James Watanabe / HMC5843

Forked from Jose R. Padron and Aaron Berk's library, customized for my specific application using 9DoF-Stick by Sparkfun.

Fork of HMC5843 by Jose R Padron

HMC5843 is triple axis, digital interface compass (geomagnetic sensor).

This library is forked from Jose R. Padron and Aaron Berk's work.

This library is for specific application using 9DoF-Stick.

Datasheet:

http://www.sparkfun.com/datasheets/Sensors/Magneto/HMC5843.pdf

HMC5843 は3軸のデジタルインターフェースを備えたコンパス（地磁気センサ）です。

このライブラリは 9DoF-Stick を使用した特定の企画のために保守しています。

mbed IDEが日本語をサポートするまでは英語でコメントを書いていきますが、サポートした後もきっと英語で書いていくでしょう。

HMC5843.cpp@6:05aa3555fce6, 2012-09-29 (annotated)

Committer:
gltest26
Date:
Sat Sep 29 14:18:48 2012 +0000
Revision:
6:05aa3555fce6
Parent:
5:a83508250db7 
Added a new constructor to accept an external I2C interface object.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elrafapadron 0:ae7d06398888 1 /**
gltest26 4:7a90125eedcf 2 * @file HMC5843.cpp
elrafapadron 0:ae7d06398888 3 * @author Jose R. Padron
elrafapadron 2:fdab96fc6fff 4 * @author Used HMC6352 library developed by Aaron Berk as template
elrafapadron 0:ae7d06398888 5 * @section LICENSE
elrafapadron 0:ae7d06398888 6 *
elrafapadron 0:ae7d06398888 7 * Copyright (c) 2010 ARM Limited
elrafapadron 0:ae7d06398888 8 *
elrafapadron 0:ae7d06398888 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
elrafapadron 0:ae7d06398888 10 * of this software and associated documentation files (the "Software"), to deal
elrafapadron 0:ae7d06398888 11 * in the Software without restriction, including without limitation the rights
elrafapadron 0:ae7d06398888 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
elrafapadron 0:ae7d06398888 13 * copies of the Software, and to permit persons to whom the Software is
elrafapadron 0:ae7d06398888 14 * furnished to do so, subject to the following conditions:
elrafapadron 0:ae7d06398888 15 *
elrafapadron 0:ae7d06398888 16 * The above copyright notice and this permission notice shall be included in
elrafapadron 0:ae7d06398888 17 * all copies or substantial portions of the Software.
elrafapadron 0:ae7d06398888 18 *
elrafapadron 0:ae7d06398888 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
elrafapadron 0:ae7d06398888 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
elrafapadron 0:ae7d06398888 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
elrafapadron 0:ae7d06398888 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
elrafapadron 0:ae7d06398888 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
elrafapadron 0:ae7d06398888 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
elrafapadron 0:ae7d06398888 25 * THE SOFTWARE.
elrafapadron 0:ae7d06398888 26 *
elrafapadron 0:ae7d06398888 27 * @section DESCRIPTION
elrafapadron 0:ae7d06398888 28 *
elrafapadron 0:ae7d06398888 29 * Honeywell HMC5843digital compass.
elrafapadron 0:ae7d06398888 30 *
elrafapadron 0:ae7d06398888 31 * Datasheet:
elrafapadron 0:ae7d06398888 32 *
elrafapadron 0:ae7d06398888 33 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf
elrafapadron 0:ae7d06398888 34 */
elrafapadron 0:ae7d06398888 35
gltest26 4:7a90125eedcf 36
elrafapadron 0:ae7d06398888 37 #include "HMC5843.h"
elrafapadron 0:ae7d06398888 38
gltest26 6:05aa3555fce6 39 HMC5843::HMC5843(PinName sda, PinName scl) : i2c_(*(new I2C(sda, scl))), myI2c(&i2c_){
elrafapadron 0:ae7d06398888 40
elrafapadron 0:ae7d06398888 41 //100KHz, as specified by the datasheet.
gltest26 4:7a90125eedcf 42 i2c_.frequency(100000);
elrafapadron 0:ae7d06398888 43
elrafapadron 0:ae7d06398888 44
elrafapadron 0:ae7d06398888 45 }
elrafapadron 0:ae7d06398888 46
elrafapadron 0:ae7d06398888 47
elrafapadron 0:ae7d06398888 48 void HMC5843::write(int address, int data) {
elrafapadron 0:ae7d06398888 49
elrafapadron 0:ae7d06398888 50 char tx[2];
elrafapadron 0:ae7d06398888 51
elrafapadron 0:ae7d06398888 52 tx[0]=address;
elrafapadron 0:ae7d06398888 53 tx[1]=data;
elrafapadron 0:ae7d06398888 54
gltest26 4:7a90125eedcf 55 i2c_.write(HMC5843_I2C_WRITE,tx,2);
elrafapadron 0:ae7d06398888 56
elrafapadron 0:ae7d06398888 57 wait_ms(100);
elrafapadron 0:ae7d06398888 58
elrafapadron 0:ae7d06398888 59 }
elrafapadron 0:ae7d06398888 60
elrafapadron 0:ae7d06398888 61
elrafapadron 0:ae7d06398888 62 void HMC5843::setSleepMode() {
elrafapadron 0:ae7d06398888 63
elrafapadron 0:ae7d06398888 64 write(HMC5843_MODE, HMC5843_SLEEP);
elrafapadron 0:ae7d06398888 65 }
elrafapadron 0:ae7d06398888 66
elrafapadron 0:ae7d06398888 67 void HMC5843::setDefault(void) {
elrafapadron 0:ae7d06398888 68
elrafapadron 0:ae7d06398888 69 write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL);
elrafapadron 0:ae7d06398888 70 write(HMC5843_CONFIG_B,HMC5843_1_0GA);
elrafapadron 0:ae7d06398888 71 write(HMC5843_MODE,HMC5843_CONTINUOUS);
elrafapadron 0:ae7d06398888 72 wait_ms(100);
elrafapadron 0:ae7d06398888 73 }
elrafapadron 0:ae7d06398888 74
elrafapadron 0:ae7d06398888 75
elrafapadron 0:ae7d06398888 76 void HMC5843::getAddress(char *buffer) {
elrafapadron 0:ae7d06398888 77
elrafapadron 0:ae7d06398888 78 char rx[3];
elrafapadron 0:ae7d06398888 79 char tx[1];
elrafapadron 0:ae7d06398888 80 tx[0]=HMC5843_IDENT_A;
elrafapadron 0:ae7d06398888 81
elrafapadron 0:ae7d06398888 82
gltest26 4:7a90125eedcf 83 i2c_.write(HMC5843_I2C_WRITE, tx,1);
elrafapadron 0:ae7d06398888 84
elrafapadron 0:ae7d06398888 85 wait_ms(1);
elrafapadron 0:ae7d06398888 86
gltest26 4:7a90125eedcf 87 i2c_.read(HMC5843_I2C_READ,rx,3);
elrafapadron 0:ae7d06398888 88
elrafapadron 0:ae7d06398888 89 buffer[0]=rx[0];
elrafapadron 0:ae7d06398888 90 buffer[1]=rx[1];
elrafapadron 0:ae7d06398888 91 buffer[2]=rx[2];
elrafapadron 0:ae7d06398888 92 }
elrafapadron 0:ae7d06398888 93
elrafapadron 0:ae7d06398888 94
elrafapadron 0:ae7d06398888 95
elrafapadron 0:ae7d06398888 96 void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB) {
elrafapadron 0:ae7d06398888 97
elrafapadron 0:ae7d06398888 98
elrafapadron 0:ae7d06398888 99 write(HMC5843_CONFIG_A,ConfigA);
elrafapadron 0:ae7d06398888 100 write(HMC5843_CONFIG_B,ConfigB);
elrafapadron 0:ae7d06398888 101 write(HMC5843_MODE,mode);
elrafapadron 0:ae7d06398888 102
elrafapadron 0:ae7d06398888 103
elrafapadron 0:ae7d06398888 104 }
elrafapadron 0:ae7d06398888 105
elrafapadron 0:ae7d06398888 106
elrafapadron 0:ae7d06398888 107
elrafapadron 0:ae7d06398888 108
elrafapadron 0:ae7d06398888 109 void HMC5843::readData(int* readings) {
gltest26 4:7a90125eedcf 110 char tx[1] = {HMC5843_X_MSB};
gltest26 4:7a90125eedcf 111 i2c_.write(HMC5843_I2C_READ, tx, 1);
elrafapadron 0:ae7d06398888 112
gltest26 4:7a90125eedcf 113 char rx[6];
gltest26 3:69f24a492b69 114 // Burst read all registers to enhance bus speed.
gltest26 4:7a90125eedcf 115 i2c_.read(HMC5843_I2C_READ, rx, 6);
gltest26 3:69f24a492b69 116
gltest26 5:a83508250db7 117 readings[0] = swapExtend(&rx[0]);
gltest26 5:a83508250db7 118 readings[1] = swapExtend(&rx[2]);
gltest26 5:a83508250db7 119 readings[2] = swapExtend(&rx[4]);
elrafapadron 0:ae7d06398888 120
elrafapadron 0:ae7d06398888 121 }
elrafapadron 2:fdab96fc6fff 122
gltest26 5:a83508250db7 123 int HMC5843::getWord(int regi){
elrafapadron 2:fdab96fc6fff 124
gltest26 5:a83508250db7 125 char tx = regi;
elrafapadron 2:fdab96fc6fff 126 char rx[2];
elrafapadron 2:fdab96fc6fff 127
gltest26 5:a83508250db7 128 i2c_.write(I2C_ADDRESS, &tx, 1);
elrafapadron 2:fdab96fc6fff 129
gltest26 5:a83508250db7 130 i2c_.read(I2C_ADDRESS, rx, 2);
gltest26 5:a83508250db7 131
gltest26 5:a83508250db7 132 return swapExtend(rx);
elrafapadron 2:fdab96fc6fff 133 }