File content as of revision 0:5b09476278da:
/**
* @author Aaron Berk
* @author Serge Sozonoff
* 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 digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
*/
#ifndef HMC6343_H
#define HMC6343_H
/**
* Includes
*/
#include "mbed.h"
/**
* Defines
*/
#define HMC6343_I2C_ADDRESS 0x32 >> 1 //7-bit address
//Commands.
#define HMC6343_EEPROM_WRITE 0xF1
#define HMC6343_EEPROM_READ 0xE1
#define HMC6343_ENTER_SLEEP 0x83
#define HMC6343_EXIT_SLEEP 0x84
#define HMC6343_ENTER_STANDBY 0x76
#define HMC6343_ENTER_RUN 0x75
#define HMC6343_RESET 0x82
#define HMC6343_ENTER_CALIB 0x71
#define HMC6343_EXIT_CALIB 0x7E
#define HMC6343_GET_ACCEL_DATA 0x40
#define HMC6343_GET_MAG_DATA 0x45
#define HMC6343_GET_HEADING_DATA 0x50
#define HMC6343_GET_TILT_DATA 0x55
#define HMC6343_GET_HEADING_DATA 0x50
#define HMC6343_SET_XFWD_PLS_ZUP 0x72
#define HMC6343_SET_XFWD_YUP 0x73
#define HMC6343_SET_ZFWD_NEG_XUP 0x74
#define HMC6343_GET_OPMODE 0x65
//EEPROM locations.
#define HMC6343_SLAVE_ADDR 0x00
#define HMC6343_OPMOD_REG1 0x04
#define HMC6343_OPMOD_REG2 0x05
#define HMC6343_SN_LSB 0x06
#define HMC6343_SN_MSB 0x07
#define HMC6343_DEV_LSB 0x0A
#define HMC6343_DEV_MSB 0x0B
#define HMC6343_VAR_LSB 0x0C
#define HMC6343_VAR_MSB 0x0D
#define HMC6343_XOFFSET_LSB 0x0E
#define HMC6343_XOFFSET_MSB 0x0F
#define HMC6343_YOFFSET_LSB 0x10
#define HMC6343_YOFFSET_MSB 0x11
#define HMC6343_ZOFFSET_LSB 0x12
#define HMC6343_ZOFFSET_MSB 0x13
#define HMC6343_IIRF_LSB 0x14
#define HMC6343_IIRF_MSB 0x15
#define HMC6343_SOFT_VER 0x02
#define HMC6343_X_AXIS 0x01
#define HMC6343_Y_AXIS 0x02
#define HMC6343_Z_AXIS 0x04
// Operation mode bit masks
// LSB
#define HMC6343_COMP 0x128
#define HMC6343_CAL 0x64
#define HMC6343_FILTER 0x32
#define HMC6343_RUN 0x16
#define HMC6343_STDBY 0x08
#define HMC6343_UF 0x04
#define HMC6343_UE 0x02
#define HMC6343_LEVEL 0x01
// MSB
#define HMC6343_MR1 0x256
#define HMC6343_MR2 0x512
//Operational mode register masks.
#define HMC6343_CM_MR_1HZ 0x00
#define HMC6343_CM_MR_5HZ 0x20
#define HMC6343_CM_MR_10HZ 0x40
#define HMC6343_CM_MR_NA 0x60
#define HMC6343_PERIODIC_SR 0x10
/**
* Honeywell HMC6343 digital compass.
*/
class HMC6343 {
public:
/**
* Constructor.
*
* @param sda mbed pin to use for SDA line of I2C interface.
* @param scl mbed pin to use for SCL line of I2C interface.
*/
HMC6343(PinName sda, PinName scl);
/**
* Sample the device and return the result.
*
* @return In heading output mode, the current heading as a number between
* 0-3599, representing 0-359.9 degrees.
* In raw magnetometer X output mode, the raw output of the X-axis
* magnetometer.
* In raw magnetometer Y mode, the raw output of the Y-axis
* magnetometer.
* In magnetometer X mode, the corrected output of the X-axis
* magnetometer.
* In magnetometer Y mode, the corrected output of the Y-axis
* magnetometer.
*/
double sampleHeading(void);
/**
* Update bridge offsets.
*
* Performs a set/reset immediately.
*/
void setReset(void);
/**
* Enter into or exit from calibration mode.
*
* @param enterOrExit 0x45 -> Exit
* 0x43 -> Enter
*/
void setCalibrationMode(int enterOrExit);
/**
* Save the current operation mode byte to EEPROM.
*/
void saveOpMode(void);
/**
* Read the memory location on the device which contains the slave address.
*
* @return The slave address of the device.
*/
int getSlaveAddress(void);
/**
* Read the current offset for X or Y axis magnetometer.
*
* @param axis 0x01 -> X-axis
* 0x02 -> Y-axis
* 0x04 -> Z-axis
* @return The current offset for the axis as a 16-bit number.
*/
int getOffset(int axis);
/**
* Get the software version on the device.
*
* @return The software version number.
*/
int getSoftwareVersion(void);
/**
* Get the current operation mode.
*
* @return 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
*/
int getOpMode(void);
/**
* Set the operation mode.
*
* @param mode 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
* @param periodicSetReset 0x00 -> No periodic set/reset
* 0x01 -> Periodic set/reset
* @measurementRate Measurement rate in Hz for continuous rate.
* Possible rates: {1, 5, 10, 20}Hz.
*/
void setOpMode(int mode, int periodicSetReset, int measurementRate = 0);
/**
* Get the current output mode of the device.
*
* @return The current output mode.
*/
int getOutputMode(void);
/**
* Set the output mode of the device.
*
* @param mode 0x00 -> Heading mode
* 0x01 -> Raw magnetometer X mode
* 0x02 -> Raw magnetometer Y mode
* 0x03 -> Magnetometer X mode
* 0x04 -> Magnetometer Y mode
*/
void setOutputMode(int mode);
void setMagneticVariation(float var);
float getMagneticVariation();
void setMagneticDeviation(float data);
float getMagneticDeviation();
private:
I2C* i2c_;
int operationMode_;
/**
* Write to EEPROM on the device.
*
* @param address Address to write to.
* @param data Data to write.
*/
void write(int address, int data);
/**
* Read EEPROM on the device.
*
* @param address Address to read from.
* @return The contents of the memory address.
*/
int read(int address);
void writeFloat(int lsb_address, float data);
float readFloat(int lsb_eprom_address);
};
#endif /* HMC6343_H */