Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

Sensors/HMC5843/HMC5843.cpp@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 /**
shimniok 0:a6a169de725f 2 * @author Jose R. Padron
shimniok 0:a6a169de725f 3 * @author Used HMC6352 library developed by Aaron Berk as template
shimniok 0:a6a169de725f 4 * @section LICENSE
shimniok 0:a6a169de725f 5 *
shimniok 0:a6a169de725f 6 * Copyright (c) 2010 ARM Limited
shimniok 0:a6a169de725f 7 *
shimniok 0:a6a169de725f 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
shimniok 0:a6a169de725f 9 * of this software and associated documentation files (the "Software"), to deal
shimniok 0:a6a169de725f 10 * in the Software without restriction, including without limitation the rights
shimniok 0:a6a169de725f 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
shimniok 0:a6a169de725f 12 * copies of the Software, and to permit persons to whom the Software is
shimniok 0:a6a169de725f 13 * furnished to do so, subject to the following conditions:
shimniok 0:a6a169de725f 14 *
shimniok 0:a6a169de725f 15 * The above copyright notice and this permission notice shall be included in
shimniok 0:a6a169de725f 16 * all copies or substantial portions of the Software.
shimniok 0:a6a169de725f 17 *
shimniok 0:a6a169de725f 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
shimniok 0:a6a169de725f 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
shimniok 0:a6a169de725f 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
shimniok 0:a6a169de725f 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
shimniok 0:a6a169de725f 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
shimniok 0:a6a169de725f 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
shimniok 0:a6a169de725f 24 * THE SOFTWARE.
shimniok 0:a6a169de725f 25 *
shimniok 0:a6a169de725f 26 * @section DESCRIPTION
shimniok 0:a6a169de725f 27 *
shimniok 0:a6a169de725f 28 * Honeywell HMC5843digital compass.
shimniok 0:a6a169de725f 29 *
shimniok 0:a6a169de725f 30 * Datasheet:
shimniok 0:a6a169de725f 31 *
shimniok 0:a6a169de725f 32 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf
shimniok 0:a6a169de725f 33 */
shimniok 0:a6a169de725f 34
shimniok 0:a6a169de725f 35 /**
shimniok 0:a6a169de725f 36 * Includes
shimniok 0:a6a169de725f 37 */
shimniok 0:a6a169de725f 38 #include "HMC5843.h"
shimniok 0:a6a169de725f 39
shimniok 0:a6a169de725f 40 HMC5843::HMC5843(PinName sda, PinName scl)
shimniok 0:a6a169de725f 41 {
shimniok 0:a6a169de725f 42 i2c_ = new I2C(sda, scl);
shimniok 0:a6a169de725f 43 //100KHz, as specified by the datasheet.
shimniok 0:a6a169de725f 44 i2c_->frequency(100000);
shimniok 0:a6a169de725f 45 setOpMode(HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL, HMC5843_1_0GA);
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 return;
shimniok 0:a6a169de725f 48 }
shimniok 0:a6a169de725f 49
shimniok 0:a6a169de725f 50
shimniok 0:a6a169de725f 51 void HMC5843::setOffset(float x, float y, float z)
shimniok 0:a6a169de725f 52 {
shimniok 0:a6a169de725f 53 return;
shimniok 0:a6a169de725f 54 }
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56
shimniok 0:a6a169de725f 57 void HMC5843::setScale(float x, float y, float z)
shimniok 0:a6a169de725f 58 {
shimniok 0:a6a169de725f 59 return;
shimniok 0:a6a169de725f 60 }
shimniok 0:a6a169de725f 61
shimniok 0:a6a169de725f 62
shimniok 0:a6a169de725f 63 void HMC5843::setSleepMode()
shimniok 0:a6a169de725f 64 {
shimniok 0:a6a169de725f 65 write(HMC5843_MODE, HMC5843_SLEEP);
shimniok 0:a6a169de725f 66
shimniok 0:a6a169de725f 67 return;
shimniok 0:a6a169de725f 68 }
shimniok 0:a6a169de725f 69
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 void HMC5843::setDefault(void)
shimniok 0:a6a169de725f 72 {
shimniok 0:a6a169de725f 73 write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL);
shimniok 0:a6a169de725f 74 write(HMC5843_CONFIG_B,HMC5843_1_0GA);
shimniok 0:a6a169de725f 75 write(HMC5843_MODE,HMC5843_CONTINUOUS);
shimniok 0:a6a169de725f 76 wait_ms(100);
shimniok 0:a6a169de725f 77
shimniok 0:a6a169de725f 78 return;
shimniok 0:a6a169de725f 79 }
shimniok 0:a6a169de725f 80
shimniok 0:a6a169de725f 81
shimniok 0:a6a169de725f 82 void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB)
shimniok 0:a6a169de725f 83 {
shimniok 0:a6a169de725f 84 write(HMC5843_CONFIG_A,ConfigA);
shimniok 0:a6a169de725f 85 write(HMC5843_CONFIG_B,ConfigB);
shimniok 0:a6a169de725f 86 write(HMC5843_MODE,mode);
shimniok 0:a6a169de725f 87
shimniok 0:a6a169de725f 88 return;
shimniok 0:a6a169de725f 89 }
shimniok 0:a6a169de725f 90
shimniok 0:a6a169de725f 91
shimniok 0:a6a169de725f 92 void HMC5843::write(int address, int data)
shimniok 0:a6a169de725f 93 {
shimniok 0:a6a169de725f 94 char tx[2];
shimniok 0:a6a169de725f 95
shimniok 0:a6a169de725f 96 tx[0]=address;
shimniok 0:a6a169de725f 97 tx[1]=data;
shimniok 0:a6a169de725f 98
shimniok 0:a6a169de725f 99 i2c_->write(HMC5843_I2C_WRITE,tx,2);
shimniok 0:a6a169de725f 100
shimniok 0:a6a169de725f 101 wait_ms(100);
shimniok 0:a6a169de725f 102
shimniok 0:a6a169de725f 103 return;
shimniok 0:a6a169de725f 104 }
shimniok 0:a6a169de725f 105
shimniok 0:a6a169de725f 106
shimniok 0:a6a169de725f 107 void HMC5843::read(int m[3])
shimniok 0:a6a169de725f 108 {
shimniok 0:a6a169de725f 109 readData(m);
shimniok 0:a6a169de725f 110
shimniok 0:a6a169de725f 111 return;
shimniok 0:a6a169de725f 112 }
shimniok 0:a6a169de725f 113
shimniok 0:a6a169de725f 114 void HMC5843::readMag(int m[3])
shimniok 0:a6a169de725f 115 {
shimniok 0:a6a169de725f 116 readData(m);
shimniok 0:a6a169de725f 117
shimniok 0:a6a169de725f 118 return;
shimniok 0:a6a169de725f 119 }
shimniok 0:a6a169de725f 120
shimniok 0:a6a169de725f 121 void HMC5843::readData(int readings[3])
shimniok 0:a6a169de725f 122 {
shimniok 0:a6a169de725f 123 char tx[1];
shimniok 0:a6a169de725f 124 char rx[2];
shimniok 0:a6a169de725f 125
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 tx[0]=HMC5843_X_MSB;
shimniok 0:a6a169de725f 128 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 129 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 130 readings[0]= (short)(rx[0]<<8|rx[1]);
shimniok 0:a6a169de725f 131
shimniok 0:a6a169de725f 132
shimniok 0:a6a169de725f 133 tx[0]=HMC5843_Y_MSB;
shimniok 0:a6a169de725f 134 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 135 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 136 readings[1]= (short) (rx[0]<<8|rx[1]);
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 tx[0]=HMC5843_Z_MSB;
shimniok 0:a6a169de725f 139 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 140 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 141 readings[2]= (short) (rx[0]<<8|rx[1]);
shimniok 0:a6a169de725f 142
shimniok 0:a6a169de725f 143 return;
shimniok 0:a6a169de725f 144 }
shimniok 0:a6a169de725f 145
shimniok 0:a6a169de725f 146 int HMC5843::getMx()
shimniok 0:a6a169de725f 147 {
shimniok 0:a6a169de725f 148 char tx[1];
shimniok 0:a6a169de725f 149 char rx[2];
shimniok 0:a6a169de725f 150
shimniok 0:a6a169de725f 151
shimniok 0:a6a169de725f 152 tx[0]=HMC5843_X_MSB;
shimniok 0:a6a169de725f 153 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 154 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 155
shimniok 0:a6a169de725f 156 return (short) rx[0]<<8|rx[1];
shimniok 0:a6a169de725f 157 }
shimniok 0:a6a169de725f 158
shimniok 0:a6a169de725f 159 int HMC5843::getMy()
shimniok 0:a6a169de725f 160 {
shimniok 0:a6a169de725f 161 char tx[1];
shimniok 0:a6a169de725f 162 char rx[2];
shimniok 0:a6a169de725f 163
shimniok 0:a6a169de725f 164
shimniok 0:a6a169de725f 165 tx[0]=HMC5843_Y_MSB;
shimniok 0:a6a169de725f 166 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 167 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 168
shimniok 0:a6a169de725f 169 return (short) rx[0]<<8|rx[1];
shimniok 0:a6a169de725f 170 }
shimniok 0:a6a169de725f 171
shimniok 0:a6a169de725f 172
shimniok 0:a6a169de725f 173 int HMC5843::getMz(){
shimniok 0:a6a169de725f 174
shimniok 0:a6a169de725f 175 char tx[1];
shimniok 0:a6a169de725f 176 char rx[2];
shimniok 0:a6a169de725f 177
shimniok 0:a6a169de725f 178
shimniok 0:a6a169de725f 179 tx[0]=HMC5843_Z_MSB;
shimniok 0:a6a169de725f 180 i2c_->write(HMC5843_I2C_READ,tx,1);
shimniok 0:a6a169de725f 181 i2c_->read(HMC5843_I2C_READ,rx,2);
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 return (short) rx[0]<<8|rx[1];
shimniok 0:a6a169de725f 184 }
shimniok 0:a6a169de725f 185
shimniok 0:a6a169de725f 186
shimniok 0:a6a169de725f 187 int HMC5843::getStatus(void)
shimniok 0:a6a169de725f 188 {
shimniok 0:a6a169de725f 189 return 0;
shimniok 0:a6a169de725f 190 }
shimniok 0:a6a169de725f 191
shimniok 0:a6a169de725f 192
shimniok 0:a6a169de725f 193 void HMC5843::getAddress(char *buffer)
shimniok 0:a6a169de725f 194 {
shimniok 0:a6a169de725f 195 char rx[3];
shimniok 0:a6a169de725f 196 char tx[1];
shimniok 0:a6a169de725f 197 tx[0]=HMC5843_IDENT_A;
shimniok 0:a6a169de725f 198
shimniok 0:a6a169de725f 199
shimniok 0:a6a169de725f 200 i2c_->write(HMC5843_I2C_WRITE, tx,1);
shimniok 0:a6a169de725f 201
shimniok 0:a6a169de725f 202 wait_ms(1);
shimniok 0:a6a169de725f 203
shimniok 0:a6a169de725f 204 i2c_->read(HMC5843_I2C_READ,rx,3);
shimniok 0:a6a169de725f 205
shimniok 0:a6a169de725f 206 buffer[0]=rx[0];
shimniok 0:a6a169de725f 207 buffer[1]=rx[1];
shimniok 0:a6a169de725f 208 buffer[2]=rx[2];
shimniok 0:a6a169de725f 209
shimniok 0:a6a169de725f 210 return;
shimniok 0:a6a169de725f 211 }
shimniok 0:a6a169de725f 212
shimniok 0:a6a169de725f 213
shimniok 0:a6a169de725f 214 void HMC5843::frequency(int hz)
shimniok 0:a6a169de725f 215 {
shimniok 0:a6a169de725f 216 if (hz == 100000)
shimniok 0:a6a169de725f 217 i2c_->frequency(100000);
shimniok 0:a6a169de725f 218 else if (hz == 400000)
shimniok 0:a6a169de725f 219 i2c_->frequency(400000);
shimniok 0:a6a169de725f 220
shimniok 0:a6a169de725f 221 return;
shimniok 0:a6a169de725f 222 }