Serge Sozonoff / HMC6343

HMC6343.cpp@1:bdf678f27614, 2011-05-01 (annotated)

Committer:
ssozonoff
Date:
Sun May 01 13:51:14 2011 +0000
Revision:
1:bdf678f27614
Parent:
0:5b09476278da
Child:
2:2645c4d75671
First Beta release of this driver for the HMC6343, most of it works calibration still untested. Still a few things left to implement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ssozonoff 1:bdf678f27614 1 /**
ssozonoff 1:bdf678f27614 2 * @author Aaron Berk
ssozonoff 1:bdf678f27614 3 * @author Serge Sozonoff
ssozonoff 1:bdf678f27614 4 * Partially based on the work of Aaron Berk for the HMC6352
ssozonoff 1:bdf678f27614 5 *
ssozonoff 1:bdf678f27614 6 * @section LICENSE
ssozonoff 1:bdf678f27614 7 *
ssozonoff 1:bdf678f27614 8 * Copyright (c) 2010 ARM Limited
ssozonoff 1:bdf678f27614 9 *
ssozonoff 1:bdf678f27614 10 * Permission is hereby granted, free of charge, to any person obtaining a copy
ssozonoff 1:bdf678f27614 11 * of this software and associated documentation files (the "Software"), to deal
ssozonoff 1:bdf678f27614 12 * in the Software without restriction, including without limitation the rights
ssozonoff 1:bdf678f27614 13 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
ssozonoff 1:bdf678f27614 14 * copies of the Software, and to permit persons to whom the Software is
ssozonoff 1:bdf678f27614 15 * furnished to do so, subject to the following conditions:
ssozonoff 1:bdf678f27614 16 *
ssozonoff 1:bdf678f27614 17 * The above copyright notice and this permission notice shall be included in
ssozonoff 1:bdf678f27614 18 * all copies or substantial portions of the Software.
ssozonoff 1:bdf678f27614 19 *
ssozonoff 1:bdf678f27614 20 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
ssozonoff 1:bdf678f27614 21 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
ssozonoff 1:bdf678f27614 22 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
ssozonoff 1:bdf678f27614 23 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
ssozonoff 1:bdf678f27614 24 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
ssozonoff 1:bdf678f27614 25 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
ssozonoff 1:bdf678f27614 26 * THE SOFTWARE.
ssozonoff 1:bdf678f27614 27 *
ssozonoff 1:bdf678f27614 28 * @section DESCRIPTION
ssozonoff 1:bdf678f27614 29 *
ssozonoff 1:bdf678f27614 30 * Honeywell HMC6343 tilt compensated digital compass.
ssozonoff 1:bdf678f27614 31 *
ssozonoff 1:bdf678f27614 32 * Datasheet:
ssozonoff 1:bdf678f27614 33 *
ssozonoff 1:bdf678f27614 34 * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
ssozonoff 1:bdf678f27614 35 */
ssozonoff 1:bdf678f27614 36
ssozonoff 1:bdf678f27614 37 /**
ssozonoff 1:bdf678f27614 38 * Includes
ssozonoff 1:bdf678f27614 39 */
ssozonoff 1:bdf678f27614 40 #include "HMC6343.h"
ssozonoff 1:bdf678f27614 41
ssozonoff 1:bdf678f27614 42 template<class TYPE> inline TYPE BIT(const TYPE & x) {
ssozonoff 1:bdf678f27614 43 return TYPE(1) << x;
ssozonoff 1:bdf678f27614 44 }
ssozonoff 1:bdf678f27614 45
ssozonoff 1:bdf678f27614 46 template<class TYPE> inline bool IsBitSet(const TYPE & x, const TYPE & y) {
ssozonoff 1:bdf678f27614 47 return 0 != (x & y);
ssozonoff 1:bdf678f27614 48 }
ssozonoff 1:bdf678f27614 49
ssozonoff 1:bdf678f27614 50 HMC6343::HMC6343(PinName sda, PinName scl) {
ssozonoff 1:bdf678f27614 51 i2c_ = new I2C(sda, scl);
ssozonoff 1:bdf678f27614 52 i2c_->frequency(100000);
ssozonoff 1:bdf678f27614 53 operationMode_ = getOpMode();
ssozonoff 1:bdf678f27614 54 }
ssozonoff 1:bdf678f27614 55
ssozonoff 1:bdf678f27614 56 HMC6343::HMC6343(I2C& p_i2c) : i2c_(&p_i2c) {
ssozonoff 1:bdf678f27614 57 i2c_->frequency(100000);
ssozonoff 1:bdf678f27614 58 operationMode_ = getOpMode();
ssozonoff 1:bdf678f27614 59 }
ssozonoff 1:bdf678f27614 60
ssozonoff 1:bdf678f27614 61 void HMC6343::sampleHeading(Heading* p_heading) {
ssozonoff 1:bdf678f27614 62
ssozonoff 1:bdf678f27614 63 char tx[1];
ssozonoff 1:bdf678f27614 64 char rx[6];
ssozonoff 1:bdf678f27614 65
ssozonoff 1:bdf678f27614 66 tx[0] = HMC6343_GET_HEADING_DATA;
ssozonoff 1:bdf678f27614 67 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
ssozonoff 1:bdf678f27614 68 wait_ms(1);
ssozonoff 1:bdf678f27614 69
ssozonoff 1:bdf678f27614 70 i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 6, true);
ssozonoff 1:bdf678f27614 71
ssozonoff 1:bdf678f27614 72 p_heading->heading = (double)((((int)rx[0] << 8) | (int)rx[1])) / 10;
ssozonoff 1:bdf678f27614 73 p_heading->roll = (double)((((int)rx[4] << 8) | (int)rx[5])) / 10;
ssozonoff 1:bdf678f27614 74 p_heading->pitch = (double)((((int)rx[2] << 8) | (int)rx[3])) / 10;
ssozonoff 1:bdf678f27614 75 }
ssozonoff 1:bdf678f27614 76
ssozonoff 1:bdf678f27614 77
ssozonoff 1:bdf678f27614 78 void HMC6343::setReset(void) {
ssozonoff 1:bdf678f27614 79 char tx[1];
ssozonoff 1:bdf678f27614 80 tx[0] = HMC6343_RESET;
ssozonoff 1:bdf678f27614 81 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
ssozonoff 1:bdf678f27614 82 wait_ms(500);
ssozonoff 1:bdf678f27614 83 }
ssozonoff 1:bdf678f27614 84
ssozonoff 1:bdf678f27614 85 void HMC6343::setCalibrationMode(int exitOrEnter) {
ssozonoff 1:bdf678f27614 86 char tx[1];
ssozonoff 1:bdf678f27614 87 int delay = 0;
ssozonoff 1:bdf678f27614 88
ssozonoff 1:bdf678f27614 89 tx[0] = exitOrEnter;
ssozonoff 1:bdf678f27614 90
ssozonoff 1:bdf678f27614 91 if (exitOrEnter == HMC6343_EXIT_CALIB) {
ssozonoff 1:bdf678f27614 92 delay = 50;
ssozonoff 1:bdf678f27614 93 } else if (exitOrEnter == HMC6343_ENTER_CALIB) {
ssozonoff 1:bdf678f27614 94 delay = 1;
ssozonoff 1:bdf678f27614 95 }
ssozonoff 1:bdf678f27614 96
ssozonoff 1:bdf678f27614 97 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
ssozonoff 1:bdf678f27614 98 wait_ms(delay);
ssozonoff 1:bdf678f27614 99 }
ssozonoff 1:bdf678f27614 100
ssozonoff 1:bdf678f27614 101 int HMC6343::getSlaveAddress(void) {
ssozonoff 1:bdf678f27614 102 return readEeprom(HMC6343_SLAVE_ADDR);
ssozonoff 1:bdf678f27614 103 }
ssozonoff 1:bdf678f27614 104
ssozonoff 1:bdf678f27614 105 int HMC6343::getOffset(int axis) {
ssozonoff 1:bdf678f27614 106
ssozonoff 1:bdf678f27614 107 char rx[2] = {0x00, 0x00};
ssozonoff 1:bdf678f27614 108
ssozonoff 1:bdf678f27614 109 if (axis == HMC6343_X_AXIS) {
ssozonoff 1:bdf678f27614 110 rx[0] = readEeprom(HMC6343_XOFFSET_MSB);
ssozonoff 1:bdf678f27614 111 rx[1] = readEeprom(HMC6343_XOFFSET_LSB);
ssozonoff 1:bdf678f27614 112
ssozonoff 1:bdf678f27614 113 } else if (axis == HMC6343_Y_AXIS) {
ssozonoff 1:bdf678f27614 114 rx[0] = readEeprom(HMC6343_YOFFSET_MSB);
ssozonoff 1:bdf678f27614 115 rx[1] = readEeprom(HMC6343_YOFFSET_LSB);
ssozonoff 1:bdf678f27614 116
ssozonoff 1:bdf678f27614 117 } else {
ssozonoff 1:bdf678f27614 118 rx[0] = readEeprom(HMC6343_ZOFFSET_MSB);
ssozonoff 1:bdf678f27614 119 rx[1] = readEeprom(HMC6343_ZOFFSET_LSB);
ssozonoff 1:bdf678f27614 120 }
ssozonoff 1:bdf678f27614 121
ssozonoff 1:bdf678f27614 122 return ((rx[0] << 8) | (rx[1]));
ssozonoff 1:bdf678f27614 123
ssozonoff 1:bdf678f27614 124 }
ssozonoff 1:bdf678f27614 125
ssozonoff 1:bdf678f27614 126 char HMC6343::getMeasurementRate() {
ssozonoff 1:bdf678f27614 127 if (IsBitSet(operationMode_, HMC6343_CM_MR_10HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_5HZ)) { return 10; }
ssozonoff 1:bdf678f27614 128 else if (IsBitSet(operationMode_, HMC6343_CM_MR_5HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_10HZ)) { return 5; }
ssozonoff 1:bdf678f27614 129 else return 1;
ssozonoff 1:bdf678f27614 130 }
ssozonoff 1:bdf678f27614 131
ssozonoff 1:bdf678f27614 132 int HMC6343::getSoftwareVersion(void) {
ssozonoff 1:bdf678f27614 133 return readEeprom(HMC6343_SOFT_VER);
ssozonoff 1:bdf678f27614 134 }
ssozonoff 1:bdf678f27614 135
ssozonoff 1:bdf678f27614 136 int HMC6343::getOpMode(void) {
ssozonoff 1:bdf678f27614 137 char tx[1];
ssozonoff 1:bdf678f27614 138 tx[0] = HMC6343_GET_OPMODE;
ssozonoff 1:bdf678f27614 139
ssozonoff 1:bdf678f27614 140 char rx[2];
ssozonoff 1:bdf678f27614 141
ssozonoff 1:bdf678f27614 142 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
ssozonoff 1:bdf678f27614 143 wait_ms(1);
ssozonoff 1:bdf678f27614 144 i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 2, true);
ssozonoff 1:bdf678f27614 145
ssozonoff 1:bdf678f27614 146 operationMode_ = (rx[1] << 8) | (rx[0]);
ssozonoff 1:bdf678f27614 147
ssozonoff 1:bdf678f27614 148 return operationMode_;
ssozonoff 1:bdf678f27614 149 }
ssozonoff 1:bdf678f27614 150
ssozonoff 1:bdf678f27614 151 bool HMC6343::isOpModeFlagSet(int flag) {
ssozonoff 1:bdf678f27614 152 return IsBitSet(operationMode_, flag);
ssozonoff 1:bdf678f27614 153 }
ssozonoff 1:bdf678f27614 154
ssozonoff 1:bdf678f27614 155 void HMC6343::setOpMode(int opMode) {
ssozonoff 1:bdf678f27614 156 writeShort(HMC6343_OPMOD_REG1, (short)opMode);
ssozonoff 1:bdf678f27614 157 operationMode_ = getOpMode();
ssozonoff 1:bdf678f27614 158 }
ssozonoff 1:bdf678f27614 159
ssozonoff 1:bdf678f27614 160 void HMC6343::writeShort(int lsb_address, short data) {
ssozonoff 1:bdf678f27614 161 writeEeprom(lsb_address, data & 0x00FF);
ssozonoff 1:bdf678f27614 162 writeEeprom(lsb_address + 1, data >> 8);
ssozonoff 1:bdf678f27614 163 }
ssozonoff 1:bdf678f27614 164
ssozonoff 1:bdf678f27614 165 short HMC6343::readShort(int lsb_eprom_address) {
ssozonoff 1:bdf678f27614 166 return (short)(readEeprom(lsb_eprom_address + 1) << 8) | (readEeprom(lsb_eprom_address));
ssozonoff 1:bdf678f27614 167 }
ssozonoff 1:bdf678f27614 168
ssozonoff 1:bdf678f27614 169 void HMC6343::setMagneticDeviation(float data) {
ssozonoff 1:bdf678f27614 170 short v;
ssozonoff 1:bdf678f27614 171 v = (short)(data * 100); // move decimal right two places
ssozonoff 1:bdf678f27614 172 if (v <= 1800 && v >= -1800) {
ssozonoff 1:bdf678f27614 173 writeShort(HMC6343_DEV_LSB, v);
ssozonoff 1:bdf678f27614 174 }
ssozonoff 1:bdf678f27614 175 }
ssozonoff 1:bdf678f27614 176
ssozonoff 1:bdf678f27614 177 float HMC6343::getMagneticDeviation() {
ssozonoff 1:bdf678f27614 178 return (float)(readShort(HMC6343_DEV_LSB)) / 100;
ssozonoff 1:bdf678f27614 179 }
ssozonoff 1:bdf678f27614 180
ssozonoff 1:bdf678f27614 181 void HMC6343::setMagneticVariation(float data) {
ssozonoff 1:bdf678f27614 182 short v;
ssozonoff 1:bdf678f27614 183 v = (short)(data * 100); // move decimal right two places
ssozonoff 1:bdf678f27614 184 if (v <= 1800 && v >= -1800) {
ssozonoff 1:bdf678f27614 185 writeShort(HMC6343_VAR_LSB, v);
ssozonoff 1:bdf678f27614 186 }
ssozonoff 1:bdf678f27614 187 }
ssozonoff 1:bdf678f27614 188
ssozonoff 1:bdf678f27614 189 float HMC6343::getMagneticVariation() {
ssozonoff 1:bdf678f27614 190 return (float)(readShort(HMC6343_VAR_LSB)) / 100;
ssozonoff 1:bdf678f27614 191 }
ssozonoff 1:bdf678f27614 192
ssozonoff 1:bdf678f27614 193 void HMC6343::setIIRFilter(short data) {
ssozonoff 1:bdf678f27614 194 writeShort(HMC6343_IIRF_LSB, data);
ssozonoff 1:bdf678f27614 195 }
ssozonoff 1:bdf678f27614 196
ssozonoff 1:bdf678f27614 197 short HMC6343::getIIRFilter() {
ssozonoff 1:bdf678f27614 198 return (short)readShort(HMC6343_IIRF_LSB);
ssozonoff 1:bdf678f27614 199 }
ssozonoff 1:bdf678f27614 200
ssozonoff 1:bdf678f27614 201 void HMC6343::setMagOffset(int axis, int offset) {
ssozonoff 1:bdf678f27614 202 if (axis == HMC6343_X_AXIS) {
ssozonoff 1:bdf678f27614 203 writeShort(HMC6343_XOFFSET_LSB, offset);
ssozonoff 1:bdf678f27614 204 } else if (axis == HMC6343_Y_AXIS) {
ssozonoff 1:bdf678f27614 205 writeShort(HMC6343_YOFFSET_LSB, offset);
ssozonoff 1:bdf678f27614 206 } else {
ssozonoff 1:bdf678f27614 207 writeShort(HMC6343_ZOFFSET_LSB, offset);
ssozonoff 1:bdf678f27614 208 }
ssozonoff 1:bdf678f27614 209 }
ssozonoff 1:bdf678f27614 210
ssozonoff 1:bdf678f27614 211 int HMC6343::getMagOffset(int axis) {
ssozonoff 1:bdf678f27614 212 if (axis == HMC6343_X_AXIS) {
ssozonoff 1:bdf678f27614 213 return readShort(HMC6343_XOFFSET_LSB);
ssozonoff 1:bdf678f27614 214 } else if (axis == HMC6343_Y_AXIS) {
ssozonoff 1:bdf678f27614 215 return readShort(HMC6343_YOFFSET_LSB);
ssozonoff 1:bdf678f27614 216 } else {
ssozonoff 1:bdf678f27614 217 return readShort(HMC6343_ZOFFSET_LSB);
ssozonoff 1:bdf678f27614 218 }
ssozonoff 1:bdf678f27614 219 }
ssozonoff 1:bdf678f27614 220
ssozonoff 1:bdf678f27614 221 void HMC6343::writeEeprom(int address, int data) {
ssozonoff 1:bdf678f27614 222 char tx[3];
ssozonoff 1:bdf678f27614 223
ssozonoff 1:bdf678f27614 224 tx[0] = HMC6343_EEPROM_WRITE;
ssozonoff 1:bdf678f27614 225 tx[1] = address;
ssozonoff 1:bdf678f27614 226 tx[2] = data;
ssozonoff 1:bdf678f27614 227
ssozonoff 1:bdf678f27614 228 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 3, false);
ssozonoff 1:bdf678f27614 229 wait_ms(10);
ssozonoff 1:bdf678f27614 230 }
ssozonoff 1:bdf678f27614 231
ssozonoff 1:bdf678f27614 232 int HMC6343::readEeprom(int address) {
ssozonoff 1:bdf678f27614 233 char tx[2];
ssozonoff 1:bdf678f27614 234 char rx[1];
ssozonoff 1:bdf678f27614 235
ssozonoff 1:bdf678f27614 236 tx[0] = HMC6343_EEPROM_READ;
ssozonoff 1:bdf678f27614 237 tx[1] = address;
ssozonoff 1:bdf678f27614 238
ssozonoff 1:bdf678f27614 239 i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 2, false);
ssozonoff 1:bdf678f27614 240 wait_ms(1);
ssozonoff 1:bdf678f27614 241 i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
ssozonoff 1:bdf678f27614 242 wait_ms(1);
ssozonoff 1:bdf678f27614 243
ssozonoff 1:bdf678f27614 244 return rx[0];
ssozonoff 1:bdf678f27614 245 }