HMC6343.h

00001 /**
00002  * @author Serge Sozonoff 
00003  * @author Aaron Berk
00004  * Partially based on the work of Aaron Berk for the HMC6352
00005  *
00006  * @section LICENSE
00007  *
00008  * Copyright (c) 2010 ARM Limited
00009  *
00010  * Permission is hereby granted, free of charge, to any person obtaining a copy
00011  * of this software and associated documentation files (the "Software"), to deal
00012  * in the Software without restriction, including without limitation the rights
00013  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00014  * copies of the Software, and to permit persons to whom the Software is
00015  * furnished to do so, subject to the following conditions:
00016  *
00017  * The above copyright notice and this permission notice shall be included in
00018  * all copies or substantial portions of the Software.
00019  *
00020  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00021  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00022  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00023  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00024  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00025  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00026  * THE SOFTWARE.
00027  *
00028  * @section DESCRIPTION
00029  *
00030  * Honeywell HMC6343 digital compass.
00031  *
00032  * Datasheet:
00033  *
00034  * http://www.ssec.honeywell.com/magnetic/datasheets/HMC6343.pdf
00035  */
00036 
00037 #ifndef HMC6343_H
00038 #define HMC6343_H
00039 
00040 /**
00041  * Includes
00042  */
00043 #include "mbed.h"
00044 
00045 /**
00046  * Defines
00047  */
00048 #define HMC6343_I2C_ADDRESS  0x32 >> 1 //7-bit address
00049 
00050 //Commands.
00051 #define HMC6343_EEPROM_WRITE     0xF1
00052 #define HMC6343_EEPROM_READ      0xE1
00053 #define HMC6343_ENTER_SLEEP      0x83
00054 #define HMC6343_EXIT_SLEEP       0x84
00055 #define HMC6343_ENTER_STANDBY    0x76
00056 #define HMC6343_ENTER_RUN        0x75
00057 #define HMC6343_RESET            0x82
00058 #define HMC6343_ENTER_CALIB      0x71
00059 #define HMC6343_EXIT_CALIB       0x7E
00060 #define HMC6343_GET_ACCEL_DATA   0x40
00061 #define HMC6343_GET_MAG_DATA     0x45
00062 #define HMC6343_GET_HEADING_DATA 0x50
00063 #define HMC6343_GET_TILT_DATA    0x55
00064 #define HMC6343_GET_HEADING_DATA 0x50
00065 #define HMC6343_SET_XFWD_PLS_ZUP 0x72
00066 #define HMC6343_SET_XFWD_YUP     0x73
00067 #define HMC6343_SET_ZFWD_NEG_XUP 0x74
00068 #define HMC6343_GET_OPMODE       0x65
00069 
00070 //EEPROM locations.
00071 #define HMC6343_SLAVE_ADDR   0x00
00072 #define HMC6343_OPMOD_REG1   0x04
00073 #define HMC6343_OPMOD_REG2   0x05
00074 #define HMC6343_SN_LSB       0x06
00075 #define HMC6343_SN_MSB       0x07
00076 #define HMC6343_DEV_LSB      0x0A
00077 #define HMC6343_DEV_MSB      0x0B
00078 #define HMC6343_VAR_LSB      0x0C
00079 #define HMC6343_VAR_MSB      0x0D
00080 #define HMC6343_XOFFSET_LSB  0x0E
00081 #define HMC6343_XOFFSET_MSB  0x0F
00082 #define HMC6343_YOFFSET_LSB  0x10
00083 #define HMC6343_YOFFSET_MSB  0x11
00084 #define HMC6343_ZOFFSET_LSB  0x12
00085 #define HMC6343_ZOFFSET_MSB  0x13
00086 #define HMC6343_IIRF_LSB     0x14
00087 #define HMC6343_IIRF_MSB     0x15
00088 #define HMC6343_SOFT_VER     0x02
00089 
00090 
00091 #define HMC6343_X_AXIS 0x01
00092 #define HMC6343_Y_AXIS 0x02
00093 #define HMC6343_Z_AXIS 0x04
00094 
00095 
00096 // Operation mode bit masks
00097 // LSB
00098 #define HMC6343_COMP    0x80
00099 #define HMC6343_CAL     0x40
00100 #define HMC6343_FILTER  0x20
00101 #define HMC6343_RUN     0x10
00102 #define HMC6343_STDBY   0x08
00103 #define HMC6343_UF      0x04
00104 #define HMC6343_UE      0x02
00105 #define HMC6343_LEVEL   0x01
00106 
00107 
00108 //Operational mode register masks.
00109 #define HMC6343_CM_MR_1HZ    0x00
00110 #define HMC6343_CM_MR_5HZ    0x100
00111 #define HMC6343_CM_MR_10HZ   0x200
00112 
00113 
00114 struct Heading {
00115     float heading;
00116     float pitch;
00117     float roll;
00118 };
00119 
00120 /**
00121  * Honeywell HMC6343 digital compass.
00122  */
00123 class HMC6343 {
00124 
00125 public:
00126 
00127     /**
00128      * Constructor.
00129      *
00130      * @param sda mbed pin to use for SDA line of I2C interface.
00131      * @param scl mbed pin to use for SCL line of I2C interface.
00132      */
00133     HMC6343(PinName sda, PinName scl);
00134     
00135     HMC6343(I2C& p_itc);
00136 
00137     /**
00138      * Sample the device and return the result.
00139      *
00140      * @return In heading output mode, the current heading as a number between
00141      *         0-3599, representing 0-359.9 degrees.
00142      *         In raw magnetometer X output mode, the raw output of the X-axis
00143      *         magnetometer.
00144      *         In raw magnetometer Y mode, the raw output of the Y-axis
00145      *         magnetometer.
00146      *         In magnetometer X mode, the corrected output of the X-axis
00147      *         magnetometer.
00148      *         In magnetometer Y mode, the corrected output of the Y-axis
00149      *         magnetometer.
00150      */
00151     void sampleHeading(Heading* p_heading);
00152 
00153     /**
00154      * Update bridge offsets.
00155      *
00156      * Performs a set/reset immediately.
00157      */
00158     void setReset(void);
00159 
00160     /**
00161      * Enter into or exit from calibration mode.
00162      *
00163      * @param enterOrExit 0x45 -> Exit
00164      *                    0x43 -> Enter
00165      */
00166     void setCalibrationMode(int enterOrExit);
00167 
00168     /**
00169      * Save the current operation mode byte to EEPROM.
00170      */
00171     void saveOpMode(void);
00172 
00173     /**
00174      * Read the memory location on the device which contains the slave address.
00175      *
00176      * @return The slave address of the device.
00177      */
00178     int getSlaveAddress(void);
00179 
00180     /**
00181      * Read the current offset for X or Y axis magnetometer.
00182      *
00183      * @param axis 0x01 -> X-axis
00184      *             0x02 -> Y-axis
00185      *             0x04 -> Z-axis
00186      * @return The current offset for the axis as a 16-bit number.
00187      */
00188     int getOffset(int axis);
00189 
00190 
00191     /**
00192      * Get the software version on the device.
00193      *
00194      * @return The software version number.
00195      */
00196     int getSoftwareVersion(void);
00197 
00198     /**
00199      * Get the current operation mode.
00200      *
00201      * @return 0x00 -> Standby mode
00202      *         0x01 -> Query mode
00203      *         0x02 -> Continuous mode
00204      */
00205     int getOpMode(void);
00206 
00207     /**
00208      * Set the operation mode.
00209      *
00210      * @param periodicSetReset 0x00 -> No periodic set/reset
00211      *                         0x01 -> Periodic set/reset
00212      */
00213     void setOpMode(int opMode);
00214 
00215 
00216     void setMagneticVariation(float var);
00217     float getMagneticVariation();
00218     void setMagneticDeviation(float data);
00219     float getMagneticDeviation();
00220     bool isOpModeFlagSet(int flag);
00221     void setIIRFilter(short data);
00222     short getIIRFilter();      
00223     void setMagOffset(int axis, int offset);
00224     int getMagOffset(int axis);  
00225     char getMeasurementRate();
00226 
00227 private:
00228 
00229     I2C* i2c_;
00230     int  operationMode_;
00231 
00232     /**
00233      * Write to EEPROM on the device.
00234      *
00235      * @param address Address to write to.
00236      * @param data Data to write.
00237      */
00238     void writeEeprom(int address, int data);
00239 
00240     /**
00241      * Read EEPROM on the device.
00242      *
00243      * @param address Address to read from.
00244      * @return The contents of the memory address.
00245      */
00246     int readEeprom(int address);
00247 
00248     void writeShort(int lsb_address, short data);
00249     short readShort(int lsb_eprom_address);    
00250 };
00251 
00252 #endif /* HMC6343_H */