Diff: HMC6343.cpp
- Revision:
- 0:5b09476278da
- Child:
- 1:bdf678f27614
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6343.cpp Fri Apr 29 22:10:27 2011 +0000
@@ -0,0 +1,211 @@
+/**
+ * @author Aaron Berk
+ * @author Serge Sozonoff
+ * Based on the work of Aaron Berk for the HMC6343
+ *
+ * @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 HMC6343 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "HMC6343.h"
+
+template<class TYPE> inline TYPE BIT(const TYPE & x) {
+ return TYPE(1) << x;
+}
+
+template<class TYPE> inline bool IsBitSet(const TYPE & x, const TYPE & y) {
+ return 0 != (x & y);
+}
+
+HMC6343::HMC6343(PinName sda, PinName scl) {
+
+ i2c_ = new I2C(sda, scl);
+ //100KHz, as specified by the datasheet.
+ i2c_->frequency(100000);
+
+ operationMode_ = getOpMode();
+
+}
+
+double HMC6343::sampleHeading(void) {
+
+ char tx[1];
+ char rx[6];
+
+ tx[0] = HMC6343_GET_HEADING_DATA;
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(1);
+
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 6);
+
+ return ((double)((((int)rx[0] << 8) | (int)rx[1])) / 10);
+}
+
+
+void HMC6343::setReset(void) {
+ char tx[1];
+ tx[0] = HMC6343_RESET;
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(7);
+}
+
+void HMC6343::setCalibrationMode(int exitOrEnter) {
+ char tx[1];
+ int delay = 0;
+
+ tx[0] = exitOrEnter;
+
+ if (exitOrEnter == HMC6343_EXIT_CALIB) {
+ delay = 50;
+ } else if (exitOrEnter == HMC6343_ENTER_CALIB) {
+ delay = 1;
+ }
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(delay);
+}
+
+
+int HMC6343::getSlaveAddress(void) {
+ return read(HMC6343_SLAVE_ADDR);
+}
+
+int HMC6343::getOffset(int axis) {
+
+ char rx[2] = {0x00, 0x00};
+
+ if (axis == HMC6343_X_AXIS) {
+ rx[0] = read(HMC6343_XOFFSET_MSB);
+ rx[1] = read(HMC6343_XOFFSET_LSB);
+
+ } else if (axis == HMC6343_Y_AXIS) {
+ rx[0] = read(HMC6343_YOFFSET_MSB);
+ rx[1] = read(HMC6343_YOFFSET_LSB);
+
+ } else {
+ rx[0] = read(HMC6343_ZOFFSET_MSB);
+ rx[1] = read(HMC6343_ZOFFSET_LSB);
+ }
+
+ return ((rx[0] << 8) | (rx[1]));
+
+}
+
+
+int HMC6343::getSoftwareVersion(void) {
+
+ return read(HMC6343_SOFT_VER);
+
+}
+
+int HMC6343::getOpMode(void) {
+
+ char tx[1];
+ tx[0] = HMC6343_GET_OPMODE;
+
+ char rx[2];
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(1);
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ operationMode_ = (rx[1] << 8) | (rx[0]);
+
+ return operationMode_;
+
+}
+
+void HMC6343::setOpMode(int mode, int periodicSetReset, int measurementRate) {
+
+}
+
+void HMC6343::writeFloat(int lsb_address, float data) {
+ int i = (int)(data * 100);
+ if (i <= 1800 && i >= -1800) {
+ write(lsb_address, (int)(i & 0x000000FF));
+ write(lsb_address + 1, (int)(i >> 8));
+ }
+}
+
+float HMC6343::readFloat(int lsb_eprom_address) {
+ return ((float)(read(lsb_eprom_address + 1) << 8 | read(lsb_eprom_address)) / 100);
+}
+
+
+void HMC6343::setMagneticDeviation(float data) {
+ writeFloat(HMC6343_DEV_LSB, data);
+}
+
+float HMC6343::getMagneticDeviation() {
+ return readFloat(HMC6343_DEV_LSB);
+}
+
+void HMC6343::setMagneticVariation(float data) {
+ writeFloat(HMC6343_VAR_LSB, data);
+}
+
+float HMC6343::getMagneticVariation() {
+ return readFloat(HMC6343_VAR_LSB);
+}
+
+
+
+void HMC6343::write(int address, int data) {
+
+ char tx[3];
+
+ tx[0] = HMC6343_EEPROM_WRITE;
+ tx[1] = address;
+ tx[2] = data;
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 3);
+ wait_ms(1);
+
+}
+
+int HMC6343::read(int address) {
+
+ char tx[2];
+ char rx[1];
+
+ tx[0] = HMC6343_EEPROM_READ;
+ tx[1] = address;
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+ wait_ms(1);
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
+ wait_ms(1);
+
+ return (rx[0]);
+
+}
Serge Sozonoff