1 files changed, 76 insertions, 0 deletions
diff --git a/drivers/hmc5983.h b/drivers/hmc5983.h
new file mode 100644
index 0000000..3d05e9c
--- /dev/null
+++ b/drivers/hmc5983.h
@@ -0,0 +1,76 @@
+#ifndef HMC5983_H
+#define HMC5983_H
+
+#include <spi/spi.h>
+#include <gpio/gpio.h>
+#include <os/time.h>
+
+class HMC5983 {
+	private:
+		Pin cs;
+		SPI_t& spi;
+		uint8_t raw_data[6];
+		
+		void read_register(uint8_t reg, uint8_t len, uint8_t *data) {
+			cs.off();
+			if (len > 1) {
+				spi.transfer_byte(reg | (1 << 8) | (1 << 7));
+			} else {
+				spi.transfer_byte(reg | (1 << 8));
+			}
+			while(len--) {
+				*data++ = spi.transfer_byte();
+			}
+			cs.on();
+		}
+		
+		void write_register(uint8_t reg, uint8_t data) {
+			cs.off();
+			spi.transfer_byte(reg);
+			spi.transfer_byte(data);
+			cs.on();
+		}
+	public:
+		float x, y, z;
+		uint8_t ident;
+		HMC5983(Pin cs_pin, SPI_t& spi_bus) : cs(cs_pin), spi(spi_bus) {}
+		
+		void init() {
+			spi.reg.CR1 = (1 << 9) | (1 << 8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
+			spi.reg.CR2 = (1 << 12) | ( 7 << 8);
+			Time::sleep(100);
+			ident = 'O';
+			while(ident != 'H'){
+				read_register(0x0A, 1, &ident);
+			}
+			write_register(0x00, (1 << 7) | (1 << 5) | (2 << 2));
+			write_register(0x01, 0x00);
+			write_register(0x02, 0x00);
+			Time::sleep(600);
+		}
+		
+		uint8_t update() {
+			uint16_t raw_x, raw_y, raw_z;
+			uint8_t status;
+			spi.reg.CR1 = (1 << 9) | (1 <<8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
+			spi.reg.CR2 = (1 << 12) | ( 7 << 8);
+			// Read status;
+			read_register(0x09, 1, &status);
+			if (status & 1) {
+				read_register(0x03, 6, raw_data);
+				raw_x = raw_data[0] << 8;
+				raw_x |= raw_data[1];
+				raw_z = raw_data[2] << 8;
+				raw_z |= raw_data[3];
+				raw_y = raw_data[4] << 8;
+				raw_y |= raw_data[5]; 
+				
+				x = float(raw_x);
+				y = float(raw_y);
+				z = float(raw_z);
+			}
+			return status;
+		}
+};
+
+#endif