test
HMC5883L.h
- Committer:
- BaserK
- Date:
- 2015-08-05
- Revision:
- 0:e5f8da308b60
- Child:
- 1:4c295f793d46
File content as of revision 0:e5f8da308b60:
/* * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * 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. * */ // Some part of the code is adapted from Adafruit HMC5883 library #ifndef HMC5883L_H #define HMC5883L_H #include "mbed.h" #include "math.h" #include "ledControl.h" #define PI 3.14159265359 #define GAUSS_TO_MICROTESLA 100 #define HMC5883L_ADDRESS 0x3C /* Register Definitions */ #define CONFIG_A 0x00 #define CONFIG_B 0x01 #define MODE 0x02 #define OUT_X_MSB 0x03 #define OUT_X_LSB 0x04 #define OUT_Z_MSB 0x05 #define OUT_Z_LSB 0x06 #define OUT_Y_MSB 0x07 #define OUT_Y_LSB 0x08 #define STATUS 0x09 #define ID_A 0x0A #define ID_B 0x0B #define ID_C 0x0C /* Magnetometer Gain Settings */ enum MagGain { MagGain_088 = 0x00, // +/- 0.88 Ga MagGain_13 = 0x20, // +/- 1.3 Ga MagGain_19 = 0x40, // +/- 1.9 Ga MagGain_25 = 0x60, // +/- 2.5 Ga MagGain_40 = 0x80, // +/- 4.0 Ga MagGain_47 = 0xA0, // +/- 4.7 Ga MagGain_56 = 0xC0, // +/- 5.6 Ga MagGain_81 = 0xE0 // +/- 8.1 Ga }; class HMC5883L { public: void init(); double getHeading(); private: void setMagGain(MagGain gain); void writeByte(uint8_t address, uint8_t regAddress, uint8_t data); char readByte(uint8_t address, uint8_t regAddress); void readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest); void readMagData(float* dest); }; #endif