Diff: HMC5883L.cpp

Revision:

5:f630dbbae44e

Child:

10:280a25bcc8bb

--- /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;
+}
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