Revision 0:94cb8cb26bf8, committed 2013-12-12

Comitter:

gmatjuara

Date:

Thu Dec 12 02:30:07 2013 +0000

Commit message:

magnetometer

Changed in this revision

diff -r 000000000000 -r 94cb8cb26bf8 HMC5883L.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.cpp	Thu Dec 12 02:30:07 2013 +0000
@@ -0,0 +1,174 @@
+/**
+ * @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);
+    //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;
+ 
+    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);
+}
+ 
+ 
+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::setOpMode(int mode, int ConfigA, int ConfigB) {
+    
+    
+    write(HMC5883L_CONFIG_A,ConfigA);
+    write(HMC5883L_CONFIG_B,ConfigB);
+    write(HMC5883L_MODE,mode);
+    
+ 
+}
+ 
+ 
+ 
+ 
+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];
+    
+    
+    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 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]);
+ 
+}

diff -r 000000000000 -r 94cb8cb26bf8 HMC5883L.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.h	Thu Dec 12 02:30:07 2013 +0000
@@ -0,0 +1,219 @@
+/**
+ * @author Jose R. Padron
+ * @author Used HMC5883L 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 HMC5883L digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf
+ */
+ 
+#ifndef HMC5883L_H
+#define HMC5883L_H
+ 
+/**
+ * Includes
+ */
+#include "mbed.h"
+ 
+/**
+ * Defines
+ */
+#define HMC5883L_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read.
+#define HMC5883L_I2C_WRITE   0x3C 
+#define HMC5883L_I2C_READ    0x3D 
+ 
+//Values Config A
+#define HMC5883L_0_5HZ_NORMAL         0x00
+#define HMC5883L_0_5HZ_POSITIVE       0x01
+#define HMC5883L_0_5HZ_NEGATIVE       0x02
+ 
+#define HMC5883L_1HZ_NORMAL           0x04
+#define HMC5883L_1HZ_POSITIVE         0x05
+#define HMC5883L_1HZ_NEGATIVE         0x06
+ 
+#define HMC5883L_2HZ_NORMAL           0x08
+#define HMC5883L_2HZ_POSITIVE         0x09
+#define HMC5883L_2HZ_NEGATIVE         0x0A
+ 
+#define HMC5883L_5HZ_NORMAL           0x0C
+#define HMC5883L_5HZ_POSITIVE         0x0D
+#define HMC5883L_5HZ_NEGATIVE         0x0E
+ 
+#define HMC5883L_10HZ_NORMAL           0x10
+#define HMC5883L_10HZ_POSITIVE         0x11
+#define HMC5883L_10HZ_NEGATIVE         0x12
+ 
+#define HMC5883L_20HZ_NORMAL           0x14
+#define HMC5883L_20HZ_POSITIVE         0x15
+#define HMC5883L_20HZ_NEGATIVE         0x16
+ 
+#define HMC5883L_50HZ_NORMAL           0x18
+#define HMC5883L_50HZ_POSITIVE         0x19
+#define HMC5883L_50HZ_NEGATIVE         0x1A
+ 
+//Values Config B
+#define HMC5883L_0_7GA         0x00
+#define HMC5883L_1_0GA         0x20
+#define HMC5883L_1_5GA         0x40
+#define HMC5883L_2_0GA         0x60
+#define HMC5883L_3_2GA         0x80
+#define HMC5883L_3_8GA         0xA0
+#define HMC5883L_4_5GA         0xC0
+#define HMC5883L_6_5GA         0xE0
+ 
+//Values MODE
+#define HMC5883L_CONTINUOUS   0x00
+#define HMC5883L_SINGLE       0x01
+#define HMC5883L_IDLE         0x02
+#define HMC5883L_SLEEP        0x03
+ 
+ 
+ 
+#define HMC5883L_CONFIG_A     0x00
+#define HMC5883L_CONFIG_B     0x01
+#define HMC5883L_MODE         0x02
+#define HMC5883L_X_MSB        0x03
+#define HMC5883L_X_LSB        0x04
+#define HMC5883L_Y_MSB        0x05
+#define HMC5883L_Y_LSB        0x06
+#define HMC5883L_Z_MSB        0x07
+#define HMC5883L_Z_LSB        0x08
+#define HMC5883L_STATUS       0x09
+#define HMC5883L_IDENT_A      0x0A
+#define HMC5883L_IDENT_B      0x0B
+#define HMC5883L_IDENT_C      0x0C
+ 
+ 
+ 
+/**
+ * Honeywell HMC5883L digital compass.
+ */
+class HMC5883L {
+ 
+public:
+ 
+    /**
+     * 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.
+     */
+    HMC5883L(PinName sda, PinName scl);
+ 
+        
+     /**
+     * Enter into sleep mode.
+     *
+     */
+    void setSleepMode();
+    
+       
+     /**
+     * Set Device in Default Mode.
+     * HMC5883L_CONTINUOUS, HMC5883L_10HZ_NORMAL HMC5883L_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();
+    
+    /**
+     * Get the output of Y axis.
+     *
+     * @return y-axis magnetic value
+     */
+    int getMy();
+    
+    /**
+     * Get the output of Z axis.
+     *
+     * @return z-axis magnetic value
+     */
+    int getMz();
+   
+    
+    /**
+     * Get the current operation mode.
+     *
+     * @return Status register values
+     */
+    int getStatus(void);
+ 
+  
+ 
+    I2C* i2c_;
+ 
+   
+ 
+};
+ 
+#endif /* HMC5883L_H */
+ 
\ No newline at end of file