3-Axis Digital Compass IC
Diff: HMC5883L.cpp
- Revision:
- 2:e02c2a91d2ea
- Parent:
- 0:cd8407d7155b
--- a/HMC5883L.cpp Fri Oct 13 14:48:42 2017 +0000
+++ b/HMC5883L.cpp Fri Oct 13 15:11:47 2017 +0000
@@ -0,0 +1,723 @@
+/**
+ * @brief HMC5883L.h
+ * @details 3-Axis Digital Compass IC.
+ * Functions file.
+ *
+ *
+ * @return NA
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN
+ * @pre This code belongs to AqueronteBlog ( http://unbarquero.blogspot.com ).
+ */
+
+#include "HMC5883L.h"
+
+
+HMC5883L::HMC5883L ( PinName sda, PinName scl, uint32_t addr, uint32_t freq )
+ : _i2c ( sda, scl )
+ , _HMC5883L_Addr ( addr )
+{
+ _i2c.frequency( freq );
+}
+
+
+HMC5883L::~HMC5883L()
+{
+}
+
+
+
+/**
+ * @brief HMC5883L_Conf ( HMC5883L_register_list_t , HMC5883L_conf_reg_a_samples_t , HMC5883L_conf_reg_a_dor_t , HMC5883L_conf_reg_a_measurement_mode_t
+ * HMC5883L_conf_reg_b_gain_t , HMC5883L_mode_register_high_speed_t , HMC5883L_mode_register_operation_mode_t )
+ *
+ * @details It configures the device.
+ *
+ * @param[in] mySamples: Number of average samples.
+ * @param[in] myDataRate: Data output rate.
+ * @param[in] myMeasurementMode: Measurement mode.
+ * @param[in] myGain: Gain.
+ * @param[in] myI2CMode: I2C High Speed / Normal speed.
+ * @param[in] myOperationMode: Operation mode.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_Conf.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_Conf ( HMC5883L_conf_reg_a_samples_t mySamples, HMC5883L_conf_reg_a_dor_t myDataRate, HMC5883L_conf_reg_a_measurement_mode_t myMeasurementMode,
+ HMC5883L_conf_reg_b_gain_t myGain, HMC5883L_mode_register_high_speed_t myI2CMode, HMC5883L_mode_register_operation_mode_t myOperationMode )
+{
+ char cmd[] = { 0, 0 };
+ uint32_t aux = 0;
+
+
+// CONFIGURATION REGISTER A
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_A;
+
+ // Number of Samples Averaged
+ cmd[1] = mySamples;
+
+ // Data Output Rate Bits
+ cmd[1] |= myDataRate;
+
+ // Measurement Configuration Bits
+ cmd[1] |= myMeasurementMode;
+
+
+ // Write the command to Configuration Register A
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+
+
+
+// CONFIGURATION REGISTER A
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_B;
+
+ // Gain Configuration Bits
+ cmd[1] = myGain;
+
+ // Write the command to Configuration Register B
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+
+
+
+// MODE REGISTER
+ cmd[0] = HMC5883L_MODE_REGISTER;
+
+ // High Speed I2C, 3400kHz
+ cmd[1] = myI2CMode;
+
+ // Mode Select Bits
+ cmd[1] |= myOperationMode;
+
+
+ // Write the command to Mode Register
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_GetIdentificationRegister ( HMC5883L_register_list_t , HMC5883L_vector_data_t* )
+ *
+ * @details It gets the identification register.
+ *
+ * @param[in] myID_reg: Identification register to be read.
+ *
+ * @param[out] myID: Identification register value.
+ *
+ *
+ * @return Status of HMC5883L_GetIdentificationRegister.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_GetIdentificationRegister ( HMC5883L_register_list_t myID_reg, HMC5883L_vector_data_t* myID )
+{
+ char cmd = 0;
+ uint32_t aux = 0;
+
+
+ // Write the command
+ cmd = myID_reg;
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd, 1, true );
+
+ // Read the data
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd, 1 );
+
+
+
+ // Choose which ID was requested
+ switch ( myID_reg )
+ {
+ case HMC5883L_IDENTIFICATION_REGISTER_A:
+ myID->IdentificationRegisterA = cmd;
+ break;
+
+ case HMC5883L_IDENTIFICATION_REGISTER_B:
+ myID->IdentificationRegisterB = cmd;
+ break;
+
+ case HMC5883L_IDENTIFICATION_REGISTER_C:
+ myID->IdentificationRegisterC = cmd;
+ break;
+
+ default:
+ return HMC5883L_FAILURE;
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_GetRawDataOutput ( HMC5883L_vector_data_t* )
+ *
+ * @details It gets X, Y and Z raw data output.
+ *
+ *
+ * @param[out] myData: X, Y and Z raw data output.
+ *
+ *
+ * @return Status of HMC5883L_GetRawDataOutput.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_GetRawDataOutput ( HMC5883L_vector_data_t* myData )
+{
+ char cmd[] = { HMC5883L_DATA_OUTPUT_X_MSB, 0, 0, 0, 0, 0 };
+ uint32_t aux = 0;
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read all data
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[0], 6 );
+
+
+ // Parse the data
+ myData->DataOutput_X = ( ( int16_t )( cmd[0] << 8 ) | ( int16_t )cmd[1] );
+ myData->DataOutput_Y = ( ( int16_t )( cmd[2] << 8 ) | ( int16_t )cmd[3] );
+ myData->DataOutput_Z = ( ( int16_t )( cmd[4] << 8 ) | ( int16_t )cmd[5] );
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_GetCompensatedDataOutput ( HMC5883L_vector_data_t* , float , float , float )
+ *
+ * @details It gets X, Y and Z compensated data output.
+ *
+ * @param[in] myXOffset: X-axis Offset.
+ * @param[in] myYOffset: Y-axis Offset.
+ * @param[in] myZOffset: Z-axis Offset.
+ *
+ * @param[out] myData: X, Y and Z compensated data output.
+ *
+ *
+ * @return Status of HMC5883L_GetCompensatedDataOutput.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre The offset MUST be calculated previously, this driver does NOT support that functionality yet.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_GetCompensatedDataOutput ( HMC5883L_vector_data_t* myData, float myXOffset, float myYOffset, float myZOffset )
+{
+ char cmd[] = { 0, 0, 0, 0, 0, 0 };
+ uint32_t aux = 0;
+ float myGain = 0.0;
+
+
+
+ // GET THE CURRENT GAIN
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_B;
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the register
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[0], 1 );
+
+
+ // Check which gain is in use
+ switch ( ( cmd[0] & CONF_REG_B_GAIN_MASK ) )
+ {
+ case CONF_REG_B_GAIN_0_88_GA:
+ myGain = 0.73;
+ break;
+
+ case CONF_REG_B_GAIN_1_3_GA:
+ myGain = 0.92;
+ break;
+
+ case CONF_REG_B_GAIN_1_9_GA:
+ myGain = 1.22;
+ break;
+
+ case CONF_REG_B_GAIN_2_5_GA:
+ myGain = 1.52;
+ break;
+
+ case CONF_REG_B_GAIN_4_0_GA:
+ myGain = 2.27;
+ break;
+
+ case CONF_REG_B_GAIN_4_7_GA:
+ myGain = 2.56;
+ break;
+
+ case CONF_REG_B_GAIN_5_6_GA:
+ myGain = 3.03;
+ break;
+
+ case CONF_REG_B_GAIN_8_1_GA:
+ myGain = 4.35;
+ break;
+
+ default:
+ return HMC5883L_FAILURE;
+ }
+
+
+ // READ THE ACTUAL DATA OUTPUT
+ cmd[0] = HMC5883L_DATA_OUTPUT_X_MSB;
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read all data
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[0], 6 );
+
+
+ // Parse the data
+ myData->DataOutput_X = ( ( ( int16_t )( cmd[0] << 8 ) | ( int16_t )cmd[1] ) * myGain ) - myXOffset;
+ myData->DataOutput_Y = ( ( ( int16_t )( cmd[2] << 8 ) | ( int16_t )cmd[3] ) * myGain ) - myYOffset;
+ myData->DataOutput_Z = ( ( ( int16_t )( cmd[4] << 8 ) | ( int16_t )cmd[5] ) * myGain ) - myZOffset;
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_GetStatus ( HMC5883L_vector_data_t* )
+ *
+ * @details It reads the status register.
+ *
+ * @param[in] NaN
+ *
+ * @param[out] myStatus: Current status of the device.
+ *
+ *
+ * @return Status of HMC5883L_GetStatus.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_GetStatus ( HMC5883L_vector_data_t* myStatus )
+{
+ char cmd = HMC5883L_STATUS_REGISTER;
+ uint32_t aux = 0;
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd, 1, true );
+
+ // Read the status register
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd, 1 );
+
+
+ // Update the value
+ myStatus->Status = cmd;
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_ReadRegister ( HMC5883L_register_list_t , uint8_t* )
+ *
+ * @details It reads a register.
+ *
+ * @param[in] myRegister: The register to be read.
+ *
+ * @param[out] myRegisterData: The value of the register.
+ *
+ *
+ * @return Status of HMC5883L_ReadRegister.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre This function neither reads the OUTPUTs nor the Status register.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_ReadRegister ( HMC5883L_register_list_t myRegister, uint8_t* myRegisterData )
+{
+ char cmd = 0;
+ uint8_t aux = 0;
+
+
+ // Only three register can be read: Configuration Register A, Configuration Register B and Mode Register
+ // NOTE: This function neither reads the OUTPUTs nor the Status register
+ if ( myRegister > HMC5883L_MODE_REGISTER )
+ return HMC5883L_FAILURE;
+
+
+ // Write the command
+ cmd = *myRegisterData;
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd, 1, true );
+
+ // Read the register
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd, 1 );
+
+
+ // Update the value
+ *myRegisterData = cmd;
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_SetNumSample ( HMC5883L_conf_reg_a_samples_t )
+ *
+ * @details It configures the number of samples averaged.
+ *
+ * @param[in] mySamples: New Number of samples averaged.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_SetNumSample.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_SetNumSample ( HMC5883L_conf_reg_a_samples_t mySamples )
+{
+ char cmd[] = { HMC5883L_CONFIGURATION_REGISTER_A, 0 };
+ uint32_t aux = 0;
+
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the configuration register A
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[1], 1 );
+
+
+ // Check if they are different, if so, update the value
+ if ( ( cmd[1] & CONF_REG_A_SAMPLE_MASK ) != mySamples )
+ {
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_A;
+
+ // Mask [ MA1 to MA0 ] Number of Samples
+ cmd[1] &= ~CONF_REG_A_SAMPLE_MASK;
+
+ // Update number of samples
+ cmd[1] |= mySamples;
+
+ // Write the new value
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_SetDataRate ( HMC5883L_conf_reg_a_dor_t )
+ *
+ * @details It configures the data rate.
+ *
+ * @param[in] myDataRate: New data rate.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_SetDataRate.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_SetDataRate ( HMC5883L_conf_reg_a_dor_t myDataRate )
+{
+ char cmd[] = { HMC5883L_CONFIGURATION_REGISTER_A, 0 };
+ uint32_t aux = 0;
+
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the configuration register A
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[1], 1 );
+
+
+ // Check if they are different, if so, update the value
+ if ( ( cmd[1] & CONF_REG_A_DATARATE_MASK ) != myDataRate )
+ {
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_A;
+
+ // Mask [ DO2 to DO0 ] Data Output Rate Bits
+ cmd[1] &= ~CONF_REG_A_DATARATE_MASK;
+
+ // Update Data Output Rate Bits
+ cmd[1] |= myDataRate;
+
+ // Write the new value
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_SetMeasurementConf ( HMC5883L_conf_reg_a_measurement_mode_t )
+ *
+ * @details It configures the measurement configuration bits.
+ *
+ * @param[in] myMeasurementMode: New measurement mode.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_SetMeasurementConf.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_SetMeasurementConf ( HMC5883L_conf_reg_a_measurement_mode_t myMeasurementMode )
+{
+ char cmd[] = { HMC5883L_CONFIGURATION_REGISTER_A, 0 };
+ uint32_t aux = 0;
+
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the configuration register A
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[1], 1 );
+
+
+ // Check if they are different, if so, update the value
+ if ( ( cmd[1] & CONF_REG_A_MODE_MASK ) != myMeasurementMode )
+ {
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_A;
+
+ // Mask [ MS1 to MS0 ] Measurement Configuration Bits
+ cmd[1] &= ~CONF_REG_A_MODE_MASK;
+
+ // Update Measurement Configuration Bits
+ cmd[1] |= myMeasurementMode;
+
+ // Write the new value
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_SetGain ( HMC5883L_conf_reg_b_gain_t )
+ *
+ * @details It configures the gain/resolution.
+ *
+ * @param[in] myGain: New gain/resolution.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_SetGain.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_SetGain ( HMC5883L_conf_reg_b_gain_t myGain )
+{
+ char cmd[] = { HMC5883L_CONFIGURATION_REGISTER_B , 0 };
+ uint32_t aux = 0;
+
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the configuration register B
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[1], 1 );
+
+
+ // Check if they are different, if so, update the value
+ if ( ( cmd[1] & CONF_REG_B_GAIN_MASK ) != myGain )
+ {
+ cmd[0] = HMC5883L_CONFIGURATION_REGISTER_B;
+
+ // Mask [ GN2 to GN0 ] Gain Configuration Bits
+ cmd[1] &= ~CONF_REG_B_GAIN_MASK;
+
+ // Update Gain Configuration Bits
+ cmd[1] |= myGain;
+
+ // Write the new value
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}
+
+
+
+/**
+ * @brief HMC5883L_SetMode ( HMC5883L_mode_register_operation_mode_t )
+ *
+ * @details It configures the operation mode.
+ *
+ * @param[in] myOperationMode: New operation mode.
+ *
+ * @param[out] NaN.
+ *
+ *
+ * @return Status of HMC5883L_SetMode.
+ *
+ *
+ * @author Manuel Caballero
+ * @date 13/October/2017
+ * @version 13/October/2017 The ORIGIN
+ * @pre NaN.
+ * @warning NaN.
+ */
+HMC5883L::HMC5883L_status_t HMC5883L::HMC5883L_SetMode ( HMC5883L_mode_register_operation_mode_t myOperationMode )
+{
+ char cmd[] = { HMC5883L_MODE_REGISTER, 0 };
+ uint32_t aux = 0;
+
+
+
+ // Write the command
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 1, true );
+
+ // Read the Mode register bit
+ aux = _i2c.read ( _HMC5883L_Addr, &cmd[1], 1 );
+
+
+ // Check if they are different, if so, update the value
+ if ( ( cmd[1] & MODE_REG_MODE_MASK ) != myOperationMode )
+ {
+ cmd[0] = HMC5883L_MODE_REGISTER;
+
+ // Mask [ MD1 to MD0 ] Mode Select Bits
+ cmd[1] &= ~MODE_REG_MODE_MASK;
+
+ // Update Mode Select Bits
+ cmd[1] |= myOperationMode;
+
+ // Write the new value
+ aux = _i2c.write ( _HMC5883L_Addr, &cmd[0], 2 );
+ }
+
+
+
+
+ if ( aux == I2C_SUCCESS )
+ return HMC5883L_SUCCESS;
+ else
+ return HMC5883L_FAILURE;
+}