Diff: HMC5883L.cpp

Revision:

0:8b84d61cee94

Child:

1:8a1357c351c6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.cpp	Wed Oct 31 04:35:08 2012 +0000
@@ -0,0 +1,130 @@
+/*
+ * @file HMC5883L.cpp
+ * @author Tyler Weaver
+ *
+ * @section LICENSE
+ *
+ * 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, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * HMC5883L 3-Axis Digital Compas IC
+ * For use with the Sparkfun 9 Degrees of Freedom - Sensor Stick
+ *
+ * Datasheet:
+ *
+ * http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf
+ */
+
+#include "HMC5883L.h"
+#include <new>
+
+HMC5883L::HMC5883L(PinName sda, PinName scl) : i2c_(*reinterpret_cast<I2C*>(i2cRaw))
+{
+    // Placement new to avoid additional heap memory allocation.
+    new(i2cRaw) I2C(sda, scl);
+    
+    init();
+}
+
+HMC5883L::~HMC5883L()
+{
+    // If the I2C object is initialized in the buffer in this object, call destructor of it.
+    if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw))
+        reinterpret_cast<I2C*>(&i2cRaw)->~I2C();
+}
+
+void HMC5883L::init()
+{
+    // init - configure your setup here
+    setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_15); // 8 sample average, 15Hz, normal mode
+    setConfigurationB(0x20); // default 
+    setMode(CONTINUOUS_MODE); // continuous sample mode
+}
+
+void HMC5883L::setConfigurationA(char config)
+{
+    char cmd[2];
+    cmd[0] = CONFIG_A_REG; // register a address
+    cmd[1] = config;
+    
+    i2c_.write(I2C_ADDRESS, cmd, 2);
+}
+
+void HMC5883L::setConfigurationB(char config)
+{
+    char cmd[2];
+    cmd[0] = CONFIG_B_REG; // register b address
+    cmd[1] = config;
+    
+    i2c_.write(I2C_ADDRESS, cmd, 2);
+}
+
+char HMC5883L::getConfigurationA()
+{
+    char cmd[2];
+    cmd[0] = CONFIG_A_REG; // register a address
+    i2c_.write(I2C_ADDRESS, cmd, 1, true);
+    i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
+    return cmd[1];
+}
+
+char HMC5883L::getConfigurationB()
+{
+    char cmd[2];
+    cmd[0] = CONFIG_A_REG; // register b address
+    i2c_.write(I2C_ADDRESS, cmd, 1, true);
+    i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
+    return cmd[1];
+}
+
+void HMC5883L::setMode(char mode = SINGLE_MODE)
+{
+    char cmd[2];
+    cmd[0] = MODE_REG; // mode register address
+    cmd[1] = mode;
+    i2c_.write(I2C_ADDRESS,cmd,2);
+}
+
+char HMC5883L::getMode()
+{
+    char cmd[2];
+    cmd[0] = MODE_REG; // mode register
+    i2c_.write(I2C_ADDRESS, cmd, 1, true);
+    i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
+    return cmd[1];
+}
+
+char HMC5883L::getStatus()
+{
+    char cmd[2];
+    cmd[0] = STATUS_REG; // status register
+    i2c_.write(I2C_ADDRESS, cmd, 1, true);
+    i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
+    return cmd[1];
+}
+
+void HMC5883L::getXYZ(int output[3])
+{
+    char cmd[2];
+    char data[6];
+    cmd[0] = 0x03; // starting point for reading
+    i2c_.write(I2C_ADDRESS, cmd, 1, true); // set the pointer to the start of x
+    i2c_.read(I2C_ADDRESS, data, 6, false);
+    
+    for(int i = 0; i < 3; i++) // fill the output variables
+        output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]);
+}
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