Magnetometer.h

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/************************************************************************************************/
/*! \file Magnetometer.h
*  \brief The Magnetometer class provides the interface for h/w magnetometers.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.9 $
*  \date    $Date: 2007/07/24 09:41:47 $
************************************************************************************************/
/*! 
*
************************************************************************************************/
 
#ifndef __SSSL_MAGNETOMETER_H__
#define __SSSL_MAGNETOMETER_H__

#include <Base/Sensor.h>
#include <rotation/Rotation.h>
#include <matrix/Matrix.h>
#include <sstream>
#include "dsacssinterface.h"

extern "C"{
#include "Hardware/satctl.h"
#include "Hardware/common.h"
}

using namespace O_SESSAME;

class Magnetometer : public Sensor  
{
public:
        // Contructors/Deconstructors
        Magnetometer( );
        
        Magnetometer( TiXmlHandle handle );
        
        virtual ~Magnetometer( );

        // Facilitators

        // Inspectors
        Measurement GetMeasurement( );
       
        Vector GetRawVectorMeasurement( );
        
        Vector GetVectorMeasurement( ); 

        // Mutators
        virtual int Initialize( const string& magfn );
        
        void AsciiParser( );

        void BinaryParser( );

        void DefaultConfiguration( );

        void SetBaud19200Configuration( );

        void PolledDataConfiguration( );

        void ContinuousDataConfiguration( );

        void SetAsciiConfiguration( );
 
        void SetBinaryConfiguration( );

        void SetSampleRateConfiguration( );

        void SetResetOnConfiguration( );

        void SetResetOffConfiguration( );

        void SetAveragingOnConfiguration( );

        void SetAveragingOffConfiguration( );

        void ReEnterOnConfiguration( );
        
        void ReEnterOffConfiguration( );

        void QuerryConfiguration( );


private:
        /*! \brief Member variable for magnetometer file descriptor */
        int m_magfd;
        /*! \brief Member variable for rotation matrix */
        Matrix m_Rmb;   
        /*! \brief Member variable for response from magnetometer */
        char *buffer;
        /*! \brief Member variable for magnetometer counts */
        char *magread;
        /*! \brief Member variable for magnetometer counts in the Sensor Frame */
        Vector m_magCountsSensor;
        /*! \brief Member variable for magnetometer counts in the Body Frame */
        Vector m_magCountsBody;
        /*! \brief Member variable to specify sample rate. Not implemented yet. */
        int m_sampleRate;
        /*! \brief x offset */
        double m_xOff;
        /*! \brief y offset */
        double m_yOff;
        /*! \brief Major axis */
        double m_majorA;
        /*! \brief Minor axis */
        double m_minorA;
        /*! \brief Angle between x-axis and major axis */
        double m_phi;

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: Magnetometer.h,v $
*       Revision 1.9  2007/07/24 09:41:47  jayhawk_hokie
*       Removed matrix and vector pointers.
*       
*       Revision 1.8  2007/05/30 20:37:09  bwilliam
*       Updated to include x-y calibration.
*       
*       Revision 1.7  2007/05/29 19:05:42  jayhawk_hokie
*       Update pointers
*       
*       Revision 1.6  2007/05/08 22:28:58  jayhawk_hokie
*       Added functions for configuration parameters. Changed Baud to 19,200. Still have random spike points on the Z sensor.
*       
*       Revision 1.5  2007/01/12 22:18:42  bwilliam
*       Modified to use XML parser.
*       
*       Revision 1.4  2006/07/10 21:47:28  bwilliam
*       Altered class structure and added code for magnetometer implementation.
*       
*       Revision 1.3  2005/03/16 18:08:17  cakinli
*       *** empty log message ***
*       
*       Revision 1.2  2003/07/04 14:13:01  simpliciter
*       Added newline at end of file.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*
******************************************************************************/

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