General_compass.h

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#ifndef GENERAL_COMPASS_H
#define GENERAL_COMPASS_H
 
#include <Arduino.h>
#include <EEPROM.h>
 
#include <Heading_sensor.h>

struct Mag_field_raw_t {
    int16_t x, y, z;
};

struct Mag_field_uT_t {
    double x, y, z;
};

struct Compass_cal_vals_t {
    Mag_field_raw_t base;
    Mag_field_raw_t range;
};

class General_compass : public Heading_sensor {
    private:
        uint16_t heading;

        int16_t re_zero_heading;

        Mag_field_raw_t raw_data;

        Compass_cal_vals_t cal_vals;

        int16_t get_eeprom_re_zero_heading ();
    
    protected:
        void set_raw_data (Mag_field_raw_t data);

        virtual double raw_to_uT (const int16_t raw) = 0;

        void set_cal_vals (Compass_cal_vals_t vals);

        Compass_cal_vals_t get_eeprom_caled_vals ();

        void use_eeprom_re_zero_heading ();

        General_compass ();
 
    public:
        // // @brief Configures the settings of the chip and communication protocols.
        // virtual bool begin () = 0;
 
        // low-level functions

        virtual bool update () = 0;

        int16_t get_raw_x ();

        int16_t get_raw_y ();

        int16_t get_raw_z ();

        Mag_field_raw_t get_raw_mag ();

        double get_uT_x ();

        double get_uT_y ();

        double get_uT_z ();

        Mag_field_uT_t get_uT_mag ();
 
        // high-level functions

        bool compass_cal ();

        Compass_cal_vals_t get_prev_caled_vals ();

        void save_caled_vals ();

        bool reset_heading ();

        int16_t get_re_zero_heading ();

        void save_re_zero_heading ();

        virtual uint16_t get_heading ();
};
 
#endif // #ifndef GENERAL_COMPASS_H