AK8963.h

00001 // I2Cdev library collection - AK8963 I2C device class header file
00002 // Based on AKM AK8963/B datasheet, 12/2009
00003 // 8/27/2011 by Jeff Rowberg <jeff@rowberg.net> modified by Merlin 6-14-14 for 8963
00004 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
00005 //
00006 // Changelog:
00007 //     2011-08-27 - initial release
00008 //     2014-06-14 - modified for AK8963 based on Kris Wieners MPU-9250 Sketch
00009 /* ============================================
00010 I2Cdev device library code is placed under the MIT license
00011 Copyright (c) 2011 Jeff Rowberg
00012 
00013 Permission is hereby granted, free of charge, to any person obtaining a copy
00014 of this software and associated documentation files (the "Software"), to deal
00015 in the Software without restriction, including without limitation the rights
00016 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00017 copies of the Software, and to permit persons to whom the Software is
00018 furnished to do so, subject to the following conditions:
00019 
00020 The above copyright notice and this permission notice shall be included in
00021 all copies or substantial portions of the Software.
00022 
00023 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00024 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00025 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00026 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00027 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00028 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00029 THE SOFTWARE.
00030 ===============================================
00031 */
00032 
00033 #ifndef _AK8963_H_
00034 #define _AK8963_H_
00035 
00036 #include "mbed.h"
00037 
00038 #ifndef I2C_SDA
00039     #define I2C_SDA p9
00040     #define I2C_SCL p10
00041 #endif
00042 
00043 #include "I2CdevAK8963.h"
00044 
00045 #define AK8963_ADDRESS_00         0x0C
00046 #define AK8963_ADDRESS_01         0x0D
00047 #define AK8963_ADDRESS_10         0x0E // default for InvenSense MPU-6050 evaluation board
00048 #define AK8963_ADDRESS_11         0x0F
00049 #define AK8963_DEFAULT_ADDRESS    AK8963_ADDRESS_00
00050 
00051 #define AK8963_RA_WIA             0x00
00052 #define AK8963_RA_INFO            0x01
00053 #define AK8963_RA_ST1             0x02
00054 #define AK8963_RA_HXL             0x03
00055 #define AK8963_RA_HXH             0x04
00056 #define AK8963_RA_HYL             0x05
00057 #define AK8963_RA_HYH             0x06
00058 #define AK8963_RA_HZL             0x07
00059 #define AK8963_RA_HZH             0x08
00060 #define AK8963_RA_ST2             0x09
00061 #define AK8963_RA_CNTL1           0x0A
00062 #define AK8963_RA_CNTL2           0x0B 
00063 #define AK8963_RA_ASTC            0x0C
00064 #define AK8963_RA_TS1             0x0D // SHIPMENT TEST, DO NOT USE
00065 #define AK8963_RA_TS2             0x0E // SHIPMENT TEST, DO NOT USE
00066 #define AK8963_RA_I2CDIS          0x0F
00067 #define AK8963_RA_ASAX            0x10
00068 #define AK8963_RA_ASAY            0x11
00069 #define AK8963_RA_ASAZ            0x12
00070 
00071 #define AK8963_ST1_DRDY_BIT       0     //Data ready bit
00072 #define AK8963_ST1_DOR_BIT        1     //Data overrun bit
00073 #define AK8963_ST2_HOFL_BIT       3     //Mag sensor overflow
00074 //#define AK8963_ST2_DERR_BIT       2
00075 #define AK8963_ST2_BITM           3     //Output bit, 0 = 14 bit, 1 = 16 bit
00076 
00077 #define AK8963_CNTL1_MODE_BIT     3
00078 #define AK8963_CNTL1_MODE_LENGTH  4
00079 #define AK8963_MODE_POWERDOWN     0x0
00080 #define AK8963_MODE_SINGLE        0x1
00081 #define AK8963_MODE_CONT1         0x2   //Continuous mode 1
00082 #define AK8963_MODE_CONT2         0x6   //Continuous mode 2
00083 #define AK8963_MODE_EXT           0x4   //External Trigger mode 1
00084 #define AK8963_MODE_SELFTEST      0x8
00085 #define AK8963_MODE_FUSEROM       0xF
00086 
00087 #define AK8963_CNTL1_OUT_BIT      4
00088 #define AK8963_CNTL1_OUT_LENGTH   1     //Output bit, 0 = 14 bit, 1 = 16 bit
00089 
00090 #define AK8963_CNTL2_RESET        0x01
00091               
00092 #define AK8963_ASTC_SELF_BIT      6
00093 
00094 #define AK8963_I2CDIS_BIT         0
00095 
00096 class AK8963 {
00097     public:
00098         AK8963();
00099         AK8963(bool useSPI, uint8_t address);
00100         
00101         void initialize();
00102         bool testConnection();
00103 
00104         // WIA register
00105         uint8_t getDeviceID();
00106         
00107         // INFO register
00108         uint8_t getInfo();
00109         
00110         // ST1 register
00111         bool getDataReady();
00112         bool getDataOverRun();
00113         
00114         // H* registers
00115         void getHeading(int16_t *x, int16_t *y, int16_t *z);
00116         
00117         // ST2 register
00118         bool getOverflowStatus();
00119         bool getOutBitST();
00120 
00121         // CNTL register
00122         uint8_t getMode();
00123         void setModeRes(uint8_t mode, uint8_t Mscale);
00124         void reset();
00125         
00126         // ASTC register
00127         void setSelfTest(bool enabled);
00128         void getSelfTest(int16_t *x, int16_t *y, int16_t *z);
00129         
00130         // I2CDIS
00131         void disableI2C(); // um, why...?
00132         
00133         // ASA* registers
00134         void getAdjustment(uint8_t *x, uint8_t *y, uint8_t *z);
00135 
00136 
00137     private:
00138         bool    bSPI;   
00139         uint8_t devAddr;
00140         uint8_t buffer[14];
00141         uint8_t mode;
00142         uint8_t Mscale;
00143         
00144         AK8963I2C::I2Cdev i2Cdev;
00145 };
00146 
00147 #endif /* _AK8963_H_ */