QMC5883L.cpp

00001 /*   QMC5883L Digital Compass Library
00002 *
00003 *    @author: Baser Kandehir 
00004 *    @date: August 5, 2015
00005 *    @license: MIT license
00006 *     
00007 *   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
00008 *
00009 *   Permission is hereby granted, free of charge, to any person obtaining a copy
00010 *   of this software and associated documentation files (the "Software"), to deal
00011 *   in the Software without restriction, including without limitation the rights
00012 *   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00013 *   copies of the Software, and to permit persons to whom the Software is
00014 *   furnished to do so, subject to the following conditions:
00015 *
00016 *   The above copyright notice and this permission notice shall be included in
00017 *   all copies or substantial portions of the Software.
00018 *
00019 *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00020 *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00021 *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00022 *   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00023 *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00024 *   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00025 *   THE SOFTWARE.
00026 *
00027 */
00028 
00029 // Some part of the code is adapted from Adafruit HMC5883 library
00030 
00031 #include "QMC5883L.h"
00032 
00033 QMC5883L::QMC5883L(PinName sda, PinName scl): QMC5883L_i2c(sda, scl)
00034 {
00035 }
00036 
00037 float QMC5883L::setMagRange(MagScale Mscale)
00038 {
00039     float mRes; // Varies with gain
00040     
00041     switch(Mscale)
00042     {
00043         case MagScale_2G:
00044             mRes = 1.0/12000;  //LSB/G
00045             break;
00046         case MagScale_8G:
00047             mRes = 1.0/3000;
00048             break;
00049     } 
00050     return mRes;
00051 }
00052 
00053 void QMC5883L::QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data)
00054 {
00055     char data_out[2];
00056     data_out[0]=QMC5883L_reg;
00057     data_out[1]=QMC5883L_data;
00058     this->QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 2, 0);
00059 }
00060 
00061 uint8_t QMC5883L::QMC5883L_ReadByte(uint8_t QMC5883L_reg)
00062 {
00063     char data_out[1], data_in[1];
00064     data_out[0] = QMC5883L_reg;
00065     this->QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 1, 1);
00066     this->QMC5883L_i2c.read(QMC5883L_ADDRESS, data_in, 1, 0);
00067     return (data_in[0]);
00068 }
00069 
00070 void QMC5883L::ChipID()
00071 {
00072     uint8_t ChipID = QMC5883L_ReadByte(CHIP_ID);   // Should return 0x68  
00073 }
00074 
00075 void QMC5883L::init()
00076 {   
00077     setMagRange(MagScale_8G);
00078     QMC5883L_WriteByte(CONTROL_A, 0x0D | MagScale_8G);  // Range: 8G, ODR: 200 Hz, mode:Continuous-Measurement
00079     QMC5883L_WriteByte(SET_RESET, 0x01);
00080     wait_ms(10);
00081 }
00082 
00083 int16_t QMC5883L::getMagXvalue()
00084 {
00085     uint8_t LoByte, HiByte;
00086     LoByte = QMC5883L_ReadByte(OUT_X_LSB); // read Accelerometer X_Low  value
00087     HiByte = QMC5883L_ReadByte(OUT_X_MSB); // read Accelerometer X_High value
00088     return((HiByte<<8) | LoByte);
00089 }
00090 
00091 int16_t QMC5883L::getMagYvalue()
00092 {
00093     uint8_t LoByte, HiByte;
00094     LoByte = QMC5883L_ReadByte(OUT_Y_LSB); // read Accelerometer X_Low  value
00095     HiByte = QMC5883L_ReadByte(OUT_Y_MSB); // read Accelerometer X_High value
00096     return ((HiByte<<8) | LoByte);
00097 }
00098 
00099 int16_t QMC5883L::getMagZvalue()
00100 {
00101     uint8_t LoByte, HiByte;
00102     LoByte = QMC5883L_ReadByte(OUT_Z_LSB); // read Accelerometer X_Low  value
00103     HiByte = QMC5883L_ReadByte(OUT_Z_MSB); // read Accelerometer X_High value
00104     return ((HiByte<<8) | LoByte);
00105 }
00106 
00107 int16_t QMC5883L::getMagTemp()
00108 {
00109     uint8_t LoByte, HiByte;
00110     LoByte = QMC5883L_ReadByte(TEMP_LSB); // read Accelerometer X_Low  value
00111     HiByte = QMC5883L_ReadByte(TEMP_MSB); // read Accelerometer X_High value
00112     return ((HiByte<<8) | LoByte);
00113 }