Revision 2:3ffce3e97527, committed 2012-01-25

Comitter:

higedura

Date:

Wed Jan 25 05:25:29 2012 +0000

Parent:

1:29713f02de29

Child:

3:5b192b38b3bb

Commit message:

Changed in this revision

--- a/HMC5843.cpp	Sat Nov 26 15:01:52 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,174 +0,0 @@
-/**
- * @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 HMC5843digital compass.
- *
- * Datasheet:
- *
- * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf
- */
-
-/**
- * Includes
- */
-#include "HMC5843.h"
-
-HMC5843::HMC5843(PinName sda, PinName scl) {
-
-    i2c_ = new I2C(sda, scl);
-    //100KHz, as specified by the datasheet.
-    i2c_->frequency(100000);
-
-
-}
-
-
-void HMC5843::write(int address, int data) {
-   
-    char tx[2];
-   
-    tx[0]=address;
-    tx[1]=data;
-
-    i2c_->write(HMC5843_I2C_WRITE,tx,2);
-   
-    wait_ms(100);
-
-}
-
-
-void HMC5843::setSleepMode() {
-    
-    write(HMC5843_MODE, HMC5843_SLEEP);
-}
-
-void HMC5843::setDefault(void) {
-   
-   write(HMC5843_CONFIG_A,HMC5843_10HZ_NORMAL);
-   write(HMC5843_CONFIG_B,HMC5843_1_0GA);
-   write(HMC5843_MODE,HMC5843_CONTINUOUS);
-   wait_ms(100);
-}
-
-
-void HMC5843::getAddress(char *buffer) {
-    
-   char rx[3];
-   char tx[1];
-   tx[0]=HMC5843_IDENT_A;
-    
-       
-    i2c_->write(HMC5843_I2C_WRITE, tx,1);
-   
-    wait_ms(1);
-    
-    i2c_->read(HMC5843_I2C_READ,rx,3);
-    
-    buffer[0]=rx[0];
-    buffer[1]=rx[1];
-    buffer[2]=rx[2];
-}
-
-
-
-void HMC5843::setOpMode(int mode, int ConfigA, int ConfigB) {
-    
-    
-    write(HMC5843_CONFIG_A,ConfigA);
-    write(HMC5843_CONFIG_B,ConfigB);
-    write(HMC5843_MODE,mode);
-    
-
-}
-
-
-
-
-void HMC5843::readData(int* getMag) {
-
-  
-    char tx[1];
-    char rx[2];
-    
-    
-    tx[0]=HMC5843_X_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    getMag[0]= (int)rx[0]<<8|(int)rx[1];
-
-     
-    tx[0]=HMC5843_Y_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    getMag[1]= (int)rx[0]<<8|(int)rx[1];
-     
-    tx[0]=HMC5843_Z_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    getMag[2]= (int)rx[0]<<8|(int)rx[1];
-    
-}
-
-int HMC5843::getMx() {
-
-    char tx[1];
-    char rx[2];
-    
-    
-    tx[0]=HMC5843_X_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    return ((int)rx[0]<<8|(int)rx[1]);
-
-}
-
-int HMC5843::getMy() {
-
-    char tx[1];
-    char rx[2];
-    
-    
-    tx[0]=HMC5843_Y_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    return ((int)rx[0]<<8|(int)rx[1]);
- 
-}
-
-
-int HMC5843::getMz(){
-
-    char tx[1];
-    char rx[2];
-    
-    
-    tx[0]=HMC5843_Z_MSB;
-    i2c_->write(HMC5843_I2C_READ,tx,1);
-    i2c_->read(HMC5843_I2C_READ,rx,2);
-    return ((int)rx[0]<<8|(int)rx[1]);
- 
-}
\ No newline at end of file

--- a/HMC5843.h	Sat Nov 26 15:01:52 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,219 +0,0 @@
-/**
- * @author Uwe Gartmann
- * @author Used HMC5843 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 HMC5843 digital compass.
- *
- * Datasheet:
- *
- * http://www.ssec.honeywell.com/magnetic/datasheets/HMC5843.pdf
- */
-
-#ifndef HMC5843_H
-#define HMC5843_H
-
-/**
- * Includes
- */
-#include "mbed.h"
-
-/**
- * Defines
- */
-#define HMC5843_I2C_ADDRESS 0x1E //7-bit address. 0x3C write, 0x3D read.
-#define HMC5843_I2C_WRITE   0x3C 
-#define HMC5843_I2C_READ    0x3D 
-
-//Values Config A
-#define HMC5843_0_5HZ_NORMAL         0x00
-#define HMC5843_0_5HZ_POSITIVE       0x01
-#define HMC5843_0_5HZ_NEGATIVE       0x02
-
-#define HMC5843_1HZ_NORMAL           0x04
-#define HMC5843_1HZ_POSITIVE         0x05
-#define HMC5843_1HZ_NEGATIVE         0x06
-
-#define HMC5843_2HZ_NORMAL           0x08
-#define HMC5843_2HZ_POSITIVE         0x09
-#define HMC5843_2HZ_NEGATIVE         0x0A
-
-#define HMC5843_5HZ_NORMAL           0x0C
-#define HMC5843_5HZ_POSITIVE         0x0D
-#define HMC5843_5HZ_NEGATIVE         0x0E
-
-#define HMC5843_10HZ_NORMAL           0x10
-#define HMC5843_10HZ_POSITIVE         0x11
-#define HMC5843_10HZ_NEGATIVE         0x12
-
-#define HMC5843_20HZ_NORMAL           0x14
-#define HMC5843_20HZ_POSITIVE         0x15
-#define HMC5843_20HZ_NEGATIVE         0x16
-
-#define HMC5843_50HZ_NORMAL           0x18
-#define HMC5843_50HZ_POSITIVE         0x19
-#define HMC5843_50HZ_NEGATIVE         0x1A
-
-//Values Config B
-#define HMC5843_0_7GA         0x00
-#define HMC5843_1_0GA         0x20
-#define HMC5843_1_5GA         0x40
-#define HMC5843_2_0GA         0x60
-#define HMC5843_3_2GA         0x80
-#define HMC5843_3_8GA         0xA0
-#define HMC5843_4_5GA         0xC0
-#define HMC5843_6_5GA         0xE0
-
-//Values MODE
-#define HMC5843_CONTINUOUS   0x00
-#define HMC5843_SINGLE         0x01
-#define HMC5843_IDLE         0x02
-#define HMC5843_SLEEP         0x03
-
-
-
-#define HMC5843_CONFIG_A     0x00
-#define HMC5843_CONFIG_B     0x01
-#define HMC5843_MODE         0x02
-#define HMC5843_X_MSB        0x03
-#define HMC5843_X_LSB        0x04
-#define HMC5843_Y_MSB        0x05
-#define HMC5843_Y_LSB        0x06
-#define HMC5843_Z_MSB        0x07
-#define HMC5843_Z_LSB        0x08
-#define HMC5843_STATUS       0x09
-#define HMC5843_IDENT_A      0x0A
-#define HMC5843_IDENT_B      0x0B
-#define HMC5843_IDENT_C      0x0C
-
-
-
-/**
- * Honeywell HMC5843 digital compass.
- */
-class HMC5843 {
-
-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.
-     */
-    HMC5843(PinName sda, PinName scl);
-
-        
-     /**
-     * Enter into sleep mode.
-     *
-     */
-    void setSleepMode();
-    
-       
-     /**
-     * Set Device in Default Mode.
-     * HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_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 /* HMC5843_H */
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.cpp	Wed Jan 25 05:25:29 2012 +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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883L.h	Wed Jan 25 05:25:29 2012 +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

--- a/main.cpp	Sat Nov 26 15:01:52 2011 +0000
+++ b/main.cpp	Wed Jan 25 05:25:29 2012 +0000
@@ -1,106 +1,99 @@
 #include "ADXL345_I2C.h"
 #include "ITG3200.h"
-#include "HMC5843.h"
+#include "HMC5883L.h"
 
 ADXL345_I2C accelerometer(p9, p10);
 ITG3200 gyro(p9, p10);
-HMC5843 compass(p9, p10);
+HMC5883L compass(p9, p10);
 Serial pc(USBTX, USBRX);
 
+#define N 3
+
 int main(){ 
+    
+    int i   =  0;
     float dt = 0.1;
-    float t  = 0.0;    
-    pc.baud(115200);
-    int    bitAcc[3]    =   {0, 0, 0};
-    int    getMag[3];
-    double Acc   [3]    =   {0, 0, 0};
-    double Gyro0 [3]    =   {0, 0, 0};
-    double Gyro1 [3]    =   {0, 0, 0};
-    double Gyro2 [3]    =   {0, 0, 0};
-    double Ang0  [3]    =   {0, 0, 0};
-    double Ang1  [3]    =   {0, 0, 0};
-    double Ang2  [3]    =   {0, 0, 0};
-    int    Mag1  [3]    =   {0, 0, 0};
+    float t  = 0;    
+    pc.baud(9600);
+    int    bitAcc[N]    =   {0};    // Buffer of the accelerometer
+    int    getMag[N]    =   {0};    // Buffer of the compass
+    double Acc  [N]    =   {0};
+    double Gyro [N]    =   {0};
+    int    Mag  [N]    =   {0};
     
-    // *** Part of the accelerometer ***
-    // These are here to test whether any of the initialization fails. It will print the failure
+    // *** Setting up accelerometer ***
+    // These are here to test whether any of the initialization fails. It will print the failure.
     if (accelerometer.setPowerControl(0x00)){
-        pc.printf("didn't intitialize power control\n"); 
-        return 0;  }
+        pc.printf("didn't intitialize power control\n\r"); 
+        return 0;
+    }
     // Full resolution, +/-16g, 4mg/LSB.
     wait(.001);
      
     if(accelerometer.setDataFormatControl(0x0B)){
-        pc.printf("didn't set data format\n");
+        pc.printf("didn't set data format\n\r");
         return 0;  }
     wait(.001);
      
     // 3.2kHz data rate.
     if(accelerometer.setDataRate(ADXL345_3200HZ)){
-        pc.printf("didn't set data rate\n");
-        return 0;    }
+        pc.printf("didn't set data rate\n\r");
+        return 0;
+    }
     wait(.001);
       
     if(accelerometer.setPowerControl(MeasurementMode)) {
-        pc.printf("didn't set the power control to measurement\n"); 
-        return 0;   } 
-    // *** Part of the accelerometer ***
+        pc.printf("didn't set the power control to measurement\n\r"); 
+        return 0;
+    } 
+    // ***  Setting up accelerometer ***
     
+    // ***  Setting up gyro ***
     gyro.setLpBandwidth(LPFBW_42HZ);
-    
-    //Continuous mode, , 10Hz measurement rate.
-    // HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+
+    // ***  Setting up compass ***
     compass.setDefault();
     
-    //Wait some time(Need at least 5ms)
+    // Wait some time for all sensors (Need at least 5ms)
     wait(0.1);
     
-    pc.printf("Starting ADXL345, ITG3200 and HMC5843 test...\n");
-    pc.printf("  Time     AccX     AccY     AccZ    GyroX    GyroY    GyroZ   MagX   MagY   MagZ\n");
-    //pc.printf("  Time    GyroX    GyroY    GyroZ   AngleX   AngleY   AngleZ\n");
+    pc.printf("\n\rStarting ADXL345, ITG3200 and HMC5883L test...\n\r");
+    pc.printf("   Time     AccX     AccY     AccZ    GyroX    GyroY    GyroZ   MagX   MagY   MagZ\n\r");
                 
     while(1){
+        // Updating accelerometer and compass
         accelerometer.getOutput(bitAcc);
         compass.readData(getMag);
-        // Transfering units (Acc[g], Gyro[deg/s], Compass[?])
-        // Calibration YAL 9DOF Acc:X+2, Y-12, Z+44
-        Acc[0]   =  ((int16_t)bitAcc[0]+2)*0.004;
-        Acc[1]   =  ((int16_t)bitAcc[1]-12)*0.004;
-        Acc[2]   =  ((int16_t)bitAcc[2]+44)*0.004;
-        // Calibration YAL 9DOF Gyro:X+26, Y-45, Z+34 
-        Gyro2[0] =  (gyro.getGyroX()+26)/14.375;
-        Gyro2[1] =  (gyro.getGyroY()-45)/14.375;
-        Gyro2[2] =  (gyro.getGyroZ()+34)/14.375;
+        
+        // Transfering units (Acc[g], Gyro[deg/s], Compass[Ga])
+        // Calibration YAL 9DOF Acc:X+6, Y-12, Z+44
+        // Calibration green Acc:X+1, Y-18, Z+45
+        Acc[0]  =  ((int16_t)bitAcc[0])*0.004;
+        Acc[1]  =  ((int16_t)bitAcc[1])*0.004;
+        Acc[2]  =  ((int16_t)bitAcc[2])*0.004;
+        // Calibration YAL 9DOF Gyro:X+28, Y-45, Z+34 
+        // Calibration green Gyro:X+135, Y-12, Z-53 
+        Gyro[0] =  (gyro.getGyroX())/14.375;
+        Gyro[1] =  (gyro.getGyroY())/14.375;
+        Gyro[2] =  (gyro.getGyroZ())/14.375;
         // Calibration YAL 9DOF Compass:X, Y, Z
-        Mag1[0]  =  (int16_t)getMag[0];
-        Mag1[1]  =  (int16_t)getMag[1];
-        Mag1[2]  =  (int16_t)getMag[2];
+        Mag[0]  =  (int16_t)getMag[0];
+        Mag[1]  =  (int16_t)getMag[1];
+        Mag[2]  =  (int16_t)getMag[2];
+        
+        // Low pass filter for acc
+        //for ( int i=0;i<N;i++ ){
+        //    if( -0.05<Acc[i] && Acc[i]<0.05 ){    Acc[i]=0;  }
+        //}
         
         // Low pass filter for gyro
-        //if( -1.0<Gyro2[0] && Gyro2[0]<1.0 ){    Gyro2[0]=0;  }
-        //if( -1.0<Gyro2[1] && Gyro2[1]<1.0 ){    Gyro2[1]=0;  }
-        //if( -1.0<Gyro2[2] && Gyro2[2]<1.0 ){    Gyro2[2]=0;  }
-        
-        // Trapezoidal integration
-        //Ang1[0] = Ang0[0]+(Gyro0[0]+Gyro1[0])*dt/2;
-        //Ang1[1] = Ang0[1]+(Gyro0[1]+Gyro1[1])*dt/2;
-        //Ang1[2] = Ang0[2]+(Gyro0[2]+Gyro1[2])*dt/2;
-        
-        // Simpson integration
-        // Ang1[0] = Ang0[0]+(Gyro0[0]+4*Gyro1[0]+Gyro2[0])*dt/6;
-        // Ang1[1] = Ang0[1]+(Gyro0[1]+4*Gyro1[1]+Gyro2[1])*dt/6;
-        // Ang1[2] = Ang0[2]+(Gyro0[2]+4*Gyro1[2]+Gyro2[2])*dt/6;
-        
-        pc.printf("%6.1f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, Acc[0], Acc[1], Acc[2], Gyro1[0], Gyro1[1], Gyro1[2], Mag1[0], Mag1[1], Mag1[2]);
-        //pc.printf("%6.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f, %7.1f\n\r", t, Gyro1[0], Gyro1[1], Gyro1[2], Ang1[0], Ang1[1], Ang1[2]);
-        //pc.printf("%6.1f, %6i, %6i, %6i, %7.2f, %7.2f, %7.2f\n\r", t, gyro.getGyroX()+32, gyro.getGyroY()-27, gyro.getGyroZ()-17, Ang1[0], Ang1[1], Ang1[2]);
-        //pc.printf("%6.1f, %6i, %6i, %6i, %7.3f, %7.3f, %7.3f\n\r", t, (int16_t)bitAcc[0], (int16_t)bitAcc[1], (int16_t)bitAcc[2], Acc[0], Acc[1], Acc[2]);
-        Gyro1[0] = Gyro2[0];  Gyro1[1] = Gyro2[1];  Gyro1[2] = Gyro2[2];
-        Gyro0[0] = Gyro1[0];  Gyro0[1] = Gyro1[1];  Gyro0[2] = Gyro1[2];
-        Ang0[0]  = Ang1[0];   Ang0[1]  = Ang1[1];   Ang0[2]  = Ang1[2];
+        //for ( int i=0;i<N;i++ ){
+        //    if( -1.0<Gyro[i] && Gyro[i]<1.0 ){    Gyro[i]=0;  }
+        //}
+
+        pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2], Mag[0], Mag[1], Mag[2]);
         
         t += dt;
         wait(dt);
     }
- 
-}
+ }