HMC5843.cpp

00001 /**
00002  * @author Jose R. Padron
00003  * @author Used HMC6352 library  developed by Aaron Berk as template
00004  * @section LICENSE
00005  *
00006  * Copyright (c) 2010 ARM Limited
00007  *
00008  * Permission is hereby granted, free of charge, to any person obtaining a copy
00009  * of this software and associated documentation files (the "Software"), to deal
00010  * in the Software without restriction, including without limitation the rights
00011  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00012  * copies of the Software, and to permit persons to whom the Software is
00013  * furnished to do so, subject to the following conditions:
00014  *
00015  * The above copyright notice and this permission notice shall be included in
00016  * all copies or substantial portions of the Software.
00017  *
00018  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00019  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00020  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00021  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00022  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00023  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00024  * THE SOFTWARE.
00025  *
00026  * @section DESCRIPTION
00027  *
00028  * Honeywell HMC5843digital compass.
00029  *
00030  * Datasheet:
00031  *
00032  * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf
00033  */
00034 
00035 /**
00036  * Includes
00037  */
00038 #include "HMC5843.h"
00039 
00040 HMC5843::HMC5843(PinName sda, PinName scl) 
00041 {
00042     i2c_ = new I2C(sda, scl);
00043     //100KHz, as specified by the datasheet.
00044     i2c_->frequency(100000);
00045     setOpMode(HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL, HMC5843_1_0GA);
00046 
00047     return;
00048 }
00049 
00050 
00051 void HMC5843::setOffset(float x, float y, float z)
00052 {
00053     return;
00054 }
00055 
00056 
00057 void HMC5843::setScale(float x, float y, float z)
00058 {
00059     return;
00060 }
00061      
00062 
00063 void HMC5843::setSleepMode()
00064 {
00065     write(HMC5843_MODE, HMC5843_SLEEP);
00066 
00067     return;
00068 }
00069 
00070 
00071 void HMC5843::setDefault(void)
00072 {
00073    write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL);
00074    write(HMC5843_CONFIG_B,HMC5843_1_0GA);
00075    write(HMC5843_MODE,HMC5843_CONTINUOUS);
00076    wait_ms(100);
00077    
00078    return;
00079 }
00080 
00081 
00082 void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB)
00083 {      
00084     write(HMC5843_CONFIG_A,ConfigA);
00085     write(HMC5843_CONFIG_B,ConfigB);
00086     write(HMC5843_MODE,mode);
00087     
00088     return;
00089 }
00090 
00091 
00092 void HMC5843::write(int address, int data)
00093 {
00094     char tx[2];
00095    
00096     tx[0]=address;
00097     tx[1]=data;
00098 
00099     i2c_->write(HMC5843_I2C_WRITE,tx,2);
00100    
00101     wait_ms(100);
00102 
00103     return;
00104 }
00105 
00106 
00107 void HMC5843::read(int m[3])
00108 {
00109     readData(m);
00110 
00111     return;
00112 }
00113 
00114 void HMC5843::readMag(int m[3])
00115 {
00116     readData(m);
00117 
00118     return;
00119 }
00120 
00121 void HMC5843::readData(int readings[3])
00122 {
00123     char tx[1];
00124     char rx[2];
00125     
00126     
00127     tx[0]=HMC5843_X_MSB;
00128     i2c_->write(HMC5843_I2C_READ,tx,1);
00129     i2c_->read(HMC5843_I2C_READ,rx,2);
00130     readings[0]= (short)(rx[0]<<8|rx[1]);
00131 
00132      
00133     tx[0]=HMC5843_Y_MSB;
00134     i2c_->write(HMC5843_I2C_READ,tx,1);
00135     i2c_->read(HMC5843_I2C_READ,rx,2);
00136     readings[1]= (short) (rx[0]<<8|rx[1]);
00137      
00138     tx[0]=HMC5843_Z_MSB;
00139     i2c_->write(HMC5843_I2C_READ,tx,1);
00140     i2c_->read(HMC5843_I2C_READ,rx,2);
00141     readings[2]= (short) (rx[0]<<8|rx[1]);
00142     
00143     return;
00144 }
00145 
00146 int HMC5843::getMx()
00147 {
00148     char tx[1];
00149     char rx[2];
00150     
00151     
00152     tx[0]=HMC5843_X_MSB;
00153     i2c_->write(HMC5843_I2C_READ,tx,1);
00154     i2c_->read(HMC5843_I2C_READ,rx,2);
00155     
00156     return (short) rx[0]<<8|rx[1];
00157 }
00158 
00159 int HMC5843::getMy() 
00160 {
00161     char tx[1];
00162     char rx[2];
00163     
00164     
00165     tx[0]=HMC5843_Y_MSB;
00166     i2c_->write(HMC5843_I2C_READ,tx,1);
00167     i2c_->read(HMC5843_I2C_READ,rx,2);
00168     
00169     return (short) rx[0]<<8|rx[1];
00170 }
00171 
00172 
00173 int HMC5843::getMz(){
00174 
00175     char tx[1];
00176     char rx[2];
00177     
00178     
00179     tx[0]=HMC5843_Z_MSB;
00180     i2c_->write(HMC5843_I2C_READ,tx,1);
00181     i2c_->read(HMC5843_I2C_READ,rx,2);
00182     
00183     return (short) rx[0]<<8|rx[1];
00184 }
00185 
00186 
00187 int HMC5843::getStatus(void)
00188 {
00189     return 0;
00190 }
00191 
00192 
00193 void HMC5843::getAddress(char *buffer)
00194 {    
00195    char rx[3];
00196    char tx[1];
00197    tx[0]=HMC5843_IDENT_A;
00198     
00199        
00200     i2c_->write(HMC5843_I2C_WRITE, tx,1);
00201    
00202     wait_ms(1);
00203     
00204     i2c_->read(HMC5843_I2C_READ,rx,3);
00205     
00206     buffer[0]=rx[0];
00207     buffer[1]=rx[1];
00208     buffer[2]=rx[2];
00209     
00210     return;
00211 }
00212 
00213      
00214 void HMC5843::frequency(int hz)
00215 {
00216     if (hz == 100000)
00217         i2c_->frequency(100000);
00218     else if (hz == 400000)
00219         i2c_->frequency(400000);
00220 
00221     return;
00222 }