cps_microros_imu/firmware/lib/imu/HMC5883L.h

// I2Cdev library collection - HMC5883L I2C device class header file
// Based on Honeywell HMC5883L datasheet, 10/2010 (Form #900405 Rev B)
// 6/12/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
//     2012-06-12 - fixed swapped Y/Z axes
//     2011-08-22 - small Doxygen comment fixes
//     2011-07-31 - initial release

/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg

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.
===============================================
*/

#ifndef _HMC5883L_H_
#define _HMC5883L_H_

#include "I2Cdev.h"

#define HMC5883L_ADDRESS            0x1E // this device only has one address
#define HMC5883L_DEFAULT_ADDRESS    0x1E

#define HMC5883L_RA_CONFIG_A        0x00
#define HMC5883L_RA_CONFIG_B        0x01
#define HMC5883L_RA_MODE            0x02
#define HMC5883L_RA_DATAX_H         0x03
#define HMC5883L_RA_DATAX_L         0x04
#define HMC5883L_RA_DATAZ_H         0x05
#define HMC5883L_RA_DATAZ_L         0x06
#define HMC5883L_RA_DATAY_H         0x07
#define HMC5883L_RA_DATAY_L         0x08
#define HMC5883L_RA_STATUS          0x09
#define HMC5883L_RA_ID_A            0x0A
#define HMC5883L_RA_ID_B            0x0B
#define HMC5883L_RA_ID_C            0x0C

#define HMC5883L_CRA_AVERAGE_BIT    6
#define HMC5883L_CRA_AVERAGE_LENGTH 2
#define HMC5883L_CRA_RATE_BIT       4
#define HMC5883L_CRA_RATE_LENGTH    3
#define HMC5883L_CRA_BIAS_BIT       1
#define HMC5883L_CRA_BIAS_LENGTH    2

#define HMC5883L_AVERAGING_1        0x00
#define HMC5883L_AVERAGING_2        0x01
#define HMC5883L_AVERAGING_4        0x02
#define HMC5883L_AVERAGING_8        0x03

#define HMC5883L_RATE_0P75          0x00
#define HMC5883L_RATE_1P5           0x01
#define HMC5883L_RATE_3             0x02
#define HMC5883L_RATE_7P5           0x03
#define HMC5883L_RATE_15            0x04
#define HMC5883L_RATE_30            0x05
#define HMC5883L_RATE_75            0x06

#define HMC5883L_BIAS_NORMAL        0x00
#define HMC5883L_BIAS_POSITIVE      0x01
#define HMC5883L_BIAS_NEGATIVE      0x02

#define HMC5883L_CRB_GAIN_BIT       7
#define HMC5883L_CRB_GAIN_LENGTH    3

#define HMC5883L_GAIN_1370          0x00
#define HMC5883L_GAIN_1090          0x01
#define HMC5883L_GAIN_820           0x02
#define HMC5883L_GAIN_660           0x03
#define HMC5883L_GAIN_440           0x04
#define HMC5883L_GAIN_390           0x05
#define HMC5883L_GAIN_330           0x06
#define HMC5883L_GAIN_220           0x07

#define HMC5883L_MODEREG_BIT        1
#define HMC5883L_MODEREG_LENGTH     2

#define HMC5883L_MODE_CONTINUOUS    0x00
#define HMC5883L_MODE_SINGLE        0x01
#define HMC5883L_MODE_IDLE          0x02

#define HMC5883L_STATUS_LOCK_BIT    1
#define HMC5883L_STATUS_READY_BIT   0

class HMC5883L {
    public:
        HMC5883L();
        HMC5883L(uint8_t address);
        
        void initialize();
        bool testConnection();

        // CONFIG_A register
        uint8_t getSampleAveraging();
        void setSampleAveraging(uint8_t averaging);
        uint8_t getDataRate();
        void setDataRate(uint8_t rate);
        uint8_t getMeasurementBias();
        void setMeasurementBias(uint8_t bias);

        // CONFIG_B register
        uint8_t getGain();
        void setGain(uint8_t gain);

        // MODE register
        uint8_t getMode();
        void setMode(uint8_t mode);

        // DATA* registers
        void getHeading(int16_t *x, int16_t *y, int16_t *z);
        int16_t getHeadingX();
        int16_t getHeadingY();
        int16_t getHeadingZ();

        // STATUS register
        bool getLockStatus();
        bool getReadyStatus();

        // ID_* registers
        uint8_t getIDA();
        uint8_t getIDB();
        uint8_t getIDC();

    private:
        uint8_t devAddr;
        uint8_t buffer[6];
        uint8_t mode;
};

#endif /* _HMC5883L_H_ */