com.diozero.imu.drivers.invensense.AK8975Constants Maven / Gradle / Ivy
package com.diozero.imu.drivers.invensense;
/*
* #%L
* Organisation: mattjlewis
* Project: Device I/O Zero - IMU device classes
* Filename: AK8975Constants.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2017 mattjlewis
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* #L%
*/
public interface AK8975Constants {
// TODO Validate scale of the compass data?!
// 0.3f is used here: https://github.com/richards-tech/RTIMULib/blob/master/RTIMULib/IMUDrivers/RTIMUMPU9150.cpp
public static final double COMPASS_SCALE = 0.3;
// I2C address for the AKM magnetometer
static final int AK8975_MAG_ADDRESS = 0x0C;
// Magnetometer registers
static final int AK8975_RA_MAG_DEVICE_ID = 0x00;
static final int AKM_REG_WHOAMI = 0x00;
static final int AK8975_RA_MAG_INFO = 0x01;
static final int AKM_REG_ST1 = 0x02;
static final int AK8975_RA_MAG_STATUS_1 = 0x02;
// Measurement data is stored in two's complement and Little Endian format.
// 13bit signed value?
// Measurement range of each axis is from -4096 to +4095 in decimal
static final int HARDWARE_UNIT = 4096;
static final int AK8975_RA_MAG_XOUT_L = 0x03;
static final int AKM_REG_HXL = 0x03;
static final int AK8975_RA_MAG_XOUT_H = 0x04;
static final int AK8975_RA_MAG_YOUT_L = 0x05;
static final int AK8975_RA_MAG_YOUT_H = 0x06;
static final int AK8975_RA_MAG_ZOUT_L = 0x07;
static final int AK8975_RA_MAG_ZOUT_H = 0x08;
static final int AK8975_RA_MAG_STATUS_2 = 0x09;
static final int AKM_REG_ST2 = 0x09;
static final int AK8975_RA_MAG_CONTROL = 0x0A;
static final int AKM_REG_CNTL = 0x0A;
static final int AK8975_RA_MAG_RESERVED = 0x0B;
static final int AK8975_RA_MAG_SELF_TST_CTL = 0x0C;
static final int AKM_REG_ASTC = 0x0C;
static final int AK8975_RA_MAG_TEST_1 = 0x0D;
static final int AK8975_RA_MAG_TEST_2 = 0x0E;
static final int AK8975_RA_I2C_DISABLE = 0x0F;
static final int AK8975_RA_SENS_ADJ_X = 0x10;
static final int AKM_REG_ASAX = 0x10;
static final int AK8975_RA_SENS_ADJ_Y = 0x11;
static final int AKM_REG_ASAY = 0x11;
static final int AK8975_RA_SENS_ADJ_Z = 0x12;
static final int AKM_REG_ASAZ = 0x12;
static final int SUPPORTS_AK89xx_HIGH_SENS = 0x00;
static final byte AKM_DATA_READY = 0x01;
static final byte AKM_DATA_OVERRUN = 0x02;
static final byte AKM_OVERFLOW = (byte)0x80;
static final byte AKM_DATA_ERROR = 0x40;
static final byte AKM_BIT_SELF_TEST = 0x40;
static final byte AKM_POWER_DOWN = (0x00 | SUPPORTS_AK89xx_HIGH_SENS);
static final byte AKM_SINGLE_MEASUREMENT = (0x01 | SUPPORTS_AK89xx_HIGH_SENS);
static final byte AKM_FUSE_ROM_ACCESS = (0x0F | SUPPORTS_AK89xx_HIGH_SENS);
static final byte AKM_MODE_SELF_TEST = (0x08 | SUPPORTS_AK89xx_HIGH_SENS);
static final byte AKM_WHOAMI = 0x48;
static final int AK8975_FSR = 9830;
static final int AK8963_FSR = 4915;
// +/-1200
static final int MAG_FSR = 2*1200;
static final int WORLD_LENGTH = 13;
static final double SENSITIVITY_FACTOR = MAG_FSR / Math.pow(2, 13);
}