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Diff: HMC5883L.cpp
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- 1:b39752f2d354
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--- a/HMC5883L.cpp Thu Dec 12 02:25:11 2013 +0000 +++ b/HMC5883L.cpp Tue Jan 03 09:22:45 2017 +0000 @@ -1,174 +1,133 @@ -/** - * @author Jose R. Padron - * @author Used HMC6352 library developed by Aaron Berk as template - * @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 HMC5883Ldigital compass. - * - * Datasheet: - * - * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf - */ - -/** - * Includes - */ #include "HMC5883L.h" -HMC5883L::HMC5883L(PinName sda, PinName scl) { - - i2c_ = new I2C(sda, scl); +HMC5883L::HMC5883L(PinName sda, PinName scl): i2c(sda, scl) +{ //100KHz, as specified by the datasheet. - i2c_->frequency(100000); - - -} - - -void HMC5883L::write(int address, int data) { - - char tx[2]; - - tx[0]=address; - tx[1]=data; + char rx; - i2c_->write(HMC5883L_I2C_WRITE,tx,2); - - wait_ms(100); - -} - - -void HMC5883L::setSleepMode() { - write(HMC5883L_MODE, HMC5883L_SLEEP); -} - -void HMC5883L::setDefault(void) { - - write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL); - write(HMC5883L_CONFIG_B,HMC5883L_1_0GA); - write(HMC5883L_MODE,HMC5883L_CONTINUOUS); - wait_ms(100); + i2c.frequency(100000); + //Testar depois com 400KHz + //========================================================================================================== + // Read chip_id + //========================================================================================================== + rx = Read(HMC5883L_IDENT_A); + if (rx != 0x48)//ID do chip + printf("\ninvalid chip id %d\r\n", rx); + + //========================================================================================================== + // Let's set the Configuration Register A + //========================================================================================================== + // This register set's the number of samples averaged per measurement output, the rate at which data is written + // to all three data output registers and the measurement flow of the device. + // ------------------------------------------------------- + // |CRA7 CRA6 CRA5 CRA4 CRA3 CRA2 CRA1 CRA0 | + // |(1) MA1(1) MA0(1) DO2(1) DO1(0) DO0(0) MS1(0) MS0(0)| -> This is the default value + // ------------------------------------------------------- + // CRA7 -> we have to clear this bit for correct operation (0) + // CRA6 to CRA5 -> Let's select the maximum number of samples averaged per measurement output (11) + // CRA4 to CRA2 -> Also let's select the maximum data output rate (110) + // CRA1 to CRA0 -> The measurement flow is defined to normal (00) + // ------------------------------------------------------- + // |CRA7 CRA6 CRA5 CRA4 CRA3 CRA2 CRA1 CRA0 | + // |(0) MA1(1) MA0(1) DO2(1) DO1(1) DO0(0) MS1(0) MS0(0)| -> This is the new value, 0x78 in hex + // ------------------------------------------------------- + //Write(HMC5883L_CONFIG_A,0x78); + //Write(HMC5883L_CONFIG_A,0x70); + + //========================================================================================================== + // The Configuration Register B is set to 0010 0000 by default, this is a +/- 1.3 Ga sensor field range and + // the gain of LSB/gauss is 1090. This is the maximum value, so let's leave it like that. + //========================================================================================================== + //Datasheet page 13. I will explain later + //Write(HMC5883L_CONFIG_B,0x20); + //Write(HMC5883L_CONFIG_B,0xA0); + + //========================================================================================================== + // Let's set the Mode Register + //========================================================================================================== + // This register set's the operation mode, from continuous-measurements mode, single-measurement mode and idle mode. + // We will set to Continuouse-measurement mode, so the device continuously performs measurements and places the + // result in the data register + // --------------------------------------------- + // |MR7 MR6 MR5 MR4 MR3 MR2 MR1 MR0 | -> This is the new value, 0x78 in hex, we are going to change + // |(1) (0) (0) (0) (0) (0) MD1(0) MD0(1)| the MD1 and MD0 to 00 and clear the MR7 for correct operation. + // --------------------------------------------- The final value is 0000 0000 (0x00). + Write(HMC5883L_MODE,0x00); } -void HMC5883L::getAddress(char *buffer) { - - char rx[3]; - char tx[1]; - tx[0]=HMC5883L_IDENT_A; - - - i2c_->write(HMC5883L_I2C_WRITE, tx,1); - - wait_ms(1); - - i2c_->read(HMC5883L_I2C_READ,rx,3); - - buffer[0]=rx[0]; - buffer[1]=rx[1]; - buffer[2]=rx[2]; +void HMC5883L::Write(char reg_address, char data) +{ + char tx[2]; + tx[0]=reg_address; + tx[1]=data; + + i2c.write(HMC5883L_I2C_WRITE,tx,2); +} + +char HMC5883L::Read(char data) +{ + char tx = data; + char rx; + + i2c.write(HMC5883L_I2C_WRITE, &tx, 1); + i2c.read(HMC5883L_I2C_READ, &rx, 1); + return rx; +} + +void HMC5883L::MultiByteRead(char address, char* output, int size) +{ + i2c.write(HMC5883L_I2C_WRITE, &address, 1); //tell it where to read from + i2c.read(HMC5883L_I2C_READ, output, size); //tell it where to store the data read } +float HMC5883L::getMx() +{ + //return (x * m_Scale); + char lsb_byte = 0; + signed short msb_byte; + + lsb_byte = Read(HMC5883L_X_MSB); + msb_byte = lsb_byte << 8; + msb_byte |= Read(HMC5883L_X_LSB); + return (float)msb_byte; + /* + char tx[1]; + char rx[2]; -void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) { - - - write(HMC5883L_CONFIG_A,ConfigA); - write(HMC5883L_CONFIG_B,ConfigB); - write(HMC5883L_MODE,mode); - + tx[0]=HMC5883L_X_MSB; + i2c.write(HMC5883L_I2C_READ,tx,1); + i2c.read(HMC5883L_I2C_READ,rx,2); + return ((int)rx[0]<<8|(int)rx[1]); + */ + +} +float HMC5883L::getMy() +{ + //return (y * m_Scale); + + char lsb_byte = 0; + signed short msb_byte; + + lsb_byte = Read(HMC5883L_Y_MSB); + msb_byte = lsb_byte << 8; + msb_byte |= Read(HMC5883L_Y_LSB); + return (float)msb_byte; } - - -void HMC5883L::readData(int* readings) { - - - char tx[1]; - char rx[2]; - - - tx[0]=HMC5883L_X_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - readings[0]= (int)rx[0]<<8|(int)rx[1]; - - - tx[0]=HMC5883L_Y_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - readings[1]= (int)rx[0]<<8|(int)rx[1]; - - tx[0]=HMC5883L_Z_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - readings[2]= (int)rx[0]<<8|(int)rx[1]; - -} - -int HMC5883L::getMx() { - - char tx[1]; - char rx[2]; - +float HMC5883L::getMz() +{ + //return (z * m_Scale); - tx[0]=HMC5883L_X_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - return ((int)rx[0]<<8|(int)rx[1]); - -} - -int HMC5883L::getMy() { + char lsb_byte = 0; + signed short msb_byte; - char tx[1]; - char rx[2]; - - - tx[0]=HMC5883L_Y_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - return ((int)rx[0]<<8|(int)rx[1]); - -} - - -int HMC5883L::getMz(){ - - char tx[1]; - char rx[2]; - - - tx[0]=HMC5883L_Z_MSB; - i2c_->write(HMC5883L_I2C_READ,tx,1); - i2c_->read(HMC5883L_I2C_READ,rx,2); - return ((int)rx[0]<<8|(int)rx[1]); - -} + lsb_byte = Read(HMC5883L_Z_MSB); + msb_byte = lsb_byte << 8; + msb_byte |= Read(HMC5883L_Z_LSB); + return (float)msb_byte; + } \ No newline at end of file