HMC5843 Library as part of the 9DOF stick from Sparkfun.com
HMC5843.h@0:03b72060cd83, 2011-10-07 (annotated)
- Committer:
- Digixx
- Date:
- Fri Oct 07 21:06:52 2011 +0000
- Revision:
- 0:03b72060cd83
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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Digixx | 0:03b72060cd83 | 1 | /** |
Digixx | 0:03b72060cd83 | 2 | * @author Uwe Gartmann |
Digixx | 0:03b72060cd83 | 3 | * @author Used HMC5843 library developed by Jose R. Padron and Aaron Berk as template |
Digixx | 0:03b72060cd83 | 4 | * |
Digixx | 0:03b72060cd83 | 5 | * @section LICENSE |
Digixx | 0:03b72060cd83 | 6 | * |
Digixx | 0:03b72060cd83 | 7 | * Copyright (c) 2010 ARM Limited |
Digixx | 0:03b72060cd83 | 8 | * |
Digixx | 0:03b72060cd83 | 9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
Digixx | 0:03b72060cd83 | 10 | * of this software and associated documentation files (the "Software"), to deal |
Digixx | 0:03b72060cd83 | 11 | * in the Software without restriction, including without limitation the rights |
Digixx | 0:03b72060cd83 | 12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
Digixx | 0:03b72060cd83 | 13 | * copies of the Software, and to permit persons to whom the Software is |
Digixx | 0:03b72060cd83 | 14 | * furnished to do so, subject to the following conditions: |
Digixx | 0:03b72060cd83 | 15 | * |
Digixx | 0:03b72060cd83 | 16 | * The above copyright notice and this permission notice shall be included in |
Digixx | 0:03b72060cd83 | 17 | * all copies or substantial portions of the Software. |
Digixx | 0:03b72060cd83 | 18 | * |
Digixx | 0:03b72060cd83 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Digixx | 0:03b72060cd83 | 20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Digixx | 0:03b72060cd83 | 21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
Digixx | 0:03b72060cd83 | 22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Digixx | 0:03b72060cd83 | 23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
Digixx | 0:03b72060cd83 | 24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
Digixx | 0:03b72060cd83 | 25 | * THE SOFTWARE. |
Digixx | 0:03b72060cd83 | 26 | * |
Digixx | 0:03b72060cd83 | 27 | * @section DESCRIPTION |
Digixx | 0:03b72060cd83 | 28 | * |
Digixx | 0:03b72060cd83 | 29 | * Honeywell HMC5843 digital compass. |
Digixx | 0:03b72060cd83 | 30 | * |
Digixx | 0:03b72060cd83 | 31 | * Datasheet: |
Digixx | 0:03b72060cd83 | 32 | * |
Digixx | 0:03b72060cd83 | 33 | * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf |
Digixx | 0:03b72060cd83 | 34 | */ |
Digixx | 0:03b72060cd83 | 35 | |
Digixx | 0:03b72060cd83 | 36 | #ifndef HMC5843_H |
Digixx | 0:03b72060cd83 | 37 | #define HMC5843_H |
Digixx | 0:03b72060cd83 | 38 | |
Digixx | 0:03b72060cd83 | 39 | /** |
Digixx | 0:03b72060cd83 | 40 | * Includes |
Digixx | 0:03b72060cd83 | 41 | */ |
Digixx | 0:03b72060cd83 | 42 | #include "mbed.h" |
Digixx | 0:03b72060cd83 | 43 | |
Digixx | 0:03b72060cd83 | 44 | /** |
Digixx | 0:03b72060cd83 | 45 | * Defines |
Digixx | 0:03b72060cd83 | 46 | */ |
Digixx | 0:03b72060cd83 | 47 | #define HMC5843_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read. |
Digixx | 0:03b72060cd83 | 48 | #define HMC5843_I2C_WRITE 0x3C |
Digixx | 0:03b72060cd83 | 49 | #define HMC5843_I2C_READ 0x3D |
Digixx | 0:03b72060cd83 | 50 | |
Digixx | 0:03b72060cd83 | 51 | //Values Config A |
Digixx | 0:03b72060cd83 | 52 | #define HMC5843_0_5HZ_NORMAL 0x00 |
Digixx | 0:03b72060cd83 | 53 | #define HMC5843_0_5HZ_POSITIVE 0x01 |
Digixx | 0:03b72060cd83 | 54 | #define HMC5843_0_5HZ_NEGATIVE 0x02 |
Digixx | 0:03b72060cd83 | 55 | |
Digixx | 0:03b72060cd83 | 56 | #define HMC5843_1HZ_NORMAL 0x04 |
Digixx | 0:03b72060cd83 | 57 | #define HMC5843_1HZ_POSITIVE 0x05 |
Digixx | 0:03b72060cd83 | 58 | #define HMC5843_1HZ_NEGATIVE 0x06 |
Digixx | 0:03b72060cd83 | 59 | |
Digixx | 0:03b72060cd83 | 60 | #define HMC5843_2HZ_NORMAL 0x08 |
Digixx | 0:03b72060cd83 | 61 | #define HMC5843_2HZ_POSITIVE 0x09 |
Digixx | 0:03b72060cd83 | 62 | #define HMC5843_2HZ_NEGATIVE 0x0A |
Digixx | 0:03b72060cd83 | 63 | |
Digixx | 0:03b72060cd83 | 64 | #define HMC5843_5HZ_NORMAL 0x0C |
Digixx | 0:03b72060cd83 | 65 | #define HMC5843_5HZ_POSITIVE 0x0D |
Digixx | 0:03b72060cd83 | 66 | #define HMC5843_5HZ_NEGATIVE 0x0E |
Digixx | 0:03b72060cd83 | 67 | |
Digixx | 0:03b72060cd83 | 68 | #define HMC5843_10HZ_NORMAL 0x10 |
Digixx | 0:03b72060cd83 | 69 | #define HMC5843_10HZ_POSITIVE 0x11 |
Digixx | 0:03b72060cd83 | 70 | #define HMC5843_10HZ_NEGATIVE 0x12 |
Digixx | 0:03b72060cd83 | 71 | |
Digixx | 0:03b72060cd83 | 72 | #define HMC5843_20HZ_NORMAL 0x14 |
Digixx | 0:03b72060cd83 | 73 | #define HMC5843_20HZ_POSITIVE 0x15 |
Digixx | 0:03b72060cd83 | 74 | #define HMC5843_20HZ_NEGATIVE 0x16 |
Digixx | 0:03b72060cd83 | 75 | |
Digixx | 0:03b72060cd83 | 76 | #define HMC5843_50HZ_NORMAL 0x18 |
Digixx | 0:03b72060cd83 | 77 | #define HMC5843_50HZ_POSITIVE 0x19 |
Digixx | 0:03b72060cd83 | 78 | #define HMC5843_50HZ_NEGATIVE 0x1A |
Digixx | 0:03b72060cd83 | 79 | |
Digixx | 0:03b72060cd83 | 80 | //Values Config B |
Digixx | 0:03b72060cd83 | 81 | #define HMC5843_0_7GA 0x00 |
Digixx | 0:03b72060cd83 | 82 | #define HMC5843_1_0GA 0x20 |
Digixx | 0:03b72060cd83 | 83 | #define HMC5843_1_5GA 0x40 |
Digixx | 0:03b72060cd83 | 84 | #define HMC5843_2_0GA 0x60 |
Digixx | 0:03b72060cd83 | 85 | #define HMC5843_3_2GA 0x80 |
Digixx | 0:03b72060cd83 | 86 | #define HMC5843_3_8GA 0xA0 |
Digixx | 0:03b72060cd83 | 87 | #define HMC5843_4_5GA 0xC0 |
Digixx | 0:03b72060cd83 | 88 | #define HMC5843_6_5GA 0xE0 |
Digixx | 0:03b72060cd83 | 89 | |
Digixx | 0:03b72060cd83 | 90 | //Values MODE |
Digixx | 0:03b72060cd83 | 91 | #define HMC5843_CONTINUOUS 0x00 |
Digixx | 0:03b72060cd83 | 92 | #define HMC5843_SINGLE 0x01 |
Digixx | 0:03b72060cd83 | 93 | #define HMC5843_IDLE 0x02 |
Digixx | 0:03b72060cd83 | 94 | #define HMC5843_SLEEP 0x03 |
Digixx | 0:03b72060cd83 | 95 | |
Digixx | 0:03b72060cd83 | 96 | |
Digixx | 0:03b72060cd83 | 97 | |
Digixx | 0:03b72060cd83 | 98 | #define HMC5843_CONFIG_A 0x00 |
Digixx | 0:03b72060cd83 | 99 | #define HMC5843_CONFIG_B 0x01 |
Digixx | 0:03b72060cd83 | 100 | #define HMC5843_MODE 0x02 |
Digixx | 0:03b72060cd83 | 101 | #define HMC5843_X_MSB 0x03 |
Digixx | 0:03b72060cd83 | 102 | #define HMC5843_X_LSB 0x04 |
Digixx | 0:03b72060cd83 | 103 | #define HMC5843_Y_MSB 0x05 |
Digixx | 0:03b72060cd83 | 104 | #define HMC5843_Y_LSB 0x06 |
Digixx | 0:03b72060cd83 | 105 | #define HMC5843_Z_MSB 0x07 |
Digixx | 0:03b72060cd83 | 106 | #define HMC5843_Z_LSB 0x08 |
Digixx | 0:03b72060cd83 | 107 | #define HMC5843_STATUS 0x09 |
Digixx | 0:03b72060cd83 | 108 | #define HMC5843_IDENT_A 0x0A |
Digixx | 0:03b72060cd83 | 109 | #define HMC5843_IDENT_B 0x0B |
Digixx | 0:03b72060cd83 | 110 | #define HMC5843_IDENT_C 0x0C |
Digixx | 0:03b72060cd83 | 111 | |
Digixx | 0:03b72060cd83 | 112 | |
Digixx | 0:03b72060cd83 | 113 | |
Digixx | 0:03b72060cd83 | 114 | /** |
Digixx | 0:03b72060cd83 | 115 | * Honeywell HMC5843 digital compass. |
Digixx | 0:03b72060cd83 | 116 | */ |
Digixx | 0:03b72060cd83 | 117 | class HMC5843 { |
Digixx | 0:03b72060cd83 | 118 | |
Digixx | 0:03b72060cd83 | 119 | public: |
Digixx | 0:03b72060cd83 | 120 | |
Digixx | 0:03b72060cd83 | 121 | /** |
Digixx | 0:03b72060cd83 | 122 | * Constructor. |
Digixx | 0:03b72060cd83 | 123 | * |
Digixx | 0:03b72060cd83 | 124 | * @param sda mbed pin to use for SDA line of I2C interface. |
Digixx | 0:03b72060cd83 | 125 | * @param scl mbed pin to use for SCL line of I2C interface. |
Digixx | 0:03b72060cd83 | 126 | */ |
Digixx | 0:03b72060cd83 | 127 | HMC5843(PinName sda, PinName scl); |
Digixx | 0:03b72060cd83 | 128 | |
Digixx | 0:03b72060cd83 | 129 | |
Digixx | 0:03b72060cd83 | 130 | /** |
Digixx | 0:03b72060cd83 | 131 | * Enter into sleep mode. |
Digixx | 0:03b72060cd83 | 132 | * |
Digixx | 0:03b72060cd83 | 133 | */ |
Digixx | 0:03b72060cd83 | 134 | void setSleepMode(); |
Digixx | 0:03b72060cd83 | 135 | |
Digixx | 0:03b72060cd83 | 136 | |
Digixx | 0:03b72060cd83 | 137 | /** |
Digixx | 0:03b72060cd83 | 138 | * Set Device in Default Mode. |
Digixx | 0:03b72060cd83 | 139 | * HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA |
Digixx | 0:03b72060cd83 | 140 | */ |
Digixx | 0:03b72060cd83 | 141 | void setDefault(); |
Digixx | 0:03b72060cd83 | 142 | |
Digixx | 0:03b72060cd83 | 143 | |
Digixx | 0:03b72060cd83 | 144 | /** |
Digixx | 0:03b72060cd83 | 145 | * Read the memory location on the device which contains the address. |
Digixx | 0:03b72060cd83 | 146 | * |
Digixx | 0:03b72060cd83 | 147 | * @param Pointer to a buffer to hold the address value |
Digixx | 0:03b72060cd83 | 148 | * Expected H, 4 and 3. |
Digixx | 0:03b72060cd83 | 149 | */ |
Digixx | 0:03b72060cd83 | 150 | void getAddress(char * address); |
Digixx | 0:03b72060cd83 | 151 | |
Digixx | 0:03b72060cd83 | 152 | |
Digixx | 0:03b72060cd83 | 153 | |
Digixx | 0:03b72060cd83 | 154 | /** |
Digixx | 0:03b72060cd83 | 155 | * Set the operation mode. |
Digixx | 0:03b72060cd83 | 156 | * |
Digixx | 0:03b72060cd83 | 157 | * @param mode 0x00 -> Continuous |
Digixx | 0:03b72060cd83 | 158 | * 0x01 -> Single |
Digixx | 0:03b72060cd83 | 159 | * 0x02 -> Idle |
Digixx | 0:03b72060cd83 | 160 | * @param ConfigA values |
Digixx | 0:03b72060cd83 | 161 | * @param ConfigB values |
Digixx | 0:03b72060cd83 | 162 | */ |
Digixx | 0:03b72060cd83 | 163 | void setOpMode(int mode, int ConfigA, int ConfigB); |
Digixx | 0:03b72060cd83 | 164 | |
Digixx | 0:03b72060cd83 | 165 | /** |
Digixx | 0:03b72060cd83 | 166 | * Write to on the device. |
Digixx | 0:03b72060cd83 | 167 | * |
Digixx | 0:03b72060cd83 | 168 | * @param address Address to write to. |
Digixx | 0:03b72060cd83 | 169 | * @param data Data to write. |
Digixx | 0:03b72060cd83 | 170 | */ |
Digixx | 0:03b72060cd83 | 171 | |
Digixx | 0:03b72060cd83 | 172 | void write(int address, int data); |
Digixx | 0:03b72060cd83 | 173 | |
Digixx | 0:03b72060cd83 | 174 | /** |
Digixx | 0:03b72060cd83 | 175 | * Get the output of all three axes. |
Digixx | 0:03b72060cd83 | 176 | * |
Digixx | 0:03b72060cd83 | 177 | * @param Pointer to a buffer to hold the magnetics value for the |
Digixx | 0:03b72060cd83 | 178 | * x-axis, y-axis and z-axis [in that order]. |
Digixx | 0:03b72060cd83 | 179 | */ |
Digixx | 0:03b72060cd83 | 180 | void readData(int* readings); |
Digixx | 0:03b72060cd83 | 181 | |
Digixx | 0:03b72060cd83 | 182 | /** |
Digixx | 0:03b72060cd83 | 183 | * Get the output of X axis. |
Digixx | 0:03b72060cd83 | 184 | * |
Digixx | 0:03b72060cd83 | 185 | * @return x-axis magnetic value |
Digixx | 0:03b72060cd83 | 186 | */ |
Digixx | 0:03b72060cd83 | 187 | int getMx(); |
Digixx | 0:03b72060cd83 | 188 | |
Digixx | 0:03b72060cd83 | 189 | /** |
Digixx | 0:03b72060cd83 | 190 | * Get the output of Y axis. |
Digixx | 0:03b72060cd83 | 191 | * |
Digixx | 0:03b72060cd83 | 192 | * @return y-axis magnetic value |
Digixx | 0:03b72060cd83 | 193 | */ |
Digixx | 0:03b72060cd83 | 194 | int getMy(); |
Digixx | 0:03b72060cd83 | 195 | |
Digixx | 0:03b72060cd83 | 196 | /** |
Digixx | 0:03b72060cd83 | 197 | * Get the output of Z axis. |
Digixx | 0:03b72060cd83 | 198 | * |
Digixx | 0:03b72060cd83 | 199 | * @return z-axis magnetic value |
Digixx | 0:03b72060cd83 | 200 | */ |
Digixx | 0:03b72060cd83 | 201 | int getMz(); |
Digixx | 0:03b72060cd83 | 202 | |
Digixx | 0:03b72060cd83 | 203 | |
Digixx | 0:03b72060cd83 | 204 | /** |
Digixx | 0:03b72060cd83 | 205 | * Get the current operation mode. |
Digixx | 0:03b72060cd83 | 206 | * |
Digixx | 0:03b72060cd83 | 207 | * @return Status register values |
Digixx | 0:03b72060cd83 | 208 | */ |
Digixx | 0:03b72060cd83 | 209 | int getStatus(void); |
Digixx | 0:03b72060cd83 | 210 | |
Digixx | 0:03b72060cd83 | 211 | |
Digixx | 0:03b72060cd83 | 212 | |
Digixx | 0:03b72060cd83 | 213 | I2C* i2c_; |
Digixx | 0:03b72060cd83 | 214 | |
Digixx | 0:03b72060cd83 | 215 | |
Digixx | 0:03b72060cd83 | 216 | |
Digixx | 0:03b72060cd83 | 217 | }; |
Digixx | 0:03b72060cd83 | 218 | |
Digixx | 0:03b72060cd83 | 219 | #endif /* HMC5843_H */ |