mirror of
https://github.com/RobTillaart/Arduino.git
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385 lines
7.6 KiB
C++
385 lines
7.6 KiB
C++
//
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// FILE: hmc6352.cpp
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// AUTHOR: Rob Tillaart
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// VERSION: 0.4.0
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// PURPOSE: Arduino library for HMC6352 digital compass sensor
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#include "hmc6352.h"
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#define HMC_GET_DATA 0x41
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#define HMC_WAKE 0x57
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#define HMC_SLEEP 0x53
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#define HMC_SAVE_OP_MODE 0x4C
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#define HMC_CALLIBRATE_ON 0x43
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#define HMC_CALLIBRATE_OFF 0x45
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#define HMC_UPDATE_OFFSETS 0x4F
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#define HMC_WRITE_RAM 0x47
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#define HMC_READ_RAM 0x67
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#define HMC_WRITE_EEPROM 0x77
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#define HMC_READ_EEPROM 0x72
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// ERROR CODES ALL FUNCTIONS
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//
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// * twi_writeTo codes (== endTransmission commands)
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// HMC6532_I2C_OK 0 .. OK
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// HMC6532_I2C_ERROR_BUFFEROVERFLOW -1 .. length to long for buffer
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// HMC6532_I2C_ERROR_ADDR_NACK -2 .. address send, NACK received
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// HMC6532_I2C_ERROR_DATA_NACK -3 .. data send, NACK received
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// HMC6532_I2C_ERROR_OTHER -4 ..
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// other twi error (lost bus arbitration, bus error, ..)
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//
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// * requestFrom
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// HMC6352_I2C_ERROR_REQ_FROM -10 .. not enough values returned
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//
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// * function calls
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// HMC6532_OK 0
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// HMC6352_ERROR_PARAM1 -20
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// HMC6352_ERROR_PARAM2 -21
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//
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hmc6352::hmc6352(uint8_t address, TwoWire *wire)
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{
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_address = address;
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_wire = wire;
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}
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bool hmc6352::begin()
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{
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if (! isConnected())
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{
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return false;
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}
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return true;
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}
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bool hmc6352::isConnected()
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{
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_wire->beginTransmission(_address);
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return (_wire->endTransmission() == 0);
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}
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int hmc6352::getHeading()
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{
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int rv = askHeading();
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if (rv != 0) return rv;
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return readHeading();
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}
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// Ask the device to make a new reading
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int hmc6352::askHeading()
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{
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int rv = cmd(HMC_GET_DATA);
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if (rv != 0) return -rv; // problem with handshake
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yield();
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delay(6); // see datasheet, p8
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return rv;
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}
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// read the last value from the sensor
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int hmc6352::readHeading()
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{
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int rv = _wire->requestFrom(_address, (uint8_t)2); // remove ambiguity
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if (rv != 2) return HMC6352_I2C_ERROR_REQ_FROM;
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rv = _wire->read() * 256; // MSB
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rv += _wire->read(); // LSB
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return rv;
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}
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// wake up from energy saving modus
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int hmc6352::wakeUp()
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{
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int rv = cmd(HMC_WAKE);
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yield();
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delayMicroseconds(100);
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return rv;
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}
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// go into energy saving modus
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int hmc6352::sleep()
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{
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int rv = cmd(HMC_SLEEP);
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yield();
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delayMicroseconds(10);
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return rv;
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}
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// values obtained from dump
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int hmc6352::factoryReset()
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{
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writeRAM(0x74, 0x50); // is needed !!
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writeCmd(HMC_WRITE_EEPROM, 0, 66);
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writeCmd(HMC_WRITE_EEPROM, 1, 0);
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writeCmd(HMC_WRITE_EEPROM, 2, 0);
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writeCmd(HMC_WRITE_EEPROM, 3, 0);
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writeCmd(HMC_WRITE_EEPROM, 4, 0);
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writeCmd(HMC_WRITE_EEPROM, 5, 1);
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writeCmd(HMC_WRITE_EEPROM, 6, 4);
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writeCmd(HMC_WRITE_EEPROM, 7, 6);
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writeCmd(HMC_WRITE_EEPROM, 8, 0x50);
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cmd(HMC_SAVE_OP_MODE);
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yield();
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delayMicroseconds(125);
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return HMC6532_OK;
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}
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// HANDLE WITH CARE - RESTART NECESSARY
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// mode = 0, 1, 2
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// frequency = 1, 5, 10, 20 Hz.
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// periodicReset = true/false
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// Returns Operational Mode Control Byte
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int hmc6352::setOperationalModus(hmcMode mode, uint8_t frequency, bool periodicReset)
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{
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// Operational Mode Control Byte
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// bit 2,3,7 are always 0
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byte omcb = 0;
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switch(frequency)
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{
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case 1: break;
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case 5: omcb |= 0x20; break;
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case 10: omcb |= 0x40; break;
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case 20: omcb |= 0x60; break;
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default: return HMC6352_ERROR_PARAM2;
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}
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if (periodicReset) omcb |= 0x10;
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switch(mode)
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{
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case STANDBY: omcb |= 0x00; break;
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case QUERY: omcb |= 0x01; break;
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case CONT: omcb |= 0x02; break;
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default: return HMC6352_ERROR_PARAM1;
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}
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saveOpMode(omcb);
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return omcb;
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}
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// read the Operational Modus as byte from EEPROM
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// TODO: split into 3 items
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//
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int hmc6352::getOperationalModus()
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{
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// datasheet state that at startup the OM is copied from EEPROM
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// and that after writing to RAM a reboot is needed to enable new settings
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// my interpretation ==> EEPROM is leading
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int operationalMode = readCmd(HMC_READ_RAM, 0x74);
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// int operationalMode = readCmd(HMC_READ_EEPROM, 0x08);
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return operationalMode;
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}
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// Switch between normal heading and raw modes
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// default = 0 ==> normal headings
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// Note: after a reboot the output modus will be 0 again.
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// as it is only stored in RAM
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// 0 = HEADING
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int hmc6352::setOutputModus(uint8_t outputModus)
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{
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if (outputModus > 4) // 4 = MAGY
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{
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return HMC6352_ERROR_PARAM1;
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}
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return writeCmd(HMC_WRITE_RAM, 0x4E, outputModus);
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}
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// Read the output modus from RAM
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int hmc6352::getOutputModus()
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{
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return readCmd(HMC_READ_RAM, 0x4E);
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}
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// NOT TESTED
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int hmc6352::callibrationOn()
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{
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int rv = cmd(HMC_CALLIBRATE_ON);
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yield();
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delayMicroseconds(10);
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return rv;
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}
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// NOT TESTED
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int hmc6352::callibrationOff()
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{
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int rv = cmd(HMC_CALLIBRATE_OFF);
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yield();
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delay(15);
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return rv;
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}
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// NOT TESTED
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int hmc6352::setI2CAddress(uint8_t address)
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{
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if ((address < 0x10) || (address > 0xF6) )
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{
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return HMC6352_ERROR_PARAM1;
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}
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return writeCmd(HMC_WRITE_EEPROM, 0, address);
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}
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// returns I2C address from EEPROM
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int hmc6352::getI2CAddress()
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{
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return readCmd(HMC_READ_EEPROM, 0);
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}
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// NOT TESTED
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int hmc6352::setTimeDelay(uint8_t milliSeconds)
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{
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return writeCmd(HMC_WRITE_EEPROM, 5, milliSeconds);
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}
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int hmc6352::getTimeDelay()
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{
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return readCmd(HMC_READ_EEPROM, 5);
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}
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// NOT TESTED
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// nosm = NumberOfSummedMeasurements
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int hmc6352::setMeasurementSumming(uint8_t nosm)
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{
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uint8_t _nosm = nosm;
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if (_nosm < 1) _nosm = 1;
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else if (_nosm > 16 ) _nosm = 16;
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return writeCmd(HMC_WRITE_EEPROM, 6, _nosm);
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}
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int hmc6352::getMeasurementSumming()
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{
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return readCmd(HMC_READ_EEPROM, 6);
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}
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// NOT TESTED
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int hmc6352::getSWVersionNumber()
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{
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return readCmd(HMC_READ_EEPROM, 7);
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}
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// used by setOperationalModus()
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int hmc6352::saveOpMode(byte OpMode)
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{
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writeCmd(HMC_WRITE_RAM, 0x74, OpMode);
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int rv = cmd(HMC_SAVE_OP_MODE);
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yield();
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delayMicroseconds(125);
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return rv;
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}
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// NOT TESTED
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// meaning UpdateOffsets unknown
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// therefore removed from lib for now
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int hmc6352::updateOffsets()
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{
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int rv = cmd(HMC_UPDATE_OFFSETS);
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yield();
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delay(6);
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return rv;
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}
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// idem
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// use at own risk ...
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int hmc6352::writeEEPROM(uint8_t address, uint8_t data)
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{
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return writeCmd(HMC_WRITE_EEPROM, address, data);
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}
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// idem
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int hmc6352::readEEPROM(uint8_t address)
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{
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return readCmd(HMC_READ_EEPROM, address);
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}
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// idem
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// Most RAM locations have an unknown meaning
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// use at own risk ...
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int hmc6352::writeRAM(uint8_t address, uint8_t data)
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{
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return writeCmd(HMC_WRITE_RAM, address, data);
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}
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// idem
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int hmc6352::readRAM(uint8_t address)
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{
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return readCmd(HMC_READ_RAM, address);
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}
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///////////////////////////////////////////////////////////
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//
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// PRIVATE FUNCTIONS
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//
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int hmc6352::cmd(uint8_t c)
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{
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_wire->beginTransmission(_address);
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_wire->write(c);
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int rv = _wire->endTransmission();
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yield();
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delay(10);
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return rv;
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}
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int hmc6352::readCmd(uint8_t c, uint8_t address)
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{
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_wire->beginTransmission(_address);
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_wire->write(c);
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_wire->write(address);
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int rv = _wire->endTransmission();
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if (rv != 0) return -rv;
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yield();
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delayMicroseconds(70);
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rv = _wire->requestFrom(_address, (uint8_t)1);
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if (rv != 1) return HMC6352_I2C_ERROR_REQ_FROM;
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rv = _wire->read();
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return rv;
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}
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int hmc6352::writeCmd(uint8_t c, uint8_t address, uint8_t data)
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{
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_wire->beginTransmission(_address);
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_wire->write(c);
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_wire->write(address);
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_wire->write(data);
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int rv = _wire->endTransmission();
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yield();
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delayMicroseconds(70);
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return rv;
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}
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// -- END OF FILE --
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