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149 lines
4.8 KiB
C++
149 lines
4.8 KiB
C++
// I2Cdev library collection - HMC5883L I2C device class header file
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// Based on Honeywell HMC5883L datasheet, 10/2010 (Form #900405 Rev B)
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// 6/12/2012 by Jeff Rowberg <jeff@rowberg.net>
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// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
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//
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// Changelog:
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// 2012-06-12 - fixed swapped Y/Z axes
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// 2011-08-22 - small Doxygen comment fixes
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// 2011-07-31 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2011 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _HMC5883L_H_
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#define _HMC5883L_H_
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#include "I2Cdev.h"
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#define HMC5883L_ADDRESS 0x1E // this device only has one address
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#define HMC5883L_DEFAULT_ADDRESS 0x1E
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#define HMC5883L_RA_CONFIG_A 0x00
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#define HMC5883L_RA_CONFIG_B 0x01
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#define HMC5883L_RA_MODE 0x02
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#define HMC5883L_RA_DATAX_H 0x03
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#define HMC5883L_RA_DATAX_L 0x04
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#define HMC5883L_RA_DATAZ_H 0x05
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#define HMC5883L_RA_DATAZ_L 0x06
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#define HMC5883L_RA_DATAY_H 0x07
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#define HMC5883L_RA_DATAY_L 0x08
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#define HMC5883L_RA_STATUS 0x09
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#define HMC5883L_RA_ID_A 0x0A
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#define HMC5883L_RA_ID_B 0x0B
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#define HMC5883L_RA_ID_C 0x0C
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#define HMC5883L_CRA_AVERAGE_BIT 6
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#define HMC5883L_CRA_AVERAGE_LENGTH 2
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#define HMC5883L_CRA_RATE_BIT 4
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#define HMC5883L_CRA_RATE_LENGTH 3
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#define HMC5883L_CRA_BIAS_BIT 1
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#define HMC5883L_CRA_BIAS_LENGTH 2
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#define HMC5883L_AVERAGING_1 0x00
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#define HMC5883L_AVERAGING_2 0x01
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#define HMC5883L_AVERAGING_4 0x02
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#define HMC5883L_AVERAGING_8 0x03
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#define HMC5883L_RATE_0P75 0x00
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#define HMC5883L_RATE_1P5 0x01
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#define HMC5883L_RATE_3 0x02
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#define HMC5883L_RATE_7P5 0x03
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#define HMC5883L_RATE_15 0x04
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#define HMC5883L_RATE_30 0x05
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#define HMC5883L_RATE_75 0x06
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#define HMC5883L_BIAS_NORMAL 0x00
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#define HMC5883L_BIAS_POSITIVE 0x01
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#define HMC5883L_BIAS_NEGATIVE 0x02
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#define HMC5883L_CRB_GAIN_BIT 7
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#define HMC5883L_CRB_GAIN_LENGTH 3
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#define HMC5883L_GAIN_1370 0x00
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#define HMC5883L_GAIN_1090 0x01
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#define HMC5883L_GAIN_820 0x02
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#define HMC5883L_GAIN_660 0x03
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#define HMC5883L_GAIN_440 0x04
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#define HMC5883L_GAIN_390 0x05
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#define HMC5883L_GAIN_330 0x06
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#define HMC5883L_GAIN_220 0x07
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#define HMC5883L_MODEREG_BIT 1
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#define HMC5883L_MODEREG_LENGTH 2
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#define HMC5883L_MODE_CONTINUOUS 0x00
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#define HMC5883L_MODE_SINGLE 0x01
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#define HMC5883L_MODE_IDLE 0x02
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#define HMC5883L_STATUS_LOCK_BIT 1
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#define HMC5883L_STATUS_READY_BIT 0
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class HMC5883L {
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public:
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HMC5883L();
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HMC5883L(uint8_t address);
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void initialize();
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bool testConnection();
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// CONFIG_A register
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uint8_t getSampleAveraging();
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void setSampleAveraging(uint8_t averaging);
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uint8_t getDataRate();
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void setDataRate(uint8_t rate);
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uint8_t getMeasurementBias();
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void setMeasurementBias(uint8_t bias);
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// CONFIG_B register
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uint8_t getGain();
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void setGain(uint8_t gain);
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// MODE register
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uint8_t getMode();
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void setMode(uint8_t mode);
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// DATA* registers
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void getHeading(int16_t *x, int16_t *y, int16_t *z);
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int16_t getHeadingX();
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int16_t getHeadingY();
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int16_t getHeadingZ();
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// STATUS register
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bool getLockStatus();
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bool getReadyStatus();
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// ID_* registers
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uint8_t getIDA();
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uint8_t getIDB();
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uint8_t getIDC();
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private:
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uint8_t devAddr;
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uint8_t buffer[6];
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uint8_t mode;
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};
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#endif /* _HMC5883L_H_ */
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