fadi ladhari
d
Diff: HMC5883L.cpp
- Revision:
- 1:17f3539e91b0
- Parent:
- 0:cad18db1e431
diff -r cad18db1e431 -r 17f3539e91b0 HMC5883L.cpp
--- a/HMC5883L.cpp Thu Dec 12 02:25:11 2013 +0000
+++ b/HMC5883L.cpp Sun Feb 05 23:07:34 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;
+ }
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