Vinicius Leite
/
Compass_Test
1
Revision 0:c4316ce25c75, committed 2016-12-08
- Comitter:
- viniciushl
- Date:
- Thu Dec 08 12:26:27 2016 +0000
- Commit message:
- 1
Changed in this revision
diff -r 000000000000 -r c4316ce25c75 HMC5883L.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.cpp Thu Dec 08 12:26:27 2016 +0000 @@ -0,0 +1,174 @@ +/** + * @author Jose R. Padron + * @author Used HMC6352 library developed by Aaron Berk as template + * @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 HMC5883Ldigital compass. + * + * Datasheet: + * + * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf + */ + +/** + * Includes + */ +#include "HMC5883L.h" + +HMC5883L::HMC5883L(PinName sda, PinName scl) { + + i2c_ = new I2C(sda, scl); + //100KHz, as specified by the datasheet. + i2c_->frequency(100000); + + +} + + +void HMC5883L::write(int address, int data) { + + char tx[2]; + + tx[0]=address; + tx[1]=data; + + i2c_->write(HMC5883L_I2C_WRITE,tx,2); + + wait_ms(100); + +} + + +void HMC5883L::setSleepMode() { + + write(HMC5883L_MODE, HMC5883L_SLEEP); +} + +void HMC5883L::setDefault(void) { + + write(HMC5883L_CONFIG_A,HMC5883L_10HZ_NORMAL); + write(HMC5883L_CONFIG_B,HMC5883L_1_0GA); + write(HMC5883L_MODE,HMC5883L_CONTINUOUS); + wait_ms(100); +} + + +void HMC5883L::getAddress(char *buffer) { + + char rx[3]; + char tx[1]; + tx[0]=HMC5883L_IDENT_A; + + + i2c_->write(HMC5883L_I2C_WRITE, tx,1); + + wait_ms(1); + + i2c_->read(HMC5883L_I2C_READ,rx,3); + + buffer[0]=rx[0]; + buffer[1]=rx[1]; + buffer[2]=rx[2]; +} + + + +void HMC5883L::setOpMode(int mode, int ConfigA, int ConfigB) { + + + write(HMC5883L_CONFIG_A,ConfigA); + write(HMC5883L_CONFIG_B,ConfigB); + write(HMC5883L_MODE,mode); + + +} + + + + +void HMC5883L::readData(int* getMag) { + + + char tx[1]; + char rx[2]; + + + tx[0]=HMC5883L_X_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + getMag[0]= (int)rx[0]<<8|(int)rx[1]; + + + tx[0]=HMC5883L_Y_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + getMag[1]= (int)rx[0]<<8|(int)rx[1]; + + tx[0]=HMC5883L_Z_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + getMag[2]= (int)rx[0]<<8|(int)rx[1]; + +} + +int HMC5883L::getMx() { + + char tx[1]; + char rx[2]; + + + tx[0]=HMC5883L_X_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + return ((int)rx[0]<<8|(int)rx[1]); + +} + +int HMC5883L::getMy() { + + char tx[1]; + char rx[2]; + + + tx[0]=HMC5883L_Y_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + return ((int)rx[0]<<8|(int)rx[1]); + +} + + +int HMC5883L::getMz(){ + + char tx[1]; + char rx[2]; + + + tx[0]=HMC5883L_Z_MSB; + i2c_->write(HMC5883L_I2C_READ,tx,1); + i2c_->read(HMC5883L_I2C_READ,rx,2); + return ((int)rx[0]<<8|(int)rx[1]); + +} \ No newline at end of file
diff -r 000000000000 -r c4316ce25c75 HMC5883L.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.h Thu Dec 08 12:26:27 2016 +0000 @@ -0,0 +1,219 @@ +/** + * @author Uwe Gartmann + * @author Used HMC5883L library developed by Jose R. Padron and Aaron Berk as template + * + * @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 HMC5883L digital compass. + * + * Datasheet: + * + * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5883L.pdf + */ + +#ifndef HMC5883L_H +#define HMC5883L_H + +/** + * Includes + */ +#include "mbed.h" + +/** + * Defines + */ +#define HMC5883L_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read. +#define HMC5883L_I2C_WRITE 0x3C +#define HMC5883L_I2C_READ 0x3D + +//Values Config A +#define HMC5883L_0_5HZ_NORMAL 0x00 +#define HMC5883L_0_5HZ_POSITIVE 0x01 +#define HMC5883L_0_5HZ_NEGATIVE 0x02 + +#define HMC5883L_1HZ_NORMAL 0x04 +#define HMC5883L_1HZ_POSITIVE 0x05 +#define HMC5883L_1HZ_NEGATIVE 0x06 + +#define HMC5883L_2HZ_NORMAL 0x08 +#define HMC5883L_2HZ_POSITIVE 0x09 +#define HMC5883L_2HZ_NEGATIVE 0x0A + +#define HMC5883L_5HZ_NORMAL 0x0C +#define HMC5883L_5HZ_POSITIVE 0x0D +#define HMC5883L_5HZ_NEGATIVE 0x0E + +#define HMC5883L_10HZ_NORMAL 0x10 +#define HMC5883L_10HZ_POSITIVE 0x11 +#define HMC5883L_10HZ_NEGATIVE 0x12 + +#define HMC5883L_20HZ_NORMAL 0x14 +#define HMC5883L_20HZ_POSITIVE 0x15 +#define HMC5883L_20HZ_NEGATIVE 0x16 + +#define HMC5883L_50HZ_NORMAL 0x18 +#define HMC5883L_50HZ_POSITIVE 0x19 +#define HMC5883L_50HZ_NEGATIVE 0x1A + +//Values Config B +#define HMC5883L_0_7GA 0x00 +#define HMC5883L_1_0GA 0x20 +#define HMC5883L_1_5GA 0x40 +#define HMC5883L_2_0GA 0x60 +#define HMC5883L_3_2GA 0x80 +#define HMC5883L_3_8GA 0xA0 +#define HMC5883L_4_5GA 0xC0 +#define HMC5883L_6_5GA 0xE0 + +//Values MODE +#define HMC5883L_CONTINUOUS 0x00 +#define HMC5883L_SINGLE 0x01 +#define HMC5883L_IDLE 0x02 +#define HMC5883L_SLEEP 0x03 + + + +#define HMC5883L_CONFIG_A 0x00 +#define HMC5883L_CONFIG_B 0x01 +#define HMC5883L_MODE 0x02 +#define HMC5883L_X_MSB 0x03 +#define HMC5883L_X_LSB 0x04 +#define HMC5883L_Z_MSB 0x05 +#define HMC5883L_Z_LSB 0x06 +#define HMC5883L_Y_MSB 0x07 +#define HMC5883L_Y_LSB 0x08 +#define HMC5883L_STATUS 0x09 +#define HMC5883L_IDENT_A 0x0A +#define HMC5883L_IDENT_B 0x0B +#define HMC5883L_IDENT_C 0x0C + + + +/** + * Honeywell HMC5883L digital compass. + */ +class HMC5883L { + +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. + */ + HMC5883L(PinName sda, PinName scl); + + + /** + * Enter into sleep mode. + * + */ + void setSleepMode(); + + + /** + * Set Device in Default Mode. + * HMC5883L_CONTINUOUS, HMC5883L_10HZ_NORMAL HMC5883L_1_0GA + */ + void setDefault(); + + + /** + * Read the memory location on the device which contains the address. + * + * @param Pointer to a buffer to hold the address value + * Expected H, 4 and 3. + */ + void getAddress(char * address); + + + + /** + * Set the operation mode. + * + * @param mode 0x00 -> Continuous + * 0x01 -> Single + * 0x02 -> Idle + * @param ConfigA values + * @param ConfigB values + */ + void setOpMode(int mode, int ConfigA, int ConfigB); + + /** + * Write to on the device. + * + * @param address Address to write to. + * @param data Data to write. + */ + + void write(int address, int data); + + /** + * Get the output of all three axes. + * + * @param Pointer to a buffer to hold the magnetics value for the + * x-axis, y-axis and z-axis [in that order]. + */ + void readData(int* getMag); + + /** + * Get the output of X axis. + * + * @return x-axis magnetic value + */ + int getMx(); + + /** + * Get the output of Y axis. + * + * @return y-axis magnetic value + */ + int getMy(); + + /** + * Get the output of Z axis. + * + * @return z-axis magnetic value + */ + int getMz(); + + + /** + * Get the current operation mode. + * + * @return Status register values + */ + int getStatus(void); + + + + I2C* i2c_; + + + +}; + +#endif /* HMC5883L_H */ \ No newline at end of file
diff -r 000000000000 -r c4316ce25c75 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Thu Dec 08 12:26:27 2016 +0000 @@ -0,0 +1,27 @@ +#include "mbed.h" +#include "HMC5883L.h" +#define N 3 + +HMC5883L compass(p9, p10); +DigitalOut myled(LED1); + +int main() +{ + int get_mag[N] = {0}; // Buffer of the compass + int mag[N] = {0}; + compass.setDefault(); + wait(0.1); // Wait some time for all sensors (Need at least 5ms) + + while(1) + { + myled = 1; + wait(0.2); + + compass.readData(get_mag); + for( int i=0;i<N;i++ ){ mag[i] = (int16_t)get_mag[i]; } + + printf("Compass = %d, %d, %d\r\n", mag[0], mag[1], mag[2]); + myled = 0; + wait(0.2); + } +}
diff -r 000000000000 -r c4316ce25c75 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Dec 08 12:26:27 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/25aea2a3f4e3 \ No newline at end of file