Defines API for magnetic sensors for direction, speed and acceleration properties. More...

Classes
struct	AllSensors
	Structure to store all MPU6050 sensors data (3 axis gyroscope and accelerometer, chip temperature). More...

class	FIFOEnable
	Configuration for MPU6050 FIFO Enable register (register map §4.6). More...

class	HMC5883L
	I2C device driver for the HMC5883L compass chip. More...

class	INTStatus
	The structure of the Interrupt Status register (register map §4.16). More...

class	MPU6050
	I2C device driver for the MPU6050 gyroscope/accelerometer chip. More...

struct	Sensor3D
	Structure to store 3 axis data for one sensor (gyroscope or accelerometer). More...

class	Status
	The chip status, as defined in datasheet p16. More...

Typedefs
using	INTEnable = INTStatus
	The structure of the Interrupt Enable register (register map §4.15). More...

Enumerations
enum class	SamplesAveraged : uint8_t { ONE_SAMPLE = 0 << 5 , TWO_SAMPLES = 1 << 5 , FOUR_SAMPLES = 2 << 5 , EIGHT_SAMPLES = 3 << 5 }
	The number of samples to average every time a measurement is required from the HMC5883L chip (datasheet p12). More...

enum class	DataOutput : uint8_t { RATE_0_75HZ = 0 << 2 , RATE_1_5HZ = 1 << 2 , RATE_3HZ = 2 << 2 , RATE_7_5HZ = 3 << 2 , RATE_15HZ = 4 << 2 , RATE_30HZ = 5 << 2 , RATE_75HZ = 6 << 2 }
	The output rate when used in continuous mode (datasheet p12). More...

enum class	MeasurementMode : uint8_t { NORMAL = 0 , POSITIVE_BIAS = 1 , NEGATIVE_BIAS = 2 }
	The measurement mode as defined in datasheet p12, table6. More...

enum class	OperatingMode : uint8_t { CONTINUOUS = 0 , SINGLE = 1 , IDLE = 2 }
	The operating mode of the chip as defined in datasheet p10, p14 table 12. More...

enum class	Gain : uint8_t { GAIN_0_88GA = 0 << 5 , GAIN_1_3GA = 1 << 5 , GAIN_1_9GA = 2 << 5 , GAIN_2_5GA = 3 << 5 , GAIN_4_0GA = 4 << 5 , GAIN_4_7GA = 5 << 5 , GAIN_5_6GA = 6 << 5 , GAIN_8_1GA = 7 << 5 }
	The gain to set for the chip, as defined in datasheet p13, table9. More...

enum class	GyroRange : uint8_t { RANGE_250 = 0 << 3 , RANGE_500 = 1 << 3 , RANGE_1000 = 2 << 3 , RANGE_2000 = 3 << 3 }
	The full-scale range of the gyroscope in dps (datasheet §6.1). More...

enum class	AccelRange : uint8_t { RANGE_2G = 0 << 3 , RANGE_4G = 1 << 3 , RANGE_8G = 2 << 3 , RANGE_16G = 3 << 3 }
	The full-scale range of the accelerometer in g (datasheet §6.2). More...

enum class	ClockSelect : uint8_t { INTERNAL_8MHZ = 0 , PLL_X_AXIS_GYRO = 1 , PLL_Y_AXIS_GYRO = 2 , PLL_Z_AXIS_GYRO = 3 , PLL_EXTERNAL_32KHZ = 4 , PLL_EXTERNAL_19MHZ = 5 , STOPPED = 7 }
	The clock to select for the chip (datasheet §6.6). More...

enum class	DLPF : uint8_t { ACCEL_BW_260HZ = 0 , ACCEL_BW_184HZ = 1 , ACCEL_BW_94HZ = 2 , ACCEL_BW_44HZ = 3 , ACCEL_BW_21HZ = 4 , ACCEL_BW_10HZ = 5 , ACCEL_BW_5HZ = 6 , GYRO_BW_256HZ = 0 , GYRO_BW_188HZ = 1 , GYRO_BW_98HZ = 2 , GYRO_BW_42HZ = 3 , GYRO_BW_20HZ = 4 , GYRO_BW_10HZ = 5 , GYRO_BW_5HZ = 6 }
	The Digital Low Pass Filter bandwidth to select for the chip (register map §4.3). More...

enum class	AD0 : uint8_t { LOW = 0 , HIGH = 1 }
	Possible values of I2C address lower bit for the chip (the chip may have one of two possible addresses, based on the level of pin AD0, datasheet §6.4, §7.1). More...

Functions
float	magnetic_heading (int16_t x, int16_t y)
	Calculate the magnetic heading (heading measured clockwise from magnetic north) from X and Y magnetic fields. More...

static constexpr uint16_t	GYRO_RANGE_DPS (GyroRange range)
	Convert a `GyroRange` constant to the real gyroscope range in dps. More...

static constexpr uint16_t	ACCEL_RANGE_G (AccelRange range)
	Convert an `AccelRange` constant to the real accelerometer range in g. More...

Detailed Description

Defines API for magnetic sensors for direction, speed and acceleration properties.

Typedef Documentation

◆ INTEnable

using devices::magneto::INTEnable = typedef INTStatus

The structure of the Interrupt Enable register (register map §4.15).

See also: MPU6050::begin(FIFOEnable, INTEnable, uint8_t, GyroRange, AccelRange, DLPF, ClockSelect); MPU6050::FifoBeginFuture; INTStatus

Definition at line 243 of file mpu6050.h.

Enumeration Type Documentation

◆ SamplesAveraged

enum class devices::magneto::SamplesAveraged : uint8_t

strong

The number of samples to average every time a measurement is required from the HMC5883L chip (datasheet p12).

Definition at line 49 of file hmc5883l.h.

◆ DataOutput

enum class devices::magneto::DataOutput : uint8_t

strong

The output rate when used in continuous mode (datasheet p12).

See also: OperatingMode

Definition at line 61 of file hmc5883l.h.

◆ MeasurementMode

enum class devices::magneto::MeasurementMode : uint8_t

strong

The measurement mode as defined in datasheet p12, table6.

Definition at line 75 of file hmc5883l.h.

◆ OperatingMode

enum class devices::magneto::OperatingMode : uint8_t

strong

The operating mode of the chip as defined in datasheet p10, p14 table 12.

Definition at line 85 of file hmc5883l.h.

◆ Gain

enum class devices::magneto::Gain : uint8_t

strong

The gain to set for the chip, as defined in datasheet p13, table9.

Definition at line 95 of file hmc5883l.h.

◆ GyroRange

enum class devices::magneto::GyroRange : uint8_t

strong

The full-scale range of the gyroscope in dps (datasheet §6.1).

See also: MPU6050::begin(); MPU6050::BeginFuture; MPU6050::FifoBeginFuture

Definition at line 45 of file mpu6050.h.

◆ AccelRange

enum class devices::magneto::AccelRange : uint8_t

strong

The full-scale range of the accelerometer in g (datasheet §6.2).

See also: MPU6050::begin(); MPU6050::BeginFuture; MPU6050::FifoBeginFuture

Definition at line 70 of file mpu6050.h.

◆ ClockSelect

enum class devices::magneto::ClockSelect : uint8_t

strong

The clock to select for the chip (datasheet §6.6).

See also: MPU6050::begin(); MPU6050::BeginFuture; MPU6050::FifoBeginFuture

Definition at line 95 of file mpu6050.h.

◆ DLPF

enum class devices::magneto::DLPF : uint8_t

strong

The Digital Low Pass Filter bandwidth to select for the chip (register map §4.3).

This can be expressed either from the gyroscope viewpoint or from the accelerometer viewpoint, but any setting is common to both features, i.e. selecting a DLPF setting for the accelerometer will force the matching setting for the gyroscope.

See also: MPU6050::begin(); MPU6050::BeginFuture; MPU6050::FifoBeginFuture

Definition at line 117 of file mpu6050.h.

◆ AD0

enum class devices::magneto::AD0 : uint8_t

strong

Possible values of I2C address lower bit for the chip (the chip may have one of two possible addresses, based on the level of pin AD0, datasheet §6.4, §7.1).

See also: MPU6050

Enumerator
LOW	When `AD0` pin is low, I2C address is `0x68`.
HIGH	When `AD0` pin is high, I2C address is `0x69`.

Definition at line 267 of file mpu6050.h.

Function Documentation

◆ magnetic_heading()

float devices::magneto::magnetic_heading	(	int16_t	x,
		int16_t	y
	)

inline

Calculate the magnetic heading (heading measured clockwise from magnetic north) from X and Y magnetic fields.

Definition at line 39 of file hmc5883l.h.

◆ GYRO_RANGE_DPS()

static constexpr uint16_t devices::magneto::GYRO_RANGE_DPS ( GyroRange range )

staticconstexpr

Convert a GyroRange constant to the real gyroscope range in dps.

Definition at line 56 of file mpu6050.h.

◆ ACCEL_RANGE_G()

static constexpr uint16_t devices::magneto::ACCEL_RANGE_G ( AccelRange range )

staticconstexpr

Convert an AccelRange constant to the real accelerometer range in g.

Definition at line 81 of file mpu6050.h.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ INTEnable

Enumeration Type Documentation

◆ SamplesAveraged

◆ DataOutput

◆ MeasurementMode

◆ OperatingMode

◆ Gain

◆ GyroRange

◆ AccelRange

◆ ClockSelect

◆ DLPF

◆ AD0

Function Documentation

◆ magnetic_heading()

◆ GYRO_RANGE_DPS()

◆ ACCEL_RANGE_G()