Diff: HMC6352.cpp

Revision:

0:83c0cb554099

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6352.cpp	Sat Nov 27 12:15:03 2010 +0000
@@ -0,0 +1,270 @@
+/**
+ * @author Aaron Berk
+ * 
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * Honeywell HMC6352 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "HMC6352.h"
+
+HMC6352::HMC6352(PinName sda, PinName scl) {
+
+    i2c_ = new I2C(sda, scl);
+    //100KHz, as specified by the datasheet.
+    i2c_->frequency(100000);
+
+    operationMode_ = getOpMode();
+
+}
+
+int HMC6352::sample(void) {
+
+    char tx[1];
+    char rx[2];
+
+    if (operationMode_ == HMC6352_STANDBY || operationMode_ == HMC6352_QUERY) {
+        tx[0] = HMC6352_GET_DATA;
+
+        i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+        wait_ms(1);
+    }
+
+    i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 2);
+    wait_ms(1);
+
+    return (((int)rx[0] << 8) | (int)rx[1]);
+
+}
+
+void HMC6352::setSleepMode(int exitOrEnter) {
+
+    char tx[1];
+
+    tx[0] = exitOrEnter;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(1);
+
+}
+
+void HMC6352::setReset(void) {
+
+    char tx[1];
+
+    tx[0] = HMC6352_SET_RESET;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(7);
+
+}
+
+void HMC6352::setCalibrationMode(int exitOrEnter) {
+
+    char tx[1];
+    int delay = 0;
+
+    tx[0] = exitOrEnter;
+
+    if (exitOrEnter == HMC6352_EXIT_CALIB) {
+        delay = 15;
+    } else if (exitOrEnter == HMC6352_ENTER_CALIB) {
+        delay = 1;
+    }
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(delay);
+
+}
+
+void HMC6352::saveOpMode(void) {
+
+    char tx[1];
+
+    tx[0] = HMC6352_SAVE_OPMODE;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+    wait_ms(1);
+
+}
+
+int HMC6352::getSlaveAddress(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SLAVE_ADDR);
+
+}
+
+int HMC6352::getOffset(int axis) {
+
+    char rx[2] = {0x00, 0x00};
+
+    if (axis == HMC6352_MX_OFFSET) {
+
+        rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_MSB);
+        rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_LSB);
+
+    } else if (axis == HMC6352_MY_OFFSET) {
+
+        rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_MSB);
+        rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_LSB);
+
+    }
+
+    return ((rx[0] << 8) | (rx[1]));
+
+}
+
+void HMC6352::setOffset(int axis, int offset) {
+
+    char tx[2] = {0x00, 0x00};
+
+    tx[0] = (offset & 0x0000FF00) >> 8;
+    tx[1] = (offset & 0x000000FF);
+
+    if (axis == HMC6352_MX_OFFSET) {
+
+        write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[0]);
+        write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[1]);
+
+    } else if (axis == HMC6352_MY_OFFSET) {
+
+        write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[0]);
+        write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[1]);
+
+    }
+
+}
+
+int HMC6352::getTimeDelay(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_TIME_DELAY);
+
+}
+
+void HMC6352::setTimeDelay(int delay) {
+
+    write(HMC6352_EEPROM_WRITE, HMC6352_TIME_DELAY, delay);
+
+}
+
+int HMC6352::getSumNumber(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SUMMED);
+
+}
+
+void HMC6352::setSumNumber(int sum) {
+
+    write(HMC6352_EEPROM_WRITE, HMC6352_SUMMED, sum);
+
+}
+
+int HMC6352::getSoftwareVersion(void) {
+
+    return read(HMC6352_EEPROM_READ, HMC6352_SOFT_VER);
+
+}
+
+int HMC6352::getOpMode(void) {
+
+    int response = 0;
+
+    response = read(HMC6352_RAM_READ, HMC6352_RAM_OPMODE);
+
+    return (response & 0x00000003);
+
+}
+
+void HMC6352::setOpMode(int mode, int periodicSetReset, int measurementRate) {
+
+    char opModeByte = mode;
+
+    if (periodicSetReset == 1) {
+        opModeByte |= HMC6352_PERIODIC_SR;
+    }
+
+    if (measurementRate == 5) {
+        opModeByte |= HMC6352_CM_MR_5HZ;
+    } else if (measurementRate == 10) {
+        opModeByte |= HMC6352_CM_MR_10HZ;
+    } else if (measurementRate == 20) {
+        opModeByte |= HMC6352_CM_MR_20HZ;
+    }
+
+    write(HMC6352_RAM_WRITE, HMC6352_RAM_OPMODE, opModeByte);
+    write(HMC6352_EEPROM_WRITE, HMC6352_OPMODE, opModeByte);
+
+    operationMode_ = mode;
+
+}
+
+int HMC6352::getOutputMode(void) {
+
+    return read(HMC6352_RAM_READ, HMC6352_RAM_OUTPUT);
+
+}
+
+void HMC6352::setOutputMode(int mode) {
+
+    write(HMC6352_RAM_WRITE, HMC6352_RAM_OUTPUT, mode);
+
+}
+
+void HMC6352::write(int EepromOrRam, int address, int data) {
+
+    char tx[3];
+
+    tx[0] = EepromOrRam;
+    tx[1] = address;
+    tx[2] = data;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 3);
+    wait_ms(1);
+
+}
+
+int HMC6352::read(int EepromOrRam, int address) {
+
+    char tx[2];
+    char rx[1];
+
+    tx[0] = EepromOrRam;
+    tx[1] = address;
+
+    i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+    wait_ms(1);
+    i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 1);
+    wait_ms(1);
+
+    return (rx[0]);
+
+}