Files
file	dexterind-compass.h
	Dexter Industries IMU Sensor driver.
Defines
#define	DIMCDAT "dimc.dat"
#define	DIMC_I2C_ADDR 0x3C
#define	DIMC_REG_CONFIG_A 0x00
#define	DIMC_REG_CONFIG_B 0x01
#define	DIMC_REG_MODE 0x02
#define	DIMC_REG_X_MSB 0x03
#define	DIMC_REG_X_LSB 0x04
#define	DIMC_REG_Z_MSB 0x05
#define	DIMC_REG_Z_LSB 0x06
#define	DIMC_REG_Y_MSB 0x07
#define	DIMC_REG_Y_LSB 0x08
#define	DIMC_REG_STATUS 0x09
#define	DIMC_REG_IDENT_A 0x0A
#define	DIMC_REG_IDENT_B 0x0B
#define	DIMC_REG_IDENT_C 0x0C
#define	DIMC_STATUS_LOCK 2
#define	DIMC_STATUS_RDY 1
#define	DIMC_MODE_CONTINUOUS 0
#define	DIMC_MODE_SINGLE 1
#define	DIMC_MODE_IDLE_A 2
#define	DIMC_MODE_IDLE_B 3
#define	DIMC_MODE_MASK 3
#define	DIMC_CONF_A_SAMPLES_1 0x00
#define	DIMC_CONF_A_SAMPLES_2 0x20
#define	DIMC_CONF_A_SAMPLES_4 0x40
#define	DIMC_CONF_A_SAMPLES_8 0x60
#define	DIMC_CONF_A_SAMPLES_MASK 0x60
#define	DIMC_CONF_A_RATE_0_75 0x00
#define	DIMC_CONF_A_RATE_1_5 0x04
#define	DIMC_CONF_A_RATE_3 0x08
#define	DIMC_CONF_A_RATE_7_5 0x0C
#define	DIMC_CONF_A_RATE_15 0x10
#define	DIMC_CONF_A_RATE_30 0x14
#define	DIMC_CONF_A_RATE_75 0x18
#define	DIMC_CONF_A_RATE_RESERVED 0x1C
#define	DIMC_CONF_A_RATE_MASK 0x1C
#define	DIMC_CONF_A_BIAS_NORMAL 0x00
#define	DIMC_CONF_A_BIAS_POSITIVE 0x01
#define	DIMC_CONF_A_BIAS_NEGATIVE 0x02
#define	DIMC_CONF_A_BIAS_RESERVED 0x03
#define	DIMC_CONF_A_BIAS_MASK 0x03
#define	DIMC_CONF_B_GAIN_0_88 0x00
#define	DIMC_CONF_B_GAIN_1_3 0x20
#define	DIMC_CONF_B_GAIN_1_9 0x40
#define	DIMC_CONF_B_GAIN_2_5 0x60
#define	DIMC_CONF_B_GAIN_4_0 0x80
#define	DIMC_CONF_B_GAIN_4_7 0xA0
#define	DIMC_CONF_B_GAIN_5_6 0xC0
#define	DIMC_CONF_B_GAIN_8_1 0xE0
#define	DIMC_CONF_B_GAIN_MASK 0xE0
#define	DIMC_GAIN_SCALE_0_88 0.73
#define	DIMC_GAIN_SCALE_1_3 0.92
#define	DIMC_GAIN_SCALE_1_9 1.22
#define	DIMC_GAIN_SCALE_2_5 1.52
#define	DIMC_GAIN_SCALE_4_0 2.27
#define	DIMC_GAIN_SCALE_4_7 2.56
#define	DIMC_GAIN_SCALE_5_6 3.03
#define	DIMC_GAIN_SCALE_8_1 4.35
Functions
bool	DIMCinit (tSensors link, ubyte range, bool lpfenable=true)
bool	DIMCreadAxes (tSensors link, int &_x, int &_y, int &_z)
float	DIMCreadHeading (tSensors link)
void	DIMCstartCal (tSensors link)
void	DIMCstopCal (tSensors link)
void	_DIMCreadCalVals ()
void	_DIMCwriteCalVals ()
bool	DIMCinit (tSensors link)
Variables
tByteArray	DIMC_I2CRequest
tByteArray	DIMC_I2CReply
bool	DIMCcalibrating [4] = {false, false, false, false }
bool	DIMCcalibrationDataLoaded = false
int	DIMCminVals [4][3] = {{32767, 32767, 32767}, {32767, 32767, 32767}, {32767, 32767, 32767}, {32767, 32767, 32767}}
int	DIMCmaxVals [4][3] = {{0,0,0}, {0,0,0}, {0,0,0}, {0,0,0}}
int	DIMCoffsets [4][3] = {{0,0,0}, {0,0,0}, {0,0,0}, {0,0,0}}

Detailed Description

Dexter Industries DIMC 3D Compass Sensor driver

Define Documentation

#define DIMC_CONF_A_BIAS_MASK 0x03

Mask for setting measurement bias

Definition at line 101 of file dexterind-compass.h.

#define DIMC_CONF_A_BIAS_NEGATIVE 0x02

Negative bias configuration for X, Y and Z axes.

Definition at line 99 of file dexterind-compass.h.

#define DIMC_CONF_A_BIAS_NORMAL 0x00

Normal measurement configuration (Default)

Definition at line 97 of file dexterind-compass.h.

#define DIMC_CONF_A_BIAS_POSITIVE 0x01

Positive bias configuration for X, Y, and Z axes.

Definition at line 98 of file dexterind-compass.h.

#define DIMC_CONF_A_BIAS_RESERVED 0x03

Definition at line 100 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_0_75 0x00

Data Output Rate: 0.75 Hz

Definition at line 86 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_15 0x10

Data Output Rate: 15 Hz

Definition at line 90 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_1_5 0x04

Data Output Rate: 1.5 Hz

Definition at line 87 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_3 0x08

Data Output Rate: 3 Hz

Definition at line 88 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_30 0x14

Data Output Rate: 30 Hz

Definition at line 91 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_75 0x18

Data Output Rate: 75 Hz

Definition at line 92 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_7_5 0x0C

Data Output Rate: 7.5 Hz

Definition at line 89 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_MASK 0x1C

Mask for setting Data Output Rate

Definition at line 94 of file dexterind-compass.h.

#define DIMC_CONF_A_RATE_RESERVED 0x1C

Definition at line 93 of file dexterind-compass.h.

#define DIMC_CONF_A_SAMPLES_1 0x00

Number of samples averaged: 1

Definition at line 79 of file dexterind-compass.h.

#define DIMC_CONF_A_SAMPLES_2 0x20

Number of samples averaged: 2

Definition at line 80 of file dexterind-compass.h.

#define DIMC_CONF_A_SAMPLES_4 0x40

Number of samples averaged: 4

Definition at line 81 of file dexterind-compass.h.

#define DIMC_CONF_A_SAMPLES_8 0x60

Number of samples averaged: 8

Definition at line 82 of file dexterind-compass.h.

#define DIMC_CONF_A_SAMPLES_MASK 0x60

Mask for setting sample number

Definition at line 83 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_0_88 0x00

Sensor Field Range �0.88 Ga

Definition at line 104 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_1_3 0x20

Sensor Field Range �1.3 Ga

Definition at line 105 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_1_9 0x40

Sensor Field Range �1.9 Ga

Definition at line 106 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_2_5 0x60

Sensor Field Range �2.5 Ga

Definition at line 107 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_4_0 0x80

Sensor Field Range �4.0 Ga

Definition at line 108 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_4_7 0xA0

Sensor Field Range �4.7 Ga

Definition at line 109 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_5_6 0xC0

Sensor Field Range �5.6 Ga

Definition at line 110 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_8_1 0xE0

Sensor Field Range �8.1 Ga

Definition at line 111 of file dexterind-compass.h.

#define DIMC_CONF_B_GAIN_MASK 0xE0

Mask for setting Sensor Field Range

Definition at line 112 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_0_88 0.73

Ramge multiplier for �0.88 Ga

Definition at line 115 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_1_3 0.92

Ramge multiplier for �1.3 Ga

Definition at line 116 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_1_9 1.22

Ramge multiplier for �1.9 Ga

Definition at line 117 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_2_5 1.52

Ramge multiplier for �2.5 Ga

Definition at line 118 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_4_0 2.27

Ramge multiplier for �4.0 Ga

Definition at line 119 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_4_7 2.56

Ramge multiplier for �4.7 Ga

Definition at line 120 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_5_6 3.03

Ramge multiplier for �5.6 Ga

Definition at line 121 of file dexterind-compass.h.

#define DIMC_GAIN_SCALE_8_1 4.35

Ramge multiplier for �8.1 Ga

Definition at line 122 of file dexterind-compass.h.

#define DIMC_I2C_ADDR 0x3C

Compass I2C address

Definition at line 45 of file dexterind-compass.h.

#define DIMC_MODE_CONTINUOUS 0

Continuous-Measurement Mode

Definition at line 72 of file dexterind-compass.h.

#define DIMC_MODE_IDLE_A 2

Idle Mode

Definition at line 74 of file dexterind-compass.h.

#define DIMC_MODE_IDLE_B 3

Idle Mode

Definition at line 75 of file dexterind-compass.h.

#define DIMC_MODE_MASK 3

Mask for setting mode

Definition at line 76 of file dexterind-compass.h.

#define DIMC_MODE_SINGLE 1

Single-Measurement Mode (Default)

Definition at line 73 of file dexterind-compass.h.

#define DIMC_REG_CONFIG_A 0x00

250 dps range

Definition at line 47 of file dexterind-compass.h.

#define DIMC_REG_CONFIG_B 0x01

500 dps range

Definition at line 48 of file dexterind-compass.h.

#define DIMC_REG_IDENT_A 0x0A

Identification Register A

Definition at line 57 of file dexterind-compass.h.

#define DIMC_REG_IDENT_B 0x0B

Identification Register B

Definition at line 58 of file dexterind-compass.h.

#define DIMC_REG_IDENT_C 0x0C

Identification Register C

Definition at line 59 of file dexterind-compass.h.

#define DIMC_REG_MODE 0x02

2000 dps range

Definition at line 49 of file dexterind-compass.h.

#define DIMC_REG_STATUS 0x09

Status register

Definition at line 56 of file dexterind-compass.h.

#define DIMC_REG_X_LSB 0x04

Register LSB X axis

Definition at line 51 of file dexterind-compass.h.

#define DIMC_REG_X_MSB 0x03

Register MSB X axis

Definition at line 50 of file dexterind-compass.h.

#define DIMC_REG_Y_LSB 0x08

Register LSB Y axis

Definition at line 55 of file dexterind-compass.h.

#define DIMC_REG_Y_MSB 0x07

Register MSB Y axis

Definition at line 54 of file dexterind-compass.h.

#define DIMC_REG_Z_LSB 0x06

Register LSB Z axis

Definition at line 53 of file dexterind-compass.h.

#define DIMC_REG_Z_MSB 0x05

Register MSB Z axis

Definition at line 52 of file dexterind-compass.h.

#define DIMC_STATUS_LOCK 2

Data output register lock active

Definition at line 64 of file dexterind-compass.h.

#define DIMC_STATUS_RDY 1

Data is ready for reading

Definition at line 65 of file dexterind-compass.h.

#define DIMCDAT "dimc.dat"

Definition at line 43 of file dexterind-compass.h.

Function Documentation

void _DIMCreadCalVals ( )

Read the calibration values from a data file.

Note: this is an internal function and should not be called directly

Definition at line 325 of file dexterind-compass.h.

void _DIMCwriteCalVals ( )

Write the calibration values to a data file.

Note: this is an internal function and should not be called directly

Definition at line 268 of file dexterind-compass.h.

bool DIMCinit ( tSensors link )

Configure the Compass

Parameters:

link	the port number

Returns:: true if no error occured, false if it did

Definition at line 146 of file dexterind-compass.h.

bool DIMCinit	(	tSensors	link,
		ubyte	range,
		bool	lpfenable = `true`
	)

Examples:: dexterind-compass-test1.c, dexterind-compass-test2.c, and dexterind-compass-test3.c.

bool DIMCreadAxes	(	tSensors	link,
		int &	_x,
		int &	_y,
		int &	_z
	)

Read all three axes of the Compass

Parameters:

link	the port number
_x	data for x axis in degrees per second
_y	data for y axis in degrees per second
_z	data for z axis in degrees per second

Returns:: true if no error occured, false if it did

Examples:: dexterind-compass-test1.c, dexterind-compass-test2.c, and dexterind-compass-test3.c.

Definition at line 185 of file dexterind-compass.h.

float DIMCreadHeading ( tSensors link )

Read the current heading

Returns:: the heading in degrees.

Examples:: dexterind-compass-test1.c, and dexterind-compass-test2.c.

Definition at line 226 of file dexterind-compass.h.

void DIMCstartCal ( tSensors link )

Start calibration. The robot should be made to rotate about its axis at least twice to get an accurate result. Stop the calibration with DIMCstopCal()