Diff: Sensors/HMC5843/HMC5843.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensors/HMC5843/HMC5843.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,280 @@
+/**
+ * @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
+
+#include "mbed.h"
+
+#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
+
+
+
+/**
+ * Interface library for the Honeywell HMC5843 digital compass.
+ * @author Michael Shimniok http://www.bot-thoughts.com/
+ * @author Based on library by Uwe Gartmann
+ * @author In turn based on HMC5843 library developed by Jose R. Padron and Aaron Berk as template
+ *
+ * This version is modified to follow the same member functions of my LSM303DLH library. The intent
+ * is to make it drop in compatible with my other magnetometer libraries.  For now, setScale() and
+ * setOffset() have no effect at this time.
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "HMC5843.h"
+ *
+ * HMC5843 compass(p28, p27);
+ * ...
+ * int m[3];
+ * ...
+ * compass.readMag(m);
+ *
+ * @endcode
+ */
+class HMC5843 {
+
+public:
+
+    /**
+     * Create a new interface for an HMC5843.
+     *
+     * @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);
+
+
+   /** sets the x, y, and z offset corrections for hard iron calibration
+    * 
+    * Calibration details here:
+    *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
+    *
+    * If you gather raw magnetometer data and find, for example, x is offset
+    * by hard iron by -20 then pass +20 to this member function to correct
+    * for hard iron.
+    *
+    * @param x is the offset correction for the x axis
+    * @param y is the offset correction for the y axis
+    * @param z is the offset correction for the z axis
+    */
+    void setOffset(float x, float y, float z);
+
+
+    /** sets the scale factor for the x, y, and z axes
+     *
+     * Calibratio details here:
+     *  http://mbed.org/users/shimniok/notebook/quick-and-dirty-3d-compass-calibration/
+     *
+     * Sensitivity of the three axes is never perfectly identical and this
+     * function can help to correct differences in sensitivity.  You're
+     * supplying a multipler such that x, y and z will be normalized to the
+     * same max/min values
+     */
+    void setScale(float x, float y, float z);
+
+        
+    /**
+     * Enter into sleep mode.
+     */
+    void setSleepMode();
+    
+       
+    /**
+     * Set Device in Default Mode.
+     * HMC5843_CONTINUOUS, HMC5843_10HZ_NORMAL HMC5843_1_0GA
+     */
+    void setDefault();
+
+       
+    /**
+     * 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 a register on the device.
+     *
+     * @param address is the register address to be written.
+     * @param data is the data to write.
+     */
+    void write(int address, int data);
+
+
+    /** read the calibrated accelerometer and magnetometer values
+     *
+     * @param m is the magnetometer 3d vector, written by the function
+     */
+     void read(int m[3]);
+
+
+     /** read the calibrated magnetometer values
+      *
+      * @param m is the magnetometer 3d vector, written by the function
+      */
+     void readMag(int m[3]);
+
+
+     /**
+     * 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* readings);
+
+    
+    /**
+     * 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);
+
+
+    /**
+     * 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);
+
+    
+    /** sets the I2C bus frequency
+     *
+     * @param frequency is the I2C bus/clock frequency, either standard (100000) or fast (400000)
+     */
+    void frequency(int hz);
+
+private:
+    I2C* i2c_;
+
+};
+
+#endif /* HMC5843_H */