AMiRo-OS

#ifndef HMC5883L_H_

#define HMC5883L_H_

#include <amiro/bus/i2c/I2CParams.hpp>

namespace amiro {

class I2CDriver;

/**

 * HMC5883L Magnetometer

 * \todo Interrupt Support, self-test

 */

class HMC5883L : public chibios_rt::BaseStaticThread<256> {

 public:

  struct registers {

    uint8_t ctrlA;

    uint8_t ctrlB;

    uint8_t mode;

    uint8_t xMsb;

    uint8_t xLsb;

    uint8_t zMsb;

    uint8_t zLsb;

    uint8_t yMsb;

    uint8_t yLsb;

    uint8_t status;

    uint8_t idA;

    uint8_t idB;

    uint8_t idC;

  }__attribute__((packed));

  struct HMC5883LConfig {

    uint8_t ctrlA;

    uint8_t ctrlB;

    uint8_t mode;

  };

  enum {

    SLA = 0x1E

  };

  enum {

    MA_AVG1 = 0x00,

    MA_AVG2 = 0x20,

    MA_AVG4 = 0x40,

    MA_AVG8 = 0x60,

  };

  enum {

    DO_0_5_HZ = 0x00,

    DO_1_HZ = 0x04,

    DO_2_HZ = 0x08,

    DO_5_HZ = 0x0C,

    DO_10_HZ = 0x10,

    DO_20_HZ = 0x14,

    DO_50_HZ = 0x18,

  };

  enum {

    MS_NORMAL = 0x00,

    MS_BIASPOS = 0x01,

    MS_BIASNEG = 0x02,

  };

  enum {

    GN_0_GA = 0x00,

    GN_1_GA = 0x20,

    GN_2_GA = 0x40,

    GN_3_GA = 0x60,

    GN_4_GA = 0x80,

    GN_5_GA = 0xA0,

    GN_6_GA = 0xC0,

    GN_7_GA = 0xE0,

  };

  enum {

    MD_CONTCV = 0x00,

    MD_SINGCV = 0x01,

    MD_IDLE = 0x02,

    MD_SLEEP = 0x03,

  };

  enum {

    HS_DISABLE = 0x00,

    HS_ENABLE = 0x80,

  };

  enum {

    SR_REN = 0x04,

    SR_LOCK = 0x02,

    SR_RDY = 0x01,

  };

  enum {

    ID_IRA = 'H',

    ID_IRB = '4',

    ID_IRC = '3',

  };

  enum {

    MAGNETO_AVG = 10

  };

  /**

   * Return types of getCheck()

   */

  enum {

    CHECK_OK = 0x00u,

    CHECK_FAIL = 0x01u,

  };

 public:

  HMC5883L(I2CDriver *driver, const HMC5883LConfig *config);

  virtual ~HMC5883L();

  msg_t configure(HMC5883LConfig* config);

  chibios_rt::EvtSource* getEventSource();

  /**

   * Check the presence of the magnetometer by reading

   * the identifier register and comparing it to the standard

   * value

   */

  uint8_t getCheck();

  /**

   * Top view of the AMiRo with charger in the back (F:Front, B:Back).

   * Z is pointing into the ground (Apply right-hand-rule):

   *    ___________

   *   /    F      \

   *  /     X       \

   * |      |        |

   * |      Z---Y    |

   * |               |

   *  \             /

   *   \____B______/

   */

  enum {

    AXIS_X = 0x00u,

    AXIS_Y = 0x02u,

    AXIS_Z = 0x01u,

  };

  /**

   * Return the magnetization in LSB for the given axis.

   *

   * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]

   *

   * @return Measured magnetization in in LSB for the given axis

   */

  int16_t getMagnetization(const uint8_t axis);

  /**

   * Return the magnetization in µGauss for the given axis.

   *

   * @param axis can be one of the axis [AXIS_X | AXIS_Y | AXIS_Z]

   *

   * @return Measured magnetization in µGauss for the given axis

   */

  int32_t getMagnetizationGauss(const uint8_t axis);

 protected:

  virtual msg_t main(void);

 private:

  /**

   * Update the sensor values by reading accessing

   * the sensor over I2C

   */

  inline void updateSensorData();

  /**

   * Writes the config to the HMC5883L

   *

   * @return I2C write return message

   */

  msg_t writeConf();

  /**

   * Stores the three orientations x,z,y in LSB

   */

  int16_t data[3];

  I2CDriver *driver;

  const HMC5883LConfig *config;

  chibios_rt::EvtSource eventSource;

  I2CTxParams txParams;

};

}

#endif /* HMC5883L_H_ */