It's used as aid for inertial measurement system
Dependents: M-G354PDH0_serial_echo_2 M-G354PDH0_serial_echo_1 M-G354PDH0_serial_Lib
QMC5883L.h@5:d046009bc7c3, 2018-11-13 (annotated)
- Committer:
- raminou
- Date:
- Tue Nov 13 14:37:19 2018 +0000
- Revision:
- 5:d046009bc7c3
- Parent:
- 4:2620ae5391a6
Add standby mode, reset
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 0:e5f8da308b60 | 1 | /* |
BaserK | 0:e5f8da308b60 | 2 | * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr |
BaserK | 0:e5f8da308b60 | 3 | * |
BaserK | 0:e5f8da308b60 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
BaserK | 0:e5f8da308b60 | 5 | * of this software and associated documentation files (the "Software"), to deal |
BaserK | 0:e5f8da308b60 | 6 | * in the Software without restriction, including without limitation the rights |
BaserK | 0:e5f8da308b60 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
BaserK | 0:e5f8da308b60 | 8 | * copies of the Software, and to permit persons to whom the Software is |
BaserK | 0:e5f8da308b60 | 9 | * furnished to do so, subject to the following conditions: |
BaserK | 0:e5f8da308b60 | 10 | * |
BaserK | 0:e5f8da308b60 | 11 | * The above copyright notice and this permission notice shall be included in |
BaserK | 0:e5f8da308b60 | 12 | * all copies or substantial portions of the Software. |
BaserK | 0:e5f8da308b60 | 13 | * |
BaserK | 0:e5f8da308b60 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
BaserK | 0:e5f8da308b60 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
BaserK | 0:e5f8da308b60 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
BaserK | 0:e5f8da308b60 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
BaserK | 0:e5f8da308b60 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
BaserK | 0:e5f8da308b60 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
BaserK | 0:e5f8da308b60 | 20 | * THE SOFTWARE. |
BaserK | 0:e5f8da308b60 | 21 | * |
BaserK | 0:e5f8da308b60 | 22 | */ |
BaserK | 0:e5f8da308b60 | 23 | |
BaserK | 0:e5f8da308b60 | 24 | // Some part of the code is adapted from Adafruit HMC5883 library |
BaserK | 0:e5f8da308b60 | 25 | |
sarahbest | 3:6aac221b613d | 26 | #ifndef QMC5883L_H |
sarahbest | 3:6aac221b613d | 27 | #define QMC5883L_H |
BaserK | 0:e5f8da308b60 | 28 | |
BaserK | 0:e5f8da308b60 | 29 | #include "mbed.h" |
BaserK | 0:e5f8da308b60 | 30 | #include "math.h" |
BaserK | 0:e5f8da308b60 | 31 | |
raminou | 5:d046009bc7c3 | 32 | // #define DEBUG 1 |
BaserK | 0:e5f8da308b60 | 33 | #define PI 3.14159265359 |
BaserK | 0:e5f8da308b60 | 34 | #define GAUSS_TO_MICROTESLA 100 |
sarahbest | 3:6aac221b613d | 35 | #define QMC5883L_ADDRESS 0x1A//0x18// |
BaserK | 0:e5f8da308b60 | 36 | |
BaserK | 0:e5f8da308b60 | 37 | /* Register Definitions */ |
sarahbest | 3:6aac221b613d | 38 | #define OUT_X_LSB 0x00 |
sarahbest | 3:6aac221b613d | 39 | #define OUT_X_MSB 0x01 |
sarahbest | 3:6aac221b613d | 40 | #define OUT_Y_LSB 0x02 |
sarahbest | 3:6aac221b613d | 41 | #define OUT_Y_MSB 0x03 |
sarahbest | 3:6aac221b613d | 42 | #define OUT_Z_LSB 0x04 |
BaserK | 0:e5f8da308b60 | 43 | #define OUT_Z_MSB 0x05 |
sarahbest | 3:6aac221b613d | 44 | #define STATUS 0x06 |
sarahbest | 3:6aac221b613d | 45 | #define TEMP_LSB 0x07 |
sarahbest | 3:6aac221b613d | 46 | #define TEMP_MSB 0x08 |
sarahbest | 3:6aac221b613d | 47 | #define CONTROL_A 0x09 |
sarahbest | 3:6aac221b613d | 48 | #define CONTROL_B 0x0A |
sarahbest | 3:6aac221b613d | 49 | #define SET_RESET 0x0B |
sarahbest | 3:6aac221b613d | 50 | #define CHIP_ID 0x0D |
BaserK | 0:e5f8da308b60 | 51 | |
BaserK | 0:e5f8da308b60 | 52 | /* Magnetometer Gain Settings */ |
sarahbest | 3:6aac221b613d | 53 | enum MagScale |
BaserK | 0:e5f8da308b60 | 54 | { |
raminou | 5:d046009bc7c3 | 55 | MagScale_2G = 0x0, // +/- 2 Ga |
raminou | 5:d046009bc7c3 | 56 | MagScale_8G = 0x1, // +/- 8 Ga |
raminou | 5:d046009bc7c3 | 57 | }; |
raminou | 5:d046009bc7c3 | 58 | |
raminou | 5:d046009bc7c3 | 59 | enum OSR{ |
raminou | 5:d046009bc7c3 | 60 | osr512 = 0x0, |
raminou | 5:d046009bc7c3 | 61 | osr256 = 0x1, |
raminou | 5:d046009bc7c3 | 62 | osr128 = 0x2, |
raminou | 5:d046009bc7c3 | 63 | osr64 = 0x3 |
raminou | 5:d046009bc7c3 | 64 | }; |
raminou | 5:d046009bc7c3 | 65 | |
raminou | 5:d046009bc7c3 | 66 | enum Mode{ |
raminou | 5:d046009bc7c3 | 67 | mode_standby = 0x0, |
raminou | 5:d046009bc7c3 | 68 | mode_continuous = 0x1 |
raminou | 5:d046009bc7c3 | 69 | }; |
raminou | 5:d046009bc7c3 | 70 | |
raminou | 5:d046009bc7c3 | 71 | enum ODR{ |
raminou | 5:d046009bc7c3 | 72 | odr_1Ohz = 0x0, |
raminou | 5:d046009bc7c3 | 73 | odr_50hz = 0x1, |
raminou | 5:d046009bc7c3 | 74 | odr_100hz = 0x2, |
raminou | 5:d046009bc7c3 | 75 | odr_200hz = 0x3 |
BaserK | 0:e5f8da308b60 | 76 | }; |
BaserK | 0:e5f8da308b60 | 77 | |
sarahbest | 3:6aac221b613d | 78 | class QMC5883L |
BaserK | 0:e5f8da308b60 | 79 | { |
BaserK | 0:e5f8da308b60 | 80 | public: |
raminou | 4:2620ae5391a6 | 81 | QMC5883L(PinName sda, PinName scl); |
sarahbest | 3:6aac221b613d | 82 | void init(); |
raminou | 5:d046009bc7c3 | 83 | void changeState(OSR osr, MagScale rng, ODR odr, Mode mode); |
raminou | 5:d046009bc7c3 | 84 | void standby(); |
raminou | 5:d046009bc7c3 | 85 | void reset(); |
sarahbest | 3:6aac221b613d | 86 | double getHeading(); |
sarahbest | 3:6aac221b613d | 87 | void readMagData(float* dest); |
sarahbest | 3:6aac221b613d | 88 | int16_t getMagXvalue(); |
sarahbest | 3:6aac221b613d | 89 | int16_t getMagYvalue(); |
sarahbest | 3:6aac221b613d | 90 | int16_t getMagZvalue(); |
sarahbest | 3:6aac221b613d | 91 | int16_t getMagTemp(); |
sarahbest | 3:6aac221b613d | 92 | void ChipID(); |
BaserK | 0:e5f8da308b60 | 93 | private: |
sarahbest | 3:6aac221b613d | 94 | float setMagRange(MagScale Mscale); |
raminou | 4:2620ae5391a6 | 95 | uint8_t QMC5883L_ReadByte(uint8_t QMC5883L_reg); |
raminou | 4:2620ae5391a6 | 96 | void QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data); |
raminou | 4:2620ae5391a6 | 97 | I2C QMC5883L_i2c; |
BaserK | 0:e5f8da308b60 | 98 | }; |
BaserK | 0:e5f8da308b60 | 99 | |
raminou | 4:2620ae5391a6 | 100 | #endif |