This file contains functions for initializing and reading data from a magnetometer and accelerometer sensors using I2C communication. The module used is the LSM303DLHC. More...

#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include "pico/time.h"
#include "hardware/gpio.h"
#include "hardware/i2c.h"
#include "magnetometer/magnetometer.h"

Include dependency graph for magnetometer.c:

Functions
float	magneto_get_curr_bearing (void)
	Gets the current bearing of the magnetometer sensor. More...

float	magneto_get_true_bearing (void)
	Gets the true bearing of the magnetometer sensor. More...

void	magneto_init (void)
	Initializes the magnetometer by initializing the USB, I2C, and setting the GPIO pins.

bool	magneto_is_bearing_invalid ()
	Checks if the current bearing is invalid if it is out of bounds. More...

void	magneto_read_data (void)
	Reads magnetometer data from the magnetometer sensor and outputs the values into the global variables. More...

Variables
int16_t	g_bias_x = 0
	Bias for x-axis acceleration.

int16_t	g_bias_y = 0
	Bias for y-axis acceleration.

int16_t	g_bias_z = 0
	Bias for z-axis acceleration.

float *	gp_current_bearing = 0
	Pointer to current bearing in radians.

float *	gp_max_bearing = 0
	Maximum bearing in radians.

float *	gp_min_bearing = 0
	Minimum bearing in radians.

float *	gp_true_heading = 0
	Pointer to true heading in radians.

Detailed Description

This file contains functions for initializing and reading data from a magnetometer and accelerometer sensors using I2C communication. The module used is the LSM303DLHC.

Author: Jurgen Tan

Version: 0.2

Date: 2023-10-29

Copyright: Copyright (c) 2023

Function Documentation

◆ magneto_get_curr_bearing()

float magneto_get_curr_bearing ( void )

Gets the current bearing of the magnetometer sensor.

Returns: float Current bearing in radians.

References gp_current_bearing.

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◆ magneto_get_true_bearing()

float magneto_get_true_bearing ( void )

Gets the true bearing of the magnetometer sensor.

Returns: float True bearing in radians.

References gp_true_heading.

◆ magneto_is_bearing_invalid()

bool magneto_is_bearing_invalid ( void )

Checks if the current bearing is invalid if it is out of bounds.

Returns: true Bearing is invalid.; false Bearing is valid.

References gp_current_bearing, gp_max_bearing, and gp_min_bearing.

◆ magneto_read_data()

void magneto_read_data ( void )

Reads magnetometer data from the magnetometer sensor and outputs the values into the global variables.

References gp_current_bearing, gp_max_bearing, gp_min_bearing, gp_true_heading, MAGNETO_BEARING_OFFSET, and MAGNETO_METER_ADDR.