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HMC5883L.h
00001 /* 00002 * @file HMC5883L.h 00003 * @author Tyler Weaver 00004 * 00005 * @section LICENSE 00006 * 00007 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 00008 * and associated documentation files (the "Software"), to deal in the Software without restriction, 00009 * including without limitation the rights to use, copy, modify, merge, publish, distribute, 00010 * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 00011 * furnished to do so, subject to the following conditions: 00012 * 00013 * The above copyright notice and this permission notice shall be included in all copies or 00014 * substantial portions of the Software. 00015 * 00016 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 00017 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 00018 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 00019 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00020 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00021 * 00022 * @section DESCRIPTION 00023 * 00024 * HMC5883L 3-Axis Digital Compas IC 00025 * For use with the Sparkfun 9 Degrees of Freedom - Sensor Stick 00026 * 00027 * Datasheet: 00028 * 00029 * http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf 00030 */ 00031 00032 #ifndef HMC5883L_H 00033 #define HMC5883L_H 00034 00035 #include "mbed.h" 00036 00037 /* 00038 * Defines 00039 */ 00040 00041 //----------- 00042 // Registers 00043 //----------- 00044 #define CONFIG_A_REG 0x00 00045 #define CONFIG_B_REG 0x01 00046 #define MODE_REG 0x02 00047 #define OUTPUT_REG 0x03 00048 #define STATUS_REG 0x09 00049 00050 // configuration register a 00051 #define AVG1_SAMPLES 0x00 00052 #define AVG2_SAMPLES 0x20 00053 #define AVG4_SAMPLES 0x80 00054 #define AVG8_SAMPLES 0xC0 00055 00056 #define OUTPUT_RATE_0_75 0x00 00057 #define OUTPUT_RATE_1_5 0x04 00058 #define OUTPUT_RATE_3 0x08 00059 #define OUTPUT_RATE_7_5 0x0C 00060 #define OUTPUT_RATE_15 0x10 00061 #define OUTPUT_RATE_30 0x14 00062 #define OUTPUT_RATE_75 0x18 00063 00064 #define NORMAL_MEASUREMENT 0x00 00065 #define POSITIVE_BIAS 0x01 00066 #define NEGATIVE_BIAS 0x02 00067 00068 // mode register 00069 #define CONTINUOUS_MODE 0x00 00070 #define SINGLE_MODE 0x01 00071 #define IDLE_MODE 0x02 00072 00073 // status register 00074 #define STATUS_LOCK 0x02 00075 #define STATUS_READY 0x01 00076 00077 // Utility 00078 #ifndef M_PI 00079 #define M_PI 3.1415926535897932384626433832795 00080 #endif 00081 00082 #define PI2 (2*M_PI) 00083 #define RAD_TO_DEG (180.0/M_PI) 00084 #define DEG_TO_RAD (M_PI/180.0) 00085 00086 /** 00087 * The HMC5883L 3-Axis Digital Compass IC 00088 */ 00089 class HMC5883L 00090 { 00091 00092 public: 00093 00094 /** 00095 * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left). 00096 */ 00097 static const int I2C_ADDRESS = 0x3D; 00098 00099 /** 00100 * Constructor. 00101 * 00102 * Calls init function 00103 * 00104 * @param sda - mbed pin to use for the SDA I2C line. 00105 * @param scl - mbed pin to use for the SCL I2C line. 00106 */ 00107 HMC5883L(PinName sda, PinName scl); 00108 00109 /** 00110 * Constructor that accepts external i2c interface object. 00111 * 00112 * Calls init function 00113 * 00114 * @param i2c The I2C interface object to use. 00115 */ 00116 HMC5883L(I2C &i2c) : i2c_(i2c) { 00117 init(); 00118 } 00119 00120 ~HMC5883L(); 00121 00122 /** 00123 * Initalize function called by all constructors. 00124 * 00125 * Place startup code in here. 00126 */ 00127 void init(); 00128 00129 /** 00130 * Function for setting configuration register A 00131 * 00132 * Defined constants should be ored together to create value. 00133 * Defualt is 0x10 - 1 Sample per output, 15Hz Data output rate, normal measurement mode 00134 * 00135 * Refer to datasheet for instructions for setting Configuration Register A. 00136 * 00137 * @param config the value to place in Configuration Register A 00138 */ 00139 void setConfigurationA(char); 00140 00141 /** 00142 * Function for retrieving the contents of configuration register A 00143 * 00144 * @returns Configuration Register A 00145 */ 00146 char getConfigurationA(); 00147 00148 /** 00149 * Function for setting configuration register B 00150 * 00151 * Configuration Register B is for setting the device gain. 00152 * Default value is 0x20 00153 * 00154 * Refer to datasheet for instructions for setting Configuration Register B 00155 * 00156 * @param config the value to place in Configuration Register B 00157 */ 00158 void setConfigurationB(char); 00159 00160 /** 00161 * Function for retrieving the contents of configuration register B 00162 * 00163 * @returns Configuration Register B 00164 */ 00165 char getConfigurationB(); 00166 00167 /** 00168 * Funciton for setting the mode register 00169 * 00170 * Constants: CONTINUOUS_MODE, SINGLE_MODE, IDLE_MODE 00171 * 00172 * When you send a the Single-Measurement Mode instruction to the mode register 00173 * a single measurement is made, the RDY bit is set in the status register, 00174 * and the mode is placed in idle mode. 00175 * 00176 * When in Continous-Measurement Mode the device continuously performs measurements 00177 * and places the results in teh data register. After being placed in this mode 00178 * it takes two periods at the rate set in the data output rate before the first 00179 * sample is avaliable. 00180 * 00181 * Refer to datasheet for more detailed instructions for setting the mode register. 00182 * 00183 * @param mode the value for setting in the Mode Register 00184 */ 00185 void setMode(char); 00186 00187 /** 00188 * Function for retrieving the contents of mode register 00189 * 00190 * @returns mode register 00191 */ 00192 char getMode(); 00193 00194 /** 00195 * Function for retriaval of the raw data 00196 * 00197 * @param output buffer that is atleast 3 in length 00198 */ 00199 void getXYZ(int16_t raw[3]); 00200 00201 /** 00202 * Function for retrieving the contents of status register 00203 * 00204 * Bit1: LOCK, Bit0: RDY 00205 * 00206 * @returns status register 00207 */ 00208 char getStatus(); 00209 00210 /** 00211 * Function for getting radian heading using 2-dimensional calculation. 00212 * 00213 * Compass must be held flat and away from an magnetic field generating 00214 * devices such as cell phones and speakers. 00215 * 00216 * TODO: declenation angle compensation 00217 * 00218 * @returns heading in radians 00219 */ 00220 double getHeadingXY(int Calib_x,int Calib_y); 00221 00222 /** 00223 * Function for getting degree heading using 2-dimensional calculation. 00224 * 00225 * Compass must be held flat and away from an magnetic field generating 00226 * devices such as cell phones and speakers. 00227 * 00228 * TODO: declenation angle compensation 00229 * 00230 * @returns heading in degrees 00231 */ 00232 double getHeadingXYDeg(int Calib_x,int Calib_y) { 00233 return (getHeadingXY(Calib_x,Calib_y) * RAD_TO_DEG); 00234 } 00235 00236 private: 00237 00238 I2C &i2c_; 00239 00240 /** 00241 * The raw buffer for allocating I2C object in its own without heap memory. 00242 */ 00243 char i2cRaw[sizeof(I2C)]; 00244 }; 00245 00246 #endif // HMC5883L
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