rover_hmc5883l.hpp

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/*
 * Copyright (c) 2017 FH Dortmund and others
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Description:
 *     RoverHMC5883L API - Interfaces for Rover HMC5883L bearing sensor application development
 *     Header file
 *
 * Contributors:
 *    M.Ozcelikors <mozcelikors@gmail.com>, created RoverHMC5883L class 04.12.2017
 *    David Schmelter, Fraunhofer IEM - compass sensor initial implementation
 *
 */

#ifndef ROVERAPI_ROVER_HMC5883L_HPP_
#define ROVERAPI_ROVER_HMC5883L_HPP_

#include <roverapi/rover_sensor.hpp>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>

namespace rover
{
    class RoverHMC5883L : public RoverSensor
    {
        private:
            /* Definitions related to compass sensor */
            int HMC588L_ADDRESS;

            int CALIBRATION_DURATION;

            float DECLINATION_ANGLE;

            mutable unsigned int calibration_start;

            int ROVERHMC5883L_SETUP_;

            int16_t xMinRaw;

            int16_t xMaxRaw;

            int16_t yMinRaw;

            int16_t yMaxRaw;

            int i2c_hmc588l_fd;

        public:
            explicit RoverHMC5883L ();

            ~RoverHMC5883L();

            void initialize (void);

            float read (void);

                        void calibrate (void);

            void setHMC588LAddress (const int address);

            void setHMC588LCalibrationPeriod(const int period);

            void setHMC588LDeclinationAngle (const float angle);

            int getHMC588LAddress (void);

            int getHMC588LCalibrationPeriod (void);

            float getHMC588LDeclinationAngle (void);

        private:

            template<typename T>
            inline T MINIMUM_ (const T& a, const T& b);

            template<typename T>
            inline T MAXIMUM_ (const T& a, const T& b);

    };
}



#endif /* ROVERAPI_ROVER_HMC5883L_HPP_ */