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Merge pull request jrowberg#299 from nameofuser1/master
Port to STM32 using Keil MDK pack.
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‎STM32/HMC5883/HMC5883L.c

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// 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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// 6/6/2015 by Andrey Voloshin <voloshin@think.in.ua>
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// 03/28/2017 by Kamnev Yuriy <kamnev.u1969@gmail.com>
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//
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// Changelog:
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// 2017-03-28 - ported to STM32 using Keil MDK Pack
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// 2015-06-06 - ported to STM32 HAL library from Arduino code
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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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#include "HMC5883L.h"
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static uint8_t devAddr;
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static uint8_t buffer[6];
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static uint8_t mode;
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/** Power on and prepare for general usage.
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* This will prepare the magnetometer with default settings, ready for single-
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* use mode (very low power requirements). Default settings include 8-sample
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* averaging, 15 Hz data output rate, normal measurement bias, a,d 1090 gain (in
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* terms of LSB/Gauss). Be sure to adjust any settings you need specifically
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* after initialization, especially the gain settings if you happen to be seeing
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* a lot of -4096 values (see the datasheet for mor information).
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*/
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void HMC5883L_initialize() {
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devAddr = HMC5883L_DEFAULT_ADDRESS;
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// write CONFIG_A register
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I2Cdev_writeByte(devAddr, HMC5883L_RA_CONFIG_A,
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(HMC5883L_AVERAGING_8 << (HMC5883L_CRA_AVERAGE_BIT - HMC5883L_CRA_AVERAGE_LENGTH + 1)) |
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(HMC5883L_RATE_15 << (HMC5883L_CRA_RATE_BIT - HMC5883L_CRA_RATE_LENGTH + 1)) |
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(HMC5883L_BIAS_NORMAL << (HMC5883L_CRA_BIAS_BIT - HMC5883L_CRA_BIAS_LENGTH + 1)));
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// write CONFIG_B register
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HMC5883L_setGain(HMC5883L_GAIN_1090);
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// write MODE register
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HMC5883L_setMode(HMC5883L_MODE_SINGLE);
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}
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/** Verify the I2C connection.
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* Make sure the device is connected and responds as expected.
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* @return True if connection is valid, false otherwise
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*/
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bool HMC5883L_testConnection() {
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if (I2Cdev_readBytes(devAddr, HMC5883L_RA_ID_A, 3, buffer) == 0) {
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return (buffer[0] == 'H' && buffer[1] == '4' && buffer[2] == '3');
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}
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return false;
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}
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// CONFIG_A register
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/** Get number of samples averaged per measurement.
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* @return Current samples averaged per measurement (0-3 for 1/2/4/8 respectively)
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* @see HMC5883L_AVERAGING_8
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_AVERAGE_BIT
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* @see HMC5883L_CRA_AVERAGE_LENGTH
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*/
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uint8_t HMC5883L_getSampleAveraging() {
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I2Cdev_readBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_AVERAGE_BIT, HMC5883L_CRA_AVERAGE_LENGTH, buffer);
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return buffer[0];
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}
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/** Set number of samples averaged per measurement.
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* @param averaging New samples averaged per measurement setting(0-3 for 1/2/4/8 respectively)
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_AVERAGE_BIT
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* @see HMC5883L_CRA_AVERAGE_LENGTH
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*/
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void HMC5883L_setSampleAveraging(uint8_t averaging) {
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I2Cdev_writeBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_AVERAGE_BIT, HMC5883L_CRA_AVERAGE_LENGTH, averaging);
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}
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/** Get data output rate value.
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* The Table below shows all selectable output rates in continuous measurement
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* mode. All three channels shall be measured within a given output rate. Other
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* output rates with maximum rate of 160 Hz can be achieved by monitoring DRDY
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* interrupt pin in single measurement mode.
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*
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* Value | Typical Data Output Rate (Hz)
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* ------+------------------------------
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* 0 | 0.75
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* 1 | 1.5
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* 2 | 3
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* 3 | 7.5
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* 4 | 15 (Default)
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* 5 | 30
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* 6 | 75
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* 7 | Not used
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*
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* @return Current rate of data output to registers
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* @see HMC5883L_RATE_15
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_RATE_BIT
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* @see HMC5883L_CRA_RATE_LENGTH
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*/
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uint8_t HMC5883 10000 L_getDataRate() {
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I2Cdev_readBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_RATE_BIT, HMC5883L_CRA_RATE_LENGTH, buffer);
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return buffer[0];
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}
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/** Set data output rate value.
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* @param rate Rate of data output to registers
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* @see getDataRate()
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* @see HMC5883L_RATE_15
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_RATE_BIT
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* @see HMC5883L_CRA_RATE_LENGTH
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*/
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void HMC5883L_setDataRate(uint8_t rate) {
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I2Cdev_writeBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_RATE_BIT, HMC5883L_CRA_RATE_LENGTH, rate);
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}
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/** Get measurement bias value.
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* @return Current bias value (0-2 for normal/positive/negative respectively)
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* @see HMC5883L_BIAS_NORMAL
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_BIAS_BIT
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* @see HMC5883L_CRA_BIAS_LENGTH
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*/
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uint8_t HMC5883L_getMeasurementBias() {
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I2Cdev_readBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_BIAS_BIT, HMC5883L_CRA_BIAS_LENGTH, buffer);
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return buffer[0];
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}
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/** Set measurement bias value.
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* @param bias New bias value (0-2 for normal/positive/negative respectively)
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* @see HMC5883L_BIAS_NORMAL
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* @see HMC5883L_RA_CONFIG_A
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* @see HMC5883L_CRA_BIAS_BIT
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* @see HMC5883L_CRA_BIAS_LENGTH
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*/
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void HMC5883L_setMeasurementBias(uint8_t bias) {
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I2Cdev_writeBits(devAddr, HMC5883L_RA_CONFIG_A, HMC5883L_CRA_BIAS_BIT, HMC5883L_CRA_BIAS_LENGTH, bias);
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}
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// CONFIG_B register
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/** Get magnetic field gain value.
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* The table below shows nominal gain settings. Use the "Gain" column to convert
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* counts to Gauss. Choose a lower gain value (higher GN#) when total field
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* strength causes overflow in one of the data output registers (saturation).
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* The data output range for all settings is 0xF800-0x07FF (-2048 - 2047).
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*
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* Value | Field Range | Gain (LSB/Gauss)
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* ------+-------------+-----------------
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* 0 | +/- 0.88 Ga | 1370
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* 1 | +/- 1.3 Ga | 1090 (Default)
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* 2 | +/- 1.9 Ga | 820
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* 3 | +/- 2.5 Ga | 660
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* 4 | +/- 4.0 Ga | 440
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* 5 | +/- 4.7 Ga | 390
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* 6 | +/- 5.6 Ga | 330
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* 7 | +/- 8.1 Ga | 230
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*
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* @return Current magnetic field gain value
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* @see HMC5883L_GAIN_1090
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* @see HMC5883L_RA_CONFIG_B
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* @see HMC5883L_CRB_GAIN_BIT
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* @see HMC5883L_CRB_GAIN_LENGTH
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*/
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uint8_t HMC5883L_getGain() {
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I2Cdev_readBits(devAddr, HMC5883L_RA_CONFIG_B, HMC5883L_CRB_GAIN_BIT, HMC5883L_CRB_GAIN_LENGTH, buffer);
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return buffer[0];
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}
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/** Set magnetic field gain value.
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* @param gain New magnetic field gain value
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* @see getGain()
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* @see HMC5883L_RA_CONFIG_B
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* @see HMC5883L_CRB_GAIN_BIT
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* @see HMC5883L_CRB_GAIN_LENGTH
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*/
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void HMC5883L_setGain(uint8_t gain) {
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// use this method to guarantee that bits 4-0 are set to zero, which is a
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// requirement specified in the datasheet; it's actually more efficient than
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// using the I2Cdev.writeBits method
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I2Cdev_writeByte(devAddr, HMC5883L_RA_CONFIG_B, gain << (HMC5883L_CRB_GAIN_BIT - HMC5883L_CRB_GAIN_LENGTH + 1));
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}
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// MODE register
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/** Get measurement mode.
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* In continuous-measurement mode, the device continuously performs measurements
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* and places the result in the data register. RDY goes high when new data is
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* placed in all three registers. After a power-on or a write to the mode or
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* configuration register, the first measurement set is available from all three
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* data output registers after a period of 2/fDO and subsequent measurements are
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* available at a frequency of fDO, where fDO is the frequency of data output.
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*
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* When single-measurement mode (default) is selected, device performs a single
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* measurement, sets RDY high and returned to idle mode. Mode register returns
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* to idle mode bit values. The measurement remains in the data output register
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* and RDY remains high until the data output register is read or another
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* measurement is performed.
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*
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* @return Current measurement mode
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* @see HMC5883L_MODE_CONTINUOUS
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* @see HMC5883L_MODE_SINGLE
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* @see HMC5883L_MODE_IDLE
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* @see HMC5883L_RA_MODE
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* @see HMC5883L_MODEREG_BIT
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* @see HMC5883L_MODEREG_LENGTH
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*/
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uint8_t HMC5883L_getMode() {
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I2Cdev_readBits(devAddr, HMC5883L_RA_MODE, HMC5883L_MODEREG_BIT, HMC5883L_MODEREG_LENGTH, buffer);
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return buffer[0];
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}
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/** Set measurement mode.
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* @param newMode New measurement mode
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* @see getMode()
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* @see HMC5883L_MODE_CONTINUOUS
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* @see HMC5883L_MODE_SINGLE
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* @see HMC5883L_MODE_IDLE
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* @see HMC5883L_RA_MODE
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* @see HMC5883L_MODEREG_BIT
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* @see HMC5883L_MODEREG_LENGTH
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*/
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void HMC5883L_setMode(uint8_t newMode) {
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// use this method to guarantee that bits 7-2 are set to zero, which is a
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// requirement specified in the datasheet; it's actually more efficient than
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// using the I2Cdev.writeBits method
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I2Cdev_writeByte(devAddr, HMC5883L_RA_MODE, newMode << (HMC5883L_MODEREG_BIT - HMC5883L_MODEREG_LENGTH + 1));
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mode = newMode; // track to tell if we have to clear bit 7 after a read
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}
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// DATA* registers
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/** Get 3-axis heading measurements.
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* In the event the ADC reading overflows or underflows for the given channel,
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* or if there is a math overflow during the bias measurement, this data
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* register will contain the value -4096. This register value will clear when
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* after the next valid measurement is made. Note that this method automatically
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* clears the appropriate bit in the MODE register if Single mode is active.
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* @param x 16-bit signed integer container for X-axis heading
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* @param y 16-bit signed integer container for Y-axis heading
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* @param z 16-bit signed integer container for Z-axis heading
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* @see HMC5883L_RA_DATAX_H
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*/
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void HMC5883L_getHeading(int16_t *x, int16_t *y, int16_t *z) {
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I2Cdev_readBytes(devAddr, HMC5883L_RA_DATAX_H, 6, buffer);
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if (mode == HMC5883L_MODE_SINGLE) I2Cdev_writeByte(devAddr, HMC5883L_RA_MODE, HMC5883L_MODE_SINGLE << (HMC5883L_MODEREG_BIT - HMC5883L_MODEREG_LENGTH + 1));
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*x = (((int16_t)buffer[0]) << 8) | buffer[1];
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*y = (((int16_t)buffer[4]) << 8) | buffer[5];
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*z = (((int16_t)buffer[2]) << 8) | buffer[3];
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}
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/** Get X-axis heading measurement.
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* @return 16-bit signed integer with X-axis heading
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* @see HMC5883L_RA_DATAX_H
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*/
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int16_t HMC5883L_getHeadingX() {
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// each axis read requires that ALL axis registers be read, even if only
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// one is used; this was not done ineffiently in the code by accident
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I2Cdev_readBytes(devAddr, HMC5883L_RA_DATAX_H, 6, buffer);
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if (mode == HMC5883L_MODE_SINGLE) I2Cdev_writeByte(devAddr, HMC5883L_RA_MODE, HMC5883L_MODE_SINGLE << (HMC5883L_MODEREG_BIT - HMC5883L_MODEREG_LENGTH + 1));
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return (((int16_t)buffer[0]) << 8) | buffer[1];
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}
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/** Get Y-axis heading measurement.
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* @return 16-bit signed integer with Y-axis heading
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* @see HMC5883L_RA_DATAY_H
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*/
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int16_t HMC5883L_getHeadingY() {
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// each axis read requires that ALL axis registers be read, even if only
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// one is used; this was not done ineffiently in the code by accident
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I2Cdev_readBytes(devAddr, HMC5883L_RA_DATAX_H, 6, buffer);
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if (mode == HMC5883L_MODE_SINGLE) I2Cdev_writeByte(devAddr, HMC5883L_RA_MODE, HMC5883L_MODE_SINGLE << (HMC5883L_MODEREG_BIT - HMC5883L_MODEREG_LENGTH + 1));
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return (((int16_t)buffer[4]) << 8) | buffer[5];
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}
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/** Get Z-axis heading measurement.
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* @return 16-bit signed integer with Z-axis heading
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* @see HMC5883L_RA_DATAZ_H
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*/
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int16_t HMC5883L_getHeadingZ() {
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// each axis read requires that ALL axis registers be read, even if only
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// one is used; this was not done ineffiently in the code by accident
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I2Cdev_readBytes(devAddr, HMC5883L_RA_DATAX_H, 6, buffer);
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if (mode == HMC5883L_MODE_SINGLE) I2Cdev_writeByte(devAddr, HMC5883L_RA_MODE, HMC5883L_MODE_SINGLE << (HMC5883L_MODEREG_BIT - HMC5883L_MODEREG_LENGTH + 1));
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return (((int16_t)buffer[2]) << 8) | buffer[3];
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}
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// STATUS register
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/** Get data output register lock status.
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* This bit is set when this some but not all for of the six data output
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* registers have been read. When this bit is set, the six data output registers
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* are locked and any new data will not be placed in these register until one of
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* three conditions are met: one, all six bytes have been read or the mode
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* changed, two, the mode is changed, or three, the measurement configuration is
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* changed.
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* @return Data output register lock status
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* @see HMC5883L_RA_STATUS
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* @see HMC5883L_STATUS_LOCK_BIT
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*/
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bool HMC5883L_getLockStatus() {
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I2Cdev_readBit(devAddr, HMC5883L_RA_STATUS, HMC5883L_STATUS_LOCK_BIT, buffer);
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return buffer[0];
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}
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/** Get data ready status.
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* This bit is set when data is written to all six data registers, and cleared
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* when the device initiates a write to the data output registers and after one
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* or more of the data output registers are written to. When RDY bit is clear it
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* shall remain cleared for 250 us. DRDY pin can be used as an alternative to
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* the status register for monitoring the device for measurement data.
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* @return Data ready status
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* @see HMC5883L_RA_STATUS
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* @see HMC5883L_STATUS_READY_BIT
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*/
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bool HMC5883L_getReadyStatus() {
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I2Cdev_readBit(devAddr, HMC5883L_RA_STATUS, HMC5883L_STATUS_READY_BIT, buffer);
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return buffer[0];
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}
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// ID_* registers
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/** Get identification byte A
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* @return ID_A byte (should be 01001000, ASCII value 'H')
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*/
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uint8_t HMC5883L_getIDA() {
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I2Cdev_readByte(devAddr, HMC5883L_RA_ID_A, buffer);
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return buffer[0];
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}
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/** Get identification byte B
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* @return ID_A byte (should be 00110100, ASCII value '4')
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*/
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uint8_t HMC5883L_getIDB() {
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I2Cdev_readByte(devAddr, HMC5883L_RA_ID_B, buffer);
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return buffer[0];
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}
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/** Get identification byte C
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* @return ID_A byte (should be 00110011, ASCII value '3')
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*/
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uint8_t HMC5883L_getIDC() {
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I2Cdev_readByte(devAddr, HMC5883L_RA_ID_C, buffer);
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return buffer[0];
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}

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