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/**
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* @author Aaron Berk
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* @author Serge Sozonoff
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* Partially based on the work of Aaron Berk for the HMC6352
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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 tilt compensated 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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i2c_->frequency(100000);
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operationMode_ = getOpMode();
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}
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HMC6343::HMC6343(I2C& p_i2c) : i2c_(&p_i2c) {
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i2c_->frequency(100000);
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operationMode_ = getOpMode();
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}
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void HMC6343::sampleHeading(Heading* p_heading) {
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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, true);
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p_heading->heading = (double)((((int)rx[0] << 8) | (int)rx[1])) / 10;
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p_heading->roll = (double)((((int)rx[4] << 8) | (int)rx[5])) / 10;
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p_heading->pitch = (double)((((int)rx[2] << 8) | (int)rx[3])) / 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(500);
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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 readEeprom(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] = readEeprom(HMC6343_XOFFSET_MSB);
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rx[1] = readEeprom(HMC6343_XOFFSET_LSB);
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} else if (axis == HMC6343_Y_AXIS) {
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rx[0] = readEeprom(HMC6343_YOFFSET_MSB);
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rx[1] = readEeprom(HMC6343_YOFFSET_LSB);
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} else {
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rx[0] = readEeprom(HMC6343_ZOFFSET_MSB);
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rx[1] = readEeprom(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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char HMC6343::getMeasurementRate() {
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if (IsBitSet(operationMode_, HMC6343_CM_MR_10HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_5HZ)) { return 10; }
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else if (IsBitSet(operationMode_, HMC6343_CM_MR_5HZ) && !IsBitSet(operationMode_, HMC6343_CM_MR_10HZ)) { return 5; }
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else return 1;
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}
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int HMC6343::getSoftwareVersion(void) {
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return readEeprom(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, true);
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operationMode_ = (rx[1] << 8) | (rx[0]);
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return operationMode_;
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}
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bool HMC6343::isOpModeFlagSet(int flag) {
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return IsBitSet(operationMode_, flag);
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}
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void HMC6343::setOpMode(int opMode) {
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writeShort(HMC6343_OPMOD_REG1, (short)opMode);
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operationMode_ = getOpMode();
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}
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void HMC6343::writeShort(int lsb_address, short data) {
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writeEeprom(lsb_address, data & 0x00FF);
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writeEeprom(lsb_address + 1, data >> 8);
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}
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short HMC6343::readShort(int lsb_eprom_address) {
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return (short)(readEeprom(lsb_eprom_address + 1) << 8) | (readEeprom(lsb_eprom_address));
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}
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void HMC6343::setMagneticDeviation(float data) {
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short v;
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v = (short)(data * 100); // move decimal right two places
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if (v <= 1800 && v >= -1800) {
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writeShort(HMC6343_DEV_LSB, v);
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}
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}
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float HMC6343::getMagneticDeviation() {
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return (float)(readShort(HMC6343_DEV_LSB)) / 100;
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}
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void HMC6343::setMagneticVariation(float data) {
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short v;
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v = (short)(data * 100); // move decimal right two places
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if (v <= 1800 && v >= -1800) {
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writeShort(HMC6343_VAR_LSB, v);
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}
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}
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float HMC6343::getMagneticVariation() {
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return (float)(readShort(HMC6343_VAR_LSB)) / 100;
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}
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void HMC6343::setIIRFilter(short data) {
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writeShort(HMC6343_IIRF_LSB, data);
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}
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short HMC6343::getIIRFilter() {
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return (short)readShort(HMC6343_IIRF_LSB);
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}
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void HMC6343::setMagOffset(int axis, int offset) {
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if (axis == HMC6343_X_AXIS) {
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writeShort(HMC6343_XOFFSET_LSB, offset);
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} else if (axis == HMC6343_Y_AXIS) {
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writeShort(HMC6343_YOFFSET_LSB, offset);
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206
|
} else {
|
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|
207
|
writeShort(HMC6343_ZOFFSET_LSB, offset);
|
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|
208
|
}
|
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1:bdf678f27614
|
209
|
}
|
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1:bdf678f27614
|
210
|
|
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|
211
|
int HMC6343::getMagOffset(int axis) {
|
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|
212
|
if (axis == HMC6343_X_AXIS) {
|
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|
213
|
return readShort(HMC6343_XOFFSET_LSB);
|
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|
214
|
} else if (axis == HMC6343_Y_AXIS) {
|
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|
215
|
return readShort(HMC6343_YOFFSET_LSB);
|
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1:bdf678f27614
|
216
|
} else {
|
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|
217
|
return readShort(HMC6343_ZOFFSET_LSB);
|
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1:bdf678f27614
|
218
|
}
|
ssozonoff |
1:bdf678f27614
|
219
|
}
|
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1:bdf678f27614
|
220
|
|
ssozonoff |
1:bdf678f27614
|
221
|
void HMC6343::writeEeprom(int address, int data) {
|
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|
222
|
char tx[3];
|
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1:bdf678f27614
|
223
|
|
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1:bdf678f27614
|
224
|
tx[0] = HMC6343_EEPROM_WRITE;
|
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1:bdf678f27614
|
225
|
tx[1] = address;
|
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1:bdf678f27614
|
226
|
tx[2] = data;
|
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1:bdf678f27614
|
227
|
|
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1:bdf678f27614
|
228
|
i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 3, false);
|
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|
229
|
wait_ms(10);
|
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1:bdf678f27614
|
230
|
}
|
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1:bdf678f27614
|
231
|
|
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1:bdf678f27614
|
232
|
int HMC6343::readEeprom(int address) {
|
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|
233
|
char tx[2];
|
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1:bdf678f27614
|
234
|
char rx[1];
|
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1:bdf678f27614
|
235
|
|
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1:bdf678f27614
|
236
|
tx[0] = HMC6343_EEPROM_READ;
|
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1:bdf678f27614
|
237
|
tx[1] = address;
|
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1:bdf678f27614
|
238
|
|
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1:bdf678f27614
|
239
|
i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 2, false);
|
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1:bdf678f27614
|
240
|
wait_ms(1);
|
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1:bdf678f27614
|
241
|
i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
|
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1:bdf678f27614
|
242
|
wait_ms(1);
|
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1:bdf678f27614
|
243
|
|
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1:bdf678f27614
|
244
|
return rx[0];
|
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1:bdf678f27614
|
245
|
}
|