HMC5883L Digital Compass Library
Fork of HMC5883L by
HMC5883L.h@1:4c295f793d46, 2015-08-05 (annotated)
- Committer:
- BaserK
- Date:
- Wed Aug 05 13:08:19 2015 +0000
- Revision:
- 1:4c295f793d46
- Parent:
- 0:e5f8da308b60
- Child:
- 3:f5f6aaf24be0
readMagData function is public now
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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BaserK | 0:e5f8da308b60 | 1 | /* |
BaserK | 0:e5f8da308b60 | 2 | * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr |
BaserK | 0:e5f8da308b60 | 3 | * |
BaserK | 0:e5f8da308b60 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
BaserK | 0:e5f8da308b60 | 5 | * of this software and associated documentation files (the "Software"), to deal |
BaserK | 0:e5f8da308b60 | 6 | * in the Software without restriction, including without limitation the rights |
BaserK | 0:e5f8da308b60 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
BaserK | 0:e5f8da308b60 | 8 | * copies of the Software, and to permit persons to whom the Software is |
BaserK | 0:e5f8da308b60 | 9 | * furnished to do so, subject to the following conditions: |
BaserK | 0:e5f8da308b60 | 10 | * |
BaserK | 0:e5f8da308b60 | 11 | * The above copyright notice and this permission notice shall be included in |
BaserK | 0:e5f8da308b60 | 12 | * all copies or substantial portions of the Software. |
BaserK | 0:e5f8da308b60 | 13 | * |
BaserK | 0:e5f8da308b60 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
BaserK | 0:e5f8da308b60 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
BaserK | 0:e5f8da308b60 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
BaserK | 0:e5f8da308b60 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
BaserK | 0:e5f8da308b60 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
BaserK | 0:e5f8da308b60 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
BaserK | 0:e5f8da308b60 | 20 | * THE SOFTWARE. |
BaserK | 0:e5f8da308b60 | 21 | * |
BaserK | 0:e5f8da308b60 | 22 | */ |
BaserK | 0:e5f8da308b60 | 23 | |
BaserK | 0:e5f8da308b60 | 24 | // Some part of the code is adapted from Adafruit HMC5883 library |
BaserK | 0:e5f8da308b60 | 25 | |
BaserK | 0:e5f8da308b60 | 26 | #ifndef HMC5883L_H |
BaserK | 0:e5f8da308b60 | 27 | #define HMC5883L_H |
BaserK | 0:e5f8da308b60 | 28 | |
BaserK | 0:e5f8da308b60 | 29 | #include "mbed.h" |
BaserK | 0:e5f8da308b60 | 30 | #include "math.h" |
BaserK | 0:e5f8da308b60 | 31 | #include "ledControl.h" |
BaserK | 0:e5f8da308b60 | 32 | |
BaserK | 0:e5f8da308b60 | 33 | #define PI 3.14159265359 |
BaserK | 0:e5f8da308b60 | 34 | #define GAUSS_TO_MICROTESLA 100 |
BaserK | 0:e5f8da308b60 | 35 | #define HMC5883L_ADDRESS 0x3C |
BaserK | 0:e5f8da308b60 | 36 | |
BaserK | 0:e5f8da308b60 | 37 | /* Register Definitions */ |
BaserK | 0:e5f8da308b60 | 38 | #define CONFIG_A 0x00 |
BaserK | 0:e5f8da308b60 | 39 | #define CONFIG_B 0x01 |
BaserK | 0:e5f8da308b60 | 40 | #define MODE 0x02 |
BaserK | 0:e5f8da308b60 | 41 | #define OUT_X_MSB 0x03 |
BaserK | 0:e5f8da308b60 | 42 | #define OUT_X_LSB 0x04 |
BaserK | 0:e5f8da308b60 | 43 | #define OUT_Z_MSB 0x05 |
BaserK | 0:e5f8da308b60 | 44 | #define OUT_Z_LSB 0x06 |
BaserK | 0:e5f8da308b60 | 45 | #define OUT_Y_MSB 0x07 |
BaserK | 0:e5f8da308b60 | 46 | #define OUT_Y_LSB 0x08 |
BaserK | 0:e5f8da308b60 | 47 | #define STATUS 0x09 |
BaserK | 0:e5f8da308b60 | 48 | #define ID_A 0x0A |
BaserK | 0:e5f8da308b60 | 49 | #define ID_B 0x0B |
BaserK | 0:e5f8da308b60 | 50 | #define ID_C 0x0C |
BaserK | 0:e5f8da308b60 | 51 | |
BaserK | 0:e5f8da308b60 | 52 | /* Magnetometer Gain Settings */ |
BaserK | 0:e5f8da308b60 | 53 | enum MagGain |
BaserK | 0:e5f8da308b60 | 54 | { |
BaserK | 0:e5f8da308b60 | 55 | MagGain_088 = 0x00, // +/- 0.88 Ga |
BaserK | 0:e5f8da308b60 | 56 | MagGain_13 = 0x20, // +/- 1.3 Ga |
BaserK | 0:e5f8da308b60 | 57 | MagGain_19 = 0x40, // +/- 1.9 Ga |
BaserK | 0:e5f8da308b60 | 58 | MagGain_25 = 0x60, // +/- 2.5 Ga |
BaserK | 0:e5f8da308b60 | 59 | MagGain_40 = 0x80, // +/- 4.0 Ga |
BaserK | 0:e5f8da308b60 | 60 | MagGain_47 = 0xA0, // +/- 4.7 Ga |
BaserK | 0:e5f8da308b60 | 61 | MagGain_56 = 0xC0, // +/- 5.6 Ga |
BaserK | 0:e5f8da308b60 | 62 | MagGain_81 = 0xE0 // +/- 8.1 Ga |
BaserK | 0:e5f8da308b60 | 63 | }; |
BaserK | 0:e5f8da308b60 | 64 | |
BaserK | 0:e5f8da308b60 | 65 | class HMC5883L |
BaserK | 0:e5f8da308b60 | 66 | { |
BaserK | 0:e5f8da308b60 | 67 | public: |
BaserK | 0:e5f8da308b60 | 68 | void init(); |
BaserK | 0:e5f8da308b60 | 69 | double getHeading(); |
BaserK | 1:4c295f793d46 | 70 | void readMagData(float* dest); |
BaserK | 0:e5f8da308b60 | 71 | private: |
BaserK | 0:e5f8da308b60 | 72 | void setMagGain(MagGain gain); |
BaserK | 0:e5f8da308b60 | 73 | void writeByte(uint8_t address, uint8_t regAddress, uint8_t data); |
BaserK | 0:e5f8da308b60 | 74 | char readByte(uint8_t address, uint8_t regAddress); |
BaserK | 0:e5f8da308b60 | 75 | void readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest); |
BaserK | 0:e5f8da308b60 | 76 | }; |
BaserK | 0:e5f8da308b60 | 77 | |
BaserK | 0:e5f8da308b60 | 78 | #endif |