test
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Diff: HMC5883L.cpp
- Revision:
- 0:8b84d61cee94
- Child:
- 1:8a1357c351c6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.cpp Wed Oct 31 04:35:08 2012 +0000 @@ -0,0 +1,130 @@ +/* + * @file HMC5883L.cpp + * @author Tyler Weaver + * + * @section LICENSE + * + * 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 + * + * HMC5883L 3-Axis Digital Compas IC + * For use with the Sparkfun 9 Degrees of Freedom - Sensor Stick + * + * Datasheet: + * + * http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf + */ + +#include "HMC5883L.h" +#include <new> + +HMC5883L::HMC5883L(PinName sda, PinName scl) : i2c_(*reinterpret_cast<I2C*>(i2cRaw)) +{ + // Placement new to avoid additional heap memory allocation. + new(i2cRaw) I2C(sda, scl); + + init(); +} + +HMC5883L::~HMC5883L() +{ + // If the I2C object is initialized in the buffer in this object, call destructor of it. + if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw)) + reinterpret_cast<I2C*>(&i2cRaw)->~I2C(); +} + +void HMC5883L::init() +{ + // init - configure your setup here + setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_15); // 8 sample average, 15Hz, normal mode + setConfigurationB(0x20); // default + setMode(CONTINUOUS_MODE); // continuous sample mode +} + +void HMC5883L::setConfigurationA(char config) +{ + char cmd[2]; + cmd[0] = CONFIG_A_REG; // register a address + cmd[1] = config; + + i2c_.write(I2C_ADDRESS, cmd, 2); +} + +void HMC5883L::setConfigurationB(char config) +{ + char cmd[2]; + cmd[0] = CONFIG_B_REG; // register b address + cmd[1] = config; + + i2c_.write(I2C_ADDRESS, cmd, 2); +} + +char HMC5883L::getConfigurationA() +{ + char cmd[2]; + cmd[0] = CONFIG_A_REG; // register a address + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +char HMC5883L::getConfigurationB() +{ + char cmd[2]; + cmd[0] = CONFIG_A_REG; // register b address + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +void HMC5883L::setMode(char mode = SINGLE_MODE) +{ + char cmd[2]; + cmd[0] = MODE_REG; // mode register address + cmd[1] = mode; + i2c_.write(I2C_ADDRESS,cmd,2); +} + +char HMC5883L::getMode() +{ + char cmd[2]; + cmd[0] = MODE_REG; // mode register + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +char HMC5883L::getStatus() +{ + char cmd[2]; + cmd[0] = STATUS_REG; // status register + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +void HMC5883L::getXYZ(int output[3]) +{ + char cmd[2]; + char data[6]; + cmd[0] = 0x03; // starting point for reading + i2c_.write(I2C_ADDRESS, cmd, 1, true); // set the pointer to the start of x + i2c_.read(I2C_ADDRESS, data, 6, false); + + for(int i = 0; i < 3; i++) // fill the output variables + output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]); +} \ No newline at end of file