AK8963
AK8963.h@0:ec59a31e784b, 2018-03-28 (annotated)
- Committer:
- tyftyftyf
- Date:
- Wed Mar 28 20:25:57 2018 +0000
- Revision:
- 0:ec59a31e784b
- Child:
- 1:f8ba8df44aab
wip
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tyftyftyf | 0:ec59a31e784b | 1 | // I2Cdev library collection - AK8963 I2C device class header file |
tyftyftyf | 0:ec59a31e784b | 2 | // Based on AKM AK8963/B datasheet, 12/2009 |
tyftyftyf | 0:ec59a31e784b | 3 | // 8/27/2011 by Jeff Rowberg <jeff@rowberg.net> modified by Merlin 6-14-14 for 8963 |
tyftyftyf | 0:ec59a31e784b | 4 | // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib |
tyftyftyf | 0:ec59a31e784b | 5 | // |
tyftyftyf | 0:ec59a31e784b | 6 | // Changelog: |
tyftyftyf | 0:ec59a31e784b | 7 | // 2011-08-27 - initial release |
tyftyftyf | 0:ec59a31e784b | 8 | // 2014-06-14 - modified for AK8963 based on Kris Wieners MPU-9250 Sketch |
tyftyftyf | 0:ec59a31e784b | 9 | /* ============================================ |
tyftyftyf | 0:ec59a31e784b | 10 | I2Cdev device library code is placed under the MIT license |
tyftyftyf | 0:ec59a31e784b | 11 | Copyright (c) 2011 Jeff Rowberg |
tyftyftyf | 0:ec59a31e784b | 12 | |
tyftyftyf | 0:ec59a31e784b | 13 | Permission is hereby granted, free of charge, to any person obtaining a copy |
tyftyftyf | 0:ec59a31e784b | 14 | of this software and associated documentation files (the "Software"), to deal |
tyftyftyf | 0:ec59a31e784b | 15 | in the Software without restriction, including without limitation the rights |
tyftyftyf | 0:ec59a31e784b | 16 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
tyftyftyf | 0:ec59a31e784b | 17 | copies of the Software, and to permit persons to whom the Software is |
tyftyftyf | 0:ec59a31e784b | 18 | furnished to do so, subject to the following conditions: |
tyftyftyf | 0:ec59a31e784b | 19 | |
tyftyftyf | 0:ec59a31e784b | 20 | The above copyright notice and this permission notice shall be included in |
tyftyftyf | 0:ec59a31e784b | 21 | all copies or substantial portions of the Software. |
tyftyftyf | 0:ec59a31e784b | 22 | |
tyftyftyf | 0:ec59a31e784b | 23 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
tyftyftyf | 0:ec59a31e784b | 24 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
tyftyftyf | 0:ec59a31e784b | 25 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
tyftyftyf | 0:ec59a31e784b | 26 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
tyftyftyf | 0:ec59a31e784b | 27 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
tyftyftyf | 0:ec59a31e784b | 28 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
tyftyftyf | 0:ec59a31e784b | 29 | THE SOFTWARE. |
tyftyftyf | 0:ec59a31e784b | 30 | =============================================== |
tyftyftyf | 0:ec59a31e784b | 31 | */ |
tyftyftyf | 0:ec59a31e784b | 32 | |
tyftyftyf | 0:ec59a31e784b | 33 | #ifndef _AK8963_H_ |
tyftyftyf | 0:ec59a31e784b | 34 | #define _AK8963_H_ |
tyftyftyf | 0:ec59a31e784b | 35 | |
tyftyftyf | 0:ec59a31e784b | 36 | #ifndef I2C_SDA |
tyftyftyf | 0:ec59a31e784b | 37 | #define I2C_SDA p28 |
tyftyftyf | 0:ec59a31e784b | 38 | #define I2C_SCL p27 |
tyftyftyf | 0:ec59a31e784b | 39 | #endif |
tyftyftyf | 0:ec59a31e784b | 40 | |
tyftyftyf | 0:ec59a31e784b | 41 | #include "I2Cdev.h" |
tyftyftyf | 0:ec59a31e784b | 42 | |
tyftyftyf | 0:ec59a31e784b | 43 | #define AK8963_ADDRESS_00 0x0C |
tyftyftyf | 0:ec59a31e784b | 44 | #define AK8963_ADDRESS_01 0x0D |
tyftyftyf | 0:ec59a31e784b | 45 | #define AK8963_ADDRESS_10 0x0E // default for InvenSense MPU-6050 evaluation board |
tyftyftyf | 0:ec59a31e784b | 46 | #define AK8963_ADDRESS_11 0x0F |
tyftyftyf | 0:ec59a31e784b | 47 | #define AK8963_DEFAULT_ADDRESS AK8963_ADDRESS_00 |
tyftyftyf | 0:ec59a31e784b | 48 | |
tyftyftyf | 0:ec59a31e784b | 49 | #define AK8963_RA_WIA 0x00 |
tyftyftyf | 0:ec59a31e784b | 50 | #define AK8963_RA_INFO 0x01 |
tyftyftyf | 0:ec59a31e784b | 51 | #define AK8963_RA_ST1 0x02 |
tyftyftyf | 0:ec59a31e784b | 52 | #define AK8963_RA_HXL 0x03 |
tyftyftyf | 0:ec59a31e784b | 53 | #define AK8963_RA_HXH 0x04 |
tyftyftyf | 0:ec59a31e784b | 54 | #define AK8963_RA_HYL 0x05 |
tyftyftyf | 0:ec59a31e784b | 55 | #define AK8963_RA_HYH 0x06 |
tyftyftyf | 0:ec59a31e784b | 56 | #define AK8963_RA_HZL 0x07 |
tyftyftyf | 0:ec59a31e784b | 57 | #define AK8963_RA_HZH 0x08 |
tyftyftyf | 0:ec59a31e784b | 58 | #define AK8963_RA_ST2 0x09 |
tyftyftyf | 0:ec59a31e784b | 59 | #define AK8963_RA_CNTL1 0x0A |
tyftyftyf | 0:ec59a31e784b | 60 | #define AK8963_RA_CNTL2 0x0B |
tyftyftyf | 0:ec59a31e784b | 61 | #define AK8963_RA_ASTC 0x0C |
tyftyftyf | 0:ec59a31e784b | 62 | #define AK8963_RA_TS1 0x0D // SHIPMENT TEST, DO NOT USE |
tyftyftyf | 0:ec59a31e784b | 63 | #define AK8963_RA_TS2 0x0E // SHIPMENT TEST, DO NOT USE |
tyftyftyf | 0:ec59a31e784b | 64 | #define AK8963_RA_I2CDIS 0x0F |
tyftyftyf | 0:ec59a31e784b | 65 | #define AK8963_RA_ASAX 0x10 |
tyftyftyf | 0:ec59a31e784b | 66 | #define AK8963_RA_ASAY 0x11 |
tyftyftyf | 0:ec59a31e784b | 67 | #define AK8963_RA_ASAZ 0x12 |
tyftyftyf | 0:ec59a31e784b | 68 | |
tyftyftyf | 0:ec59a31e784b | 69 | #define AK8963_ST1_DRDY_BIT 0 //Data ready bit |
tyftyftyf | 0:ec59a31e784b | 70 | #define AK8963_ST1_DOR_BIT 1 //Data overrun bit |
tyftyftyf | 0:ec59a31e784b | 71 | #define AK8963_ST2_HOFL_BIT 3 //Mag sensor overflow |
tyftyftyf | 0:ec59a31e784b | 72 | //#define AK8963_ST2_DERR_BIT 2 |
tyftyftyf | 0:ec59a31e784b | 73 | #define AK8963_ST2_BITM 3 //Output bit, 0 = 14 bit, 1 = 16 bit |
tyftyftyf | 0:ec59a31e784b | 74 | |
tyftyftyf | 0:ec59a31e784b | 75 | #define AK8963_CNTL1_MODE_BIT 3 |
tyftyftyf | 0:ec59a31e784b | 76 | #define AK8963_CNTL1_MODE_LENGTH 4 |
tyftyftyf | 0:ec59a31e784b | 77 | #define AK8963_MODE_POWERDOWN 0x0 |
tyftyftyf | 0:ec59a31e784b | 78 | #define AK8963_MODE_SINGLE 0x1 |
tyftyftyf | 0:ec59a31e784b | 79 | #define AK8963_MODE_CONT1 0x2 //Continuous mode 1 |
tyftyftyf | 0:ec59a31e784b | 80 | #define AK8963_MODE_CONT2 0x6 //Continuous mode 2 |
tyftyftyf | 0:ec59a31e784b | 81 | #define AK8963_MODE_EXT 0x4 //External Trigger mode 1 |
tyftyftyf | 0:ec59a31e784b | 82 | #define AK8963_MODE_SELFTEST 0x8 |
tyftyftyf | 0:ec59a31e784b | 83 | #define AK8963_MODE_FUSEROM 0xF |
tyftyftyf | 0:ec59a31e784b | 84 | |
tyftyftyf | 0:ec59a31e784b | 85 | #define AK8963_CNTL1_OUT_BIT 4 |
tyftyftyf | 0:ec59a31e784b | 86 | #define AK8963_CNTL1_OUT_LENGTH 1 //Output bit, 0 = 14 bit, 1 = 16 bit |
tyftyftyf | 0:ec59a31e784b | 87 | |
tyftyftyf | 0:ec59a31e784b | 88 | #define AK8963_CNTL2_RESET 0x01 |
tyftyftyf | 0:ec59a31e784b | 89 | |
tyftyftyf | 0:ec59a31e784b | 90 | #define AK8963_ASTC_SELF_BIT 6 |
tyftyftyf | 0:ec59a31e784b | 91 | |
tyftyftyf | 0:ec59a31e784b | 92 | #define AK8963_I2CDIS_BIT 0 |
tyftyftyf | 0:ec59a31e784b | 93 | |
tyftyftyf | 0:ec59a31e784b | 94 | class AK8963 { |
tyftyftyf | 0:ec59a31e784b | 95 | public: |
tyftyftyf | 0:ec59a31e784b | 96 | AK8963(); |
tyftyftyf | 0:ec59a31e784b | 97 | AK8963(bool useSPI, uint8_t address); |
tyftyftyf | 0:ec59a31e784b | 98 | |
tyftyftyf | 0:ec59a31e784b | 99 | void initialize(); |
tyftyftyf | 0:ec59a31e784b | 100 | bool testConnection(); |
tyftyftyf | 0:ec59a31e784b | 101 | |
tyftyftyf | 0:ec59a31e784b | 102 | // WIA register |
tyftyftyf | 0:ec59a31e784b | 103 | uint8_t getDeviceID(); |
tyftyftyf | 0:ec59a31e784b | 104 | |
tyftyftyf | 0:ec59a31e784b | 105 | // INFO register |
tyftyftyf | 0:ec59a31e784b | 106 | uint8_t getInfo(); |
tyftyftyf | 0:ec59a31e784b | 107 | |
tyftyftyf | 0:ec59a31e784b | 108 | // ST1 register |
tyftyftyf | 0:ec59a31e784b | 109 | bool getDataReady(); |
tyftyftyf | 0:ec59a31e784b | 110 | bool getDataOverRun(); |
tyftyftyf | 0:ec59a31e784b | 111 | |
tyftyftyf | 0:ec59a31e784b | 112 | // H* registers |
tyftyftyf | 0:ec59a31e784b | 113 | void getHeading(int16_t *x, int16_t *y, int16_t *z); |
tyftyftyf | 0:ec59a31e784b | 114 | |
tyftyftyf | 0:ec59a31e784b | 115 | // ST2 register |
tyftyftyf | 0:ec59a31e784b | 116 | bool getOverflowStatus(); |
tyftyftyf | 0:ec59a31e784b | 117 | bool getOutBitST(); |
tyftyftyf | 0:ec59a31e784b | 118 | |
tyftyftyf | 0:ec59a31e784b | 119 | // CNTL register |
tyftyftyf | 0:ec59a31e784b | 120 | uint8_t getMode(); |
tyftyftyf | 0:ec59a31e784b | 121 | void setModeRes(uint8_t mode, uint8_t Mscale); |
tyftyftyf | 0:ec59a31e784b | 122 | void reset(); |
tyftyftyf | 0:ec59a31e784b | 123 | |
tyftyftyf | 0:ec59a31e784b | 124 | // ASTC register |
tyftyftyf | 0:ec59a31e784b | 125 | void setSelfTest(bool enabled); |
tyftyftyf | 0:ec59a31e784b | 126 | void getSelfTest(int16_t *x, int16_t *y, int16_t *z); |
tyftyftyf | 0:ec59a31e784b | 127 | |
tyftyftyf | 0:ec59a31e784b | 128 | // I2CDIS |
tyftyftyf | 0:ec59a31e784b | 129 | void disableI2C(); // um, why...? |
tyftyftyf | 0:ec59a31e784b | 130 | |
tyftyftyf | 0:ec59a31e784b | 131 | // ASA* registers |
tyftyftyf | 0:ec59a31e784b | 132 | void getAdjustment(uint8_t *x, uint8_t *y, uint8_t *z); |
tyftyftyf | 0:ec59a31e784b | 133 | |
tyftyftyf | 0:ec59a31e784b | 134 | |
tyftyftyf | 0:ec59a31e784b | 135 | private: |
tyftyftyf | 0:ec59a31e784b | 136 | bool bSPI; |
tyftyftyf | 0:ec59a31e784b | 137 | uint8_t devAddr; |
tyftyftyf | 0:ec59a31e784b | 138 | uint8_t buffer[14]; |
tyftyftyf | 0:ec59a31e784b | 139 | uint8_t mode; |
tyftyftyf | 0:ec59a31e784b | 140 | uint8_t Mscale; |
tyftyftyf | 0:ec59a31e784b | 141 | |
tyftyftyf | 0:ec59a31e784b | 142 | I2Cdev i2Cdev; |
tyftyftyf | 0:ec59a31e784b | 143 | }; |
tyftyftyf | 0:ec59a31e784b | 144 | |
tyftyftyf | 0:ec59a31e784b | 145 | #endif /* _AK8963_H_ */ |