LSM303Magnetometer.h

Go to the documentation of this file.

/*
Copyright (C) 2017 Michael Brookes

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef LSM303_ACCELEROMETER_LSM303Magnetometer_H
#define LSM303_ACCELEROMETER_LSM303Magnetometer_H

#include "../LSM303DLHC.h"
#include <bitset>
#include <math.h>

using namespace std;

namespace quadro {

    namespace i2c {

        class LSM303Magnetometer : public LSM303DLHC {

        public:

            LSM303Magnetometer( unsigned char _deviceAddress = MAG_ADDRESS, int _busId = 1 );

            double calcHeading();

            int start();

            double heading; 

            pthread_t threadHandle; 

        private:

            static void* runMainSensorUpdateThread( void* static_inst );

            int threadRet; 

        };
    }
}
#endif //LSM303_ACCELEROMETER_LSM303Magnetometer_H