MagnetometerBase.hpp

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#pragma once
 
#include "SensorBase.hpp"
#include "MagnetometerUtils.hpp"
 
class MagnetometerBase : public SensorBase<MagnetometerData>
{
public:
 
    explicit MagnetometerBase() : SensorBase(SensorType::MAGNETOMETER),
        _oversampling_rate(128), _declination_rad(0.0) {}
 
    // *INDENT-OFF*
    virtual ~MagnetometerBase() = default;
 
    bool readData(MagnetometerData &data) override = 0;
 
    bool isDataReady() override = 0;
    bool reset() override = 0;
 
    bool selfTest() override = 0;
 
    virtual bool setFullScaleRange(MagFullScaleRange range) = 0;
 
    virtual bool setOutputDataRate(float odr) = 0;
 
    virtual bool setOperationMode(OperationMode mode) = 0;
 
    virtual bool setOversamplingRate(MagOverSampleRatio osr) = 0;
 
    virtual bool setDownsamplingRate(MagDownSampleRatio dsr) = 0;
 
    virtual bool configMagnetometer(OperationMode mode, MagFullScaleRange range, float data_rate_hz,
                            MagOverSampleRatio osr, MagDownSampleRatio dsr) = 0;
 
    virtual float getFullScaleRange() const { 
        return _config.range;
    }
 
    virtual OperationMode getOperationMode() const { 
        return _config.mode; 
    }
 
    virtual uint16_t getOversamplingRate() const { return _oversampling_rate; }
 
    virtual void setDeclination(float declination_deg) {
        _declination_rad = declination_deg * M_PI / 180.0f;
    }
 
    virtual float getDeclinationDeg() const {
        return _declination_rad * 180.0f / M_PI;
    }
 
    virtual float getDeclinationRad() const {
        return _declination_rad;
    }
 
    // *INDENT-ON*
 
protected:
    uint16_t _oversampling_rate;
    float _declination_rad;
};