HMC5883L (RoboLibJ

java.lang.Object
- io.github.robolib.module.iface.Interface
- - io.github.robolib.module.iface.I2C
  - - io.github.robolib.module.sensor.HMC5883L

All Implemented Interfaces:

LiveWindowSendable, Sendable, UpdatingSendable, Module, SensorModule
```
public class HMC5883L
extends I2C
implements SensorModule, LiveWindowSendable
```
Honeywell HMC5883L I2C 3-axis compass class
The Honeywell HMC5883L magnetoresistive sensor circuit is a trio of sensors and application specific support circuits to measure magnetic fields. With power supply applied, the sensor converts any incident magnetic field in the sensitive axis directions to a differential voltage output. The magnetoresistive sensors are made of a nickel-iron (Permalloy) thin-film and patterned as a resistive strip element. In the presence of a magnetic field, a change in the bridge resistive elements causes a corresponding change in voltage across the bridge outputs.

These resistive elements are aligned together to have a common sensitive axis (indicated by arrows in the pinout diagram) that will provide positive voltage change with magnetic fields increasing in the sensitive direction. Because the output is only proportional to the magnetic field component along its axis, additional sensor bridges are placed at orthogonal directions to permit accurate measurement of magnetic field in any orientation.

To check the HMC5883L for proper operation, a self test feature in incorporated in which the sensor is internally excited with a nominal magnetic field (in either positive or negative bias configuration). This field is then measured and reported. This function is enabled and the polarity is set by bits MS[n] in the configuration register A. An internal current source generates DC current (about 10 mA) from the VDD supply. This DC current is applied to the offset straps of the magnetoresistive sensor, which creates an artificial magnetic field bias on the sensor. The difference of this measurement and the measurement of the ambient field will be put in the data output register for each of the three axes. By using this built-in function, the manufacturer can quickly verify the sensor’s full functionality after the assembly without additional test setup. The self test results can also be used to estimate/compensate the sensor’s sensitivity drift due to temperature.

Author:

noriah

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`HMC5883L.Averaging` Select number of samples averaged (1 to 8) per measurement output.
`static class`	`HMC5883L.Axis` Enum representation of each of the three Axes.
`static class`	`HMC5883L.Gain` Gain Configuration Bits These bits configure the gain for the device.
`static class`	`HMC5883L.MeasurementMode` Measurement Configuration Bits.
`static class`	`HMC5883L.OperatingMode` Mode Select Bits.
`static class`	`HMC5883L.OutputRate` Data Output Rate Bits These bits set the rate at which data is written to all three data output registers.

Nested classes/interfaces inherited from class io.github.robolib.module.iface.I2C
I2C.Port

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface
Interface.InterfaceType

Field Summary

Fields
Modifier and Type	Field and Description
`static byte`	`HMC_I2C_ADDR` Device I2C Address
`static byte`	`HMC_LOCK_BIT` Data output register lock
`static byte`	`HMC_READY_BIT` Ready Bit
`static byte`	`HMC_REG_CFG_A` Configuration Register A
`static byte`	`HMC_REG_CFG_B` Configuration Register B
`static byte`	`HMC_REG_CFG_MODE` Mode Register
`static byte`	`HMC_REG_IDA` Identification Register A
`static byte`	`HMC_REG_IDB` Identification Register B
`static byte`	`HMC_REG_IDC` Identification Register C
`static byte`	`HMC_REG_STATUS` Status Register
`static byte`	`HMC_REG_X_LSB` Data Output X LSB Register
`static byte`	`HMC_REG_X_MSB` Data Output X MSB Register
`static byte`	`HMC_REG_Y_LSB` Data Output Y LSB Register
`static byte`	`HMC_REG_Y_MSB` Data Output Y MSB Register
`static byte`	`HMC_REG_Z_LSB` Data Output Z LSB Register
`static byte`	`HMC_REG_Z_MSB` Data Output Z MSB Register
`static byte`	`HMC_SCALE` Axes scale value
`private HMC5883L.Averaging`	`m_averaging`
`private HMC5883L.Gain`	`m_gain`
`private boolean`	`m_highSpeed`
`private HMC5883L.MeasurementMode`	`m_mMode`
`private HMC5883L.OperatingMode`	`m_oMode`
`private HMC5883L.OutputRate`	`m_rate`
`private ITable`	`m_table`

Fields inherited from class io.github.robolib.module.iface.I2C
m_address, m_port

Fields inherited from class io.github.robolib.module.iface.Interface
m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors
Constructor and Description

HMC5883L(I2C.Port port)
Create a new HMC5883L compass on I2C Port.

Constructors
Constructor and Description
`HMC5883L(I2C.Port port)` Create a new HMC5883L compass on I2C Port.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`disableModule()` Disable the module
`void`	`enableModule()` Enable the module
`double[]`	`getAllMagnitudes()` Get all magnitude values.
`HMC5883L.Gain`	`getGain()` Get the `HMC5883L.Gain` used for measurements.
`double`	`getHeadingXDeg()` Get the heading around the X axis in degrees.
`double`	`getHeadingXRad()` Get the heading around the X axis in radians.
`double`	`getHeadingYDeg()` Get the heading around the Y axis in degrees.
`double`	`getHeadingYRad()` Get the heading around the Y axis in radians.
`double`	`getHeadingZDeg()` Get the heading around the Z axis in degrees.
`double`	`getHeadingZRad()` Get the heading around the Z axis in radians.
`boolean`	`getLock()` Data output register lock bit status.
`double`	`getMagnitude(HMC5883L.Axis axis)` Get magnitude for givien `HMC5883L.Axis`
`HMC5883L.MeasurementMode`	`getMeasurementMode()` Get the `HMC5883L.MeasurementMode` being used.
`boolean`	`getModuleEnabled()`
`HMC5883L.OperatingMode`	`getOperatingMode()` Get the `HMC5883L.OperatingMode` being run.
`HMC5883L.OutputRate`	`getOutputRate()` Get the `HMC5883L.OutputRate` being used.
`boolean`	`getReady()` Get the status of the Ready Bit.
`HMC5883L.Averaging`	`getSamplesPerAverage()` Get the `HMC5883L.Averaging` mode being used.
`java.lang.String`	`getSmartDashboardType()`
`ITable`	`getTable()`
`boolean`	`getUsingHighSpeed()` Get whether or not we are using High Speed I2C mode (3400kHz)
`double`	`getXMagnitude()` Get magnitude for the X Axis.
`double`	`getYMagnitude()` Get magnitude for the Y Axis.
`double`	`getZMagnitude()` Get magnitude for the Z Axis.
`void`	`initTable(ITable subtable)`
`private double`	`magnitudeFromBytes(byte first, byte second)` Turn two bytes into a magnitude
`void`	`setGain(HMC5883L.Gain gain)` Set the `HMC5883L.Gain` to use for measurement.
`void`	`setMeasurementMode(HMC5883L.MeasurementMode mode)` Set the `HMC5883L.MeasurementMode` to use
`void`	`setOperatingMode(HMC5883L.OperatingMode mode)` Set the `HMC5883L.OperatingMode` to run in.
`void`	`setOutputRate(HMC5883L.OutputRate rate)` Set the `HMC5883L.OutputRate` to used.
`void`	`setSamplesPerAverage(HMC5883L.Averaging avg)` Set the `HMC5883L.Averaging` mode to use.
`void`	`setUsingHighSpeed(boolean highSpeed)` Set whether or not to use High Speed I2C mode (3400kHz)
`void`	`startLiveWindowMode()`
`void`	`stopLiveWindowMode()`
`void`	`updateTable()`
`private void`	`writeModeRegister()` Write the Mode configuration register
`private void`	`writeRegisterA()` Write the A configuration register
`private void`	`writeRegisterB()` Write the B configuration register

Methods inherited from class io.github.robolib.module.iface.I2C
broadcast, checkAddress, free, read, readBit, readBit, readBits, readByte, readBytes, readOnly, readWord, readWords, transaction, verifySensor, write, writeBit, writeBit, writeBits, writeBulk, writeByte, writeBytes, writeWord, writeWords

Methods inherited from class io.github.robolib.module.iface.Interface
allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - HMC_I2C_ADDR
```
public static final byte HMC_I2C_ADDR
```
    Device I2C Address
    
    See Also:
    
    Constant Field Values
  - HMC_SCALE
```
public static final byte HMC_SCALE
```
    Axes scale value
    
    See Also:
    
    Constant Field Values
  - HMC_LOCK_BIT
```
public static final byte HMC_LOCK_BIT
```
    Data output register lock
    
    See Also:
    
    Constant Field Values
  - HMC_READY_BIT
```
public static final byte HMC_READY_BIT
```
    Ready Bit
    
    See Also:
    
    Constant Field Values
  - HMC_REG_CFG_A
```
public static final byte HMC_REG_CFG_A
```
    Configuration Register A
    
    See Also:
    
    Constant Field Values
  - HMC_REG_CFG_B
```
public static final byte HMC_REG_CFG_B
```
    Configuration Register B
    
    See Also:
    
    Constant Field Values
  - HMC_REG_CFG_MODE
```
public static final byte HMC_REG_CFG_MODE
```
    Mode Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_X_MSB
```
public static final byte HMC_REG_X_MSB
```
    Data Output X MSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_X_LSB
```
public static final byte HMC_REG_X_LSB
```
    Data Output X LSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_Z_MSB
```
public static final byte HMC_REG_Z_MSB
```
    Data Output Z MSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_Z_LSB
```
public static final byte HMC_REG_Z_LSB
```
    Data Output Z LSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_Y_MSB
```
public static final byte HMC_REG_Y_MSB
```
    Data Output Y MSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_Y_LSB
```
public static final byte HMC_REG_Y_LSB
```
    Data Output Y LSB Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_STATUS
```
public static final byte HMC_REG_STATUS
```
    Status Register
    
    See Also:
    
    Constant Field Values
  - HMC_REG_IDA
```
public static final byte HMC_REG_IDA
```
    Identification Register A
    
    See Also:
    
    Constant Field Values
  - HMC_REG_IDB
```
public static final byte HMC_REG_IDB
```
    Identification Register B
    
    See Also:
    
    Constant Field Values
  - HMC_REG_IDC
```
public static final byte HMC_REG_IDC
```
    Identification Register C
    
    See Also:
    
    Constant Field Values
  - m_mMode
```
private HMC5883L.MeasurementMode m_mMode
```
  - m_rate
```
private HMC5883L.OutputRate m_rate
```
  - m_averaging
```
private HMC5883L.Averaging m_averaging
```
  - m_gain
```
private HMC5883L.Gain m_gain
```
  - m_oMode
```
private HMC5883L.OperatingMode m_oMode
```
  - m_highSpeed
```
private boolean m_highSpeed
```
  - m_table
```
private ITable m_table
```
- Constructor Detail
  - HMC5883L
```
public HMC5883L(I2C.Port port)
```
    Create a new HMC5883L compass on I2C Port.
    
    Parameters:
    
    port -
- Method Detail
  - getHeadingXRad
```
public double getHeadingXRad()
```
    Get the heading around the X axis in radians. This is not the direction the X axis is pointing, but the value of rotation around the X axis.
    
    Returns:
    
    the heading around the X axis.
  - getHeadingXDeg
```
public double getHeadingXDeg()
```
    Get the heading around the X axis in degrees. This is not the direction the X axis is pointing, but the value of rotation around the X axis.
    
    Returns:
    
    the heading around the X axis.
  - getXMagnitude
```
public double getXMagnitude()
```
    Get magnitude for the X Axis.
    
    Returns:
    
    the X axis magnitude value.
  - getHeadingYRad
```
public double getHeadingYRad()
```
    Get the heading around the Y axis in radians. This is not the direction the Y axis is pointing, but the value of rotation around the Y axis.
    
    Returns:
    
    the heading around the Y axis.
  - getHeadingYDeg
```
public double getHeadingYDeg()
```
    Get the heading around the Y axis in degrees. This is not the direction the Y axis is pointing, but the value of rotation around the Y axis.
    
    Returns:
    
    the heading around the Y axis.
  - getYMagnitude
```
public double getYMagnitude()
```
    Get magnitude for the Y Axis.
    
    Returns:
    
    the Y axis magnitude value.
  - getHeadingZRad
```
public double getHeadingZRad()
```
    Get the heading around the Z axis in radians. This is not the direction the Z axis is pointing, but the value of rotation around the Z axis.
    
    Returns:
    
    the heading around the Z axis.
  - getHeadingZDeg
```
public double getHeadingZDeg()
```
    Get the heading around the Z axis in degrees. This is not the direction the Z axis is pointing, but the value of rotation around the Z axis.
    
    Returns:
    
    the heading around the Z axis.
  - getZMagnitude
```
public double getZMagnitude()
```
    Get magnitude for the Z Axis.
    
    Returns:
    
    the Z axis magnitude value.
  - getMagnitude
```
public double getMagnitude(HMC5883L.Axis axis)
```
    Get magnitude for givien HMC5883L.Axis
    
    Parameters:
    
    axis - the HMC5883L.Axis to get
    
    Returns:
    
    the given axis magnitude value.
    
    See Also:
    
    HMC5883L.Axis
  - getAllMagnitudes
```
public double[] getAllMagnitudes()
```
    Get all magnitude values. Headings are in the order of X, Y, Z.
    
    Returns:
    
    all magnitude values.
  - getLock
```
public boolean getLock()
```
    Data output register lock bit status.
    This bit is set when:
    1. some but not all for of the six data output registers have been read
    2. Mode register has been read
    When this bit is set, the six data output registers are locked and any new data will not be placed in these register until one of these conditions are met:
    1. all six bytes have been read
    2. the mode register is changed
    3. the measurement configuration (CRA) is changed
    4. power is reset.
    Returns:
    
    the status of the lock bit.
  - getReady
```
public boolean getReady()
```
    Get the status of the Ready Bit. Set when data is written to all six data registers. Cleared when device initiates a write to the data output registers and after one or more of the data output registers are written to. When RDY bit is clear it shall remain cleared for a 250 μs. DRDY pin can be used as an alternative to the status register for monitoring the device for measurement data.
    
    Returns:
    
    the status of the ready bit
  - magnitudeFromBytes
```
private double magnitudeFromBytes(byte first,
                                  byte second)
```
    Turn two bytes into a magnitude
    
    Parameters:
    
    first - the MSB byte
    
    second - the LSB byte
    
    Returns:
    
    magnitude from bytes
  - writeRegisterA
```
private void writeRegisterA()
```
    Write the A configuration register
  - writeRegisterB
```
private void writeRegisterB()
```
    Write the B configuration register
  - writeModeRegister
```
private void writeModeRegister()
```
    Write the Mode configuration register
  - setMeasurementMode
```
public void setMeasurementMode(HMC5883L.MeasurementMode mode)
```
    Set the HMC5883L.MeasurementMode to use
    
    Parameters:
    
    mode - the HMC5883L.MeasurementMode to use
    
    See Also:
    
    HMC5883L.MeasurementMode
  - getMeasurementMode
```
public HMC5883L.MeasurementMode getMeasurementMode()
```
    Get the HMC5883L.MeasurementMode being used.
    
    Returns:
    
    the HMC5883L.MeasurementMode being used.
    
    See Also:
    
    HMC5883L.MeasurementMode
  - setOutputRate
```
public void setOutputRate(HMC5883L.OutputRate rate)
```
    Set the HMC5883L.OutputRate to used.
    
    Parameters:
    
    rate - the HMC5883L.OutputRate to used.
    
    See Also:
    
    HMC5883L.OutputRate
  - getOutputRate
```
public HMC5883L.OutputRate getOutputRate()
```
    Get the HMC5883L.OutputRate being used.
    
    Returns:
    
    the HMC5883L.OutputRate being used.
    
    See Also:
    
    HMC5883L.OutputRate
  - setSamplesPerAverage
```
public void setSamplesPerAverage(HMC5883L.Averaging avg)
```
    Set the HMC5883L.Averaging mode to use.
    
    Parameters:
    
    avg - the HMC5883L.Averaging mode to use.
    
    See Also:
    
    HMC5883L.Averaging
  - getSamplesPerAverage
```
public HMC5883L.Averaging getSamplesPerAverage()
```
    Get the HMC5883L.Averaging mode being used.
    
    Returns:
    
    the HMC5883L.Averaging mode being used.
    
    See Also:
    
    HMC5883L.Averaging
  - setGain
```
public void setGain(HMC5883L.Gain gain)
```
    Set the HMC5883L.Gain to use for measurement.
    
    Parameters:
    
    gain - the HMC5883L.Gain to use.
    
    See Also:
    
    HMC5883L.Gain
  - getGain
```
public HMC5883L.Gain getGain()
```
    Get the HMC5883L.Gain used for measurements.
    
    Returns:
    
    the HMC5883L.Gain used for measurements.
    
    See Also:
    
    HMC5883L.Gain
  - setOperatingMode
```
public void setOperatingMode(HMC5883L.OperatingMode mode)
```
    Set the HMC5883L.OperatingMode to run in.
    
    Parameters:
    
    mode - the HMC5883L.OperatingMode to run in.
    
    See Also:
    
    HMC5883L.OperatingMode
  - getOperatingMode
```
public HMC5883L.OperatingMode getOperatingMode()
```
    Get the HMC5883L.OperatingMode being run.
    
    Returns:
    
    the HMC5883L.OperatingMode being run.
    
    See Also:
    
    HMC5883L.OperatingMode
  - setUsingHighSpeed
```
public void setUsingHighSpeed(boolean highSpeed)
```
    Set whether or not to use High Speed I2C mode (3400kHz)
    
    Parameters:
    
    highSpeed - use high speed or not
  - getUsingHighSpeed
```
public boolean getUsingHighSpeed()
```
    Get whether or not we are using High Speed I2C mode (3400kHz)
    
    Returns:
    
    using high speed or not
  - initTable
```
public void initTable(ITable subtable)
```
    Specified by:
    
    initTable in interface Sendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable
  - updateTable
```
public void updateTable()
```
    Specified by:
    
    updateTable in interface UpdatingSendable
  - getSmartDashboardType
```
public java.lang.String getSmartDashboardType()
```
    Specified by:
    
    getSmartDashboardType in interface Sendable
  - startLiveWindowMode
```
public void startLiveWindowMode()
```
    Specified by:
    
    startLiveWindowMode in interface LiveWindowSendable
  - stopLiveWindowMode
```
public void stopLiveWindowMode()
```
    Specified by:
    
    stopLiveWindowMode in interface LiveWindowSendable
  - enableModule
```
public void enableModule()
```
    Enable the module
    
    Specified by:
    
    enableModule in interface Module
  - disableModule
```
public void disableModule()
```
    Disable the module
    
    Specified by:
    
    disableModule in interface Module
  - getModuleEnabled
```
public boolean getModuleEnabled()
```
    Specified by:
    
    getModuleEnabled in interface Module

Class HMC5883L

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.I2C

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Field Summary

Fields inherited from class io.github.robolib.module.iface.I2C

Fields inherited from class io.github.robolib.module.iface.Interface

Constructor Summary

Method Summary

Methods inherited from class io.github.robolib.module.iface.I2C

Methods inherited from class io.github.robolib.module.iface.Interface

Methods inherited from class java.lang.Object

Field Detail

HMC_I2C_ADDR

HMC_SCALE

HMC_LOCK_BIT

HMC_READY_BIT

HMC_REG_CFG_A

HMC_REG_CFG_B

HMC_REG_CFG_MODE

HMC_REG_X_MSB

HMC_REG_X_LSB

HMC_REG_Z_MSB

HMC_REG_Z_LSB

HMC_REG_Y_MSB

HMC_REG_Y_LSB

HMC_REG_STATUS

HMC_REG_IDA

HMC_REG_IDB

HMC_REG_IDC

m_mMode

m_rate

m_averaging

m_gain

m_oMode

m_highSpeed

m_table

Constructor Detail

HMC5883L

Method Detail

getHeadingXRad

getHeadingXDeg

getXMagnitude

getHeadingYRad

getHeadingYDeg

getYMagnitude

getHeadingZRad

getHeadingZDeg

getZMagnitude

getMagnitude

getAllMagnitudes

getLock

getReady

magnitudeFromBytes

writeRegisterA

writeRegisterB

writeModeRegister

setMeasurementMode

getMeasurementMode

setOutputRate

getOutputRate

setSamplesPerAverage

getSamplesPerAverage

setGain

getGain

setOperatingMode

getOperatingMode

setUsingHighSpeed

getUsingHighSpeed

initTable

getTable

updateTable

getSmartDashboardType

startLiveWindowMode

stopLiveWindowMode

enableModule

disableModule

getModuleEnabled