Rune Harlyk
101 lines
2.5 KiB
C++
101 lines
2.5 KiB
C++
/*!
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* @file Adafruit_HMC5883_U.h
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*/
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#ifndef __HMC5883_H__
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#define __HMC5883_H__
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#if (ARDUINO >= 100)
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <Adafruit_Sensor.h>
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#ifdef __AVR_ATtiny85__
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#include "TinyWireM.h"
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#define Wire TinyWireM
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#else
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#include <Wire.h>
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#endif
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/*!
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* @brief I2C address/bits
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*/
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#define HMC5883_ADDRESS_MAG (0x3C >> 1) // 0011110x
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/*!
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@brief Registers
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*/
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typedef enum {
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HMC5883_REGISTER_MAG_CRA_REG_M = 0x00,
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HMC5883_REGISTER_MAG_CRB_REG_M = 0x01,
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HMC5883_REGISTER_MAG_MR_REG_M = 0x02,
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HMC5883_REGISTER_MAG_OUT_X_H_M = 0x03,
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HMC5883_REGISTER_MAG_OUT_X_L_M = 0x04,
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HMC5883_REGISTER_MAG_OUT_Z_H_M = 0x05,
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HMC5883_REGISTER_MAG_OUT_Z_L_M = 0x06,
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HMC5883_REGISTER_MAG_OUT_Y_H_M = 0x07,
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HMC5883_REGISTER_MAG_OUT_Y_L_M = 0x08,
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HMC5883_REGISTER_MAG_SR_REG_Mg = 0x09,
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HMC5883_REGISTER_MAG_IRA_REG_M = 0x0A,
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HMC5883_REGISTER_MAG_IRB_REG_M = 0x0B,
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HMC5883_REGISTER_MAG_IRC_REG_M = 0x0C,
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HMC5883_REGISTER_MAG_TEMP_OUT_H_M = 0x31,
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HMC5883_REGISTER_MAG_TEMP_OUT_L_M = 0x32
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} hmc5883MagRegisters_t;
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/*!
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* @brief Magnetometer gain settings
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*/
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typedef enum {
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HMC5883_MAGGAIN_1_3 = 0x20, // +/- 1.3
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HMC5883_MAGGAIN_1_9 = 0x40, // +/- 1.9
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HMC5883_MAGGAIN_2_5 = 0x60, // +/- 2.5
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HMC5883_MAGGAIN_4_0 = 0x80, // +/- 4.0
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HMC5883_MAGGAIN_4_7 = 0xA0, // +/- 4.7
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HMC5883_MAGGAIN_5_6 = 0xC0, // +/- 5.6
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HMC5883_MAGGAIN_8_1 = 0xE0 // +/- 8.1
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} hmc5883MagGain;
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/*!
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* @brief Internal magnetometer data type
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*/
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typedef struct hmc5883MagData_s {
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float x; //!< Magnetometer x value
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float y; //!< Magnetometer y value
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float z; //!< Magnetometer z value
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float orientation; //!< Magnetometer orientation
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} hmc5883MagData;
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/*!
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* @brief Chip ID
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*/
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#define HMC5883_ID (0b11010100)
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//! Unified sensor driver for the magnetometer ///
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class Adafruit_HMC5883_Unified : public Adafruit_Sensor {
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public:
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/*!
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* @param sensorID sensor ID, -1 by default
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*/
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Adafruit_HMC5883_Unified(int32_t sensorID = -1);
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bool begin(void); //!< @return Returns whether connection was successful
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void setMagGain(hmc5883MagGain gain); //!< @param gain Desired magnetic gain
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bool
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getEvent(sensors_event_t *); //!< @return Returns the most recent sensor event
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void getSensor(adafruit_sensor_t *);
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private:
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hmc5883MagGain _magGain;
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hmc5883MagData _magData; // Last read magnetometer data will be available here
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int32_t _sensorID;
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void write8(byte address, byte reg, byte value);
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byte read8(byte address, byte reg);
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void read(void);
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};
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#endif
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