(多分)全部+フライトピン+新しい加速度
Dependencies: mbed
Diff: HMC5883L.cpp
- Revision:
- 5:f630dbbae44e
- Child:
- 10:280a25bcc8bb
diff -r 8b52fd631b32 -r f630dbbae44e HMC5883L.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HMC5883L.cpp Sat Oct 20 03:10:04 2018 +0000 @@ -0,0 +1,106 @@ +/*This program is uncompleted.*/ +#include "HMC5883L.h" +#include <new> + +HMC5883L::HMC5883L(PinName p28, PinName p27) : i2c_(*reinterpret_cast<I2C*>(i2cRaw)) +{ + new(i2cRaw) I2C(p28, p27); + init(); +} + +HMC5883L::~HMC5883L() +{ + if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw)) + reinterpret_cast<I2C*>(&i2cRaw)->~I2C(); +} +void HMC5883L::init() +{ + // init - configure your setup here + setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_15); // 8 sample average, 15Hz, normal mode + setConfigurationB(0x20); // default + setMode(CONTINUOUS_MODE); // continuous sample mode +} + +void HMC5883L::setConfigurationA(char config) +{ + char cmd[2]; + cmd[0] = CONFIG_A_REG; // register a address + cmd[1] = config; + i2c_.write(I2C_ADDRESS, cmd, 2); +} + +void HMC5883L::setConfigurationB(char config) +{ + char cmd[2]; + cmd[0] = CONFIG_B_REG; // register b address + cmd[1] = config; + i2c_.write(I2C_ADDRESS, cmd, 2); +} + +char HMC5883L::getConfigurationA() +{ + char cmd[2]; + cmd[0] = CONFIG_A_REG; // register a address + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +char HMC5883L::getConfigurationB() +{ + char cmd[2]; + cmd[0] = CONFIG_B_REG; // register b address + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +void HMC5883L::setMode(char mode = SINGLE_MODE) +{ + char cmd[2]; + cmd[0] = MODE_REG; // mode register address + cmd[1] = mode; + i2c_.write(I2C_ADDRESS,cmd,2); +} + +char HMC5883L::getMode() +{ + char cmd[2]; + cmd[0] = MODE_REG; // mode register + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +char HMC5883L::getStatus() +{ + char cmd[2]; + cmd[0] = STATUS_REG; // status register + i2c_.write(I2C_ADDRESS, cmd, 1, true); + i2c_.read(I2C_ADDRESS, &cmd[1], 1, false); + return cmd[1]; +} + +void HMC5883L::getXYZ(int16_t output[3])//データの取得 +{ + char cmd[2]; + char data[6]; + cmd[0] = 0x03; // starting point for reading + i2c_.write(I2C_ADDRESS, cmd, 1, true); // set the pointer to the start of x + i2c_.read(I2C_ADDRESS, data, 6, false); + for(int i = 0; i < 3; i++) // fill the output variables + output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]); +} + +double HMC5883L::getHeadingXY() +{ + int16_t raw_data[3]; + getXYZ(raw_data); + double heading = atan2(static_cast<double>(raw_data[2]), static_cast<double>(raw_data[0])); // heading = arctan(Y/X) (Y/X)の逆正接 + // 角度範囲の補正 + if(heading < 0.0) // fix sign + heading += PI2; + if(heading > PI2) // fix overflow + heading -= PI2; + return heading; +} \ No newline at end of file