mirror of
https://github.com/bjoernellens1/cps_microros_imu.git
synced 2024-11-27 18:25:46 +00:00
149 lines
4.8 KiB
C++
149 lines
4.8 KiB
C++
// 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_ */
|