ecrobot::CompassSensor Class Reference

HiTechnic Compass sensor (http://www.hitechnic.com/) class. More...

#include <CompassSensor.h>

List of all members.

Public Member Functions
	CompassSensor (ePortS port)
	Constructor (activate I2C).
S16	getHeading (void) const
	Get heading data.
void	get (U8 data[5]) const
	Get raw I2C data.
void	beginCalibration (void)
	Start sensor calibration.
bool	endCalibration (void)
	End sensor calibration.

---

Detailed Description

HiTechnic Compass sensor (http://www.hitechnic.com/) class.

[ How to use with TOPPERS/ATK1(OSEK) ]
I2C (derived/compositted) class and Clock class internally use RTOS features. Thus, user needs to implement a C function and RTOS provided events.

+ Invoke SleeperMonitor function in user_1msec_isr_type2 hook.
  void user_1ms_isr_type2(void)
  {
    SleeperMonitor(); // needed for I2C devices and Clock class
  }

+ Define EventSleepI2C and EventSleep Events in user oil file.
  EVENT EventSleepI2C
  {
    MASK = AUTO;
  };

  EVENT EventSleep
  {
    MASK = AUTO;
  };

  TASK TaskMain
  {
    AUTOSTART = TRUE
    {
      APPMODE = appmode1;
    };
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    EVENT = EventSleepI2C; <- Here it is
    EVENT = EventSleep; <- Here it is
  };

[ How to use with TOPPERS/JSP(ITRON) ]
In case of using this class with TOPPERS/JSP(ITRON), RTOS specific definitions for the class are not needed.

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Constructor & Destructor Documentation

ecrobot::CompassSensor::CompassSensor

(

ePortS

port

)

[explicit]

Constructor (activate I2C).

Note:
This class must be constructed as a global object. Otherwise, a device assertion will be displayed
in the LCD when the object is constructed as a non global object.
When the object is destructed while the system is shut down, the device is de-activated automatically.

Parameters:

port	Compass sensor connected port

Returns:

-

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Member Function Documentation

void ecrobot::CompassSensor::beginCalibration

(

void

)

Start sensor calibration.

Parameters:

-

Returns:

-

bool ecrobot::CompassSensor::endCalibration

(

void

)

End sensor calibration.

Parameters:

-

Returns:

true: calibration was successful
false: calibration was failed

void ecrobot::CompassSensor::get

(

U8

data[5]

)

const [inline]

Get raw I2C data.

Parameters:

data	Data representation from the sensor, per Hi-Technic's documentation: data[0]: mode control data[1]: heading upper 8 bits data[2]: heading lower 1 bit data[3]: heading lower 8 bits data[4]: heading upper 1 bit

Returns:

-

S16 ecrobot::CompassSensor::getHeading

(

void

)

const

Get heading data.

Parameters:

-

Returns:

Heading data

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The documentation for this class was generated from the following file:

• device/CompassSensor.h