GM AT / HMC5883L

magnetometer

Dependents:   10dof Bracelet_Orientation-Course Test_Boussole_moteur

HMC5883L.cpp@0:cad18db1e431, 2013-12-12 (annotated)

Committer:
gmatjuara
Date:
Thu Dec 12 02:25:11 2013 +0000
Revision:
0:cad18db1e431
coba

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gmatjuara 0:cad18db1e431 1 /**
gmatjuara 0:cad18db1e431 2 * @author Jose R. Padron
gmatjuara 0:cad18db1e431 3 * @author Used HMC6352 library developed by Aaron Berk as template
gmatjuara 0:cad18db1e431 4 * @section LICENSE
gmatjuara 0:cad18db1e431 5
gmatjuara 0:cad18db1e431 6 * Copyright (c) 2010 ARM Limited
gmatjuara 0:cad18db1e431 7 *
gmatjuara 0:cad18db1e431 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
gmatjuara 0:cad18db1e431 9 * of this software and associated documentation files (the "Software"), to deal
gmatjuara 0:cad18db1e431 10 * in the Software without restriction, including without limitation the rights
gmatjuara 0:cad18db1e431 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
gmatjuara 0:cad18db1e431 12 * copies of the Software, and to permit persons to whom the Software is
gmatjuara 0:cad18db1e431 13 * furnished to do so, subject to the following conditions:
gmatjuara 0:cad18db1e431 14 *
gmatjuara 0:cad18db1e431 15 * The above copyright notice and this permission notice shall be included in
gmatjuara 0:cad18db1e431 16 * all copies or substantial portions of the Software.
gmatjuara 0:cad18db1e431 17 *
gmatjuara 0:cad18db1e431 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
gmatjuara 0:cad18db1e431 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
gmatjuara 0:cad18db1e431 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
gmatjuara 0:cad18db1e431 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
gmatjuara 0:cad18db1e431 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
gmatjuara 0:cad18db1e431 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
gmatjuara 0:cad18db1e431 24 * THE SOFTWARE.
gmatjuara 0:cad18db1e431 25 *
gmatjuara 0:cad18db1e431 26 * @section DESCRIPTION
gmatjuara 0:cad18db1e431 27 *
gmatjuara 0:cad18db1e431 28 * Honeywell HMC5883Ldigital compass.
gmatjuara 0:cad18db1e431 29 *
gmatjuara 0:cad18db1e431 30 * Datasheet:
gmatjuara 0:cad18db1e431 31 *
gmatjuara 0:cad18db1e431 32 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf
gmatjuara 0:cad18db1e431 33 */
gmatjuara 0:cad18db1e431 34
gmatjuara 0:cad18db1e431 35 /**
gmatjuara 0:cad18db1e431 36 * Includes
gmatjuara 0:cad18db1e431 37 */
gmatjuara 0:cad18db1e431 38 #include "HMC5883L.h"
gmatjuara 0:cad18db1e431 39
gmatjuara 0:cad18db1e431 40 HMC5883L::HMC5883L(PinName sda, PinName scl) {
gmatjuara 0:cad18db1e431 41
gmatjuara 0:cad18db1e431 42 i2c_ = new I2C(sda, scl);
gmatjuara 0:cad18db1e431 43 //100KHz, as specified by the datasheet.
gmatjuara 0:cad18db1e431 44 i2c_->frequency(100000);
gmatjuara 0:cad18db1e431 45
gmatjuara 0:cad18db1e431 46
gmatjuara 0:cad18db1e431 47 }
gmatjuara 0:cad18db1e431 48
gmatjuara 0:cad18db1e431 49
gmatjuara 0:cad18db1e431 50 void HMC5883L::write(int address, int data) {
gmatjuara 0:cad18db1e431 51
gmatjuara 0:cad18db1e431 52 char tx[2];
gmatjuara 0:cad18db1e431 53
gmatjuara 0:cad18db1e431 54 tx[0]=address;
gmatjuara 0:cad18db1e431 55 tx[1]=data;
gmatjuara 0:cad18db1e431 56
gmatjuara 0:cad18db1e431 57 i2c_->write(HMC5883L_I2C_WRITE,tx,2);
gmatjuara 0:cad18db1e431 58
gmatjuara 0:cad18db1e431 59 wait_ms(100);
gmatjuara 0:cad18db1e431 60
gmatjuara 0:cad18db1e431 61 }
gmatjuara 0:cad18db1e431 62
gmatjuara 0:cad18db1e431 63
gmatjuara 0:cad18db1e431 64 void HMC5883L::setSleepMode() {
gmatjuara 0:cad18db1e431 65
gmatjuara 0:cad18db1e431 66 write(HMC5883L_MODE, HMC5883L_SLEEP);
gmatjuara 0:cad18db1e431 67 }
gmatjuara 0:cad18db1e431 68
gmatjuara 0:cad18db1e431 69 void HMC5883L::setDefault(void) {
gmatjuara 0:cad18db1e431 70
gmatjuara 0:cad18db1e431 71 write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL);
gmatjuara 0:cad18db1e431 72 write(HMC5883L_CONFIG_B,HMC5883L_1_0GA);
gmatjuara 0:cad18db1e431 73 write(HMC5883L_MODE,HMC5883L_CONTINUOUS);
gmatjuara 0:cad18db1e431 74 wait_ms(100);
gmatjuara 0:cad18db1e431 75 }
gmatjuara 0:cad18db1e431 76
gmatjuara 0:cad18db1e431 77
gmatjuara 0:cad18db1e431 78 void HMC5883L::getAddress(char *buffer) {
gmatjuara 0:cad18db1e431 79
gmatjuara 0:cad18db1e431 80 char rx[3];
gmatjuara 0:cad18db1e431 81 char tx[1];
gmatjuara 0:cad18db1e431 82 tx[0]=HMC5883L_IDENT_A;
gmatjuara 0:cad18db1e431 83
gmatjuara 0:cad18db1e431 84
gmatjuara 0:cad18db1e431 85 i2c_->write(HMC5883L_I2C_WRITE, tx,1);
gmatjuara 0:cad18db1e431 86
gmatjuara 0:cad18db1e431 87 wait_ms(1);
gmatjuara 0:cad18db1e431 88
gmatjuara 0:cad18db1e431 89 i2c_->read(HMC5883L_I2C_READ,rx,3);
gmatjuara 0:cad18db1e431 90
gmatjuara 0:cad18db1e431 91 buffer[0]=rx[0];
gmatjuara 0:cad18db1e431 92 buffer[1]=rx[1];
gmatjuara 0:cad18db1e431 93 buffer[2]=rx[2];
gmatjuara 0:cad18db1e431 94 }
gmatjuara 0:cad18db1e431 95
gmatjuara 0:cad18db1e431 96
gmatjuara 0:cad18db1e431 97
gmatjuara 0:cad18db1e431 98 void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) {
gmatjuara 0:cad18db1e431 99
gmatjuara 0:cad18db1e431 100
gmatjuara 0:cad18db1e431 101 write(HMC5883L_CONFIG_A,ConfigA);
gmatjuara 0:cad18db1e431 102 write(HMC5883L_CONFIG_B,ConfigB);
gmatjuara 0:cad18db1e431 103 write(HMC5883L_MODE,mode);
gmatjuara 0:cad18db1e431 104
gmatjuara 0:cad18db1e431 105
gmatjuara 0:cad18db1e431 106 }
gmatjuara 0:cad18db1e431 107
gmatjuara 0:cad18db1e431 108
gmatjuara 0:cad18db1e431 109
gmatjuara 0:cad18db1e431 110
gmatjuara 0:cad18db1e431 111 void HMC5883L::readData(int* readings) {
gmatjuara 0:cad18db1e431 112
gmatjuara 0:cad18db1e431 113
gmatjuara 0:cad18db1e431 114 char tx[1];
gmatjuara 0:cad18db1e431 115 char rx[2];
gmatjuara 0:cad18db1e431 116
gmatjuara 0:cad18db1e431 117
gmatjuara 0:cad18db1e431 118 tx[0]=HMC5883L_X_MSB;
gmatjuara 0:cad18db1e431 119 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 120 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 121 readings[0]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:cad18db1e431 122
gmatjuara 0:cad18db1e431 123
gmatjuara 0:cad18db1e431 124 tx[0]=HMC5883L_Y_MSB;
gmatjuara 0:cad18db1e431 125 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 126 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 127 readings[1]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:cad18db1e431 128
gmatjuara 0:cad18db1e431 129 tx[0]=HMC5883L_Z_MSB;
gmatjuara 0:cad18db1e431 130 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 131 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 132 readings[2]= (int)rx[0]<<8|(int)rx[1];
gmatjuara 0:cad18db1e431 133
gmatjuara 0:cad18db1e431 134 }
gmatjuara 0:cad18db1e431 135
gmatjuara 0:cad18db1e431 136 int HMC5883L::getMx() {
gmatjuara 0:cad18db1e431 137
gmatjuara 0:cad18db1e431 138 char tx[1];
gmatjuara 0:cad18db1e431 139 char rx[2];
gmatjuara 0:cad18db1e431 140
gmatjuara 0:cad18db1e431 141
gmatjuara 0:cad18db1e431 142 tx[0]=HMC5883L_X_MSB;
gmatjuara 0:cad18db1e431 143 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 144 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 145 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:cad18db1e431 146
gmatjuara 0:cad18db1e431 147 }
gmatjuara 0:cad18db1e431 148
gmatjuara 0:cad18db1e431 149 int HMC5883L::getMy() {
gmatjuara 0:cad18db1e431 150
gmatjuara 0:cad18db1e431 151 char tx[1];
gmatjuara 0:cad18db1e431 152 char rx[2];
gmatjuara 0:cad18db1e431 153
gmatjuara 0:cad18db1e431 154
gmatjuara 0:cad18db1e431 155 tx[0]=HMC5883L_Y_MSB;
gmatjuara 0:cad18db1e431 156 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 157 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 158 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:cad18db1e431 159
gmatjuara 0:cad18db1e431 160 }
gmatjuara 0:cad18db1e431 161
gmatjuara 0:cad18db1e431 162
gmatjuara 0:cad18db1e431 163 int HMC5883L::getMz(){
gmatjuara 0:cad18db1e431 164
gmatjuara 0:cad18db1e431 165 char tx[1];
gmatjuara 0:cad18db1e431 166 char rx[2];
gmatjuara 0:cad18db1e431 167
gmatjuara 0:cad18db1e431 168
gmatjuara 0:cad18db1e431 169 tx[0]=HMC5883L_Z_MSB;
gmatjuara 0:cad18db1e431 170 i2c_->write(HMC5883L_I2C_READ,tx,1);
gmatjuara 0:cad18db1e431 171 i2c_->read(HMC5883L_I2C_READ,rx,2);
gmatjuara 0:cad18db1e431 172 return ((int)rx[0]<<8|(int)rx[1]);
gmatjuara 0:cad18db1e431 173
gmatjuara 0:cad18db1e431 174 }