Initial import of WAVE_ROVER_V1.0
This commit is contained in:
Joshua Sacherer
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/*
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AK09918.h
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A library for Grove - IMU 9DOF(ICM20600 + AK09918)
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Copyright (c) 2018 seeed technology inc.
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Website : www.seeed.cc
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Author : Jerry Yip
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Create Time: 2018-06
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Version : 0.1
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Change Log :
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The MIT License (MIT)
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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*/
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#ifndef __IMU_9DOF_AK09918_H__
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#define __IMU_9DOF_AK09918_H__
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#include <Arduino.h>
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#include <Wire.h>
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/***************************************************************
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AK09918 I2C Register
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***************************************************************/
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#define AK09918_I2C_ADDR 0x0c // I2C address (Can't be changed)
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#define AK09918_WIA1 0x00 // Company ID
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#define AK09918_WIA2 0x01 // Device ID
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#define AK09918_RSV1 0x02 // Reserved 1
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#define AK09918_RSV2 0x03 // Reserved 2
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#define AK09918_ST1 0x10 // DataStatus 1
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#define AK09918_HXL 0x11 // X-axis data
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#define AK09918_HXH 0x12
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#define AK09918_HYL 0x13 // Y-axis data
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#define AK09918_HYH 0x14
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#define AK09918_HZL 0x15 // Z-axis data
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#define AK09918_HZH 0x16
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#define AK09918_TMPS 0x17 // Dummy
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#define AK09918_ST2 0x18 // Datastatus 2
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#define AK09918_CNTL1 0x30 // Dummy
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#define AK09918_CNTL2 0x31 // Control settings
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#define AK09918_CNTL3 0x32 // Control settings
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#define AK09918_SRST_BIT 0x01 // Soft Reset
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#define AK09918_HOFL_BIT 0x08 // Sensor Over Flow
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#define AK09918_DOR_BIT 0x02 // Data Over Run
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#define AK09918_DRDY_BIT 0x01 // Data Ready
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// #define AK09918_MEASURE_PERIOD 9 // Must not be changed
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// AK09918 has following seven operation modes:
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// (1) Power-down mode: AK09918 doesn't measure
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// (2) Single measurement mode: measure when you call any getData() function
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// (3) Continuous measurement mode 1: 10Hz, measure 10 times per second,
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// (4) Continuous measurement mode 2: 20Hz, measure 20 times per second,
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// (5) Continuous measurement mode 3: 50Hz, measure 50 times per second,
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// (6) Continuous measurement mode 4: 100Hz, measure 100 times per second,
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// (7) Self-test mode
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enum AK09918_mode_type_t {
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AK09918_POWER_DOWN = 0x00,
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AK09918_NORMAL = 0x01,
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AK09918_CONTINUOUS_10HZ = 0x02,
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AK09918_CONTINUOUS_20HZ = 0x04,
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AK09918_CONTINUOUS_50HZ = 0x06,
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AK09918_CONTINUOUS_100HZ = 0x08,
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AK09918_SELF_TEST = 0x10, // ignored by switchMode() and initialize(), call selfTest() to use this mode
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};
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enum AK09918_err_type_t {
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AK09918_ERR_OK = 0, // ok
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AK09918_ERR_DOR = 1, // data skipped
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AK09918_ERR_NOT_RDY = 2, // not ready
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AK09918_ERR_TIMEOUT = 3, // read/write timeout
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AK09918_ERR_SELFTEST_FAILED = 4, // self test failed
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AK09918_ERR_OVERFLOW = 5, // sensor overflow, means |x|+|y|+|z| >= 4912uT
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AK09918_ERR_WRITE_FAILED = 6, // fail to write
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AK09918_ERR_READ_FAILED = 7, // fail to read
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};
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typedef struct imu_st_sensor_data_tag
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{
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short int s16X;
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short int s16Y;
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short int s16Z;
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}IMU_ST_SENSOR_DATA;
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class AK09918 {
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public:
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AK09918();
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// default to AK09918_CONTINUOUS_10HZ mode
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AK09918_err_type_t initialize(AK09918_mode_type_t mode = AK09918_NORMAL);
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// At AK09918_CONTINUOUS_** mode, check if data is ready to read
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AK09918_err_type_t isDataReady();
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// At AK09918_CONTINUOUS_** mode, check if data is skipped
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AK09918_err_type_t isDataSkip();
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// Get magnet data in uT
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AK09918_err_type_t getData(int16_t* axis_x, int16_t* axis_y, int16_t* axis_z);
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// Get raw I2C magnet data
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AK09918_err_type_t getRawData(int16_t* axis_x, int16_t* axis_y, int16_t* axis_z);
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// Return the working mode of AK09918
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AK09918_mode_type_t getMode();
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// Switch the working mode of AK09918
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AK09918_err_type_t switchMode(AK09918_mode_type_t mode);
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// Start a self-test, if pass, return AK09918_ERR_OK
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AK09918_err_type_t selfTest();
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// Reset AK09918
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AK09918_err_type_t reset();
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// Get details of AK09918_err_type_t
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String strError(AK09918_err_type_t err);
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// Get device ID
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uint16_t getDeviceID();
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private:
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uint8_t _getRawMode();
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bool writeByte(uint8_t addr,uint8_t reg ,uint8_t Value);
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bool readByte(uint8_t addr,uint8_t reg,uint8_t *buf);
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bool readBytes(uint8_t addr,uint8_t reg,uint8_t num,uint8_t *buf);
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uint8_t _addr;
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AK09918_mode_type_t _mode;
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uint8_t _buffer[16];
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};
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#endif // __IMU_9DOF_AK09918_H__
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