.from: http://mbed.org/users/aberk/libraries/HMC6352/lijrmf
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx HMC6352.cpp XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
/**
* @author Aaron Berk
*
* @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 HMC6352 digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
*/
/**
* Includes
*/
#include "HMC6352.h"
HMC6352::HMC6352(PinName sda, PinName scl) {
i2c_ = new I2C(sda, scl);
//100KHz, as specified by the datasheet.
i2c_->frequency(100000);
operationMode_ = getOpMode();
}
int HMC6352::sample(void) {
char tx[1];
char rx[2];
if (operationMode_ == HMC6352_STANDBY || operationMode_ == HMC6352_QUERY) {
tx[0] = HMC6352_GET_DATA;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 2);
wait_ms(1);
return (((int)rx[0] << 8) | (int)rx[1]);
}
void HMC6352::setSleepMode(int exitOrEnter) {
char tx[1];
tx[0] = exitOrEnter;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
void HMC6352::setReset(void) {
char tx[1];
tx[0] = HMC6352_SET_RESET;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(7);
}
void HMC6352::setCalibrationMode(int exitOrEnter) {
char tx[1];
int delay = 0;
tx[0] = exitOrEnter;
if (exitOrEnter == HMC6352_EXIT_CALIB) {
delay = 15;
} else if (exitOrEnter == HMC6352_ENTER_CALIB) {
delay = 1;
}
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(delay);
}
void HMC6352::saveOpMode(void) {
char tx[1];
tx[0] = HMC6352_SAVE_OPMODE;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
int HMC6352::getSlaveAddress(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SLAVE_ADDR);
}
int HMC6352::getOffset(int axis) {
char rx[2] = {0x00, 0x00};
if (axis == HMC6352_MX_OFFSET) {
rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_MSB);
rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_LSB);
} else if (axis == HMC6352_MY_OFFSET) {
rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_MSB);
rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_LSB);
}
return ((rx[0] << 8) | (rx[1]));
}
void HMC6352::setOffset(int axis, int offset) {
char tx[2] = {0x00, 0x00};
tx[0] = (offset & 0x0000FF00) >> 8;
tx[1] = (offset & 0x000000FF);
if (axis == HMC6352_MX_OFFSET) {
write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[0]);
write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[1]);
} else if (axis == HMC6352_MY_OFFSET) {
write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[0]);
write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[1]);
}
}
int HMC6352::getTimeDelay(void) {
return read(HMC6352_EEPROM_READ, HMC6352_TIME_DELAY);
}
void HMC6352::setTimeDelay(int delay) {
write(HMC6352_EEPROM_WRITE, HMC6352_TIME_DELAY, delay);
}
int HMC6352::getSumNumber(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SUMMED);
}
void HMC6352::setSumNumber(int sum) {
write(HMC6352_EEPROM_WRITE, HMC6352_SUMMED, sum);
}
int HMC6352::getSoftwareVersion(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SOFT_VER);
}
int HMC6352::getOpMode(void) {
int response = 0;
response = read(HMC6352_RAM_READ, HMC6352_RAM_OPMODE);
return (response & 0x00000003);
}
void HMC6352::setOpMode(int mode, int periodicSetReset, int measurementRate) {
char opModeByte = mode;
if (periodicSetReset == 1) {
opModeByte |= HMC6352_PERIODIC_SR;
}
if (measurementRate == 5) {
opModeByte |= HMC6352_CM_MR_5HZ;
} else if (measurementRate == 10) {
opModeByte |= HMC6352_CM_MR_10HZ;
} else if (measurementRate == 20) {
opModeByte |= HMC6352_CM_MR_20HZ;
}
write(HMC6352_RAM_WRITE, HMC6352_RAM_OPMODE, opModeByte);
write(HMC6352_EEPROM_WRITE, HMC6352_OPMODE, opModeByte);
operationMode_ = mode;
}
int HMC6352::getOutputMode(void) {
return read(HMC6352_RAM_READ, HMC6352_RAM_OUTPUT);
}
void HMC6352::setOutputMode(int mode) {
write(HMC6352_RAM_WRITE, HMC6352_RAM_OUTPUT, mode);
}
void HMC6352::write(int EepromOrRam, int address, int data) {
char tx[3];
tx[0] = EepromOrRam;
tx[1] = address;
tx[2] = data;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 3);
wait_ms(1);
}
int HMC6352::read(int EepromOrRam, int address) {
char tx[2];
char rx[1];
tx[0] = EepromOrRam;
tx[1] = address;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 2);
wait_ms(1);
i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 1);
wait_ms(1);
return (rx[0]);
}
* @author Aaron Berk
*
* @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 HMC6352 digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
*/
/**
* Includes
*/
#include "HMC6352.h"
HMC6352::HMC6352(PinName sda, PinName scl) {
i2c_ = new I2C(sda, scl);
//100KHz, as specified by the datasheet.
i2c_->frequency(100000);
operationMode_ = getOpMode();
}
int HMC6352::sample(void) {
char tx[1];
char rx[2];
if (operationMode_ == HMC6352_STANDBY || operationMode_ == HMC6352_QUERY) {
tx[0] = HMC6352_GET_DATA;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 2);
wait_ms(1);
return (((int)rx[0] << 8) | (int)rx[1]);
}
void HMC6352::setSleepMode(int exitOrEnter) {
char tx[1];
tx[0] = exitOrEnter;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
void HMC6352::setReset(void) {
char tx[1];
tx[0] = HMC6352_SET_RESET;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(7);
}
void HMC6352::setCalibrationMode(int exitOrEnter) {
char tx[1];
int delay = 0;
tx[0] = exitOrEnter;
if (exitOrEnter == HMC6352_EXIT_CALIB) {
delay = 15;
} else if (exitOrEnter == HMC6352_ENTER_CALIB) {
delay = 1;
}
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(delay);
}
void HMC6352::saveOpMode(void) {
char tx[1];
tx[0] = HMC6352_SAVE_OPMODE;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 1);
wait_ms(1);
}
int HMC6352::getSlaveAddress(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SLAVE_ADDR);
}
int HMC6352::getOffset(int axis) {
char rx[2] = {0x00, 0x00};
if (axis == HMC6352_MX_OFFSET) {
rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_MSB);
rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MX_OFF_LSB);
} else if (axis == HMC6352_MY_OFFSET) {
rx[0] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_MSB);
rx[1] = read(HMC6352_EEPROM_READ, HMC6352_MY_OFF_LSB);
}
return ((rx[0] << 8) | (rx[1]));
}
void HMC6352::setOffset(int axis, int offset) {
char tx[2] = {0x00, 0x00};
tx[0] = (offset & 0x0000FF00) >> 8;
tx[1] = (offset & 0x000000FF);
if (axis == HMC6352_MX_OFFSET) {
write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[0]);
write(HMC6352_EEPROM_WRITE, HMC6352_MX_OFF_MSB, tx[1]);
} else if (axis == HMC6352_MY_OFFSET) {
write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[0]);
write(HMC6352_EEPROM_WRITE, HMC6352_MY_OFF_MSB, tx[1]);
}
}
int HMC6352::getTimeDelay(void) {
return read(HMC6352_EEPROM_READ, HMC6352_TIME_DELAY);
}
void HMC6352::setTimeDelay(int delay) {
write(HMC6352_EEPROM_WRITE, HMC6352_TIME_DELAY, delay);
}
int HMC6352::getSumNumber(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SUMMED);
}
void HMC6352::setSumNumber(int sum) {
write(HMC6352_EEPROM_WRITE, HMC6352_SUMMED, sum);
}
int HMC6352::getSoftwareVersion(void) {
return read(HMC6352_EEPROM_READ, HMC6352_SOFT_VER);
}
int HMC6352::getOpMode(void) {
int response = 0;
response = read(HMC6352_RAM_READ, HMC6352_RAM_OPMODE);
return (response & 0x00000003);
}
void HMC6352::setOpMode(int mode, int periodicSetReset, int measurementRate) {
char opModeByte = mode;
if (periodicSetReset == 1) {
opModeByte |= HMC6352_PERIODIC_SR;
}
if (measurementRate == 5) {
opModeByte |= HMC6352_CM_MR_5HZ;
} else if (measurementRate == 10) {
opModeByte |= HMC6352_CM_MR_10HZ;
} else if (measurementRate == 20) {
opModeByte |= HMC6352_CM_MR_20HZ;
}
write(HMC6352_RAM_WRITE, HMC6352_RAM_OPMODE, opModeByte);
write(HMC6352_EEPROM_WRITE, HMC6352_OPMODE, opModeByte);
operationMode_ = mode;
}
int HMC6352::getOutputMode(void) {
return read(HMC6352_RAM_READ, HMC6352_RAM_OUTPUT);
}
void HMC6352::setOutputMode(int mode) {
write(HMC6352_RAM_WRITE, HMC6352_RAM_OUTPUT, mode);
}
void HMC6352::write(int EepromOrRam, int address, int data) {
char tx[3];
tx[0] = EepromOrRam;
tx[1] = address;
tx[2] = data;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 3);
wait_ms(1);
}
int HMC6352::read(int EepromOrRam, int address) {
char tx[2];
char rx[1];
tx[0] = EepromOrRam;
tx[1] = address;
i2c_->write((HMC6352_I2C_ADDRESS << 1) & 0xFE, tx, 2);
wait_ms(1);
i2c_->read((HMC6352_I2C_ADDRESS << 1) | 0x01, rx, 1);
wait_ms(1);
return (rx[0]);
}
XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx HMC6352.h XxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXxXx
/**
* @author Aaron Berk
*
* @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 HMC6352 digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
*/
#ifndef HMC6352_H
#define HMC6352_H
/**
* Includes
*/
#include "mbed.h"
/**
* Defines
*/
#define HMC6352_I2C_ADDRESS 0x21 //7-bit address. 0x43 write, 0x42 read.
//Commands.
#define HMC6352_EEPROM_WRITE 0x77
#define HMC6352_EEPROM_READ 0x72
#define HMC6352_RAM_WRITE 0x47
#define HMC6352_RAM_READ 0x67
#define HMC6352_ENTER_SLEEP 0x53
#define HMC6352_EXIT_SLEEP 0x57
#define HMC6352_SET_RESET 0x4F
#define HMC6352_ENTER_CALIB 0x43
#define HMC6352_EXIT_CALIB 0x45
#define HMC6352_SAVE_OPMODE 0x4C
#define HMC6352_GET_DATA 0x41
//EEPROM locations.
#define HMC6352_SLAVE_ADDR 0x00
#define HMC6352_MX_OFF_MSB 0x01
#define HMC6352_MX_OFF_LSB 0x02
#define HMC6352_MY_OFF_MSB 0x03
#define HMC6352_MY_OFF_LSB 0x04
#define HMC6352_TIME_DELAY 0x05
#define HMC6352_SUMMED 0x06
#define HMC6352_SOFT_VER 0x07
#define HMC6352_OPMODE 0x08
//RAM registers.
#define HMC6352_RAM_OPMODE 0x74
#define HMC6352_RAM_OUTPUT 0x4E
#define HMC6352_MX_OFFSET 0x00
#define HMC6352_MY_OFFSET 0x01
#define HMC6352_HEADING_MODE 0x00
#define HMC6352_RAWMAGX_MODE 0x01
#define HMC6352_RAWMAGY_MODE 0x02
#define HMC6352_MAGX_MODE 0x03
#define HMC6352_MAGY_MODE 0x04
//Operational mode register masks.
#define HMC6352_CM_MR_1HZ 0x00
#define HMC6352_CM_MR_5HZ 0x20
#define HMC6352_CM_MR_10HZ 0x40
#define HMC6352_CM_MR_20HZ 0x60
#define HMC6352_PERIODIC_SR 0x10
#define HMC6352_STANDBY 0x00
#define HMC6352_QUERY 0x01
#define HMC6352_CONTINUOUS 0x02
/**
* Honeywell HMC6352 digital compass.
*/
class HMC6352 {
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.
*/
HMC6352(PinName sda, PinName scl);
/**
* Sample the device and return the result.
*
* @return In heading output mode, the current heading as a number between
* 0-3599, representing 0-359.9 degrees.
* In raw magnetometer X output mode, the raw output of the X-axis
* magnetometer.
* In raw magnetometer Y mode, the raw output of the Y-axis
* magnetometer.
* In magnetometer X mode, the corrected output of the X-axis
* magnetometer.
* In magnetometer Y mode, the corrected output of the Y-axis
* magnetometer.
*/
int sample(void);
/**
* Enter into or exit from sleep mode.
*
* @param enterOrExit 0x57 -> Exit sleep mode
* 0x53 -> Enter
*/
void setSleepMode(int enterOrExit);
/**
* Update bridge offsets.
*
* Performs a set/reset immediately.
*/
void setReset(void);
/**
* Enter into or exit from calibration mode.
*
* @param enterOrExit 0x45 -> Exit
* 0x43 -> Enter
*/
void setCalibrationMode(int enterOrExit);
/**
* Save the current operation mode byte to EEPROM.
*/
void saveOpMode(void);
/**
* Read the memory location on the device which contains the slave address.
*
* @return The slave address of the device.
*/
int getSlaveAddress(void);
/**
* Read the current offset for X or Y axis magnetometer.
*
* @param axis 0x00 -> X-axis
* 0x01 -> Y-axis
* @return The current offset for the axis as a 16-bit number.
*/
int getOffset(int axis);
/**
* Set the offset for X or Y axis magnetometer.
*
* @param axis 0x00 -> X-axis
* 0x01 -> Y-axis
* @param offset The offset to set for the axis (set to a 16-bit number).
*/
void setOffset(int axis, int offset);
/**
* Get the current time delay.
*
* @return The time delay in milliseconds.
*/
int getTimeDelay(void);
/**
* Set the time delay of the device.
*
* @param delay The time delay to set in milliseconds (between 0-255);
*/
void setTimeDelay(int delay);
/**
* Get the number of measurements being summed each sample.
*
* @return The number of summed measurement.
*/
int getSumNumber(void);
/**
* Set the number of measurements being summed each sample.
*
* @param sum The number of measurements to be summed (between 0-16);
*/
void setSumNumber(int sum);
/**
* Get the software version on the device.
*
* @return The software version number.
*/
int getSoftwareVersion(void);
/**
* Get the current operation mode.
*
* @return 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
*/
int getOpMode(void);
/**
* Set the operation mode.
*
* @param mode 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
* @param periodicSetReset 0x00 -> No periodic set/reset
* 0x01 -> Periodic set/reset
* @measurementRate Measurement rate in Hz for continuous rate.
* Possible rates: {1, 5, 10, 20}Hz.
*/
void setOpMode(int mode, int periodicSetReset, int measurementRate = 0);
/**
* Get the current output mode of the device.
*
* @return The current output mode.
*/
int getOutputMode(void);
/**
* Set the output mode of the device.
*
* @param mode 0x00 -> Heading mode
* 0x01 -> Raw magnetometer X mode
* 0x02 -> Raw magnetometer Y mode
* 0x03 -> Magnetometer X mode
* 0x04 -> Magnetometer Y mode
*/
void setOutputMode(int mode);
private:
I2C* i2c_;
int operationMode_;
/**
* Write to EEPROM or RAM on the device.
*
* @param EepromOrRam 0x77 -> Writing to EEPROM
* 0x47 -> Writing to RAM
* @param address Address to write to.
* @param data Data to write.
*/
void write(int EepromOrRam, int address, int data);
/**
* Read EEPROM or RAM on the device.
*
* @param EepromOrRam 0x72 -> Reading from EEPROM
* 0x67 -> Reading from RAM
* @param address Address to read from.
* @return The contents of the memory address.
*/
int read(int EepromOrRam, int address);
};
#endif /* HMC6352_H */
* @author Aaron Berk
*
* @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 HMC6352 digital compass.
*
* Datasheet:
*
* http://www.ssec.honeywell.com/magnetic/datasheets/HMC6352.pdf
*/
#ifndef HMC6352_H
#define HMC6352_H
/**
* Includes
*/
#include "mbed.h"
/**
* Defines
*/
#define HMC6352_I2C_ADDRESS 0x21 //7-bit address. 0x43 write, 0x42 read.
//Commands.
#define HMC6352_EEPROM_WRITE 0x77
#define HMC6352_EEPROM_READ 0x72
#define HMC6352_RAM_WRITE 0x47
#define HMC6352_RAM_READ 0x67
#define HMC6352_ENTER_SLEEP 0x53
#define HMC6352_EXIT_SLEEP 0x57
#define HMC6352_SET_RESET 0x4F
#define HMC6352_ENTER_CALIB 0x43
#define HMC6352_EXIT_CALIB 0x45
#define HMC6352_SAVE_OPMODE 0x4C
#define HMC6352_GET_DATA 0x41
//EEPROM locations.
#define HMC6352_SLAVE_ADDR 0x00
#define HMC6352_MX_OFF_MSB 0x01
#define HMC6352_MX_OFF_LSB 0x02
#define HMC6352_MY_OFF_MSB 0x03
#define HMC6352_MY_OFF_LSB 0x04
#define HMC6352_TIME_DELAY 0x05
#define HMC6352_SUMMED 0x06
#define HMC6352_SOFT_VER 0x07
#define HMC6352_OPMODE 0x08
//RAM registers.
#define HMC6352_RAM_OPMODE 0x74
#define HMC6352_RAM_OUTPUT 0x4E
#define HMC6352_MX_OFFSET 0x00
#define HMC6352_MY_OFFSET 0x01
#define HMC6352_HEADING_MODE 0x00
#define HMC6352_RAWMAGX_MODE 0x01
#define HMC6352_RAWMAGY_MODE 0x02
#define HMC6352_MAGX_MODE 0x03
#define HMC6352_MAGY_MODE 0x04
//Operational mode register masks.
#define HMC6352_CM_MR_1HZ 0x00
#define HMC6352_CM_MR_5HZ 0x20
#define HMC6352_CM_MR_10HZ 0x40
#define HMC6352_CM_MR_20HZ 0x60
#define HMC6352_PERIODIC_SR 0x10
#define HMC6352_STANDBY 0x00
#define HMC6352_QUERY 0x01
#define HMC6352_CONTINUOUS 0x02
/**
* Honeywell HMC6352 digital compass.
*/
class HMC6352 {
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.
*/
HMC6352(PinName sda, PinName scl);
/**
* Sample the device and return the result.
*
* @return In heading output mode, the current heading as a number between
* 0-3599, representing 0-359.9 degrees.
* In raw magnetometer X output mode, the raw output of the X-axis
* magnetometer.
* In raw magnetometer Y mode, the raw output of the Y-axis
* magnetometer.
* In magnetometer X mode, the corrected output of the X-axis
* magnetometer.
* In magnetometer Y mode, the corrected output of the Y-axis
* magnetometer.
*/
int sample(void);
/**
* Enter into or exit from sleep mode.
*
* @param enterOrExit 0x57 -> Exit sleep mode
* 0x53 -> Enter
*/
void setSleepMode(int enterOrExit);
/**
* Update bridge offsets.
*
* Performs a set/reset immediately.
*/
void setReset(void);
/**
* Enter into or exit from calibration mode.
*
* @param enterOrExit 0x45 -> Exit
* 0x43 -> Enter
*/
void setCalibrationMode(int enterOrExit);
/**
* Save the current operation mode byte to EEPROM.
*/
void saveOpMode(void);
/**
* Read the memory location on the device which contains the slave address.
*
* @return The slave address of the device.
*/
int getSlaveAddress(void);
/**
* Read the current offset for X or Y axis magnetometer.
*
* @param axis 0x00 -> X-axis
* 0x01 -> Y-axis
* @return The current offset for the axis as a 16-bit number.
*/
int getOffset(int axis);
/**
* Set the offset for X or Y axis magnetometer.
*
* @param axis 0x00 -> X-axis
* 0x01 -> Y-axis
* @param offset The offset to set for the axis (set to a 16-bit number).
*/
void setOffset(int axis, int offset);
/**
* Get the current time delay.
*
* @return The time delay in milliseconds.
*/
int getTimeDelay(void);
/**
* Set the time delay of the device.
*
* @param delay The time delay to set in milliseconds (between 0-255);
*/
void setTimeDelay(int delay);
/**
* Get the number of measurements being summed each sample.
*
* @return The number of summed measurement.
*/
int getSumNumber(void);
/**
* Set the number of measurements being summed each sample.
*
* @param sum The number of measurements to be summed (between 0-16);
*/
void setSumNumber(int sum);
/**
* Get the software version on the device.
*
* @return The software version number.
*/
int getSoftwareVersion(void);
/**
* Get the current operation mode.
*
* @return 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
*/
int getOpMode(void);
/**
* Set the operation mode.
*
* @param mode 0x00 -> Standby mode
* 0x01 -> Query mode
* 0x02 -> Continuous mode
* @param periodicSetReset 0x00 -> No periodic set/reset
* 0x01 -> Periodic set/reset
* @measurementRate Measurement rate in Hz for continuous rate.
* Possible rates: {1, 5, 10, 20}Hz.
*/
void setOpMode(int mode, int periodicSetReset, int measurementRate = 0);
/**
* Get the current output mode of the device.
*
* @return The current output mode.
*/
int getOutputMode(void);
/**
* Set the output mode of the device.
*
* @param mode 0x00 -> Heading mode
* 0x01 -> Raw magnetometer X mode
* 0x02 -> Raw magnetometer Y mode
* 0x03 -> Magnetometer X mode
* 0x04 -> Magnetometer Y mode
*/
void setOutputMode(int mode);
private:
I2C* i2c_;
int operationMode_;
/**
* Write to EEPROM or RAM on the device.
*
* @param EepromOrRam 0x77 -> Writing to EEPROM
* 0x47 -> Writing to RAM
* @param address Address to write to.
* @param data Data to write.
*/
void write(int EepromOrRam, int address, int data);
/**
* Read EEPROM or RAM on the device.
*
* @param EepromOrRam 0x72 -> Reading from EEPROM
* 0x67 -> Reading from RAM
* @param address Address to read from.
* @return The contents of the memory address.
*/
int read(int EepromOrRam, int address);
};
#endif /* HMC6352_H */
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