✈️ Adds barometer to imu service

2024-06-01 23:55:44 +02:00
parent d1567fa2dd
commit f6ca10846f
28 changed files with 12894 additions and 10318 deletions
@@ -0,0 +1,100 @@
+/*!
+ * @file Adafruit_HMC5883_U.h
+ */
+#ifndef __HMC5883_H__
+#define __HMC5883_H__
+
+#if (ARDUINO >= 100)
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <Adafruit_Sensor.h>
+
+#ifdef __AVR_ATtiny85__
+#include "TinyWireM.h"
+#define Wire TinyWireM
+#else
+#include <Wire.h>
+#endif
+
+/*!
+ * @brief I2C address/bits
+ */
+#define HMC5883_ADDRESS_MAG (0x3C >> 1) // 0011110x
+
+/*!
+ @brief Registers
+ */
+typedef enum {
+  HMC5883_REGISTER_MAG_CRA_REG_M = 0x00,
+  HMC5883_REGISTER_MAG_CRB_REG_M = 0x01,
+  HMC5883_REGISTER_MAG_MR_REG_M = 0x02,
+  HMC5883_REGISTER_MAG_OUT_X_H_M = 0x03,
+  HMC5883_REGISTER_MAG_OUT_X_L_M = 0x04,
+  HMC5883_REGISTER_MAG_OUT_Z_H_M = 0x05,
+  HMC5883_REGISTER_MAG_OUT_Z_L_M = 0x06,
+  HMC5883_REGISTER_MAG_OUT_Y_H_M = 0x07,
+  HMC5883_REGISTER_MAG_OUT_Y_L_M = 0x08,
+  HMC5883_REGISTER_MAG_SR_REG_Mg = 0x09,
+  HMC5883_REGISTER_MAG_IRA_REG_M = 0x0A,
+  HMC5883_REGISTER_MAG_IRB_REG_M = 0x0B,
+  HMC5883_REGISTER_MAG_IRC_REG_M = 0x0C,
+  HMC5883_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
+  HMC5883_REGISTER_MAG_TEMP_OUT_L_M = 0x32
+} hmc5883MagRegisters_t;
+
+/*!
+ * @brief Magnetometer gain settings
+ */
+typedef enum {
+  HMC5883_MAGGAIN_1_3 = 0x20, // +/- 1.3
+  HMC5883_MAGGAIN_1_9 = 0x40, // +/- 1.9
+  HMC5883_MAGGAIN_2_5 = 0x60, // +/- 2.5
+  HMC5883_MAGGAIN_4_0 = 0x80, // +/- 4.0
+  HMC5883_MAGGAIN_4_7 = 0xA0, // +/- 4.7
+  HMC5883_MAGGAIN_5_6 = 0xC0, // +/- 5.6
+  HMC5883_MAGGAIN_8_1 = 0xE0  // +/- 8.1
+} hmc5883MagGain;
+
+/*!
+ * @brief Internal magnetometer data type
+ */
+typedef struct hmc5883MagData_s {
+  float x;           //!< Magnetometer x value
+  float y;           //!< Magnetometer y value
+  float z;           //!< Magnetometer z value
+  float orientation; //!< Magnetometer orientation
+} hmc5883MagData;
+
+/*!
+ * @brief Chip ID
+ */
+#define HMC5883_ID (0b11010100)
+
+//! Unified sensor driver for the magnetometer ///
+class Adafruit_HMC5883_Unified : public Adafruit_Sensor {
+public:
+  /*!
+   * @param sensorID sensor ID, -1 by default
+   */
+  Adafruit_HMC5883_Unified(int32_t sensorID = -1);
+
+  bool begin(void); //!< @return Returns whether connection was successful
+  void setMagGain(hmc5883MagGain gain); //!< @param gain Desired magnetic gain
+  bool
+  getEvent(sensors_event_t *); //!< @return Returns the most recent sensor event
+  void getSensor(adafruit_sensor_t *);
+
+private:
+  hmc5883MagGain _magGain;
+  hmc5883MagData _magData; // Last read magnetometer data will be available here
+  int32_t _sensorID;
+
+  void write8(byte address, byte reg, byte value);
+  byte read8(byte address, byte reg);
+  void read(void);
+};
+
+#endif