Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Sensors/Comp/HMC5883.h@14:cf260677ecde, 2012-10-27 (annotated)

Committer:
maetugr
Date:
Sat Oct 27 10:53:43 2012 +0000
Revision:
14:cf260677ecde
Parent:
12:67a06c9b69d5
Child:
17:e096e85f6c36
I2C Workaround gefunden!!! erster Test geklappt, vor Umschreibung

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 11:9bf69bc6df45 1 #ifndef HMC5883_H
maetugr 11:9bf69bc6df45 2 #define HMC5883_H
maetugr 11:9bf69bc6df45 3
maetugr 11:9bf69bc6df45 4 #define HMC5883_CONF_REG_A 0x00
maetugr 11:9bf69bc6df45 5 #define HMC5883_CONF_REG_B 0x01
maetugr 11:9bf69bc6df45 6 #define HMC5883_MODE_REG 0x02
maetugr 11:9bf69bc6df45 7 #define HMC5883_DATA_OUT_X_MSB 0x03
maetugr 11:9bf69bc6df45 8
maetugr 11:9bf69bc6df45 9 // I2C addresses
maetugr 11:9bf69bc6df45 10 #define HMC5883_ADDRESS 0x1E
maetugr 11:9bf69bc6df45 11 #define I2CADR_W(ADR) (ADR << 1&0xFE) // ADR & 1111 1110
maetugr 11:9bf69bc6df45 12 #define I2CADR_R(ADR) (ADR << 1|0x01) // ADR | 0000 0001
maetugr 11:9bf69bc6df45 13
maetugr 11:9bf69bc6df45 14 class HMC5883
maetugr 11:9bf69bc6df45 15 {
maetugr 11:9bf69bc6df45 16 public:
maetugr 11:9bf69bc6df45 17 HMC5883(PinName sda, PinName scl);
maetugr 11:9bf69bc6df45 18
maetugr 11:9bf69bc6df45 19 float data[3];
maetugr 11:9bf69bc6df45 20 void read();
maetugr 12:67a06c9b69d5 21 void calibrate(int s);
maetugr 12:67a06c9b69d5 22 float get_angle();
maetugr 12:67a06c9b69d5 23
maetugr 12:67a06c9b69d5 24 private:
maetugr 12:67a06c9b69d5 25 I2C i2c;
maetugr 12:67a06c9b69d5 26
maetugr 12:67a06c9b69d5 27 // raw data and function to measure it
maetugr 12:67a06c9b69d5 28 int raw[3];
maetugr 12:67a06c9b69d5 29 void readraw();
maetugr 12:67a06c9b69d5 30
maetugr 12:67a06c9b69d5 31 // I2C functions
maetugr 11:9bf69bc6df45 32 void writeReg(char address, char data);
maetugr 11:9bf69bc6df45 33 void readMultiReg(char address, char* output, int size);
maetugr 11:9bf69bc6df45 34
maetugr 14:cf260677ecde 35 // calibration parameters and their saving
maetugr 14:cf260677ecde 36 int Min[3];
maetugr 14:cf260677ecde 37 int Max[3];
maetugr 14:cf260677ecde 38 float scale[3];
maetugr 14:cf260677ecde 39 float offset[3];
maetugr 14:cf260677ecde 40 LocalFileSystem local;
maetugr 11:9bf69bc6df45 41 };
maetugr 11:9bf69bc6df45 42
maetugr 11:9bf69bc6df45 43 #endif