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.h
- Committer:
- gltest26
- Date:
- 2012-09-12
- Revision:
- 5:a83508250db7
- Parent:
- 4:7a90125eedcf
- Child:
- 6:05aa3555fce6
File content as of revision 5:a83508250db7:
/** * @file HMC5843.h * @author Jose R. Padron * @author Used HMC5843 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 HMC5843 digital compass. * * Datasheet: * * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf */ #ifndef HMC5843_H #define HMC5843_H #include "mbed.h" #define HMC5843_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read. #define HMC5843_I2C_WRITE 0x3C #define HMC5843_I2C_READ 0x3D //Values Config A #define HMC5843_0_5HZ_NORMAL 0x00 #define HMC5843_0_5HZ_POSITIVE 0x01 #define HMC5843_0_5HZ_NEGATIVE 0x02 #define HMC5843_1HZ_NORMAL 0x04 #define HMC5843_1HZ_POSITIVE 0x05 #define HMC5843_1HZ_NEGATIVE 0x06 #define HMC5843_2HZ_NORMAL 0x08 #define HMC5843_2HZ_POSITIVE 0x09 #define HMC5843_2HZ_NEGATIVE 0x0A #define HMC5843_5HZ_NORMAL 0x0C #define HMC5843_5HZ_POSITIVE 0x0D #define HMC5843_5HZ_NEGATIVE 0x0E #define HMC5843_10HZ_NORMAL 0x10 #define HMC5843_10HZ_POSITIVE 0x11 #define HMC5843_10HZ_NEGATIVE 0x12 #define HMC5843_20HZ_NORMAL 0x14 #define HMC5843_20HZ_POSITIVE 0x15 #define HMC5843_20HZ_NEGATIVE 0x16 #define HMC5843_50HZ_NORMAL 0x18 #define HMC5843_50HZ_POSITIVE 0x19 #define HMC5843_50HZ_NEGATIVE 0x1A //Values Config B #define HMC5843_0_7GA 0x00 #define HMC5843_1_0GA 0x20 #define HMC5843_1_5GA 0x40 #define HMC5843_2_0GA 0x60 #define HMC5843_3_2GA 0x80 #define HMC5843_3_8GA 0xA0 #define HMC5843_4_5GA 0xC0 #define HMC5843_6_5GA 0xE0 //Values MODE #define HMC5843_CONTINUOUS 0x00 #define HMC5843_SINGLE 0x01 #define HMC5843_IDLE 0x02 #define HMC5843_SLEEP 0x03 #define HMC5843_CONFIG_A 0x00 #define HMC5843_CONFIG_B 0x01 #define HMC5843_MODE 0x02 #define HMC5843_X_MSB 0x03 #define HMC5843_X_LSB 0x04 #define HMC5843_Y_MSB 0x05 #define HMC5843_Y_LSB 0x06 #define HMC5843_Z_MSB 0x07 #define HMC5843_Z_LSB 0x08 #define HMC5843_STATUS 0x09 #define HMC5843_IDENT_A 0x0A #define HMC5843_IDENT_B 0x0B #define HMC5843_IDENT_C 0x0C /** * Honeywell HMC5843 digital compass. */ class HMC5843 { public: /** * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left). * * You don't need to manually set or clear the LSB when calling I2C::read() or I2C::write(), * the library takes care of it. We just always clear the LSB. */ static const int I2C_ADDRESS = HMC5843_I2C_WRITE; /** * Constructor. * * @param sda mbed pin to use for SDA line of I2C interface. * @param scl mbed pin to use for SCL line of I2C interface. */ HMC5843(PinName sda, PinName scl); /** * Enter into sleep mode. * */ void setSleepMode(); /** * Set Device in Default Mode. * HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA */ void setDefault(); /** * Read the memory location on the device which contains the address. * * @param Pointer to a buffer to hold the address value * Expected H, 4 and 3. */ void getAddress(char * address); /** * Set the operation mode. * * @param mode 0x00 -> Continuous * 0x01 -> Single * 0x02 -> Idle * @param ConfigA values * @param ConfigB values */ void setOpMode(int mode, int ConfigA, int ConfigB); /** * Write to on the device. * * @param address Address to write to. * @param data Data to write. */ void write(int address, int data); /** * Get the output of all three axes. * * @param Pointer to a buffer to hold the magnetics value for the * x-axis, y-axis and z-axis [in that order]. */ void readData(int* readings); /** * Get the output of X axis. * * @return x-axis magnetic value */ int getMx(){ return getWord(HMC5843_X_MSB); } /** * Get the output of Y axis. * * @return y-axis magnetic value */ int getMy(){ return getWord(HMC5843_Y_MSB); } /** * Get the output of Z axis. * * @return z-axis magnetic value */ int getMz(){ return getWord(HMC5843_Z_MSB); } /** * Get the current operation mode. * * @return Status register values */ int getStatus(void); protected: /** * Reads a word (2 bytes) from the sensor via I2C bus. * * The queried value is assumed big-endian, 2's complement value. * * This protected function is added because we shouldn't write getMx(), getMy() and getMz() * independently, but collect common codes. * * @param regi Register address to be read. */ int getWord(int regi); private: /** * Internal I2C object for communicating with the device. * * Changed from a pointer (new allocated object) from embedded object. * The I2C class object is not meant to be allocated in the heap, but * in the global storage. * There's no point dynamically allocating an I2C object in this class, * at least you should write destructor to release it! */ I2C i2c_; /** * Converts big-endian 2's complement byte pair to native byte order of * the CPU and then sign extend it to the CPU's register size. * * Implemented here to make the compiler inline expand it. */ int swapExtend(const char rx[2]){ // Readings are expressed in 16bit 2's complement, so we must first // concatenate two bytes to make a word and sign extend it to obtain // correct negative values. // ARMCC compiles char as unsigned, which means no sign extension is // performed during bitwise operations to chars. But we should make sure // that lower byte won't extend its sign past upper byte for other // compilers if we want to keep it portable. return int16_t(((unsigned char)rx[0] << 8) | (unsigned char)rx[1]); } }; #endif /* HMC5843_H */