GM AT / HMC5883

magnetometer

HMC5883L.cpp@0:94cb8cb26bf8, 2013-12-12 (annotated)

Committer:
gmatjuara
Date:
Thu Dec 12 02:30:07 2013 +0000
Revision:
0:94cb8cb26bf8
magnetometer

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gmatjuara 0:94cb8cb26bf8 1 /**
gmatjuara 0:94cb8cb26bf8 2 * @author Jose R. Padron
gmatjuara 0:94cb8cb26bf8 3 * @author Used HMC6352 library developed by Aaron Berk as template
gmatjuara 0:94cb8cb26bf8 4 * @section LICENSE
gmatjuara 0:94cb8cb26bf8 5
gmatjuara 0:94cb8cb26bf8 6 * Copyright (c) 2010 ARM Limited
gmatjuara 0:94cb8cb26bf8 7 *
gmatjuara 0:94cb8cb26bf8 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
gmatjuara 0:94cb8cb26bf8 9 * of this software and associated documentation files (the "Software"), to deal
gmatjuara 0:94cb8cb26bf8 10 * in the Software without restriction, including without limitation the rights
gmatjuara 0:94cb8cb26bf8 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gmatjuara 0:94cb8cb26bf8 12 * copies of the Software, and to permit persons to whom the Software is
gmatjuara 0:94cb8cb26bf8 13 * furnished to do so, subject to the following conditions:
gmatjuara 0:94cb8cb26bf8 14 *
gmatjuara 0:94cb8cb26bf8 15 * The above copyright notice and this permission notice shall be included in
gmatjuara 0:94cb8cb26bf8 16 * all copies or substantial portions of the Software.
gmatjuara 0:94cb8cb26bf8 17 *
gmatjuara 0:94cb8cb26bf8 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gmatjuara 0:94cb8cb26bf8 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gmatjuara 0:94cb8cb26bf8 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gmatjuara 0:94cb8cb26bf8 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gmatjuara 0:94cb8cb26bf8 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gmatjuara 0:94cb8cb26bf8 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gmatjuara 0:94cb8cb26bf8 24 * THE SOFTWARE.
gmatjuara 0:94cb8cb26bf8 25 *
gmatjuara 0:94cb8cb26bf8 26 * @section DESCRIPTION
gmatjuara 0:94cb8cb26bf8 27 *
gmatjuara 0:94cb8cb26bf8 28 * Honeywell HMC5883Ldigital compass.
gmatjuara 0:94cb8cb26bf8 29 *
gmatjuara 0:94cb8cb26bf8 30 * Datasheet:
gmatjuara 0:94cb8cb26bf8 31 *
gmatjuara 0:94cb8cb26bf8 32 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf
gmatjuara 0:94cb8cb26bf8 33 */
gmatjuara 0:94cb8cb26bf8 34
gmatjuara 0:94cb8cb26bf8 35 /**
gmatjuara 0:94cb8cb26bf8 36 * Includes
gmatjuara 0:94cb8cb26bf8 37 */
gmatjuara 0:94cb8cb26bf8 38 #include "HMC5883L.h"
gmatjuara 0:94cb8cb26bf8 39
gmatjuara 0:94cb8cb26bf8 40 HMC5883L::HMC5883L(PinName sda, PinName scl) {
gmatjuara 0:94cb8cb26bf8 41
gmatjuara 0:94cb8cb26bf8 42 i2c_ = new I2C(sda, scl);
gmatjuara 0:94cb8cb26bf8 43 //100KHz, as specified by the datasheet.
gmatjuara 0:94cb8cb26bf8 44 i2c_->frequency(100000);
gmatjuara 0:94cb8cb26bf8 45
gmatjuara 0:94cb8cb26bf8 46
gmatjuara 0:94cb8cb26bf8 47 }
gmatjuara 0:94cb8cb26bf8 48
gmatjuara 0:94cb8cb26bf8 49
gmatjuara 0:94cb8cb26bf8 50 void HMC5883L::write(int address, int data) {
gmatjuara 0:94cb8cb26bf8 51
gmatjuara 0:94cb8cb26bf8 52 char tx[2];
gmatjuara 0:94cb8cb26bf8 53
gmatjuara 0:94cb8cb26bf8 54 tx[0]=address;
gmatjuara 0:94cb8cb26bf8 55 tx[1]=data;
gmatjuara 0:94cb8cb26bf8 56
gmatjuara 0:94cb8cb26bf8 57 i2c_->write(HMC5883L_I2C_WRITE,tx,2);
gmatjuara 0:94cb8cb26bf8 58
gmatjuara 0:94cb8cb26bf8 59 wait_ms(100);
gmatjuara 0:94cb8cb26bf8 60
gmatjuara 0:94cb8cb26bf8 61 }
gmatjuara 0:94cb8cb26bf8 62
gmatjuara 0:94cb8cb26bf8 63
gmatjuara 0:94cb8cb26bf8 64 void HMC5883L::setSleepMode() {
gmatjuara 0:94cb8cb26bf8 65
gmatjuara 0:94cb8cb26bf8 66 write(HMC5883L_MODE, HMC5883L_SLEEP);
gmatjuara 0:94cb8cb26bf8 67 }
gmatjuara 0:94cb8cb26bf8 68
gmatjuara 0:94cb8cb26bf8 69 void HMC5883L::setDefault(void) {
gmatjuara 0:94cb8cb26bf8 70
gmatjuara 0:94cb8cb26bf8 71 write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL);
gmatjuara 0:94cb8cb26bf8 72 write(HMC5883L_CONFIG_B,HMC5883L_1_0GA);
gmatjuara 0:94cb8cb26bf8 73 write(HMC5883L_MODE,HMC5883L_CONTINUOUS);
gmatjuara 0:94cb8cb26bf8 74 wait_ms(100);
gmatjuara 0:94cb8cb26bf8 75 }
gmatjuara 0:94cb8cb26bf8 76
gmatjuara 0:94cb8cb26bf8 77
gmatjuara 0:94cb8cb26bf8 78 void HMC5883L::getAddress(char *buffer) {
gmatjuara 0:94cb8cb26bf8 79
gmatjuara 0:94cb8cb26bf8 80 char rx[3];
gmatjuara 0:94cb8cb26bf8 81 char tx[1];
gmatjuara 0:94cb8cb26bf8 82 tx[0]=HMC5883L_IDENT_A;
gmatjuara 0:94cb8cb26bf8 83
gmatjuara 0:94cb8cb26bf8 84
gmatjuara 0:94cb8cb26bf8 85 i2c_->write(HMC5883L_I2C_WRITE, tx,1);
gmatjuara 0:94cb8cb26bf8 86
gmatjuara 0:94cb8cb26bf8 87 wait_ms(1);
gmatjuara 0:94cb8cb26bf8 88
gmatjuara 0:94cb8cb26bf8 89 i2c_->read(HMC5883L_I2C_READ,rx,3);
gmatjuara 0:94cb8cb26bf8 90
gmatjuara 0:94cb8cb26bf8 91 buffer[0]=rx[0];
gmatjuara 0:94cb8cb26bf8 92 buffer[1]=rx[1];
gmatjuara 0:94cb8cb26bf8 93 buffer[2]=rx[2];
gmatjuara 0:94cb8cb26bf8 94 }
gmatjuara 0:94cb8cb26bf8 95
gmatjuara 0:94cb8cb26bf8 96
gmatjuara 0:94cb8cb26bf8 97
gmatjuara 0:94cb8cb26bf8 98 void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) {
gmatjuara 0:94cb8cb26bf8 99
gmatjuara 0:94cb8cb26bf8 100
gmatjuara 0:94cb8cb26bf8 101 write(HMC5883L_CONFIG_A,ConfigA);
gmatjuara 0:94cb8cb26bf8 102 write(HMC5883L_CONFIG_B,ConfigB);
gmatjuara 0:94cb8cb26bf8 103 write(HMC5883L_MODE,mode);
gmatjuara 0:94cb8cb26bf8 104
gmatjuara 0:94cb8cb26bf8 105
gmatjuara 0:94cb8cb26bf8 106 }
gmatjuara 0:94cb8cb26bf8 107
gmatjuara 0:94cb8cb26bf8 108
gmatjuara 0:94cb8cb26bf8 109
gmatjuara 0:94cb8cb26bf8 110
gmatjuara 0:94cb8cb26bf8 111 void HMC5883L::readData(int* readings) {
gmatjuara 0:94cb8cb26bf8 112
gmatjuara 0:94cb8cb26bf8 113
gmatjuara 0:94cb8cb26bf8 114 char tx[1];
gmatjuara 0:94cb8cb26bf8 115 char rx[2];
gmatjuara 0:94cb8cb26bf8 116
gmatjuara 0:94cb8cb26bf8 117
gmatjuara 0:94cb8cb26bf8 118 tx[0]=HMC5883L_X_MSB;
gmatjuara 0:94cb8cb26bf8 119 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 120 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 121 readings[0]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:94cb8cb26bf8 122
gmatjuara 0:94cb8cb26bf8 123
gmatjuara 0:94cb8cb26bf8 124 tx[0]=HMC5883L_Y_MSB;
gmatjuara 0:94cb8cb26bf8 125 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 126 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 127 readings[1]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:94cb8cb26bf8 128
gmatjuara 0:94cb8cb26bf8 129 tx[0]=HMC5883L_Z_MSB;
gmatjuara 0:94cb8cb26bf8 130 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 131 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 132 readings[2]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:94cb8cb26bf8 133
gmatjuara 0:94cb8cb26bf8 134 }
gmatjuara 0:94cb8cb26bf8 135
gmatjuara 0:94cb8cb26bf8 136 int HMC5883L::getMx() {
gmatjuara 0:94cb8cb26bf8 137
gmatjuara 0:94cb8cb26bf8 138 char tx[1];
gmatjuara 0:94cb8cb26bf8 139 char rx[2];
gmatjuara 0:94cb8cb26bf8 140
gmatjuara 0:94cb8cb26bf8 141
gmatjuara 0:94cb8cb26bf8 142 tx[0]=HMC5883L_X_MSB;
gmatjuara 0:94cb8cb26bf8 143 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 144 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 145 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:94cb8cb26bf8 146
gmatjuara 0:94cb8cb26bf8 147 }
gmatjuara 0:94cb8cb26bf8 148
gmatjuara 0:94cb8cb26bf8 149 int HMC5883L::getMy() {
gmatjuara 0:94cb8cb26bf8 150
gmatjuara 0:94cb8cb26bf8 151 char tx[1];
gmatjuara 0:94cb8cb26bf8 152 char rx[2];
gmatjuara 0:94cb8cb26bf8 153
gmatjuara 0:94cb8cb26bf8 154
gmatjuara 0:94cb8cb26bf8 155 tx[0]=HMC5883L_Y_MSB;
gmatjuara 0:94cb8cb26bf8 156 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 157 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 158 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:94cb8cb26bf8 159
gmatjuara 0:94cb8cb26bf8 160 }
gmatjuara 0:94cb8cb26bf8 161
gmatjuara 0:94cb8cb26bf8 162
gmatjuara 0:94cb8cb26bf8 163 int HMC5883L::getMz(){
gmatjuara 0:94cb8cb26bf8 164
gmatjuara 0:94cb8cb26bf8 165 char tx[1];
gmatjuara 0:94cb8cb26bf8 166 char rx[2];
gmatjuara 0:94cb8cb26bf8 167
gmatjuara 0:94cb8cb26bf8 168
gmatjuara 0:94cb8cb26bf8 169 tx[0]=HMC5883L_Z_MSB;
gmatjuara 0:94cb8cb26bf8 170 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:94cb8cb26bf8 171 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:94cb8cb26bf8 172 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:94cb8cb26bf8 173
gmatjuara 0:94cb8cb26bf8 174 }