F_AK8975.hpp

#pragma once

#ifndef _F_AK8975_H_
#define _F_AK8975_H_

#include "IMUBase.hpp"
/*

	AK8975 REGISTERS

*/

//Magnetometer Registers
#define AK8975_ADDRESS   0x0C
#define AK8975_WHO_AM_I  0x00 // should return 0x48
#define AK8975_WHOAMI_DEFAULT_VALUE 0x48
#define AK8975_INFO      0x01
#define AK8975_ST1       0x02  // data ready status bit 0
#define AK8975_XOUT_L	 0x03  // data
#define AK8975_XOUT_H	 0x04
#define AK8975_YOUT_L	 0x05
#define AK8975_YOUT_H	 0x06
#define AK8975_ZOUT_L	 0x07
#define AK8975_ZOUT_H	 0x08
#define AK8975_ST2       0x09  // Data overflow bit 3 and data read error status bit 2
#define AK8975_CNTL      0x0A  // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
#define AK8975_ASTC      0x0C  // Self test control
#define AK8975_I2CDIS    0x0F  // I2C disable
#define AK8975_ASAX      0x10  // Fuse ROM x-axis sensitivity adjustment value
#define AK8975_ASAY      0x11  // Fuse ROM y-axis sensitivity adjustment value
#define AK8975_ASAZ      0x12  // Fuse ROM z-axis sensitivity adjustment value


class AK8975 : public IMUBase {
public:
	AK8975() {};

	// Inherited via IMUBase
	int init(calData cal, uint8_t address) override;

	void update() override;
	void getAccel(AccelData* out) override;
	void getGyro(GyroData* out) override;
	void getMag(MagData* out) override;
	void getQuat(Quaternion* out) override {};
	float getTemp() override { return 0.f; };

	int setGyroRange(int range) override;
	int setAccelRange(int range) override;
	int setIMUGeometry(int index) override { geometryIndex = index; return 0; };

	void calibrateAccelGyro(calData* cal) override;
	void calibrateMag(calData* cal) override;

	bool hasMagnetometer() override {
		return true;
	}
	bool hasTemperature() override {
		return false;
	}
	bool hasQuatOutput() override {
		return false;
	}

	String IMUName() override {
		return "AK8975";
	}
	String IMUType() override {
		return "AK8975";
	}
	String IMUManufacturer() override {
		return "AsahiKASEI";
	}
private:
	float mRes = 10. * 1229. / 8196.0;		//mres value for full range (1229uT) readings

	int geometryIndex = 0;
	float temperature = 0.f;
	MagData mag = { 0, 0, 0 };

	calData calibration;
	uint8_t IMUAddress;


	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
	{
		Wire.beginTransmission(address);  // Initialize the Tx buffer
		Wire.write(subAddress);           // Put slave register address in Tx buffer
		Wire.write(data);                 // Put data in Tx buffer
		Wire.endTransmission();           // Send the Tx buffer
	}

	uint8_t readByte(uint8_t address, uint8_t subAddress)
	{
		uint8_t data; 						   // `data` will store the register data
		Wire.beginTransmission(address);         // Initialize the Tx buffer
		Wire.write(subAddress);                  // Put slave register address in Tx buffer
		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
		data = Wire.read();                      // Fill Rx buffer with result
		return data;                             // Return data read from slave register
	}

	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
	{
		Wire.beginTransmission(address);   // Initialize the Tx buffer
		Wire.write(subAddress);            // Put slave register address in Tx buffer
		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
		uint8_t i = 0;
		Wire.requestFrom(address, count);  // Read bytes from slave register address
		while (Wire.available()) {
			dest[i++] = Wire.read();
		}         // Put read results in the Rx buffer
	}

	float factoryMagCal[3] = { 0, 0, 0 };

	bool dataAvailable()
	{ 
		return (readByte(AK8975_ADDRESS, AK8975_ST1) & 0x01);
	}
};
#endif /* _F_AK8975_H_ */