File content as of revision 41:7c537a922510:

/*This program is uncompleted.*/
#include "HMC5883L.h"
#include <new>

HMC5883L::HMC5883L(PinName p9, PinName p10) : i2c_(*reinterpret_cast<I2C*>(i2cRaw))
{
    new(i2cRaw) I2C(p9, p10);
    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;
}