Cool_Step / Magnetometer

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HMC5883L.cpp@0:6698f2e69fdc, 2015-06-26 (annotated)

Committer:
taskintuna35
Date:
Fri Jun 26 08:34:06 2015 +0000
Revision:
0:6698f2e69fdc
Yeni Cool_Step Projesi

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taskintuna35 0:6698f2e69fdc 1 /**
taskintuna35 0:6698f2e69fdc 2 * @author Jose R. Padron
taskintuna35 0:6698f2e69fdc 3 * @author Used HMC6352 library developed by Aaron Berk as template
taskintuna35 0:6698f2e69fdc 4 * @section LICENSE
taskintuna35 0:6698f2e69fdc 5 *
taskintuna35 0:6698f2e69fdc 6 * Copyright (c) 2010 ARM Limited
taskintuna35 0:6698f2e69fdc 7 *
taskintuna35 0:6698f2e69fdc 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
taskintuna35 0:6698f2e69fdc 9 * of this software and associated documentation files (the "Software"), to deal
taskintuna35 0:6698f2e69fdc 10 * in the Software without restriction, including without limitation the rights
taskintuna35 0:6698f2e69fdc 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
taskintuna35 0:6698f2e69fdc 12 * copies of the Software, and to permit persons to whom the Software is
taskintuna35 0:6698f2e69fdc 13 * furnished to do so, subject to the following conditions:
taskintuna35 0:6698f2e69fdc 14 *
taskintuna35 0:6698f2e69fdc 15 * The above copyright notice and this permission notice shall be included in
taskintuna35 0:6698f2e69fdc 16 * all copies or substantial portions of the Software.
taskintuna35 0:6698f2e69fdc 17 *
taskintuna35 0:6698f2e69fdc 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
taskintuna35 0:6698f2e69fdc 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
taskintuna35 0:6698f2e69fdc 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
taskintuna35 0:6698f2e69fdc 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
taskintuna35 0:6698f2e69fdc 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
taskintuna35 0:6698f2e69fdc 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
taskintuna35 0:6698f2e69fdc 24 * THE SOFTWARE.
taskintuna35 0:6698f2e69fdc 25 *
taskintuna35 0:6698f2e69fdc 26 * @section DESCRIPTION
taskintuna35 0:6698f2e69fdc 27 *
taskintuna35 0:6698f2e69fdc 28 * Honeywell HMC5883Ldigital compass.
taskintuna35 0:6698f2e69fdc 29 *
taskintuna35 0:6698f2e69fdc 30 * Datasheet:
taskintuna35 0:6698f2e69fdc 31 *
taskintuna35 0:6698f2e69fdc 32 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf
taskintuna35 0:6698f2e69fdc 33 */
taskintuna35 0:6698f2e69fdc 34
taskintuna35 0:6698f2e69fdc 35 /**
taskintuna35 0:6698f2e69fdc 36 * Includes
taskintuna35 0:6698f2e69fdc 37 */
taskintuna35 0:6698f2e69fdc 38 #include "HMC5883L.h"
taskintuna35 0:6698f2e69fdc 39
taskintuna35 0:6698f2e69fdc 40 00040 HMC5883L::HMC5883L(PinName sda, PinName scl) {
taskintuna35 0:6698f2e69fdc 41
taskintuna35 0:6698f2e69fdc 42 i2c_ = new I2C(sda, scl);
taskintuna35 0:6698f2e69fdc 43 //100KHz, as specified by the datasheet.
taskintuna35 0:6698f2e69fdc 44 i2c_->frequency(100000);
taskintuna35 0:6698f2e69fdc 45
taskintuna35 0:6698f2e69fdc 46
taskintuna35 0:6698f2e69fdc 47 }
taskintuna35 0:6698f2e69fdc 48
taskintuna35 0:6698f2e69fdc 49
taskintuna35 0:6698f2e69fdc 50 00050 void HMC5883L::write(int address, int data) {
taskintuna35 0:6698f2e69fdc 51
taskintuna35 0:6698f2e69fdc 52 char tx[2];
taskintuna35 0:6698f2e69fdc 53
taskintuna35 0:6698f2e69fdc 54 tx[0]=address;
taskintuna35 0:6698f2e69fdc 55 tx[1]=data;
taskintuna35 0:6698f2e69fdc 56
taskintuna35 0:6698f2e69fdc 57 i2c_->write(HMC5883L_I2C_WRITE,tx,2);
taskintuna35 0:6698f2e69fdc 58
taskintuna35 0:6698f2e69fdc 59 wait_ms(100);
taskintuna35 0:6698f2e69fdc 60
taskintuna35 0:6698f2e69fdc 61 }
taskintuna35 0:6698f2e69fdc 62
taskintuna35 0:6698f2e69fdc 63
taskintuna35 0:6698f2e69fdc 64 00064 void HMC5883L::setSleepMode() {
taskintuna35 0:6698f2e69fdc 65
taskintuna35 0:6698f2e69fdc 66 write(HMC5883L_MODE, HMC5883L_SLEEP);
taskintuna35 0:6698f2e69fdc 67 }
taskintuna35 0:6698f2e69fdc 68
taskintuna35 0:6698f2e69fdc 69 00069 void HMC5883L::setDefault(void) {
taskintuna35 0:6698f2e69fdc 70
taskintuna35 0:6698f2e69fdc 71 write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL);
taskintuna35 0:6698f2e69fdc 72 write(HMC5883L_CONFIG_B,HMC5883L_1_0GA);
taskintuna35 0:6698f2e69fdc 73 write(HMC5883L_MODE,HMC5883L_CONTINUOUS);
taskintuna35 0:6698f2e69fdc 74 wait_ms(100);
taskintuna35 0:6698f2e69fdc 75 }
taskintuna35 0:6698f2e69fdc 76
taskintuna35 0:6698f2e69fdc 77
taskintuna35 0:6698f2e69fdc 78 00078 void HMC5883L::getAddress(char *buffer) {
taskintuna35 0:6698f2e69fdc 79
taskintuna35 0:6698f2e69fdc 80 char rx[3];
taskintuna35 0:6698f2e69fdc 81 char tx[1];
taskintuna35 0:6698f2e69fdc 82 tx[0]=HMC5883L_IDENT_A;
taskintuna35 0:6698f2e69fdc 83
taskintuna35 0:6698f2e69fdc 84
taskintuna35 0:6698f2e69fdc 85 i2c_->write(HMC5883L_I2C_WRITE, tx,1);
taskintuna35 0:6698f2e69fdc 86
taskintuna35 0:6698f2e69fdc 87 wait_ms(1);
taskintuna35 0:6698f2e69fdc 88
taskintuna35 0:6698f2e69fdc 89 i2c_->read(HMC5883L_I2C_READ,rx,3);
taskintuna35 0:6698f2e69fdc 90
taskintuna35 0:6698f2e69fdc 91 buffer[0]=rx[0];
taskintuna35 0:6698f2e69fdc 92 buffer[1]=rx[1];
taskintuna35 0:6698f2e69fdc 93 buffer[2]=rx[2];
taskintuna35 0:6698f2e69fdc 94 }
taskintuna35 0:6698f2e69fdc 95
taskintuna35 0:6698f2e69fdc 96
taskintuna35 0:6698f2e69fdc 97
taskintuna35 0:6698f2e69fdc 98 00098 void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) {
taskintuna35 0:6698f2e69fdc 99
taskintuna35 0:6698f2e69fdc 100
taskintuna35 0:6698f2e69fdc 101 write(HMC5883L_CONFIG_A,ConfigA);
taskintuna35 0:6698f2e69fdc 102 write(HMC5883L_CONFIG_B,ConfigB);
taskintuna35 0:6698f2e69fdc 103 write(HMC5883L_MODE,mode);
taskintuna35 0:6698f2e69fdc 104
taskintuna35 0:6698f2e69fdc 105
taskintuna35 0:6698f2e69fdc 106 }
taskintuna35 0:6698f2e69fdc 107
taskintuna35 0:6698f2e69fdc 108
taskintuna35 0:6698f2e69fdc 109
taskintuna35 0:6698f2e69fdc 110
taskintuna35 0:6698f2e69fdc 111 00111 void HMC5883L::readData(int* getMag) {
taskintuna35 0:6698f2e69fdc 112
taskintuna35 0:6698f2e69fdc 113
taskintuna35 0:6698f2e69fdc 114 char tx[1];
taskintuna35 0:6698f2e69fdc 115 char rx[2];
taskintuna35 0:6698f2e69fdc 116
taskintuna35 0:6698f2e69fdc 117
taskintuna35 0:6698f2e69fdc 118 tx[0]=HMC5883L_X_MSB;
taskintuna35 0:6698f2e69fdc 119 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 120 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 121 getMag[0]= (int)rx[0]<<8|(int)rx[1];
taskintuna35 0:6698f2e69fdc 122
taskintuna35 0:6698f2e69fdc 123
taskintuna35 0:6698f2e69fdc 124 tx[0]=HMC5883L_Y_MSB;
taskintuna35 0:6698f2e69fdc 125 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 126 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 127 getMag[1]= (int)rx[0]<<8|(int)rx[1];
taskintuna35 0:6698f2e69fdc 128
taskintuna35 0:6698f2e69fdc 129 tx[0]=HMC5883L_Z_MSB;
taskintuna35 0:6698f2e69fdc 130 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 131 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 132 getMag[2]= (int)rx[0]<<8|(int)rx[1];
taskintuna35 0:6698f2e69fdc 133
taskintuna35 0:6698f2e69fdc 134 }
taskintuna35 0:6698f2e69fdc 135
taskintuna35 0:6698f2e69fdc 136 00136 int HMC5883L::getMx() {
taskintuna35 0:6698f2e69fdc 137
taskintuna35 0:6698f2e69fdc 138 char tx[1];
taskintuna35 0:6698f2e69fdc 139 char rx[2];
taskintuna35 0:6698f2e69fdc 140
taskintuna35 0:6698f2e69fdc 141
taskintuna35 0:6698f2e69fdc 142 tx[0]=HMC5883L_X_MSB;
taskintuna35 0:6698f2e69fdc 143 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 144 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 145 return ((int)rx[0]<<8|(int)rx[1]);
taskintuna35 0:6698f2e69fdc 146
taskintuna35 0:6698f2e69fdc 147 }
taskintuna35 0:6698f2e69fdc 148
taskintuna35 0:6698f2e69fdc 149 00149 int HMC5883L::getMy() {
taskintuna35 0:6698f2e69fdc 150
taskintuna35 0:6698f2e69fdc 151 char tx[1];
taskintuna35 0:6698f2e69fdc 152 char rx[2];
taskintuna35 0:6698f2e69fdc 153
taskintuna35 0:6698f2e69fdc 154
taskintuna35 0:6698f2e69fdc 155 tx[0]=HMC5883L_Y_MSB;
taskintuna35 0:6698f2e69fdc 156 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 157 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 158 return ((int)rx[0]<<8|(int)rx[1]);
taskintuna35 0:6698f2e69fdc 159
taskintuna35 0:6698f2e69fdc 160 }
taskintuna35 0:6698f2e69fdc 161
taskintuna35 0:6698f2e69fdc 162
taskintuna35 0:6698f2e69fdc 163 00163 int HMC5883L::getMz(){
taskintuna35 0:6698f2e69fdc 164
taskintuna35 0:6698f2e69fdc 165 char tx[1];
taskintuna35 0:6698f2e69fdc 166 char rx[2];
taskintuna35 0:6698f2e69fdc 167
taskintuna35 0:6698f2e69fdc 168
taskintuna35 0:6698f2e69fdc 169 tx[0]=HMC5883L_Z_MSB;
taskintuna35 0:6698f2e69fdc 170 i2c_->write(HMC5883L_I2C_READ,tx,1);
taskintuna35 0:6698f2e69fdc 171 i2c_->read(HMC5883L_I2C_READ,rx,2);
taskintuna35 0:6698f2e69fdc 172 return ((int)rx[0]<<8|(int)rx[1]);
taskintuna35 0:6698f2e69fdc 173
taskintuna35 0:6698f2e69fdc 174 }