Forked from Jose R. Padron and Aaron Berk's library, customized for my specific application using 9DoF-Stick by Sparkfun.
Fork of HMC5843 by
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@5:a83508250db7, 2012-09-12 (annotated)
- Committer:
- gltest26
- Date:
- Wed Sep 12 22:53:13 2012 +0000
- Revision:
- 5:a83508250db7
- Parent:
- 4:7a90125eedcf
- Child:
- 6:05aa3555fce6
Collected common codes into a function getWord() to reduce duplicate codes.; Also made byte ordering and sign extending portable.
Who changed what in which revision?
User | Revision | Line number | New 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 | 4:7a90125eedcf | 39 | HMC5843::HMC5843(PinName sda, PinName scl) : i2c_(sda, scl){ |
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 | } |