HMC5883L.h

/*
 * HMC5883L.h
 *
 *  Created on: 9 fŽvr. 2013
 *  Author: Benjamin Navarro
 */

#ifndef HMC5883L_H_
#define HMC5883L_H_

#include <stm32f4xx.h>
#include <math.h>
#include <string>
#include <iostream>

#include "MyLib.h"
#include "I2CDevice.h"


using namespace std ;

typedef enum {
    Continous = 0,
    SingleShot = 1,
    Idle = 3
} CompasMesMode;

typedef enum {
    GAUSS_088 = 0,
    GAUSS_130 = 1,
    GAUSS_190 = 2,
    GAUSS_250 = 3,
    GAUSS_400 = 4,
    GAUSS_470 = 5,
    GAUSS_560 = 6,
    GAUSS_810 = 7
} CompasScale;

typedef enum {
    AvgSamples_1 = 0,
    AvgSamples_2 = 32,
    AvgSamples_4 = 64,
    AvgSamples_8 = 96
} CompasAverageSamples;

typedef enum {
    DataRate_0_75 = 0,
    DataRate_1_5 = 4,
    DataRate_3 = 8,
    DataRate_7_5 = 12,
    DataRate_15 = 16,
    DataRate_30 = 20,
    DataRate_75 = 24
} CompasDataRate;

class HMC5883L : public I2CDevice {
public:

    HMC5883L(I2C_TypeDef* I2C_Port, uint8_t address = 0x3C, uint32_t speed = 100000);

    int16x3 getRawData();
    floatx3 getScaledValues();
    float   getHeading();
    float   getTiltCompensatedHeading(rollpitch angles);
    string  getID();

    void    setScale(CompasScale s);
    void    setMode(CompasMesMode m, CompasAverageSamples avg = AvgSamples_1, CompasDataRate rate = DataRate_15);

private:
    enum registers {
        Config_A    = 0x00,
        Config_B    = 0x01,
        Mode        = 0x02,
        Data_XH     = 0x03,
        Data_XL     = 0x04,
        Data_ZH     = 0x05,
        Data_ZL     = 0x06,
        Data_YH     = 0x07,
        Data_YL     = 0x08,
        Satus       = 0x09,
        Ident_A     = 0x0A,
        Ident_B     = 0x0B,
        Ident_C     = 0x0C
    };

    float scale;

};


#endif /* HMC5883L_H_ */