![](/media/cache/profiles/2012_sf_avc_095.jpg.50x50_q85.jpg)
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
Diff: Sensors/HMC5843/HMC5843.h
- Revision:
- 0:a6a169de725f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/HMC5843/HMC5843.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,280 @@ +/** + * @author Uwe Gartmann + * @author Used HMC5843 library developed by Jose R. Padron and Aaron Berk as template + * + * @section LICENSE + * + * Copyright (c) 2010 ARM Limited + * + * 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 + * + * Honeywell HMC5843 digital compass. + * + * Datasheet: + * + * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf + */ + +#ifndef HMC5843_H +#define HMC5843_H + +#include "mbed.h" + +#define HMC5843_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read. +#define HMC5843_I2C_WRITE 0x3C +#define HMC5843_I2C_READ 0x3D + +//Values Config A +#define HMC5843_0_5HZ_NORMAL 0x00 +#define HMC5843_0_5HZ_POSITIVE 0x01 +#define HMC5843_0_5HZ_NEGATIVE 0x02 + +#define HMC5843_1HZ_NORMAL 0x04 +#define HMC5843_1HZ_POSITIVE 0x05 +#define HMC5843_1HZ_NEGATIVE 0x06 + +#define HMC5843_2HZ_NORMAL 0x08 +#define HMC5843_2HZ_POSITIVE 0x09 +#define HMC5843_2HZ_NEGATIVE 0x0A + +#define HMC5843_5HZ_NORMAL 0x0C +#define HMC5843_5HZ_POSITIVE 0x0D +#define HMC5843_5HZ_NEGATIVE 0x0E + +#define HMC5843_10HZ_NORMAL 0x10 +#define HMC5843_10HZ_POSITIVE 0x11 +#define HMC5843_10HZ_NEGATIVE 0x12 + +#define HMC5843_20HZ_NORMAL 0x14 +#define HMC5843_20HZ_POSITIVE 0x15 +#define HMC5843_20HZ_NEGATIVE 0x16 + +#define HMC5843_50HZ_NORMAL 0x18 +#define HMC5843_50HZ_POSITIVE 0x19 +#define HMC5843_50HZ_NEGATIVE 0x1A + +//Values Config B +#define HMC5843_0_7GA 0x00 +#define HMC5843_1_0GA 0x20 +#define HMC5843_1_5GA 0x40 +#define HMC5843_2_0GA 0x60 +#define HMC5843_3_2GA 0x80 +#define HMC5843_3_8GA 0xA0 +#define HMC5843_4_5GA 0xC0 +#define HMC5843_6_5GA 0xE0 + +//Values MODE +#define HMC5843_CONTINUOUS 0x00 +#define HMC5843_SINGLE 0x01 +#define HMC5843_IDLE 0x02 +#define HMC5843_SLEEP 0x03 + + + +#define HMC5843_CONFIG_A 0x00 +#define HMC5843_CONFIG_B 0x01 +#define HMC5843_MODE 0x02 +#define HMC5843_X_MSB 0x03 +#define HMC5843_X_LSB 0x04 +#define HMC5843_Y_MSB 0x05 +#define HMC5843_Y_LSB 0x06 +#define HMC5843_Z_MSB 0x07 +#define HMC5843_Z_LSB 0x08 +#define HMC5843_STATUS 0x09 +#define HMC5843_IDENT_A 0x0A +#define HMC5843_IDENT_B 0x0B +#define HMC5843_IDENT_C 0x0C + + + +/** + * Interface library for the Honeywell HMC5843 digital compass. + * @author Michael Shimniok http://www.bot-thoughts.com/ + * @author Based on library by Uwe Gartmann + * @author In turn based on HMC5843 library developed by Jose R. Padron and Aaron Berk as template + * + * This version is modified to follow the same member functions of my LSM303DLH library. The intent + * is to make it drop in compatible with my other magnetometer libraries. For now, setScale() and + * setOffset() have no effect at this time. + * + * @code + * #include "mbed.h" + * #include "HMC5843.h" + * + * HMC5843 compass(p28, p27); + * ... + * int m[3]; + * ... + * compass.readMag(m); + * + * @endcode + */ +class HMC5843 { + +public: + + /** + * Create a new interface for an HMC5843. + * + * @param sda mbed pin to use for SDA line of I2C interface. + * @param scl mbed pin to use for SCL line of I2C interface. + */ + HMC5843(PinName sda, PinName scl); + + + /** sets the x, y, and z offset corrections for hard iron calibration + * + * Calibration details here: + * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/ + * + * If you gather raw magnetometer data and find, for example, x is offset + * by hard iron by -20 then pass +20 to this member function to correct + * for hard iron. + * + * @param x is the offset correction for the x axis + * @param y is the offset correction for the y axis + * @param z is the offset correction for the z axis + */ + void setOffset(float x, float y, float z); + + + /** sets the scale factor for the x, y, and z axes + * + * Calibratio details here: + * http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/ + * + * Sensitivity of the three axes is never perfectly identical and this + * function can help to correct differences in sensitivity. You're + * supplying a multipler such that x, y and z will be normalized to the + * same max/min values + */ + void setScale(float x, float y, float z); + + + /** + * Enter into sleep mode. + */ + void setSleepMode(); + + + /** + * Set Device in Default Mode. + * HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA + */ + void setDefault(); + + + /** + * Set the operation mode. + * + * @param mode 0x00 -> Continuous + * 0x01 -> Single + * 0x02 -> Idle + * @param ConfigA values + * @param ConfigB values + */ + void setOpMode(int mode, int ConfigA, int ConfigB); + + + /** + * Write to a register on the device. + * + * @param address is the register address to be written. + * @param data is the data to write. + */ + void write(int address, int data); + + + /** read the calibrated accelerometer and magnetometer values + * + * @param m is the magnetometer 3d vector, written by the function + */ + void read(int m[3]); + + + /** read the calibrated magnetometer values + * + * @param m is the magnetometer 3d vector, written by the function + */ + void readMag(int m[3]); + + + /** + * Get the output of all three axes. + * + * @param Pointer to a buffer to hold the magnetics value for the + * x-axis, y-axis and z-axis [in that order]. + */ + void readData(int* readings); + + + /** + * Get the output of X axis. + * + * @return x-axis magnetic value + */ + int getMx(); + + + /** + * Get the output of Y axis. + * + * @return y-axis magnetic value + */ + int getMy(); + + + /** + * Get the output of Z axis. + * + * @return z-axis magnetic value + */ + int getMz(); + + /** + * Get the current operation mode. + * + * @return Status register values + */ + int getStatus(void); + + + /** + * Read the memory location on the device which contains the address. + * + * @param Pointer to a buffer to hold the address value + * Expected H, 4 and 3. + */ + void getAddress(char * address); + + + /** sets the I2C bus frequency + * + * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000) + */ + void frequency(int hz); + +private: + I2C* i2c_; + +}; + +#endif /* HMC5843_H */