Revision 0:5b09476278da, committed 2011-04-29
- Comitter:
- ssozonoff
- Date:
- Fri Apr 29 22:10:27 2011 +0000
- Child:
- 1:bdf678f27614
- Commit message:
- 1.0
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6343.cpp Fri Apr 29 22:10:27 2011 +0000
@@ -0,0 +1,211 @@
+/**
+ * @author Aaron Berk
+ * @author Serge Sozonoff
+ * Based on the work of Aaron Berk for the HMC6343
+ *
+ * @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 HMC6343 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
+ */
+
+/**
+ * Includes
+ */
+#include "HMC6343.h"
+
+template<class TYPE> inline TYPE BIT(const TYPE & x) {
+ return TYPE(1) << x;
+}
+
+template<class TYPE> inline bool IsBitSet(const TYPE & x, const TYPE & y) {
+ return 0 != (x & y);
+}
+
+HMC6343::HMC6343(PinName sda, PinName scl) {
+
+ i2c_ = new I2C(sda, scl);
+ //100KHz, as specified by the datasheet.
+ i2c_->frequency(100000);
+
+ operationMode_ = getOpMode();
+
+}
+
+double HMC6343::sampleHeading(void) {
+
+ char tx[1];
+ char rx[6];
+
+ tx[0] = HMC6343_GET_HEADING_DATA;
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(1);
+
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 6);
+
+ return ((double)((((int)rx[0] << 8) | (int)rx[1])) / 10);
+}
+
+
+void HMC6343::setReset(void) {
+ char tx[1];
+ tx[0] = HMC6343_RESET;
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(7);
+}
+
+void HMC6343::setCalibrationMode(int exitOrEnter) {
+ char tx[1];
+ int delay = 0;
+
+ tx[0] = exitOrEnter;
+
+ if (exitOrEnter == HMC6343_EXIT_CALIB) {
+ delay = 50;
+ } else if (exitOrEnter == HMC6343_ENTER_CALIB) {
+ delay = 1;
+ }
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(delay);
+}
+
+
+int HMC6343::getSlaveAddress(void) {
+ return read(HMC6343_SLAVE_ADDR);
+}
+
+int HMC6343::getOffset(int axis) {
+
+ char rx[2] = {0x00, 0x00};
+
+ if (axis == HMC6343_X_AXIS) {
+ rx[0] = read(HMC6343_XOFFSET_MSB);
+ rx[1] = read(HMC6343_XOFFSET_LSB);
+
+ } else if (axis == HMC6343_Y_AXIS) {
+ rx[0] = read(HMC6343_YOFFSET_MSB);
+ rx[1] = read(HMC6343_YOFFSET_LSB);
+
+ } else {
+ rx[0] = read(HMC6343_ZOFFSET_MSB);
+ rx[1] = read(HMC6343_ZOFFSET_LSB);
+ }
+
+ return ((rx[0] << 8) | (rx[1]));
+
+}
+
+
+int HMC6343::getSoftwareVersion(void) {
+
+ return read(HMC6343_SOFT_VER);
+
+}
+
+int HMC6343::getOpMode(void) {
+
+ char tx[1];
+ tx[0] = HMC6343_GET_OPMODE;
+
+ char rx[2];
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 1);
+ wait_ms(1);
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 2);
+
+ operationMode_ = (rx[1] << 8) | (rx[0]);
+
+ return operationMode_;
+
+}
+
+void HMC6343::setOpMode(int mode, int periodicSetReset, int measurementRate) {
+
+}
+
+void HMC6343::writeFloat(int lsb_address, float data) {
+ int i = (int)(data * 100);
+ if (i <= 1800 && i >= -1800) {
+ write(lsb_address, (int)(i & 0x000000FF));
+ write(lsb_address + 1, (int)(i >> 8));
+ }
+}
+
+float HMC6343::readFloat(int lsb_eprom_address) {
+ return ((float)(read(lsb_eprom_address + 1) << 8 | read(lsb_eprom_address)) / 100);
+}
+
+
+void HMC6343::setMagneticDeviation(float data) {
+ writeFloat(HMC6343_DEV_LSB, data);
+}
+
+float HMC6343::getMagneticDeviation() {
+ return readFloat(HMC6343_DEV_LSB);
+}
+
+void HMC6343::setMagneticVariation(float data) {
+ writeFloat(HMC6343_VAR_LSB, data);
+}
+
+float HMC6343::getMagneticVariation() {
+ return readFloat(HMC6343_VAR_LSB);
+}
+
+
+
+void HMC6343::write(int address, int data) {
+
+ char tx[3];
+
+ tx[0] = HMC6343_EEPROM_WRITE;
+ tx[1] = address;
+ tx[2] = data;
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 3);
+ wait_ms(1);
+
+}
+
+int HMC6343::read(int address) {
+
+ char tx[2];
+ char rx[1];
+
+ tx[0] = HMC6343_EEPROM_READ;
+ tx[1] = address;
+
+ i2c_->write((HMC6343_I2C_ADDRESS << 1) & 0xFE, tx, 2);
+ wait_ms(1);
+ i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 1);
+ wait_ms(1);
+
+ return (rx[0]);
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC6343.h Fri Apr 29 22:10:27 2011 +0000
@@ -0,0 +1,268 @@
+/**
+ * @author Aaron Berk
+ * @author Serge Sozonoff
+ * Based on the work of Aaron Berk for the HMC6352
+ *
+ * @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 HMC6343 digital compass.
+ *
+ * Datasheet:
+ *
+ * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
+ */
+
+#ifndef HMC6343_H
+#define HMC6343_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define HMC6343_I2C_ADDRESS 0x32 >> 1 //7-bit address
+
+//Commands.
+#define HMC6343_EEPROM_WRITE 0xF1
+#define HMC6343_EEPROM_READ 0xE1
+#define HMC6343_ENTER_SLEEP 0x83
+#define HMC6343_EXIT_SLEEP 0x84
+#define HMC6343_ENTER_STANDBY 0x76
+#define HMC6343_ENTER_RUN 0x75
+#define HMC6343_RESET 0x82
+#define HMC6343_ENTER_CALIB 0x71
+#define HMC6343_EXIT_CALIB 0x7E
+#define HMC6343_GET_ACCEL_DATA 0x40
+#define HMC6343_GET_MAG_DATA 0x45
+#define HMC6343_GET_HEADING_DATA 0x50
+#define HMC6343_GET_TILT_DATA 0x55
+#define HMC6343_GET_HEADING_DATA 0x50
+#define HMC6343_SET_XFWD_PLS_ZUP 0x72
+#define HMC6343_SET_XFWD_YUP 0x73
+#define HMC6343_SET_ZFWD_NEG_XUP 0x74
+#define HMC6343_GET_OPMODE 0x65
+
+//EEPROM locations.
+#define HMC6343_SLAVE_ADDR 0x00
+#define HMC6343_OPMOD_REG1 0x04
+#define HMC6343_OPMOD_REG2 0x05
+#define HMC6343_SN_LSB 0x06
+#define HMC6343_SN_MSB 0x07
+#define HMC6343_DEV_LSB 0x0A
+#define HMC6343_DEV_MSB 0x0B
+#define HMC6343_VAR_LSB 0x0C
+#define HMC6343_VAR_MSB 0x0D
+#define HMC6343_XOFFSET_LSB 0x0E
+#define HMC6343_XOFFSET_MSB 0x0F
+#define HMC6343_YOFFSET_LSB 0x10
+#define HMC6343_YOFFSET_MSB 0x11
+#define HMC6343_ZOFFSET_LSB 0x12
+#define HMC6343_ZOFFSET_MSB 0x13
+#define HMC6343_IIRF_LSB 0x14
+#define HMC6343_IIRF_MSB 0x15
+#define HMC6343_SOFT_VER 0x02
+
+
+#define HMC6343_X_AXIS 0x01
+#define HMC6343_Y_AXIS 0x02
+#define HMC6343_Z_AXIS 0x04
+
+
+// Operation mode bit masks
+// LSB
+#define HMC6343_COMP 0x128
+#define HMC6343_CAL 0x64
+#define HMC6343_FILTER 0x32
+#define HMC6343_RUN 0x16
+#define HMC6343_STDBY 0x08
+#define HMC6343_UF 0x04
+#define HMC6343_UE 0x02
+#define HMC6343_LEVEL 0x01
+
+// MSB
+#define HMC6343_MR1 0x256
+#define HMC6343_MR2 0x512
+
+
+//Operational mode register masks.
+#define HMC6343_CM_MR_1HZ 0x00
+#define HMC6343_CM_MR_5HZ 0x20
+#define HMC6343_CM_MR_10HZ 0x40
+#define HMC6343_CM_MR_NA 0x60
+
+#define HMC6343_PERIODIC_SR 0x10
+
+/**
+ * Honeywell HMC6343 digital compass.
+ */
+class HMC6343 {
+
+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.
+ */
+ HMC6343(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.
+ */
+ double sampleHeading(void);
+
+ /**
+ * 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 0x01 -> X-axis
+ * 0x02 -> Y-axis
+ * 0x04 -> Z-axis
+ * @return The current offset for the axis as a 16-bit number.
+ */
+ int getOffset(int axis);
+
+
+ /**
+ * 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);
+
+
+ void setMagneticVariation(float var);
+ float getMagneticVariation();
+ void setMagneticDeviation(float data);
+ float getMagneticDeviation();
+
+private:
+
+ I2C* i2c_;
+ int operationMode_;
+
+ /**
+ * Write to EEPROM on the device.
+ *
+ * @param address Address to write to.
+ * @param data Data to write.
+ */
+ void write(int address, int data);
+
+ /**
+ * Read EEPROM on the device.
+ *
+ * @param address Address to read from.
+ * @return The contents of the memory address.
+ */
+ int read(int address);
+
+ void writeFloat(int lsb_address, float data);
+ float readFloat(int lsb_eprom_address);
+
+};
+
+#endif /* HMC6343_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/notes.c Fri Apr 29 22:10:27 2011 +0000
@@ -0,0 +1,4 @@
+/*
+World Magnetic Model for Variation setting - http://www.ngdc.noaa.gov/geomagmodels/struts/calcIGRFWMM
+
+*/
\ No newline at end of file
Serge Sozonoff