Header file for the magnetometer driver. More...

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Macros
#define	MAGNETO_ACCEL_ADDR 0x19
	Default I2C address for the LSM303DLHC accelerometer.

#define	MAGNETO_BEARING_OFFSET 1.0f
	Offset for bearing.

#define	MAGNETO_CRA_REG_M 0x00
	Register for the magnetometer control.

#define	MAGNETO_CTRL_REG1_A 0x20
	Register for the accelerometer control.

#define	MAGNETO_GRAVITY_CONSTANT_F 9.80665 / 16384.0
	1 g = 16384 LSB

#define	MAGNETO_I2C_BAUDRATE 1000000
	1 MHz baudrate for I2C communication.

#define	MAGNETO_I2C_SCL_PIN 1
	SCL pin for I2C communication.

#define	MAGNETO_I2C_SDA_PIN 0
	SDA pin for I2C communication.

#define	MAGNETO_METER_ADDR 0x1E
	Default I2C address for the LSM303DLHC magnetometer.

#define	MAGNETO_MR_REG_M 0x02
	Register for the magnetometer mode selection.

#define	MAGNETO_OUT_X_H_A 0x29
	Register for the x-axis acceleration (high).

#define	MAGNETO_OUT_X_H_M 0x03
	Register for the x-axis magnetometer (high).

#define	MAGNETO_OUT_X_L_A 0x28
	Register for the x-axis acceleration (low).

#define	MAGNETO_OUT_X_L_M 0x04
	Register for the x-axis magnetometer (low).

#define	MAGNETO_OUT_Y_H_A 0x2B
	Register for the y-axis acceleration (high).

#define	MAGNETO_OUT_Y_H_M 0x07
	Register for the y-axis magnetometer (high).

#define	MAGNETO_OUT_Y_L_A 0x2A
	Register for the y-axis acceleration (low).

#define	MAGNETO_OUT_Y_L_M 0x08
	Register for the y-axis magnetometer (low).

#define	MAGNETO_OUT_Z_H_A 0x2D
	Register for the z-axis acceleration (high).

#define	MAGNETO_OUT_Z_H_M 0x05
	Register for the z-axis magnetometer (high).

#define	MAGNETO_OUT_Z_L_A 0x2C
	Register for the z-axis acceleration (low).

#define	MAGNETO_OUT_Z_L_M 0x06
	Register for the z-axis magnetometer (low).

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 (void)
	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...

Detailed Description

Header file for the magnetometer driver.

Author: Jurgen Tan

Version: 0.1

Date: 2023-10-30

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.