AK8963
AK8963.h
- Committer:
- tyftyftyf
- Date:
- 2018-03-28
- Revision:
- 1:f8ba8df44aab
- Parent:
- 0:ec59a31e784b
- Child:
- 2:51199a6440be
File content as of revision 1:f8ba8df44aab:
// I2Cdev library collection - AK8963 I2C device class header file // Based on AKM AK8963/B datasheet, 12/2009 // 8/27/2011 by Jeff Rowberg <jeff@rowberg.net> modified by Merlin 6-14-14 for 8963 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib // // Changelog: // 2011-08-27 - initial release // 2014-06-14 - modified for AK8963 based on Kris Wieners MPU-9250 Sketch /* ============================================ I2Cdev device library code is placed under the MIT license Copyright (c) 2011 Jeff Rowberg 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. =============================================== */ #ifndef _AK8963_H_ #define _AK8963_H_ #include "mbed.h" #ifndef I2C_SDA #define I2C_SDA p28 #define I2C_SCL p27 #endif #include "I2CdevAK8963.h" #define AK8963_ADDRESS_00 0x0C #define AK8963_ADDRESS_01 0x0D #define AK8963_ADDRESS_10 0x0E // default for InvenSense MPU-6050 evaluation board #define AK8963_ADDRESS_11 0x0F #define AK8963_DEFAULT_ADDRESS AK8963_ADDRESS_00 #define AK8963_RA_WIA 0x00 #define AK8963_RA_INFO 0x01 #define AK8963_RA_ST1 0x02 #define AK8963_RA_HXL 0x03 #define AK8963_RA_HXH 0x04 #define AK8963_RA_HYL 0x05 #define AK8963_RA_HYH 0x06 #define AK8963_RA_HZL 0x07 #define AK8963_RA_HZH 0x08 #define AK8963_RA_ST2 0x09 #define AK8963_RA_CNTL1 0x0A #define AK8963_RA_CNTL2 0x0B #define AK8963_RA_ASTC 0x0C #define AK8963_RA_TS1 0x0D // SHIPMENT TEST, DO NOT USE #define AK8963_RA_TS2 0x0E // SHIPMENT TEST, DO NOT USE #define AK8963_RA_I2CDIS 0x0F #define AK8963_RA_ASAX 0x10 #define AK8963_RA_ASAY 0x11 #define AK8963_RA_ASAZ 0x12 #define AK8963_ST1_DRDY_BIT 0 //Data ready bit #define AK8963_ST1_DOR_BIT 1 //Data overrun bit #define AK8963_ST2_HOFL_BIT 3 //Mag sensor overflow //#define AK8963_ST2_DERR_BIT 2 #define AK8963_ST2_BITM 3 //Output bit, 0 = 14 bit, 1 = 16 bit #define AK8963_CNTL1_MODE_BIT 3 #define AK8963_CNTL1_MODE_LENGTH 4 #define AK8963_MODE_POWERDOWN 0x0 #define AK8963_MODE_SINGLE 0x1 #define AK8963_MODE_CONT1 0x2 //Continuous mode 1 #define AK8963_MODE_CONT2 0x6 //Continuous mode 2 #define AK8963_MODE_EXT 0x4 //External Trigger mode 1 #define AK8963_MODE_SELFTEST 0x8 #define AK8963_MODE_FUSEROM 0xF #define AK8963_CNTL1_OUT_BIT 4 #define AK8963_CNTL1_OUT_LENGTH 1 //Output bit, 0 = 14 bit, 1 = 16 bit #define AK8963_CNTL2_RESET 0x01 #define AK8963_ASTC_SELF_BIT 6 #define AK8963_I2CDIS_BIT 0 class AK8963 { public: AK8963(); AK8963(bool useSPI, uint8_t address); void initialize(); bool testConnection(); // WIA register uint8_t getDeviceID(); // INFO register uint8_t getInfo(); // ST1 register bool getDataReady(); bool getDataOverRun(); // H* registers void getHeading(int16_t *x, int16_t *y, int16_t *z); // ST2 register bool getOverflowStatus(); bool getOutBitST(); // CNTL register uint8_t getMode(); void setModeRes(uint8_t mode, uint8_t Mscale); void reset(); // ASTC register void setSelfTest(bool enabled); void getSelfTest(int16_t *x, int16_t *y, int16_t *z); // I2CDIS void disableI2C(); // um, why...? // ASA* registers void getAdjustment(uint8_t *x, uint8_t *y, uint8_t *z); private: bool bSPI; uint8_t devAddr; uint8_t buffer[14]; uint8_t mode; uint8_t Mscale; AK8963I2C::I2Cdev i2Cdev; }; #endif /* _AK8963_H_ */