Compass API

Files
file	compass_command.h

Classes
struct	CompassResult
	The structure of result on compass commands. More...
class	CompassClass
struct	CompassDebugDumpInfo
struct	SensorInitCompass
	the structure of Accelstep setting for initilaize. More...
struct	CompassSetSoftIron
	Adjust parameter of magnetometer sensor. More...
struct	SensorExecCompass
	the command of Compass execute by a frame(a few sample). More...
struct	SensorFlushCompass
	the command of compass terminate. More...
struct	CompassData
	the structure of Compass results. the result is returned only when COMPASS_CMD_UPDATE_MAG is specified as the command type. More...
struct	SensorResultCompass
	the structure of sensor result on compass commands. More...
struct	SensorCmdCompass
	the structure of compass commands. More...

Macros
#define	COMPASS_ACCEL_SAMPLING_MAX   16
	Acceleration sensor Indicates the maximum number of data samples.
#define	COMPASS_MAG_SAMPLING_MAX   8
	Magnetometer sensor Indicates the maximum number of data samples.

Enumerations
enum	CompassCmdType {   COMPASS_CMD_UPDATE_ACCEL = 0 , COMPASS_CMD_UPDATE_MAG , COMPASS_CMD_SET_SOFTIRON_PARAM , COMPASS_CMD_SET_WALKSTATE ,   COMPASS_CMD_RESET_CALIB }
	Publishers. More...
enum	CompassWalkStateType { COMPASS_WALK_STATE_DISABLED = -1 , COMPASS_WALK_STATE_STOPPING , COMPASS_WALK_STATE_WALKING }
	Sensor state specified by COMPASS_CMD_SET_WALKSTATE. More...

Functions
FAR CompassClass *	CompassCreate (MemMgrLite::PoolId cmd_pool_id, MemMgrLite::PoolId rst_pool_id)
	Create CompassClass instance. More...
int	CompassOpen (FAR CompassClass *ins)
	Load Compass library and boot up as worker task. After booted up, send initialize and wait complete. More...
int	CompassClose (FAR CompassClass *ins)
	Destory Compass worker task. More...
int	CompassWrite (FAR CompassClass *ins, FAR sensor_command_data_mh_t *command)
	Send data to Compass worker task. More...

Detailed Description

Enumeration Type Documentation

CompassCmdType

enum CompassCmdType

Publishers.

Enumerator
COMPASS_CMD_UPDATE_ACCEL	Used to update acceleration sensor data.
COMPASS_CMD_UPDATE_MAG	Used to update magnetometer sensor data.
COMPASS_CMD_SET_SOFTIRON_PARAM	Used to adjust magnetometer sensor data.
COMPASS_CMD_SET_WALKSTATE	Used to update magnetometer sensor state.
COMPASS_CMD_RESET_CALIB	Used to reset calibration info of magnetometer sensor.

CompassWalkStateType

enum CompassWalkStateType

Sensor state specified by COMPASS_CMD_SET_WALKSTATE.

Enumerator
COMPASS_WALK_STATE_DISABLED	Disable state information.
COMPASS_WALK_STATE_STOPPING	Stopping state setting.
COMPASS_WALK_STATE_WALKING	Walking state setting.

Function Documentation

CompassCreate()

FAR CompassClass * CompassCreate	(	MemMgrLite::PoolId	cmd_pool_id,
		MemMgrLite::PoolId	rst_pool_id
	)

Create CompassClass instance.

Parameters

[in]

cmd_pool_id

: Pool id for DSP communication data

Returns

Address for instance of CompassClass

CompassOpen()

int CompassOpen

(

FAR CompassClass *

ins

)

Load Compass library and boot up as worker task. After booted up, send initialize and wait complete.

Parameters

[in]

ins

: instance address of CompassClass

Returns

result of process.

CompassClose()

int CompassClose

(

FAR CompassClass *

ins

)

Destory Compass worker task.

Parameters

[in]

ins

: instance address of CompassClass

Returns

result of process.

CompassWrite()

int CompassWrite	(	FAR CompassClass *	ins,
		FAR sensor_command_data_mh_t *	command
	)

Send data to Compass worker task.

Parameters

[in]	ins	: instance address of CompassClass
[in]	command	: command including data to send

Returns

result of process