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| /* |
| hmc5883l lib 0x01 |
| |
| copyright (c) Davide Gironi, 2012 |
| |
| Released under GPLv3. |
| Please refer to LICENSE file for licensing information. |
| */ |
| |
| |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <util/delay.h> |
| |
| #include "hmc5883l.h" |
| |
| //path to i2c fleury lib |
| #include HMC5883L_I2CFLEURYPATH |
| |
| static double hmc5883l_scale = 0; |
| |
| /* |
| * init the hmc5883l |
| */ |
| void hmc5883l_init() { |
| #if HMC5883L_I2CINIT == 1 |
| //init i2c |
| i2c_init(); |
| _delay_us(10); |
| #endif |
| |
| //set scale |
| hmc5883l_scale = 0; |
| uint8_t regValue = 0x00; |
| #if HMC5883L_SCALE == HMC5883L_SCALE088 |
| regValue = 0x00; |
| hmc5883l_scale = 0.73; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE13 |
| regValue = 0x01; |
| hmc5883l_scale = 0.92; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE19 |
| regValue = 0x02; |
| hmc5883l_scale = 1.22; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE25 |
| regValue = 0x03; |
| hmc5883l_scale = 1.52; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE40 |
| regValue = 0x04; |
| hmc5883l_scale = 2.27; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE47 |
| regValue = 0x05; |
| hmc5883l_scale = 2.56; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE56 |
| regValue = 0x06; |
| hmc5883l_scale = 3.03; |
| #elif HMC5883L_SCALE == HMC5883L_SCALE81 |
| regValue = 0x07; |
| hmc5883l_scale = 4.35; |
| #endif |
| |
| //setting is in the top 3 bits of the register. |
| regValue = regValue << 5; |
| i2c_start_wait(HMC5883L_ADDR | I2C_WRITE); |
| i2c_write(HMC5883L_CONFREGB); |
| i2c_write(regValue); |
| i2c_stop(); |
| |
| //set measurement mode |
| i2c_start_wait(HMC5883L_ADDR | I2C_WRITE); |
| i2c_write(HMC5883L_MODEREG); |
| i2c_write(HMC5883L_MEASUREMODE); |
| i2c_stop(); |
| } |
| |
| /* |
| * get raw data |
| */ |
| void hmc5883l_getrawdata(int16_t *mxraw, int16_t *myraw, int16_t *mzraw) { |
| uint8_t i = 0; |
| uint8_t buff[6]; |
| |
| i2c_start_wait(HMC5883L_ADDR | I2C_WRITE); |
| i2c_write(HMC5883L_DATAREGBEGIN); |
| i2c_stop(); |
| i2c_start_wait(HMC5883L_ADDR | I2C_READ); |
| for(i=0; i<6; i++) { |
| if(i==6-1) |
| buff[i] = i2c_readNak(); |
| else |
| buff[i] = i2c_readAck(); |
| } |
| i2c_stop(); |
| |
| *mxraw = (int16_t)((buff[0] << 8) | buff[1]); |
| *mzraw = (int16_t)((buff[2] << 8) | buff[3]); |
| *myraw = (int16_t)((buff[4] << 8) | buff[5]); |
| } |
| |
| /* |
| * get scaled data |
| */ |
| void hmc5883l_getdata(double *mx, double *my, double *mz) { |
| int16_t mxraw = 0; |
| int16_t myraw = 0; |
| int16_t mzraw = 0; |
| hmc5883l_getrawdata(&mxraw, &myraw, &mzraw); |
| |
| #if HMC5883L_CALIBRATED == 1 |
| float mxt = mxraw - HMC5883L_OFFSETX; |
| float myt = myraw - HMC5883L_OFFSETY; |
| float mzt = mzraw - HMC5883L_OFFSETZ; |
| *mx = HMC5883L_GAINX1 * mxt + HMC5883L_GAINX2 * myt + HMC5883L_GAINX3 * mzt; |
| *my = HMC5883L_GAINY1 * mxt + HMC5883L_GAINY2 * myt + HMC5883L_GAINY3 * mzt; |
| *mz = HMC5883L_GAINZ1 * mxt + HMC5883L_GAINZ2 * myt + HMC5883L_GAINZ3 * mzt; |
| #else |
| *mx = mxraw * hmc5883l_scale; |
| *my = myraw * hmc5883l_scale; |
| *mz = mzraw * hmc5883l_scale; |
| #endif |
| |
| |
| |
| } |
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