HMC5883L.cpp

00001 /**
00002  * @author Jose R. Padron
00003  * @author Used HMC6352 library  developed by Aaron Berk as template
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * Honeywell HMC5883Ldigital compass.
00029  *
00030  * Datasheet:
00031  *
00032  * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf
00033  */
00034  
00035 /**
00036  * Includes
00037  */
00038 #include "HMC5883L.h"
00039  
00040 00040 HMC5883L::HMC5883L(PinName sda, PinName scl) {
00041  
00042     i2c_ = new I2C(sda, scl);
00043     //100KHz, as specified by the datasheet.
00044     i2c_->frequency(100000);
00045  
00046  
00047 }
00048  
00049  
00050 00050 void HMC5883L::write(int address, int data) {
00051    
00052     char tx[2];
00053    
00054     tx[0]=address;
00055     tx[1]=data;
00056  
00057     i2c_->write(HMC5883L_I2C_WRITE,tx,2);
00058    
00059     wait_ms(100);
00060  
00061 }
00062  
00063  
00064 00064 void HMC5883L::setSleepMode() {
00065     
00066     write(HMC5883L_MODE, HMC5883L_SLEEP);
00067 }
00068  
00069 00069 void HMC5883L::setDefault(void) {
00070    
00071    write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL);
00072    write(HMC5883L_CONFIG_B,HMC5883L_1_0GA);
00073    write(HMC5883L_MODE,HMC5883L_CONTINUOUS);
00074    wait_ms(100);
00075 }
00076  
00077  
00078 00078 void HMC5883L::getAddress(char *buffer) {
00079     
00080    char rx[3];
00081    char tx[1];
00082    tx[0]=HMC5883L_IDENT_A;
00083     
00084        
00085     i2c_->write(HMC5883L_I2C_WRITE, tx,1);
00086    
00087     wait_ms(1);
00088     
00089     i2c_->read(HMC5883L_I2C_READ,rx,3);
00090     
00091     buffer[0]=rx[0];
00092     buffer[1]=rx[1];
00093     buffer[2]=rx[2];
00094 }
00095  
00096  
00097  
00098 00098 void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) {
00099     
00100     
00101     write(HMC5883L_CONFIG_A,ConfigA);
00102     write(HMC5883L_CONFIG_B,ConfigB);
00103     write(HMC5883L_MODE,mode);
00104     
00105  
00106 }
00107  
00108  
00109  
00110  
00111 00111 void HMC5883L::readData(int* getMag) {
00112  
00113   
00114     char tx[1];
00115     char rx[2];
00116     
00117     
00118     tx[0]=HMC5883L_X_MSB;
00119     i2c_->write(HMC5883L_I2C_READ,tx,1);
00120     i2c_->read(HMC5883L_I2C_READ,rx,2);
00121     getMag[0]= (int)rx[0]<<8|(int)rx[1];
00122  
00123      
00124     tx[0]=HMC5883L_Y_MSB;
00125     i2c_->write(HMC5883L_I2C_READ,tx,1);
00126     i2c_->read(HMC5883L_I2C_READ,rx,2);
00127     getMag[1]= (int)rx[0]<<8|(int)rx[1];
00128      
00129     tx[0]=HMC5883L_Z_MSB;
00130     i2c_->write(HMC5883L_I2C_READ,tx,1);
00131     i2c_->read(HMC5883L_I2C_READ,rx,2);
00132     getMag[2]= (int)rx[0]<<8|(int)rx[1];
00133     
00134 }
00135  
00136 00136 int HMC5883L::getMx() {
00137  
00138     char tx[1];
00139     char rx[2];
00140     
00141     
00142     tx[0]=HMC5883L_X_MSB;
00143     i2c_->write(HMC5883L_I2C_READ,tx,1);
00144     i2c_->read(HMC5883L_I2C_READ,rx,2);
00145     return ((int)rx[0]<<8|(int)rx[1]);
00146  
00147 }
00148  
00149 00149 int HMC5883L::getMy() {
00150  
00151     char tx[1];
00152     char rx[2];
00153     
00154     
00155     tx[0]=HMC5883L_Y_MSB;
00156     i2c_->write(HMC5883L_I2C_READ,tx,1);
00157     i2c_->read(HMC5883L_I2C_READ,rx,2);
00158     return ((int)rx[0]<<8|(int)rx[1]);
00159  
00160 }
00161  
00162  
00163 00163 int HMC5883L::getMz(){
00164  
00165     char tx[1];
00166     char rx[2];
00167     
00168     
00169     tx[0]=HMC5883L_Z_MSB;
00170     i2c_->write(HMC5883L_I2C_READ,tx,1);
00171     i2c_->read(HMC5883L_I2C_READ,rx,2);
00172     return ((int)rx[0]<<8|(int)rx[1]);
00173  
00174 }