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Dependencies: mbed SDFileSystem MS5607 ADXL345_I2C FATFileSystem
HMC5883L/HMC5883L.cpp@0:c88c3b616c00, 2020-03-16 (annotated)
- Committer:
- IKobayashi
- Date:
- Mon Mar 16 23:37:42 2020 +0900
- Revision:
- 0:c88c3b616c00
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
IKobayashi | 0:c88c3b616c00 | 1 | #include "HMC5883L.h" |
IKobayashi | 0:c88c3b616c00 | 2 | |
IKobayashi | 0:c88c3b616c00 | 3 | HMC5883L::HMC5883L(PinName sda, PinName scl): i2c(sda, scl) |
IKobayashi | 0:c88c3b616c00 | 4 | { |
IKobayashi | 0:c88c3b616c00 | 5 | //100KHz, as specified by the datasheet. |
IKobayashi | 0:c88c3b616c00 | 6 | char rx; |
IKobayashi | 0:c88c3b616c00 | 7 | |
IKobayashi | 0:c88c3b616c00 | 8 | |
IKobayashi | 0:c88c3b616c00 | 9 | i2c.frequency(100000); |
IKobayashi | 0:c88c3b616c00 | 10 | //Testar depois com 400KHz |
IKobayashi | 0:c88c3b616c00 | 11 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 12 | // Read chip_id |
IKobayashi | 0:c88c3b616c00 | 13 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 14 | rx = Read(HMC5883L_IDENT_A); |
IKobayashi | 0:c88c3b616c00 | 15 | if (rx != 0x48)//ID do chip |
IKobayashi | 0:c88c3b616c00 | 16 | printf("\ninvalid chip id %d\r\n", rx); |
IKobayashi | 0:c88c3b616c00 | 17 | |
IKobayashi | 0:c88c3b616c00 | 18 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 19 | // Let's set the Configuration Register A |
IKobayashi | 0:c88c3b616c00 | 20 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 21 | // This register set's the number of samples averaged per measurement output, the rate at which data is written |
IKobayashi | 0:c88c3b616c00 | 22 | // to all three data output registers and the measurement flow of the device. |
IKobayashi | 0:c88c3b616c00 | 23 | // ------------------------------------------------------- |
IKobayashi | 0:c88c3b616c00 | 24 | // |CRA7 CRA6 CRA5 CRA4 CRA3 CRA2 CRA1 CRA0 | |
IKobayashi | 0:c88c3b616c00 | 25 | // |(1) MA1(1) MA0(1) DO2(1) DO1(0) DO0(0) MS1(0) MS0(0)| -> This is the default value |
IKobayashi | 0:c88c3b616c00 | 26 | // ------------------------------------------------------- |
IKobayashi | 0:c88c3b616c00 | 27 | // CRA7 -> we have to clear this bit for correct operation (0) |
IKobayashi | 0:c88c3b616c00 | 28 | // CRA6 to CRA5 -> Let's select the maximum number of samples averaged per measurement output (11) |
IKobayashi | 0:c88c3b616c00 | 29 | // CRA4 to CRA2 -> Also let's select the maximum data output rate (110) |
IKobayashi | 0:c88c3b616c00 | 30 | // CRA1 to CRA0 -> The measurement flow is defined to normal (00) |
IKobayashi | 0:c88c3b616c00 | 31 | // ------------------------------------------------------- |
IKobayashi | 0:c88c3b616c00 | 32 | // |CRA7 CRA6 CRA5 CRA4 CRA3 CRA2 CRA1 CRA0 | |
IKobayashi | 0:c88c3b616c00 | 33 | // |(0) MA1(1) MA0(1) DO2(1) DO1(1) DO0(0) MS1(0) MS0(0)| -> This is the new value, 0x78 in hex |
IKobayashi | 0:c88c3b616c00 | 34 | // ------------------------------------------------------- |
IKobayashi | 0:c88c3b616c00 | 35 | //Write(HMC5883L_CONFIG_A,0x78); |
IKobayashi | 0:c88c3b616c00 | 36 | //Write(HMC5883L_CONFIG_A,0x70); |
IKobayashi | 0:c88c3b616c00 | 37 | |
IKobayashi | 0:c88c3b616c00 | 38 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 39 | // The Configuration Register B is set to 0010 0000 by default, this is a +/- 1.3 Ga sensor field range and |
IKobayashi | 0:c88c3b616c00 | 40 | // the gain of LSB/gauss is 1090. This is the maximum value, so let's leave it like that. |
IKobayashi | 0:c88c3b616c00 | 41 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 42 | //Datasheet page 13. I will explain later |
IKobayashi | 0:c88c3b616c00 | 43 | //Write(HMC5883L_CONFIG_B,0x20); |
IKobayashi | 0:c88c3b616c00 | 44 | //Write(HMC5883L_CONFIG_B,0xA0); |
IKobayashi | 0:c88c3b616c00 | 45 | |
IKobayashi | 0:c88c3b616c00 | 46 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 47 | // Let's set the Mode Register |
IKobayashi | 0:c88c3b616c00 | 48 | //========================================================================================================== |
IKobayashi | 0:c88c3b616c00 | 49 | // This register set's the operation mode, from continuous-measurements mode, single-measurement mode and idle mode. |
IKobayashi | 0:c88c3b616c00 | 50 | // We will set to Continuouse-measurement mode, so the device continuously performs measurements and places the |
IKobayashi | 0:c88c3b616c00 | 51 | // result in the data register |
IKobayashi | 0:c88c3b616c00 | 52 | // --------------------------------------------- |
IKobayashi | 0:c88c3b616c00 | 53 | // |MR7 MR6 MR5 MR4 MR3 MR2 MR1 MR0 | -> This is the new value, 0x78 in hex, we are going to change |
IKobayashi | 0:c88c3b616c00 | 54 | // |(1) (0) (0) (0) (0) (0) MD1(0) MD0(1)| the MD1 and MD0 to 00 and clear the MR7 for correct operation. |
IKobayashi | 0:c88c3b616c00 | 55 | // --------------------------------------------- The final value is 0000 0000 (0x00). |
IKobayashi | 0:c88c3b616c00 | 56 | Write(HMC5883L_MODE,0x00); |
IKobayashi | 0:c88c3b616c00 | 57 | } |
IKobayashi | 0:c88c3b616c00 | 58 | |
IKobayashi | 0:c88c3b616c00 | 59 | |
IKobayashi | 0:c88c3b616c00 | 60 | void HMC5883L::Write(char reg_address, char data) |
IKobayashi | 0:c88c3b616c00 | 61 | { |
IKobayashi | 0:c88c3b616c00 | 62 | char tx[2]; |
IKobayashi | 0:c88c3b616c00 | 63 | tx[0]=reg_address; |
IKobayashi | 0:c88c3b616c00 | 64 | tx[1]=data; |
IKobayashi | 0:c88c3b616c00 | 65 | |
IKobayashi | 0:c88c3b616c00 | 66 | i2c.write(HMC5883L_I2C_WRITE,tx,2); |
IKobayashi | 0:c88c3b616c00 | 67 | } |
IKobayashi | 0:c88c3b616c00 | 68 | |
IKobayashi | 0:c88c3b616c00 | 69 | char HMC5883L::Read(char data) |
IKobayashi | 0:c88c3b616c00 | 70 | { |
IKobayashi | 0:c88c3b616c00 | 71 | char tx = data; |
IKobayashi | 0:c88c3b616c00 | 72 | char rx; |
IKobayashi | 0:c88c3b616c00 | 73 | |
IKobayashi | 0:c88c3b616c00 | 74 | i2c.write(HMC5883L_I2C_WRITE, &tx, 1); |
IKobayashi | 0:c88c3b616c00 | 75 | i2c.read(HMC5883L_I2C_READ, &rx, 1); |
IKobayashi | 0:c88c3b616c00 | 76 | return rx; |
IKobayashi | 0:c88c3b616c00 | 77 | } |
IKobayashi | 0:c88c3b616c00 | 78 | |
IKobayashi | 0:c88c3b616c00 | 79 | void HMC5883L::MultiByteRead(char address, char* output, int size) |
IKobayashi | 0:c88c3b616c00 | 80 | { |
IKobayashi | 0:c88c3b616c00 | 81 | i2c.write(HMC5883L_I2C_WRITE, &address, 1); //tell it where to read from |
IKobayashi | 0:c88c3b616c00 | 82 | i2c.read(HMC5883L_I2C_READ, output, size); //tell it where to store the data read |
IKobayashi | 0:c88c3b616c00 | 83 | } |
IKobayashi | 0:c88c3b616c00 | 84 | |
IKobayashi | 0:c88c3b616c00 | 85 | float HMC5883L::getMx() |
IKobayashi | 0:c88c3b616c00 | 86 | { |
IKobayashi | 0:c88c3b616c00 | 87 | //return (x * m_Scale); |
IKobayashi | 0:c88c3b616c00 | 88 | char lsb_byte = 0; |
IKobayashi | 0:c88c3b616c00 | 89 | signed short msb_byte; |
IKobayashi | 0:c88c3b616c00 | 90 | |
IKobayashi | 0:c88c3b616c00 | 91 | lsb_byte = Read(HMC5883L_X_MSB); |
IKobayashi | 0:c88c3b616c00 | 92 | msb_byte = lsb_byte << 8; |
IKobayashi | 0:c88c3b616c00 | 93 | msb_byte |= Read(HMC5883L_X_LSB); |
IKobayashi | 0:c88c3b616c00 | 94 | return (float)msb_byte; |
IKobayashi | 0:c88c3b616c00 | 95 | /* |
IKobayashi | 0:c88c3b616c00 | 96 | char tx[1]; |
IKobayashi | 0:c88c3b616c00 | 97 | char rx[2]; |
IKobayashi | 0:c88c3b616c00 | 98 | |
IKobayashi | 0:c88c3b616c00 | 99 | |
IKobayashi | 0:c88c3b616c00 | 100 | tx[0]=HMC5883L_X_MSB; |
IKobayashi | 0:c88c3b616c00 | 101 | i2c.write(HMC5883L_I2C_READ,tx,1); |
IKobayashi | 0:c88c3b616c00 | 102 | i2c.read(HMC5883L_I2C_READ,rx,2); |
IKobayashi | 0:c88c3b616c00 | 103 | return ((int)rx[0]<<8|(int)rx[1]); |
IKobayashi | 0:c88c3b616c00 | 104 | */ |
IKobayashi | 0:c88c3b616c00 | 105 | |
IKobayashi | 0:c88c3b616c00 | 106 | } |
IKobayashi | 0:c88c3b616c00 | 107 | |
IKobayashi | 0:c88c3b616c00 | 108 | float HMC5883L::getMy() |
IKobayashi | 0:c88c3b616c00 | 109 | { |
IKobayashi | 0:c88c3b616c00 | 110 | //return (y * m_Scale); |
IKobayashi | 0:c88c3b616c00 | 111 | |
IKobayashi | 0:c88c3b616c00 | 112 | char lsb_byte = 0; |
IKobayashi | 0:c88c3b616c00 | 113 | signed short msb_byte; |
IKobayashi | 0:c88c3b616c00 | 114 | |
IKobayashi | 0:c88c3b616c00 | 115 | lsb_byte = Read(HMC5883L_Y_MSB); |
IKobayashi | 0:c88c3b616c00 | 116 | msb_byte = lsb_byte << 8; |
IKobayashi | 0:c88c3b616c00 | 117 | msb_byte |= Read(HMC5883L_Y_LSB); |
IKobayashi | 0:c88c3b616c00 | 118 | return (float)msb_byte; |
IKobayashi | 0:c88c3b616c00 | 119 | } |
IKobayashi | 0:c88c3b616c00 | 120 | |
IKobayashi | 0:c88c3b616c00 | 121 | |
IKobayashi | 0:c88c3b616c00 | 122 | float HMC5883L::getMz() |
IKobayashi | 0:c88c3b616c00 | 123 | { |
IKobayashi | 0:c88c3b616c00 | 124 | //return (z * m_Scale); |
IKobayashi | 0:c88c3b616c00 | 125 | |
IKobayashi | 0:c88c3b616c00 | 126 | char lsb_byte = 0; |
IKobayashi | 0:c88c3b616c00 | 127 | signed short msb_byte; |
IKobayashi | 0:c88c3b616c00 | 128 | |
IKobayashi | 0:c88c3b616c00 | 129 | lsb_byte = Read(HMC5883L_Z_MSB); |
IKobayashi | 0:c88c3b616c00 | 130 | msb_byte = lsb_byte << 8; |
IKobayashi | 0:c88c3b616c00 | 131 | msb_byte |= Read(HMC5883L_Z_LSB); |
IKobayashi | 0:c88c3b616c00 | 132 | return (float)msb_byte; |
IKobayashi | 0:c88c3b616c00 | 133 | } |