MMC5883L.h

00001 #ifndef MMC5883L_H
00002 #define MMC5883L_H
00003 
00004 #include "mbed.h"
00005 
00006 /*
00007 * Defines
00008 */
00009 
00010 //-----------
00011 // Registers
00012 //-----------
00013 #define INTERNAL_CONTROL_0    0x08
00014 #define INTERNAL_CONTROL_1    0x09
00015 #define INTERNAL_CONTROL_2    0x0A
00016 #define OUTPUT_REG      0x00
00017 #define STATUS_REG      0x07
00018 
00019 #define OUTPUT_RATE_OFF    0x00
00020 #define OUTPUT_RATE_14     0x01
00021 #define OUTPUT_RATE_5      0x02
00022 #define OUTPUT_RATE_2_2    0x03
00023 #define OUTPUT_RATE_1      0x04
00024 #define OUTPUT_RATE_0_5    0x05
00025 #define OUTPUT_RATE_0_25   0x06
00026 #define OUTPUT_RATE_0_12   0x07
00027 #define OUTPUT_RATE_0_06   0x08
00028 #define OUTPUT_RATE_0_03   0x09
00029 #define OUTPUT_RATE_0_015  0x0A
00030 #define DRDY_INTERRUPT_EN    0x40
00031 #define MOTION_INTERRUPT_EN  0x20
00032 
00033 #define SW_RST  0x80
00034 #define Z_INHIBIT       0x40
00035 #define Y_INHIBIT       0x20
00036 #define X_INHIBIT       0x10
00037 #define DATARATE_100       0x00
00038 #define DATARATE_200       0x01
00039 #define DATARATE_400       0x02
00040 #define DATARATE_600       0x03
00041 
00042 #define MAGNETIC_MEASUREMENT_START 0x01
00043 #define TEMP_MEASUREMENT_START 0x02
00044 #define MOTION_DETECT_START 0x04
00045 #define FLIP_SET 0x08
00046 #define FLIP_RESET 0x10
00047 
00048 
00049 // status register
00050 #define STATUS_M_DONE       0x01
00051 #define STATUS_T_DONE       0x02
00052 #define STATUS_MOTION_DET   0x04
00053 
00054 // Utility
00055 #ifndef M_PI
00056 #define M_PI 3.1415926535897932384626433832795
00057 #endif
00058 
00059 #define PI2         (2*M_PI)
00060 #define RAD_TO_DEG  (180.0/M_PI)
00061 #define DEG_TO_RAD  (M_PI/180.0)
00062 
00063 // Once you have your heading, you must then add your 'Declination Angle', 
00064 // which is  the 'Error' of the magnetic field in your location.
00065 // Find yours here: http://www.magnetic-declination.com/
00066 // Mine is:  -1° 13' WEST which is -1.2167 Degrees, or (which we need) 
00067 // 0,021234839232597676519238237683278  radians, I will use 0.02123
00068 // If you cannot find your Declination, put 0, your compass will be slightly off.
00069 
00070 #define  DECLINATION_ANGLE -0.02123
00071 //#define  DECLINATION_ANGLE 0
00072 
00073 
00074 /**
00075  * The MMC5883L 3-Axis Digital Compass IC
00076  */
00077 class MMC5883L
00078 {
00079 
00080 public:
00081 
00082     /**
00083      * The I2C address that can be passed directly to i2c object (it's already shifted 1 bit left).
00084      */
00085     static const int I2C_ADDRESS = 0x60;
00086 
00087     /**
00088      * Constructor.
00089      *
00090      * Calls init function
00091      *
00092      * @param sda - mbed pin to use for the SDA I2C line.
00093      * @param scl - mbed pin to use for the SCL I2C line.
00094      */
00095     MMC5883L(PinName sda, PinName scl);
00096 
00097     /**
00098     * Constructor that accepts external i2c interface object.
00099     * 
00100     * Calls init function
00101     *
00102     * @param i2c The I2C interface object to use.
00103     */
00104     MMC5883L(I2C &i2c) : i2c_(i2c) {
00105         init();
00106     }
00107 
00108     ~MMC5883L();
00109 
00110     void init();
00111 
00112     void setConfiguration0(char);
00113     void setConfiguration1(char);
00114     void setConfiguration2(char);
00115 
00116     char getConfiguration0();
00117     char getConfiguration1();
00118     char getConfiguration2();
00119 
00120     void flipSet();
00121     void flipReset();
00122 
00123     void startMeasurement_temp();
00124     void startMeasurement_mag();
00125 
00126     void getXYZ_RAW(int16_t raw[3]);
00127     void getXYZ_OffsetRemoved_RAW(int16_t raw[3]);
00128     void getXYZ_nT(int32_t raw[3]);
00129     void getXYZ_OffsetRemoved_nT(int32_t raw[3]);
00130 
00131     
00132     char getStatus();
00133     
00134     double getHeadingXY();
00135     double getHeadingXY(int16_t output[3]);    
00136     double getHeadingXY(int32_t output[3]);   
00137     double getHeadingXYDeg();
00138     double getHeadingXYDeg_RAW(int16_t output[3]);
00139     double getHeadingXYDeg_nT(int32_t output[3]);
00140 
00141 private:
00142 
00143     I2C &i2c_;
00144 
00145     /**
00146      * The raw buffer for allocating I2C object in its own without heap memory.
00147      */
00148     char i2cRaw[sizeof(I2C)];
00149 };
00150 
00151 #endif // MMC5883L
00152