Private HMC5843 library
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HMC5843.cpp
00001 /** 00002 * @author Jose R. Padron 00003 *@author Used HMCHMC6352 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 HMC5843digital compass. 00029 * 00030 * Datasheet: 00031 * 00032 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf 00033 */ 00034 00035 /** 00036 * Includes 00037 */ 00038 #include "HMC5843.h" 00039 00040 HMC5843::HMC5843(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 void HMC5843::write(int address, int data) { 00051 00052 char tx[2]; 00053 00054 tx[0]=address; 00055 tx[1]=data; 00056 00057 i2c_->write(HMC5843_I2C_WRITE,tx,2); 00058 00059 wait_ms(100); 00060 00061 } 00062 00063 00064 void HMC5843::setSleepMode() { 00065 00066 write(HMC5843_MODE, HMC5843_SLEEP); 00067 } 00068 00069 void HMC5843::setDefault(void) { 00070 00071 write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL); 00072 write(HMC5843_CONFIG_B,HMC5843_1_0GA); 00073 write(HMC5843_MODE,HMC5843_CONTINUOUS); 00074 wait_ms(100); 00075 } 00076 00077 //void HMC5843::SelfTest() { 00078 00079 //Future 00080 00081 //} 00082 00083 00084 void HMC5843::getAddress(char *buffer) { 00085 00086 char rx[3]; 00087 char tx[1]; 00088 tx[0]=HMC5843_IDENT_A; 00089 00090 00091 i2c_->write(HMC5843_I2C_WRITE, tx,1); 00092 00093 wait_ms(1); 00094 00095 i2c_->read(HMC5843_I2C_READ,rx,3); 00096 00097 buffer[0]=rx[0]; 00098 buffer[1]=rx[1]; 00099 buffer[2]=rx[2]; 00100 } 00101 00102 00103 00104 void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB) { 00105 00106 00107 write(HMC5843_CONFIG_A,ConfigA); 00108 write(HMC5843_CONFIG_B,ConfigB); 00109 write(HMC5843_MODE,mode); 00110 00111 00112 } 00113 00114 00115 00116 00117 void HMC5843::readData(int* readings) { 00118 00119 00120 char tx[1]; 00121 char rx[2]; 00122 00123 00124 tx[0]=HMC5843_X_MSB; 00125 i2c_->write(HMC5843_I2C_READ,tx,1); 00126 i2c_->read(HMC5843_I2C_READ,rx,2); 00127 readings[0]= (int)rx[0]<<8|(int)rx[1]; 00128 00129 00130 tx[0]=HMC5843_Y_MSB; 00131 i2c_->write(HMC5843_I2C_READ,tx,1); 00132 i2c_->read(HMC5843_I2C_READ,rx,2); 00133 readings[1]= (int)rx[0]<<8|(int)rx[1]; 00134 00135 tx[0]=HMC5843_Z_MSB; 00136 i2c_->write(HMC5843_I2C_READ,tx,1); 00137 i2c_->read(HMC5843_I2C_READ,rx,2); 00138 readings[2]= (int)rx[0]<<8|(int)rx[1]; 00139 00140 00141 //readings[0] = (int)buffer[0] << 8 | (int)buffer[1]; 00142 //readings[1] = (int)buffer[2] << 8 | (int)buffer[3]; 00143 //readings[2] = (int)buffer[4] << 8 | (int)buffer[5]; 00144 00145 // readings[0]=buffer[0]; 00146 //readings[1]=buffer[1]; 00147 // readings[2]=buffer[2]; 00148 // readings[3]=buffer[3]; 00149 // readings[4]=buffer[4]; 00150 // readings[5]=buffer[5]; 00151 }
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