ga | 390
114 * | +/- 5.6 Ga | 330
115 * | +/- 8.1 Ga | 230
116 * -+-------------+-----------------*/
117#define COMPASS_GAIN_1370 (0x00)
118#define COMPASS_GAIN_1090 (0x20)
119#define COMPASS_GAIN_820 (0x40)
120#define COMPASS_GAIN_660 (0x60)
121#define COMPASS_GAIN_440 (0x80)
122#define COMPASS_GAIN_390 (0xA0)
123#define COMPASS_GAIN_330 (0xC0)
124#define COMPASS_GAIN_220 (0xE0)
125
126//define measurement mode
127#define COMPASS_MODE_CONTINUOUS (0x00)
128#define COMPASS_MODE_SINGLE (0x01)
129#define COMPASS_MODE_IDLE (0x02)
130
131//define others parameter
132#define COMPASS_PI 3.14159265F
133#define START_ADDRESS_OF_EEPROM_BUFFER (int16_t)(0x00)
134
135/* define a struct to save calibration parameters------------------------------*/
136 struct Compass_Calibration_Parameter
137{
138 float X_excursion;
139 float Y_excursion;
140 float Z_excursion;
141 float X_gain;
142 float Y_gain;
143 float Z_gain;
144 uint8_t Rotation_Axis; //1:X_Axis 2:Y_Axis 3:Z_Axis
145
146 uint8_t verify_flag;
147};
148
154#ifndef ME_PORT_DEFINED
155 class MeCompass
156#else // !ME_PORT_DEFINED
157class MeCompass : public MePort
158#endif // !ME_PORT_DEFINED
159{
160 public:
161#ifdef ME_PORT_DEFINED
166 MeCompass();
167
174 MeCompass(uint8_t port);
175
185 MeCompass(uint8_t port, uint8_t address);
186#else
195 MeCompass(uint8_t keyPin, uint8_t ledPin);
196
207 MeCompass(uint8_t keyPin, uint8_t ledPin, uint8_t address);
208#endif // ME_PORT_DEFINED
225 void setpin(uint8_t keyPin, uint8_t ledPin);
226
241 void begin(void);
242
257 bool testConnection(void);
258
273 double getAngle(void);
274
289 int16_t getHeadingX(void);
290
305 int16_t getHeadingY(void);
306
321 int16_t getHeadingZ(void);
322
341 int16_t getHeading(int16_t *x, int16_t *y, int16_t *z);
342 private:
343 static volatile uint8_t _keyPin;
344 static volatile uint8_t _ledPin;
345 bool Calibration_Flag;
346 uint8_t buffer[6];
347 uint8_t Device_Address;
348 uint8_t Measurement_Mode;
349 struct Compass_Calibration_Parameter Cal_parameter;
350
374 int8_t writeReg(int16_t reg, uint8_t data);
375
401 int8_t writeData(uint8_t start, const uint8_t *pData, uint8_t size);
402
428 int8_t readData(uint8_t start, uint8_t *buffer, uint8_t size);
429
446 void deviceCalibration(void);
447
463 void read_EEPROM_Buffer(void);
464
480 void write_EEPROM_Buffer(struct Compass_Calibration_Parameter *parameter_pointer);
481};
482#endif // MECOMPASS_H
MeConfig.h
Configuration file of library.
MePort.h
Header for MePort.cpp module.
MeCompass
Driver for MeCompass module.
Definition MeCompass.h:159
MeCompass::getHeading
int16_t getHeading(int16_t *x, int16_t *y, int16_t *z)
Definition MeCompass.cpp:391
MeCompass::testConnection
bool testConnection(void)
Definition MeCompass.cpp:214
MeCompass::MeCompass
MeCompass()
Definition MeCompass.cpp:63
MeCompass::getHeadingY
int16_t getHeadingY(void)
Definition MeCompass.cpp:327
MeCompass::getAngle
double getAngle(void)
Definition MeCompass.cpp:237
MeCompass::getHeadingX
int16_t getHeadingX(void)
Definition MeCompass.cpp:297
MeCompass::begin
void begin(void)
Definition MeCompass.cpp:172
MeCompass::getHeadingZ
int16_t getHeadingZ(void)
Definition MeCompass.cpp:357
MePort
Port Mapping for RJ25.
Definition MePort.h:128
Compass_Calibration_Parameter
Definition MeCompass.h:137