Honeywell HMC6352 digital compass library.
Dependents: HMC6352_HelloWorld TrackerFinal AntennaTracker TrackingAntenna ... more
HMC6352.h
- Committer:
- aberk
- Date:
- 2010-11-27
- Revision:
- 0:83c0cb554099
File content as of revision 0:83c0cb554099:
/** * @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 */