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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1993 | - | 1 | /* |
| 2 | * HMC.cpp - Interface a Honeywell HMC5843 magnetometer to an AVR via i2c |
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| 3 | * Version 0.1 - http://www.timzaman.com/ |
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| 4 | * Copyright (c) 2011 Tim Zaman |
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| 5 | * All rights reserved. |
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| 6 | * |
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| 7 | * Redistribution and use in source and binary forms, with or without |
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| 8 | * modification, are permitted provided that the following conditions |
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| 9 | * are met: |
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| 10 | * 1. Redistributions of source code must retain the above copyright |
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| 11 | * notice, this list of conditions and the following disclaimer. |
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| 12 | * 2. Redistributions in binary form must reproduce the above copyright |
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| 13 | * notice, this list of conditions and the following disclaimer in the |
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| 14 | * documentation and/or other materials provided with the distribution. |
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| 15 | * |
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| 16 | * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS |
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| 17 | * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
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| 18 | * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 19 | * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS |
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| 20 | * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 21 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 22 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 23 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 24 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 25 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 26 | * POSSIBILITY OF SUCH DAMAGE. |
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| 27 | */ |
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| 28 | |||
| 29 | #include "HMC.h" |
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| 30 | #include "WProgram.h" |
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| 31 | #include <Wire.h> |
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| 32 | |||
| 33 | /* PUBLIC METHODS */ |
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| 34 | |||
| 35 | HMC5843::HMC5843() |
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| 36 | { |
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| 37 | } |
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| 38 | |||
| 39 | void HMC5843::init() |
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| 40 | { |
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| 41 | } |
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| 42 | |||
| 43 | // This can be called at 100ms intervals to get new data |
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| 44 | void HMC5843::getValues(int *x, int *y, int *z) |
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| 45 | { |
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| 46 | Wire.begin(); //Initiate the Wire library and join the I2C bus as a master |
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| 47 | int regb=0x01; |
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| 48 | int regbdata=0x40; |
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| 49 | int outputData[6]; |
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| 50 | int i; |
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| 51 | double angle; |
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| 52 | |||
| 53 | |||
| 54 | Wire.beginTransmission(HMC5883_WriteAddress); |
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| 55 | Wire.send(regb); |
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| 56 | Wire.send(regbdata); |
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| 57 | Wire.endTransmission(); |
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| 58 | |||
| 59 | delay(1000); |
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| 60 | Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write address). |
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| 61 | Wire.send(HMC5883_ModeRegisterAddress); //Place the Mode Register Address in send-buffer. |
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| 62 | Wire.send(HMC5883_ContinuousModeCommand); //Place the command for Continuous operation Mode in send-buffer. |
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| 63 | Wire.endTransmission(); //Send the send-buffer to HMC5883 and end the I2C transmission. |
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| 64 | delay(100); |
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| 65 | |||
| 66 | |||
| 67 | Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write address). |
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| 68 | Wire.requestFrom(HMC5883_WriteAddress,6); //Request 6 bytes of data from the address specified. |
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| 69 | |||
| 70 | delay(500); |
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| 71 | |||
| 72 | |||
| 73 | //Read the value of magnetic components X,Y and Z |
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| 74 | |||
| 75 | if(6 <= Wire.available()) // If the number of bytes available for reading be <=6. |
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| 76 | { |
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| 77 | for(i=0;i<6;i++) |
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| 78 | { |
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| 79 | outputData[i]=Wire.receive(); //Store the data in outputData buffer |
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| 80 | } |
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| 81 | } |
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| 82 | |||
| 83 | *x=outputData[0] << 8 | outputData[1]; //Combine MSB and LSB of X Data output register |
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| 84 | *z=outputData[2] << 8 | outputData[3]; //Combine MSB and LSB of Z Data output register |
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| 85 | *y=outputData[4] << 8 | outputData[5]; //Combine MSB and LSB of Y Data output register |
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| 86 | } |
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| 87 | |||
| 88 | void HMC5843::getAngle(int *a) |
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| 89 | { |
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| 90 | int fx,fy,fz; |
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| 91 | getValues(&fx,&fy,&fz); |
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| 92 | *a= atan((double)fy/(double)fx)*(360/PI); // angle in degrees |
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| 93 | } |
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| 94 | |||
| 95 | |||
| 96 | |||
| 97 | // Set the default object |
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| 98 | HMC5843 HMC = HMC5843(); |
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| 99 | |||
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| 108 |