General Compass Driver. More...

#include <General_compass.h>

Inheritance diagram for General_compass:

Public Member Functions
virtual bool	update ()=0
	Fetches and updates new data from the compass.

int16_t	get_raw_x ()
	Gets the magnetic field strength in X-axis in raw value.

int16_t	get_raw_y ()
	Gets the magnetic field strength in Y-axis in raw value.

int16_t	get_raw_z ()
	Gets the magnetic field strength in Z-axis in raw value.

Mag_field_raw_t	get_raw_mag ()
	Gets a package of magnetic field strengths in 3 axes in raw value.

double	get_uT_x ()
	Gets the magnetic field strength in X-axis in µT (microTesla).

double	get_uT_y ()
	Gets the magnetic field strength in Y-axis in µT (microTesla).

double	get_uT_z ()
	Gets the magnetic field strength in Z-axis in µT (microTesla).

Mag_field_uT_t	get_uT_mag ()
	Gets a package of magnetic field strengths in 3 axes in µT (microTesla).

bool	compass_cal ()
	Calibrates the compass, and find the ranges of each axis respectively for compass usage.

Compass_cal_vals_t	get_prev_caled_vals ()
	Gets the previously calibrated values of the compass.

void	save_caled_vals ()
	Saves the calibrated values into local EEPROM.

bool	reset_heading ()
	Takes the current heading of compass as zero.

int16_t	get_re_zero_heading ()
	Gets the real-world heading referenced as zero-degrees.

void	save_re_zero_heading ()
	Saves the real-world heading referenced as zero-degrees into local EEPROM.

virtual uint16_t	get_heading ()
	Gets the heading of compass in degrees.

Protected Member Functions
void	set_raw_data (Mag_field_raw_t data)
	Sets the latest raw values of magnetic field strength in 3 axes.

virtual double	raw_to_uT (const int16_t raw)=0
	The function to convert raw values to field strength in microTesla.

void	set_cal_vals (Compass_cal_vals_t vals)
	Sets the calibration values.

Compass_cal_vals_t	get_eeprom_caled_vals ()
	Loads calibration values from EEPROM.

void	use_eeprom_re_zero_heading ()
	Uses the re-zero heading from EEPROM.

	General_compass ()
	Creates a General_compass object.

Protected Member Functions inherited from Heading_sensor
	Heading_sensor ()
	Creates a Heading_sensor object.

Protected Member Functions inherited from Supported_sensor
	Supported_sensor ()
	Creates an object of a supported sensor.

Protected Member Functions inherited from Supported_module
	Supported_module ()
	Creates an object of a supported module.

Detailed Description

General Compass Driver.

Handles high-level calibration, retrieve heading and reset heading.

Author: YH Choi @ JM9

Member Function Documentation

◆ compass_cal()

bool General_compass::compass_cal ( )

Calibrates the compass, and find the ranges of each axis respectively for compass usage.

This function calibrates in a blocking manner. When this function is returned, calibration is guaranteed to be either completed or failed. ATTENTION: WHEN MAGNETOMETER CALIBRATION IS IN PROGRESS, SWING THE CHIP IN ALL DIRECTIONS OF X, Y AND Z.

Returns: true if compass is successfully calibrated, false otherwise

◆ get_eeprom_caled_vals()

Compass_cal_vals_t General_compass::get_eeprom_caled_vals ( )

protected

Loads calibration values from EEPROM.

Returns: The previously calibrated values of the compass stored in EEPROM.

◆ get_heading()

uint16_t General_compass::get_heading ( )

virtual

Gets the heading of compass in degrees.

Returns: the heading of compass in degrees [ 0 : 359 ]

Implements Heading_sensor.

◆ get_prev_caled_vals()

Compass_cal_vals_t General_compass::get_prev_caled_vals ( )

Gets the previously calibrated values of the compass.

Returns: the previously calibrated values of the compass

◆ get_raw_mag()

Mag_field_raw_t General_compass::get_raw_mag ( )

Gets a package of magnetic field strengths in 3 axes in raw value.

Returns: a package of raw values measured by the magnetometer in 3 axes

◆ get_raw_x()

int16_t General_compass::get_raw_x ( )

Gets the magnetic field strength in X-axis in raw value.

Returns: the raw value of magnetic field strength measured by the magnetometer in the X-axis

◆ get_raw_y()

int16_t General_compass::get_raw_y ( )

Gets the magnetic field strength in Y-axis in raw value.

Returns: the raw value of magnetic field strength measured by the magnetometer in the Y-axis

◆ get_raw_z()

int16_t General_compass::get_raw_z ( )

Gets the magnetic field strength in Z-axis in raw value.

Returns: the raw value of magnetic field strength measured by the magnetometer in the Z-axis

◆ get_re_zero_heading()

int16_t General_compass::get_re_zero_heading ( )

Gets the real-world heading referenced as zero-degrees.

Returns: the real-world heading that is referenced as zero-degrees in our program

◆ get_uT_mag()

Mag_field_uT_t General_compass::get_uT_mag ( )

Gets a package of magnetic field strengths in 3 axes in µT (microTesla).

Returns: a package of magnetic field strength measured by the magnetometer in 3 axes

◆ get_uT_x()

double General_compass::get_uT_x ( )

Gets the magnetic field strength in X-axis in µT (microTesla).

Returns: the magnetic field strength measured by the magnetometer in the X-axis

◆ get_uT_y()

double General_compass::get_uT_y ( )

Gets the magnetic field strength in Y-axis in µT (microTesla).

Returns: the magnetic field strength measured by the magnetometer in the Y-axis

◆ get_uT_z()

double General_compass::get_uT_z ( )

Gets the magnetic field strength in Z-axis in µT (microTesla).

Returns: the magnetic field strength measured by the magnetometer in the Z-axis

◆ reset_heading()

bool General_compass::reset_heading ( )

virtual

Takes the current heading of compass as zero.

Returns: true if compass heading is resetted, false otherwise.

Implements Heading_sensor.

◆ set_cal_vals()

void General_compass::set_cal_vals ( Compass_cal_vals_t vals )

protected

Sets the calibration values.

Parameters

vals	the calibration values

◆ set_raw_data()

void General_compass::set_raw_data ( Mag_field_raw_t data )

protected

Sets the latest raw values of magnetic field strength in 3 axes.

Parameters

data	the latest raw values of magnetic field strength in 3 axes

◆ update()

virtual bool General_compass::update ( )

pure virtual

Fetches and updates new data from the compass.

Returns: true if new data is fetched and updated, false if new data is not ready

Implemented in Hmc5883l, and Qmc5883l.

The documentation for this class was generated from the following files:

General_compass/src/General_compass.h
General_compass/src/General_compass.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ compass_cal()

◆ get_eeprom_caled_vals()

◆ get_heading()

◆ get_prev_caled_vals()

◆ get_raw_mag()

◆ get_raw_x()

◆ get_raw_y()

◆ get_raw_z()

◆ get_re_zero_heading()

◆ get_uT_mag()

◆ get_uT_x()

◆ get_uT_y()

◆ get_uT_z()

◆ reset_heading()

◆ set_cal_vals()

◆ set_raw_data()

◆ update()