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/**
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* @author Aaron Berk
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* @author Serge Sozonoff
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* Based on the work of Aaron Berk for the HMC6343
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*
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* @section LICENSE
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*
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* Copyright (c) 2010 ARM Limited
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* @section DESCRIPTION
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*
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* Honeywell HMC6343 digital compass.
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*
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* Datasheet:
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*
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* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
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*/
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/**
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* Includes
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*/
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#include "HMC6343.h"
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template<class TYPE> inline TYPE BIT(const TYPE & x) {
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return TYPE(1) << x;
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}
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template<class TYPE> inline bool IsBitSet(const TYPE & x, const TYPE & y) {
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return 0 != (x & y);
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}
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HMC6343::HMC6343(PinName sda, PinName scl) {
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i2c_ = new I2C(sda, scl);
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//100KHz, as specified by the datasheet.
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i2c_->frequency(100000);
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operationMode_ = getOpMode();
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}
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double HMC6343::sampleHeading(void) {
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char tx[1];
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char rx[6];
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tx[0] = HMC6343_GET_HEADING_DATA;
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
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wait_ms(1);
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i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 6);
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return ((double)((((int)rx[0] << 8) | (int)rx[1])) / 10);
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}
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void HMC6343::setReset(void) {
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char tx[1];
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tx[0] = HMC6343_RESET;
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
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wait_ms(7);
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}
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void HMC6343::setCalibrationMode(int exitOrEnter) {
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char tx[1];
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int delay = 0;
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tx[0] = exitOrEnter;
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if (exitOrEnter == HMC6343_EXIT_CALIB) {
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delay = 50;
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} else if (exitOrEnter == HMC6343_ENTER_CALIB) {
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delay = 1;
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}
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
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wait_ms(delay);
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}
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int HMC6343::getSlaveAddress(void) {
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return read(HMC6343_SLAVE_ADDR);
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}
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int HMC6343::getOffset(int axis) {
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char rx[2] = {0x00, 0x00};
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if (axis == HMC6343_X_AXIS) {
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rx[0] = read(HMC6343_XOFFSET_MSB);
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rx[1] = read(HMC6343_XOFFSET_LSB);
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} else if (axis == HMC6343_Y_AXIS) {
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rx[0] = read(HMC6343_YOFFSET_MSB);
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rx[1] = read(HMC6343_YOFFSET_LSB);
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} else {
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rx[0] = read(HMC6343_ZOFFSET_MSB);
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rx[1] = read(HMC6343_ZOFFSET_LSB);
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}
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return ((rx[0] << 8) | (rx[1]));
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}
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int HMC6343::getSoftwareVersion(void) {
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return read(HMC6343_SOFT_VER);
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}
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int HMC6343::getOpMode(void) {
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char tx[1];
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tx[0] = HMC6343_GET_OPMODE;
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char rx[2];
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
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wait_ms(1);
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i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 2);
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operationMode_ = (rx[1] << 8) | (rx[0]);
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return operationMode_;
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}
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void HMC6343::setOpMode(int mode, int periodicSetReset, int measurementRate) {
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}
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void HMC6343::writeFloat(int lsb_address, float data) {
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int i = (int)(data * 100);
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if (i <= 1800 && i >= -1800) {
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write(lsb_address, (int)(i & 0x000000FF));
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write(lsb_address + 1, (int)(i >> 8));
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}
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}
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float HMC6343::readFloat(int lsb_eprom_address) {
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return ((float)(read(lsb_eprom_address + 1) << 8 | read(lsb_eprom_address)) / 100);
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}
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void HMC6343::setMagneticDeviation(float data) {
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writeFloat(HMC6343_DEV_LSB, data);
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}
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float HMC6343::getMagneticDeviation() {
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return readFloat(HMC6343_DEV_LSB);
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}
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void HMC6343::setMagneticVariation(float data) {
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writeFloat(HMC6343_VAR_LSB, data);
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}
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float HMC6343::getMagneticVariation() {
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return readFloat(HMC6343_VAR_LSB);
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}
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void HMC6343::write(int address, int data) {
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char tx[3];
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tx[0] = HMC6343_EEPROM_WRITE;
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tx[1] = address;
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tx[2] = data;
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 3);
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wait_ms(1);
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}
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int HMC6343::read(int address) {
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char tx[2];
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char rx[1];
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tx[0] = HMC6343_EEPROM_READ;
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tx[1] = address;
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i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 2);
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wait_ms(1);
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i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
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wait_ms(1);
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return (rx[0]);
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}
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