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.cpp
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f Sensors/HMC5843/HMC5843.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Sensors/HMC5843/HMC5843.cpp Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,222 @@ +/** + * @author Jose R. Padron + * @author Used HMC6352 library developed by 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 HMC5843digital compass. + * + * Datasheet: + * + * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf + */ + +/** + * Includes + */ +#include "HMC5843.h" + +HMC5843::HMC5843(PinName sda, PinName scl) +{ + i2c_ = new I2C(sda, scl); + //100KHz, as specified by the datasheet. + i2c_->frequency(100000); + setOpMode(HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL, HMC5843_1_0GA); + + return; +} + + +void HMC5843::setOffset(float x, float y, float z) +{ + return; +} + + +void HMC5843::setScale(float x, float y, float z) +{ + return; +} + + +void HMC5843::setSleepMode() +{ + write(HMC5843_MODE, HMC5843_SLEEP); + + return; +} + + +void HMC5843::setDefault(void) +{ + write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL); + write(HMC5843_CONFIG_B,HMC5843_1_0GA); + write(HMC5843_MODE,HMC5843_CONTINUOUS); + wait_ms(100); + + return; +} + + +void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB) +{ + write(HMC5843_CONFIG_A,ConfigA); + write(HMC5843_CONFIG_B,ConfigB); + write(HMC5843_MODE,mode); + + return; +} + + +void HMC5843::write(int address, int data) +{ + char tx[2]; + + tx[0]=address; + tx[1]=data; + + i2c_->write(HMC5843_I2C_WRITE,tx,2); + + wait_ms(100); + + return; +} + + +void HMC5843::read(int m[3]) +{ + readData(m); + + return; +} + +void HMC5843::readMag(int m[3]) +{ + readData(m); + + return; +} + +void HMC5843::readData(int readings[3]) +{ + char tx[1]; + char rx[2]; + + + tx[0]=HMC5843_X_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + readings[0]= (short)(rx[0]<<8|rx[1]); + + + tx[0]=HMC5843_Y_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + readings[1]= (short) (rx[0]<<8|rx[1]); + + tx[0]=HMC5843_Z_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + readings[2]= (short) (rx[0]<<8|rx[1]); + + return; +} + +int HMC5843::getMx() +{ + char tx[1]; + char rx[2]; + + + tx[0]=HMC5843_X_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + + return (short) rx[0]<<8|rx[1]; +} + +int HMC5843::getMy() +{ + char tx[1]; + char rx[2]; + + + tx[0]=HMC5843_Y_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + + return (short) rx[0]<<8|rx[1]; +} + + +int HMC5843::getMz(){ + + char tx[1]; + char rx[2]; + + + tx[0]=HMC5843_Z_MSB; + i2c_->write(HMC5843_I2C_READ,tx,1); + i2c_->read(HMC5843_I2C_READ,rx,2); + + return (short) rx[0]<<8|rx[1]; +} + + +int HMC5843::getStatus(void) +{ + return 0; +} + + +void HMC5843::getAddress(char *buffer) +{ + char rx[3]; + char tx[1]; + tx[0]=HMC5843_IDENT_A; + + + i2c_->write(HMC5843_I2C_WRITE, tx,1); + + wait_ms(1); + + i2c_->read(HMC5843_I2C_READ,rx,3); + + buffer[0]=rx[0]; + buffer[1]=rx[1]; + buffer[2]=rx[2]; + + return; +} + + +void HMC5843::frequency(int hz) +{ + if (hz == 100000) + i2c_->frequency(100000); + else if (hz == 400000) + i2c_->frequency(400000); + + return; +}