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Diff: HMC5883L.cpp
- Revision:
- 0:cad18db1e431
- Child:
- 1:17f3539e91b0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.cpp Thu Dec 12 02:25:11 2013 +0000 @@ -0,0 +1,174 @@ +/** + * @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); + //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; + + 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); +} + + +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::setOpMode(int mode, int ConfigA, int ConfigB) { + + + write(HMC5883L_CONFIG_A,ConfigA); + write(HMC5883L_CONFIG_B,ConfigB); + write(HMC5883L_MODE,mode); + + +} + + + + +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]; + + + 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 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]); + +}