forked from logzhan/RobotHardware-UESTC
108 lines
3.0 KiB
C++
108 lines
3.0 KiB
C++
#ifndef _HMC5883L_H_
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#define _HMC5883L_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(unsigned char address);
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void initialize();
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bool testConnection();
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// CONFIG_A register
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void setSampleAveraging(unsigned char averaging);
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unsigned char getDataRate();
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void setDataRate(unsigned char rate);
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unsigned char getMeasurementBias();
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void setMeasurementBias(unsigned char bias);
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// CONFIG_B register
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unsigned char getGain();
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void setGain(unsigned char gain);
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// MODE register
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unsigned char getMode();
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void setMode(unsigned char mode);
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// DATA* registers
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void getHeading(short *x, short *y, short *z);
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// STATUS register
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bool getReadyStatus();
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// ID_* registers
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unsigned char getIDA();
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unsigned char getIDB();
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unsigned char getIDC();
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private:
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unsigned char devAddr;
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unsigned char buffer[6];
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unsigned char mode;
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};
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#endif /* _HMC5883L_H_ */
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