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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1993 | - | 1 | /* |
| 2 | HMC58X3.cpp - Interface a Honeywell HMC58X3 magnetometer to an Arduino via i2c |
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| 3 | Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
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| 4 | |||
| 5 | Based on: |
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| 6 | http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1274748346 |
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| 7 | Modification/extension of the following by E.J.Muller |
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| 8 | http://eclecti.cc/hardware/hmc5843-magnetometer-library-for-arduino |
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| 9 | Copyright (c) 2009 Nirav Patel, |
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| 10 | |||
| 11 | The above were based on: |
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| 12 | http://www.sparkfun.com/datasheets/Sensors/Magneto/HMC58X3-v11.c |
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| 13 | http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf |
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| 14 | |||
| 15 | |||
| 16 | This program is free software: you can redistribute it and/or modify |
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| 17 | it under the terms of the version 3 GNU General Public License as |
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| 18 | published by the Free Software Foundation. |
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| 19 | |||
| 20 | This program is distributed in the hope that it will be useful, |
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| 21 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 22 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 23 | GNU General Public License for more details. |
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| 24 | |||
| 25 | You should have received a copy of the GNU General Public License |
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| 26 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 27 | |||
| 28 | */ |
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| 29 | |||
| 30 | //uncomment the following line if you are using this library with the HMC5843 |
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| 31 | //#define ISHMC5843 |
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| 32 | |||
| 33 | #include "WProgram.h" |
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| 34 | #include <Wire.h> |
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| 35 | |||
| 36 | #ifndef HMC58X3_h |
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| 37 | #define HMC58X3_h |
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| 38 | |||
| 39 | #define HMC58X3_ADDR 0x1E // 7 bit address of the HMC58X3 used with the Wire library |
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| 40 | #define HMC_POS_BIAS 1 |
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| 41 | #define HMC_NEG_BIAS 2 |
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| 42 | |||
| 43 | // HMC58X3 register map. For details see HMC58X3 datasheet |
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| 44 | #define HMC58X3_R_CONFA 0 |
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| 45 | #define HMC58X3_R_CONFB 1 |
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| 46 | #define HMC58X3_R_MODE 2 |
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| 47 | #define HMC58X3_R_XM 3 |
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| 48 | #define HMC58X3_R_XL 4 |
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| 49 | |||
| 50 | #ifdef ISHMC5843 |
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| 51 | #define HMC58X3_R_YM 5 |
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| 52 | #define HMC58X3_R_YL 6 |
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| 53 | #define HMC58X3_R_ZM 7 |
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| 54 | #define HMC58X3_R_ZL 8 |
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| 55 | #else // HMC5883L |
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| 56 | #define HMC58X3_R_YM 7 |
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| 57 | #define HMC58X3_R_YL 8 |
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| 58 | #define HMC58X3_R_ZM 5 |
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| 59 | #define HMC58X3_R_ZL 6 |
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| 60 | #endif |
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| 61 | |||
| 62 | #define HMC58X3_R_STATUS 9 |
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| 63 | #define HMC58X3_R_IDA 10 |
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| 64 | #define HMC58X3_R_IDB 11 |
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| 65 | #define HMC58X3_R_IDC 12 |
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| 66 | |||
| 67 | |||
| 68 | class HMC58X3 |
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| 69 | { |
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| 70 | public: |
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| 71 | HMC58X3(); |
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| 72 | void init(bool setmode); |
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| 73 | void init(int address, bool setmode); |
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| 74 | void getValues(int *x,int *y,int *z); |
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| 75 | void getValues(float *x,float *y,float *z); |
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| 76 | void getValues(float *xyz); |
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| 77 | void getRaw(int *x,int *y,int *z); |
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| 78 | void calibrate(unsigned char gain); |
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| 79 | void setMode(unsigned char mode); |
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| 80 | void setDOR(unsigned char DOR); |
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| 81 | void setGain(unsigned char gain); |
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| 82 | private: |
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| 83 | void writeReg(unsigned char reg, unsigned char val); |
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| 84 | float x_scale,y_scale,z_scale,x_max,y_max,z_max; |
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| 85 | }; |
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| 86 | |||
| 87 | #endif // HMC58X3_h |