Added Arduino library with 2 example sketches

libraries/SFE_HMC6343_Library/SFE_HMC6343.cpp

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+/******************************************************************************
+SFE_HMC6343.cpp
+Core implementation file for the HMC6343 3-axis compass library.
+Jordan McConnell @ SparkFun Electronics
+17 July 2014
+https://github.com/sparkfun/HMC6343_Breakout
+
+This file implements the functions of the SFE_HMC6343 sensor class as well as
+providing documentation on what each library function does.
+
+Developed/Tested with:
+Arduino Uno
+Arduino IDE 1.0.5 & 1.5.2
+
+This code is beerware; if you see me (or any other SparkFun employee) at the 
+local, and you've found our code helpful, please buy us a round!
+Distributed as-is; no warranty is given. 
+******************************************************************************/
+
+#include "SFE_HMC6343.h"
+
+// Constructor - Creates sensor object, sets I2C address, and initializes sensor variables
+SFE_HMC6343::SFE_HMC6343() 
+{
+  _addr = HMC6343_I2C_ADDR;
+
+  heading = pitch = roll = 0;
+  magX = magY = magZ = 0;
+  accelX = accelY = accelZ = 0;
+  temperature = 0;
+
+  clearRawData();
+}
+
+// Destructor - Deletes sensor object
+SFE_HMC6343::~SFE_HMC6343()
+{
+
+}
+
+// Initialize - returns true if successful
+// Starts Wire/I2C Communication
+// Verifies sensor is there by checking its I2C Address in its EEPROM
+bool SFE_HMC6343::init()
+{
+  bool ret = true;
+  uint8_t data = 0x00;
+
+  // Start I2C
+  Wire.begin();
+
+  // Check for device by reading I2C address from EEPROM
+  data = readEEPROM(SLAVE_ADDR);
+
+  // Check if value read in EEPROM is the expected value for the HMC6343 I2C address
+  if (!(data == 0x32))
+  {
+    ret = false; // Init failed, EEPROM did not read expected I2C address value
+  }
+
+  return ret;
+}
+
+// Send the HMC6343 a command to read the raw magnetometer values
+// Store these values in the integers magX, magY, and magZ
+void SFE_HMC6343::readMag()
+{
+  readGeneric(POST_MAG, &magX, &magY, &magZ);
+}
+
+// Send the HMC6343 a command to read the raw accelerometer values
+// Store these values in the integers accelX, accelY, and accelZ
+void SFE_HMC6343::readAccel()
+{
+  readGeneric(POST_ACCEL, &accelX, &accelY, &accelZ);
+}
+
+// Send the HMC6343 a command to read the raw calculated heading values
+// Store these values in the integers heading, pitch, and roll
+void SFE_HMC6343::readHeading()
+{
+  readGeneric(POST_HEADING, &heading, &pitch, &roll);
+}
+
+// Send the HMC6343 a command to read the raw calculated tilt values
+// Store these values in the integers pitch, roll, and temperature
+void SFE_HMC6343::readTilt()
+{
+  readGeneric(POST_TILT, &pitch, &roll, &temperature);
+}
+
+// Generic function which sends the HMC6343 a specified command
+// It then collects 6 bytes of data via I2C and consolidates it into three integers
+// whose addresses are passed to the function by the above read commands
+void SFE_HMC6343::readGeneric(uint8_t command, int* first, int* second, int* third)
+{
+  sendCommand(command); // Send specified I2C command to HMC6343
+  delay(1); // Delay response time
+
+  clearRawData(); // Clear object's rawData[] array before storing new values in the array
+
+  // Wait for a 6 byte response via I2C and store them in rawData[] array
+  Wire.beginTransmission(_addr);
+  Wire.requestFrom(_addr,(uint8_t)6); // Request the 6 bytes of data (MSB comes first)
+  uint8_t i = 0;
+  while(Wire.available() && i < 6)
+  {
+    rawData[i] = (uint8_t)Wire.read();
+    i++;
+  }
+  Wire.endTransmission();
+
+  // Convert 6 bytes received into 3 integers
+  *first = rawData[0] << 8; // MSB
+  *first |= rawData[1];     // LSB
+  *second = rawData[2] << 8;
+  *second |= rawData[3];
+  *third = rawData[4] << 8;
+  *third |= rawData[5];
+}
+
+// Send specified I2C command to HMC6343
+void SFE_HMC6343::sendCommand(uint8_t command)
+{
+  Wire.beginTransmission(_addr);
+  Wire.write(command);
+  Wire.endTransmission();
+}
+
+// Send enter standby mode I2C command to HMC6343
+void SFE_HMC6343::enterStandby()
+{
+  sendCommand(ENTER_STANDBY);
+}
+
+// Send exit standby (enter run) mode I2C command to HMC6343
+void SFE_HMC6343::exitStandby()
+{
+  sendCommand(ENTER_RUN);
+}
+
+// Send enter sleep mode I2C command to HMC6343
+void SFE_HMC6343::enterSleep()
+{
+  sendCommand(ENTER_SLEEP);
+}
+
+// Send exit sleep mode I2C command to HMC6343
+void SFE_HMC6343::exitSleep()
+{
+  sendCommand(EXIT_SLEEP);
+}
+
+// Send enter calibration mode I2C command to HMC6343
+void SFE_HMC6343::enterCalMode()
+{
+  sendCommand(ENTER_CAL);
+}
+
+// Send exit calibration mode I2C command to HMC6343
+void SFE_HMC6343::exitCalMode()
+{
+  sendCommand(EXIT_CAL);
+}
+
+// Set the physical orientation of the HMC6343 IC to either LEVEL, SIDEWAYS, or FLATFRONT
+// This allows the IC to calculate a proper heading, pitch, and roll in tenths of degrees
+// LEVEL      X = forward, +Z = up (default)
+// SIDEWAYS   X = forward, +Y = up
+// FLATFRONT  Z = forward, -X = up
+void SFE_HMC6343::setOrientation(uint8_t orientation)
+{
+  if (orientation == LEVEL)
+  {
+    sendCommand(ORIENT_LEVEL);
+  }
+  else if (orientation == SIDEWAYS)
+  {
+    sendCommand(ORIENT_SIDEWAYS);
+  }
+  else if (orientation == FLATFRONT)
+  {
+    sendCommand(ORIENT_FLATFRONT);
+  }
+}
+
+// Send the I2C command to reset the processor on the HMC6343
+void SFE_HMC6343::reset()
+{
+  sendCommand(RESET);
+}
+
+// Send the I2C command to read the OPMode1 status register of the HMC6343
+// The register informs you of current calculation status, filter status, modes enabled and what orientation
+// Refer to the HMC6343 datasheet for bit specifics
+uint8_t SFE_HMC6343::readOPMode1()
+{
+  uint8_t opmode1 = 0x00;
+
+  sendCommand(POST_OPMODE1);
+  delay(1);
+
+  Wire.beginTransmission(_addr);
+  Wire.requestFrom(_addr,(uint8_t)1);
+  opmode1 = (uint8_t)Wire.read();
+  Wire.endTransmission();
+
+  return opmode1;
+}
+
+// Send a command to the HMC6343 to read a specified register of the EEPROM
+uint8_t SFE_HMC6343::readEEPROM(uint8_t reg)
+{
+  uint8_t data = 0x00;
+
+  Wire.beginTransmission(_addr);
+  Wire.write(READ_EEPROM);
+  Wire.write(reg);
+  Wire.endTransmission();
+
+  delay(10);
+
+  Wire.beginTransmission(_addr);
+  Wire.requestFrom(_addr,(uint8_t)1);
+  data = (uint8_t)Wire.read();
+  Wire.endTransmission();
+
+  return data;
+}
+
+// Send a command to the HMC6343 to write a specified register of the EEPROM
+void SFE_HMC6343::writeEEPROM(uint8_t reg, uint8_t data)
+{
+  Wire.beginTransmission(_addr);
+  Wire.write(WRITE_EEPROM);
+  Wire.write(reg);
+  Wire.write(data);
+  Wire.endTransmission();
+}
+
+// Clears the sensor object's rawData[] array, used before taking new measurements
+void SFE_HMC6343::clearRawData()
+{
+  for (uint8_t i = 0; i < 6; i++)
+  {
+    rawData[i] = 0;
+  }
+}

libraries/SFE_HMC6343_Library/SFE_HMC6343.h

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+/******************************************************************************
+SFE_HMC6343.h
+Core header file for the HMC6343 3-axis compass library.
+Jordan McConnell @ SparkFun Electronics
+17 July 2014
+https://github.com/sparkfun/HMC6343_Breakout
+
+This header file declares the SFE_HMC6343 sensor class as well as its various
+functions and variables. It also defines sensor specifics including register
+addresses and sensor commands.
+
+Developed/Tested with:
+Arduino Uno
+Arduino IDE 1.0.5 & 1.5.2
+
+This code is beerware; if you see me (or any other SparkFun employee) at the 
+local, and you've found our code helpful, please buy us a round!
+Distributed as-is; no warranty is given. 
+******************************************************************************/
+
+#ifndef SFE_HMC6343_h
+#define SFE_HMC6343_h
+
+#include "Arduino.h"
+#include "Wire.h"
+
+// HMC6343 I2C Address (0x32 >> 1 = 0x19)
+#define HMC6343_I2C_ADDR 0x19
+
+// HMC6343 Registers
+#define SLAVE_ADDR 0x00
+#define SW_VERSION 0x02
+#define OP_MODE1 0x04
+#define OP_MODE2 0x05
+#define SN_LSB 0x06
+#define SN_MSB 0x07
+#define DATE_CODE_YY 0x08 
+#define DATE_CODE_WW 0x09 
+#define DEVIATION_LSB 0x0A
+#define DEVIATION_MSB 0x0B
+#define VARIATION_LSB 0x0C
+#define VARIATION_MSB 0x0D
+#define XOFFSET_LSB 0x0E
+#define XOFFSET_MSB 0x0F
+#define YOFFSET_LSB 0x10
+#define YOFFSET_MSB 0x11
+#define ZOFFSET_LSB 0x12
+#define ZOFFSET_MSB 0x13
+#define FILTER_LSB 0x14
+#define FILTER_MSB 0x15
+
+// HMC6343 Commands
+#define POST_ACCEL 0x40
+#define POST_MAG 0x45
+#define POST_HEADING 0x50
+#define POST_TILT 0x55
+#define POST_OPMODE1 0x65
+#define ENTER_CAL 0x71
+#define ORIENT_LEVEL 0x72
+#define ORIENT_SIDEWAYS 0x73
+#define ORIENT_FLATFRONT 0x74
+#define ENTER_RUN 0x75
+#define ENTER_STANDBY 0x76
+#define EXIT_CAL 0x7E
+#define RESET 0x82
+#define ENTER_SLEEP 0x83
+#define EXIT_SLEEP 0x84
+#define READ_EEPROM 0xE1
+#define WRITE_EEPROM 0xF1
+
+// HMC6343 Orientations
+#define LEVEL 0     // X = forward, +Z = up (default)
+#define SIDEWAYS 1  // X = forward, +Y = up
+#define FLATFRONT 2 // Z = forward, -X = up
+
+class SFE_HMC6343
+{
+ public:
+  SFE_HMC6343();
+  ~SFE_HMC6343();
+
+  int heading, pitch, roll;
+  int magX, magY, magZ;
+  int accelX, accelY, accelZ;
+  int temperature;
+
+  bool init();
+
+  void readMag();
+  void readAccel();
+  void readHeading();
+  void readTilt();
+
+  void enterStandby();
+  void exitStandby();
+
+  void enterSleep();
+  void exitSleep();
+
+  void enterCalMode();
+  void exitCalMode();
+
+  void setOrientation(uint8_t orientation);
+
+  void reset();
+
+  uint8_t readOPMode1();
+
+  uint8_t readEEPROM(uint8_t reg);
+  void writeEEPROM(uint8_t reg, uint8_t data);
+
+ private:
+  uint8_t _addr;
+
+  uint8_t rawData[6];
+  void clearRawData();
+
+  void sendCommand(uint8_t command);
+  void readGeneric(uint8_t command, int* first, int* second, int* third);
+};
+
+#endif