Diff: HMC58X3.h

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0:d84e1c7e4e86

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+++ b/HMC58X3.h	Mon Jun 24 16:18:52 2013 +0000
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+/**
+@file HMC58X3.h - Interface a Honeywell HMC58X3 magnetometer to an Arduino via i2c.
+
+@author Fabio Varesano <fvaresano@yahoo.it>
+Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it>
+ported for Mbed by Aloïs Wolff
+
+Based on:
+http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1274748346
+  Modification/extension of the following by E.J.Muller
+http://eclecti.cc/hardware/hmc5843-magnetometer-library-for-arduino
+  Copyright (c) 2009 Nirav Patel,
+
+The above were based on:
+http://www.sparkfun.com/datasheets/Sensors/Magneto/HMC58X3-v11.c
+http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+//#define ISHMC5843 (1) // Uncomment this following line if you are using this library with the HMC5843.
+
+
+
+#ifndef HMC58X3_h
+#define HMC58X3_h
+
+#define HMC58X3_ADDR 0x1E // 7 bit address of the HMC58X3 used with the Wire library
+#define HMC_POS_BIAS 1
+#define HMC_NEG_BIAS 2
+
+// HMC58X3 register map. For details see HMC58X3 datasheet
+#define HMC58X3_R_CONFA 0
+#define HMC58X3_R_CONFB 1
+#define HMC58X3_R_MODE 2
+#define HMC58X3_R_XM 3
+#define HMC58X3_R_XL 4
+
+#ifdef ISHMC5843
+#define HMC58X3_R_YM (5)    //!< Register address for YM.
+#define HMC58X3_R_YL (6)    //!< Register address for YL.
+#define HMC58X3_R_ZM (7)    //!< Register address for ZM.
+#define HMC58X3_R_ZL (8)    //!< Register address for ZL.
+
+#define HMC58X3_X_SELF_TEST_GAUSS (+0.55)                       //!< X axis level when bias current is applied.
+#define HMC58X3_Y_SELF_TEST_GAUSS (HMC58X3_X_SELF_TEST_GAUSS)   //!< Y axis level when bias current is applied.
+#define HMC58X3_Z_SELF_TEST_GAUSS (HMC58X3_X_SELF_TEST_GAUSS)   //!< Y axis level when bias current is applied.
+
+/*
+    This is my best guess at the LOW, HIGH limit.  The data sheet does not have these values.
+*/
+#define SELF_TEST_LOW_LIMIT  (HMC58X3_X_SELF_TEST_GAUSS*0.53)   //!< Low limit 53% of expected value.
+#define SELF_TEST_HIGH_LIMIT (HMC58X3_X_SELF_TEST_GAUSS*1.36)   //!< High limit 136% of expected values.
+#else // HMC5883L
+#define HMC58X3_R_YM (7)  //!< Register address for YM.
+#define HMC58X3_R_YL (8)  //!< Register address for YL.
+#define HMC58X3_R_ZM (5)  //!< Register address for ZM.
+#define HMC58X3_R_ZL (6)  //!< Register address for ZL.
+
+#define HMC58X3_X_SELF_TEST_GAUSS (+1.16)                       //!< X axis level when bias current is applied.
+#define HMC58X3_Y_SELF_TEST_GAUSS (HMC58X3_X_SELF_TEST_GAUSS)   //!< Y axis level when bias current is applied.
+#define HMC58X3_Z_SELF_TEST_GAUSS (+1.08)                       //!< Y axis level when bias current is applied.
+
+#define SELF_TEST_LOW_LIMIT  (243.0/390.0)   //!< Low limit when gain is 5.
+#define SELF_TEST_HIGH_LIMIT (575.0/390.0)   //!< High limit when gain is 5.
+#endif
+
+#define HMC58X3_R_STATUS 9
+#define HMC58X3_R_IDA 10
+#define HMC58X3_R_IDB 11
+#define HMC58X3_R_IDC 12
+
+class HMC58X3
+{
+
+
+public:
+    HMC58X3(PinName sda, PinName scl);
+    
+    void init(bool setmode);
+    void init(int address, bool setmode);
+    void getValues(int *x,int *y,int *z);
+    void getValues(float *x,float *y,float *z);
+    void getValues(float *xyz);
+    void getRaw(int *x,int *y,int *z);
+    void getRaw(int *xyz);
+    void calibrate(unsigned char gain);     // Original calibrate with a few weaknesses.
+    bool calibrate(unsigned char gain,unsigned int n_samples);
+    void setMode(unsigned char mode);
+    void setDOR(unsigned char DOR);
+    void setGain(unsigned char gain);
+    void getID(char id[3]);
+
+    static const int I2C_ADDRESS = 0x3D;
+
+private:
+    I2C i2c;
+    void writeReg(unsigned char reg, unsigned char val);
+    float x_scale,y_scale,z_scale,x_max,y_max,z_max;
+    int min(int a, int b);
+};
+
+#endif // HMC58X3_h
+