Chase Farmer / HMC5883L

HMC5883L Digital Compass Library

Fork of HMC5883L by Baser Kandehir

HMC5883L.h@0:e5f8da308b60, 2015-08-05 (annotated)

Committer:
BaserK
Date:
Wed Aug 05 12:59:07 2015 +0000
Revision:
0:e5f8da308b60
Child:
1:4c295f793d46
first working library of compass

Who changed what in which revision?

UserRevisionLine numberNew 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
BaserK 0:e5f8da308b60 26 #ifndef HMC5883L_H
BaserK 0:e5f8da308b60 27 #define HMC5883L_H
BaserK 0:e5f8da308b60 28
BaserK 0:e5f8da308b60 29 #include "mbed.h"
BaserK 0:e5f8da308b60 30 #include "math.h"
BaserK 0:e5f8da308b60 31 #include "ledControl.h"
BaserK 0:e5f8da308b60 32
BaserK 0:e5f8da308b60 33 #define PI 3.14159265359
BaserK 0:e5f8da308b60 34 #define GAUSS_TO_MICROTESLA 100
BaserK 0:e5f8da308b60 35 #define HMC5883L_ADDRESS 0x3C
BaserK 0:e5f8da308b60 36
BaserK 0:e5f8da308b60 37 /* Register Definitions */
BaserK 0:e5f8da308b60 38 #define CONFIG_A 0x00
BaserK 0:e5f8da308b60 39 #define CONFIG_B 0x01
BaserK 0:e5f8da308b60 40 #define MODE 0x02
BaserK 0:e5f8da308b60 41 #define OUT_X_MSB 0x03
BaserK 0:e5f8da308b60 42 #define OUT_X_LSB 0x04
BaserK 0:e5f8da308b60 43 #define OUT_Z_MSB 0x05
BaserK 0:e5f8da308b60 44 #define OUT_Z_LSB 0x06
BaserK 0:e5f8da308b60 45 #define OUT_Y_MSB 0x07
BaserK 0:e5f8da308b60 46 #define OUT_Y_LSB 0x08
BaserK 0:e5f8da308b60 47 #define STATUS 0x09
BaserK 0:e5f8da308b60 48 #define ID_A 0x0A
BaserK 0:e5f8da308b60 49 #define ID_B 0x0B
BaserK 0:e5f8da308b60 50 #define ID_C 0x0C
BaserK 0:e5f8da308b60 51
BaserK 0:e5f8da308b60 52 /* Magnetometer Gain Settings */
BaserK 0:e5f8da308b60 53 enum MagGain
BaserK 0:e5f8da308b60 54 {
BaserK 0:e5f8da308b60 55 MagGain_088 = 0x00, // +/- 0.88 Ga
BaserK 0:e5f8da308b60 56 MagGain_13 = 0x20, // +/- 1.3 Ga
BaserK 0:e5f8da308b60 57 MagGain_19 = 0x40, // +/- 1.9 Ga
BaserK 0:e5f8da308b60 58 MagGain_25 = 0x60, // +/- 2.5 Ga
BaserK 0:e5f8da308b60 59 MagGain_40 = 0x80, // +/- 4.0 Ga
BaserK 0:e5f8da308b60 60 MagGain_47 = 0xA0, // +/- 4.7 Ga
BaserK 0:e5f8da308b60 61 MagGain_56 = 0xC0, // +/- 5.6 Ga
BaserK 0:e5f8da308b60 62 MagGain_81 = 0xE0 // +/- 8.1 Ga
BaserK 0:e5f8da308b60 63 };
BaserK 0:e5f8da308b60 64
BaserK 0:e5f8da308b60 65 class HMC5883L
BaserK 0:e5f8da308b60 66 {
BaserK 0:e5f8da308b60 67 public:
BaserK 0:e5f8da308b60 68 void init();
BaserK 0:e5f8da308b60 69 double getHeading();
BaserK 0:e5f8da308b60 70 private:
BaserK 0:e5f8da308b60 71 void setMagGain(MagGain gain);
BaserK 0:e5f8da308b60 72 void writeByte(uint8_t address, uint8_t regAddress, uint8_t data);
BaserK 0:e5f8da308b60 73 char readByte(uint8_t address, uint8_t regAddress);
BaserK 0:e5f8da308b60 74 void readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest);
BaserK 0:e5f8da308b60 75 void readMagData(float* dest);
BaserK 0:e5f8da308b60 76 };
BaserK 0:e5f8da308b60 77
BaserK 0:e5f8da308b60 78 #endif