File content as of revision 2:2645c4d75671:
/**
* @author Aaron Berk
* @author Serge Sozonoff
* Partially based on the work of Aaron Berk for the HMC6352
*
* @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 tilt compensated digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
*/
/**
* Includes
*/
#include "HMC6343.h"
short h, r, p;
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);
i2c_->frequency(100000);
operationMode_ = getOpMode();
}
HMC6343::HMC6343(I2C& p_i2c) : i2c_(&p_i2c) {
i2c_->frequency(100000);
operationMode_ = getOpMode();
}
void HMC6343::sampleHeading(Heading* p_heading) {
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, true);
h = ((((int)rx[0] << 8) | (int)rx[1]));
r = ((((int)rx[4] << 8) | (int)rx[5]));
p = ((((int)rx[2] << 8) | (int)rx[3]));
p_heading->heading = (float)h / 10;
p_heading->roll = (float)r / 10;
p_heading->pitch = (float)p / 10;
}
void HMC6343::setReset(void) {
char tx[1];
tx[0] = HMC6343_RESET;
i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(500);
}
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 readEeprom(HMC6343_SLAVE_ADDR);
}
int HMC6343::getOffset(int axis) {
char rx[2] = {0x00, 0x00};
if (axis == HMC6343_X_AXIS) {
rx[0] = readEeprom(HMC6343_XOFFSET_MSB);
rx[1] = readEeprom(HMC6343_XOFFSET_LSB);
} else if (axis == HMC6343_Y_AXIS) {
rx[0] = readEeprom(HMC6343_YOFFSET_MSB);
rx[1] = readEeprom(HMC6343_YOFFSET_LSB);
} else {
rx[0] = readEeprom(HMC6343_ZOFFSET_MSB);
rx[1] = readEeprom(HMC6343_ZOFFSET_LSB);
}
return ((rx[0] << 8) | (rx[1]));
}
char HMC6343::getMeasurementRate() {
if (IsBitSet(operationMode_, HMC6343_CM_MR_10HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_5HZ)) { return 10; }
else if (IsBitSet(operationMode_, HMC6343_CM_MR_5HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_10HZ)) { return 5; }
else return 1;
}
int HMC6343::getSoftwareVersion(void) {
return readEeprom(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, true);
operationMode_ = (rx[1] << 8) | (rx[0]);
return operationMode_;
}
bool HMC6343::isOpModeFlagSet(int flag) {
return IsBitSet(operationMode_, flag);
}
void HMC6343::setOpMode(int opMode) {
writeShort(HMC6343_OPMOD_REG1, (short)opMode);
operationMode_ = getOpMode();
}
void HMC6343::writeShort(int lsb_address, short data) {
writeEeprom(lsb_address, data & 0x00FF);
writeEeprom(lsb_address + 1, data >> 8);
}
short HMC6343::readShort(int lsb_eprom_address) {
return (short)(readEeprom(lsb_eprom_address + 1) << 8) | (readEeprom(lsb_eprom_address));
}
void HMC6343::setMagneticDeviation(float data) {
short v;
v = (short)(data * 100); // move decimal right two places
if (v <= 1800 && v >= -1800) {
writeShort(HMC6343_DEV_LSB, v);
}
}
float HMC6343::getMagneticDeviation() {
return (float)(readShort(HMC6343_DEV_LSB)) / 100;
}
void HMC6343::setMagneticVariation(float data) {
short v;
v = (short)(data * 100); // move decimal right two places
if (v <= 1800 && v >= -1800) {
writeShort(HMC6343_VAR_LSB, v);
}
}
float HMC6343::getMagneticVariation() {
return (float)(readShort(HMC6343_VAR_LSB)) / 100;
}
void HMC6343::setIIRFilter(short data) {
writeShort(HMC6343_IIRF_LSB, data);
}
short HMC6343::getIIRFilter() {
return (short)readShort(HMC6343_IIRF_LSB);
}
void HMC6343::setMagOffset(int axis, int offset) {
if (axis == HMC6343_X_AXIS) {
writeShort(HMC6343_XOFFSET_LSB, offset);
} else if (axis == HMC6343_Y_AXIS) {
writeShort(HMC6343_YOFFSET_LSB, offset);
} else {
writeShort(HMC6343_ZOFFSET_LSB, offset);
}
}
int HMC6343::getMagOffset(int axis) {
if (axis == HMC6343_X_AXIS) {
return readShort(HMC6343_XOFFSET_LSB);
} else if (axis == HMC6343_Y_AXIS) {
return readShort(HMC6343_YOFFSET_LSB);
} else {
return readShort(HMC6343_ZOFFSET_LSB);
}
}
void HMC6343::writeEeprom(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, false);
wait_ms(10);
}
int HMC6343::readEeprom(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, false);
wait_ms(1);
i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
wait_ms(1);
return rx[0];
}