ECE 4180 Project
Dependencies: Camera_LS_Y201 SDFileSystem mbed
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Diff: HMC6352.h
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC6352.h Thu Apr 30 19:01:22 2015 +0000 @@ -0,0 +1,283 @@ +/** + * @author Aaron Berk + * + * @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 HMC6352 digital compass. + * + * Datasheet: + * + * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf + */ + +#ifndef HMC6352_H +#define HMC6352_H + +/** + * Includes + */ +#include "mbed.h" + +/** + * Defines + */ +#define HMC6352_I2C_ADDRESS 0x21 //7-bit address. 0x43 write, 0x42 read. + +//Commands. +#define HMC6352_EEPROM_WRITE 0x77 +#define HMC6352_EEPROM_READ 0x72 +#define HMC6352_RAM_WRITE 0x47 +#define HMC6352_RAM_READ 0x67 +#define HMC6352_ENTER_SLEEP 0x53 +#define HMC6352_EXIT_SLEEP 0x57 +#define HMC6352_SET_RESET 0x4F +#define HMC6352_ENTER_CALIB 0x43 +#define HMC6352_EXIT_CALIB 0x45 +#define HMC6352_SAVE_OPMODE 0x4C +#define HMC6352_GET_DATA 0x41 + +//EEPROM locations. +#define HMC6352_SLAVE_ADDR 0x00 +#define HMC6352_MX_OFF_MSB 0x01 +#define HMC6352_MX_OFF_LSB 0x02 +#define HMC6352_MY_OFF_MSB 0x03 +#define HMC6352_MY_OFF_LSB 0x04 +#define HMC6352_TIME_DELAY 0x05 +#define HMC6352_SUMMED 0x06 +#define HMC6352_SOFT_VER 0x07 +#define HMC6352_OPMODE 0x08 + +//RAM registers. +#define HMC6352_RAM_OPMODE 0x74 +#define HMC6352_RAM_OUTPUT 0x4E + +#define HMC6352_MX_OFFSET 0x00 +#define HMC6352_MY_OFFSET 0x01 + +#define HMC6352_HEADING_MODE 0x00 +#define HMC6352_RAWMAGX_MODE 0x01 +#define HMC6352_RAWMAGY_MODE 0x02 +#define HMC6352_MAGX_MODE 0x03 +#define HMC6352_MAGY_MODE 0x04 + +//Operational mode register masks. +#define HMC6352_CM_MR_1HZ 0x00 +#define HMC6352_CM_MR_5HZ 0x20 +#define HMC6352_CM_MR_10HZ 0x40 +#define HMC6352_CM_MR_20HZ 0x60 + +#define HMC6352_PERIODIC_SR 0x10 + +#define HMC6352_STANDBY 0x00 +#define HMC6352_QUERY 0x01 +#define HMC6352_CONTINUOUS 0x02 + +/** + * Honeywell HMC6352 digital compass. + */ +class HMC6352 { + +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. + */ + HMC6352(PinName sda, PinName scl); + + /** + * Sample the device and return the result. + * + * @return In heading output mode, the current heading as a number between + * 0-3599, representing 0-359.9 degrees. + * In raw magnetometer X output mode, the raw output of the X-axis + * magnetometer. + * In raw magnetometer Y mode, the raw output of the Y-axis + * magnetometer. + * In magnetometer X mode, the corrected output of the X-axis + * magnetometer. + * In magnetometer Y mode, the corrected output of the Y-axis + * magnetometer. + */ + int sample(void); + + /** + * Enter into or exit from sleep mode. + * + * @param enterOrExit 0x57 -> Exit sleep mode + * 0x53 -> Enter + */ + void setSleepMode(int enterOrExit); + + /** + * Update bridge offsets. + * + * Performs a set/reset immediately. + */ + void setReset(void); + + /** + * Enter into or exit from calibration mode. + * + * @param enterOrExit 0x45 -> Exit + * 0x43 -> Enter + */ + void setCalibrationMode(int enterOrExit); + + /** + * Save the current operation mode byte to EEPROM. + */ + void saveOpMode(void); + + /** + * Read the memory location on the device which contains the slave address. + * + * @return The slave address of the device. + */ + int getSlaveAddress(void); + + /** + * Read the current offset for X or Y axis magnetometer. + * + * @param axis 0x00 -> X-axis + * 0x01 -> Y-axis + * @return The current offset for the axis as a 16-bit number. + */ + int getOffset(int axis); + + /** + * Set the offset for X or Y axis magnetometer. + * + * @param axis 0x00 -> X-axis + * 0x01 -> Y-axis + * @param offset The offset to set for the axis (set to a 16-bit number). + */ + void setOffset(int axis, int offset); + + /** + * Get the current time delay. + * + * @return The time delay in milliseconds. + */ + int getTimeDelay(void); + + /** + * Set the time delay of the device. + * + * @param delay The time delay to set in milliseconds (between 0-255); + */ + void setTimeDelay(int delay); + + /** + * Get the number of measurements being summed each sample. + * + * @return The number of summed measurement. + */ + int getSumNumber(void); + + /** + * Set the number of measurements being summed each sample. + * + * @param sum The number of measurements to be summed (between 0-16); + */ + void setSumNumber(int sum); + + /** + * Get the software version on the device. + * + * @return The software version number. + */ + int getSoftwareVersion(void); + + /** + * Get the current operation mode. + * + * @return 0x00 -> Standby mode + * 0x01 -> Query mode + * 0x02 -> Continuous mode + */ + int getOpMode(void); + + /** + * Set the operation mode. + * + * @param mode 0x00 -> Standby mode + * 0x01 -> Query mode + * 0x02 -> Continuous mode + * @param periodicSetReset 0x00 -> No periodic set/reset + * 0x01 -> Periodic set/reset + * @measurementRate Measurement rate in Hz for continuous rate. + * Possible rates: {1, 5, 10, 20}Hz. + */ + void setOpMode(int mode, int periodicSetReset, int measurementRate = 0); + + /** + * Get the current output mode of the device. + * + * @return The current output mode. + */ + int getOutputMode(void); + + /** + * Set the output mode of the device. + * + * @param mode 0x00 -> Heading mode + * 0x01 -> Raw magnetometer X mode + * 0x02 -> Raw magnetometer Y mode + * 0x03 -> Magnetometer X mode + * 0x04 -> Magnetometer Y mode + */ + void setOutputMode(int mode); + +private: + + I2C* i2c_; + int operationMode_; + + /** + * Write to EEPROM or RAM on the device. + * + * @param EepromOrRam 0x77 -> Writing to EEPROM + * 0x47 -> Writing to RAM + * @param address Address to write to. + * @param data Data to write. + */ + void write(int EepromOrRam, int address, int data); + + /** + * Read EEPROM or RAM on the device. + * + * @param EepromOrRam 0x72 -> Reading from EEPROM + * 0x67 -> Reading from RAM + * @param address Address to read from. + * @return The contents of the memory address. + */ + int read(int EepromOrRam, int address); + +}; + +#endif /* HMC6352_H */