otamesi
Dependencies: mbed
HMC5883L.cpp
- Committer:
- seangshim
- Date:
- 2018-10-20
- Revision:
- 5:f630dbbae44e
- Child:
- 10:280a25bcc8bb
File content as of revision 5:f630dbbae44e:
/*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; }