2018-02-18 14:02:33 +05:30

152 lines
4.9 KiB
C++

// I2Cdev library collection - AK8963 I2C device class header file
// Based on AKM AK8963 datasheet, 10/2013
// 8/27/2011 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2016-01-02 - initial release based on AK8975 code
//
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#ifndef _AK8963_H_
#define _AK8963_H_
#include "I2Cdev.h"
#define AK8963_ADDRESS_00 0x0C
#define AK8963_ADDRESS_01 0x0D
#define AK8963_ADDRESS_10 0x0E
#define AK8963_ADDRESS_11 0x0F
#define AK8963_DEFAULT_ADDRESS AK8963_ADDRESS_00
#define AK8963_RA_WIA 0x00
#define AK8963_RA_INFO 0x01
#define AK8963_RA_ST1 0x02
#define AK8963_RA_HXL 0x03
#define AK8963_RA_HXH 0x04
#define AK8963_RA_HYL 0x05
#define AK8963_RA_HYH 0x06
#define AK8963_RA_HZL 0x07
#define AK8963_RA_HZH 0x08
#define AK8963_RA_ST2 0x09
#define AK8963_RA_CNTL1 0x0A
#define AK8963_RA_CNTL2 0x0B
#define AK8963_RA_ASTC 0x0C
#define AK8963_RA_TS1 0x0D // SHIPMENT TEST, DO NOT USE
#define AK8963_RA_TS2 0x0E // SHIPMENT TEST, DO NOT USE
#define AK8963_RA_I2CDIS 0x0F
#define AK8963_RA_ASAX 0x10
#define AK8963_RA_ASAY 0x11
#define AK8963_RA_ASAZ 0x12
#define AK8963_ST1_DRDY_BIT 0
#define AK8963_ST1_DOR_BIT 1
#define AK8963_ST2_HOFL_BIT 3
#define AK8963_ST2_BITM_BIT 4
#define AK8963_CNTL1_MODE_BIT 3
#define AK8963_CNTL1_MODE_LENGTH 4
#define AK8963_CNTL1_RES_BIT 4
#define AK8963_CNTL2_RESET 0x01
#define AK8963_MODE_POWERDOWN 0x0
#define AK8963_MODE_SINGLE 0x1
#define AK8963_MODE_CONTINUOUS_8HZ 0x2
#define AK8963_MODE_EXTERNAL 0x4
#define AK8963_MODE_CONTINUOUS_100HZ 0x6
#define AK8963_MODE_SELFTEST 0x8
#define AK8963_MODE_FUSEROM 0xF
#define AK8963_RES_14_BIT 0
#define AK8963_RES_16_BIT 1
#define AK8963_CNTL2_SRST_BIT 0
#define AK8963_ASTC_SELF_BIT 6
#define AK8963_I2CDIS_DISABLE 0x1B
class AK8963 {
public:
AK8963();
AK8963(uint8_t address);
void initialize();
bool testConnection();
// WIA register
uint8_t getDeviceID();
// INFO register
uint8_t getInfo();
// ST1 register
bool getDataReady();
bool getDataOverrun();
// H* registers
void getHeading(int16_t *x, int16_t *y, int16_t *z);
int16_t getHeadingX();
int16_t getHeadingY();
int16_t getHeadingZ();
// ST2 register
bool getOverflowStatus();
bool getOutputBit();
// CNTL1 register
uint8_t getMode();
void setMode(uint8_t mode);
uint8_t getResolution();
void setResolution(uint8_t resolution);
void reset();
// ASTC register
void setSelfTest(bool enabled);
// I2CDIS
void disableI2C(); // um, why...?
// ASA* registers
void getAdjustment(int8_t *x, int8_t *y, int8_t *z);
void setAdjustment(int8_t x, int8_t y, int8_t z);
uint8_t getAdjustmentX();
void setAdjustmentX(uint8_t x);
uint8_t getAdjustmentY();
void setAdjustmentY(uint8_t y);
uint8_t getAdjustmentZ();
void setAdjustmentZ(uint8_t z);
private:
uint8_t devAddr;
uint8_t buffer[6];
uint8_t mode;
};
#endif /* _AK8963_H_ */