Diff: main.cpp

Revision:

19:76632ff3e9fc

Parent:

18:7066655957b3

Child:

20:03a3357de805

--- a/main.cpp	Sun Jan 11 16:02:18 2015 +0000
+++ b/main.cpp	Sun Jan 11 16:45:40 2015 +0000
@@ -16,10 +16,11 @@
 #define ITG3200_42HZ (0x03)
 
 //3-Axis Digital Compass IC
-#define HMC5843_ADDRESS (0x3C >> 1)
-#define HMC5843_REGISTER_XMSB (0x03)
-#define HMC5843_REGISTER_MEASMODE (0x02)
-#define HMC5843_MEASMODE_CONT (0x00)
+#define HMC5883_ADDRESS_W (0x3C)
+#define HMC5883_ADDRESS_R (0x3D)
+#define HMC5883_REGISTER_XMSB (0x03)
+#define HMC5883_REGISTER_MEASMODE (0x02)
+#define HMC5883_MEASMODE_CONT (0x00)
 
 I2C	i2c( p9, p10 );	// sda, scl
 
@@ -27,13 +28,14 @@
 void read_adxl345();
 void init_itg3200();
 void read_itg3200();
-//void init_hmc5843();
+void init_hmc5883();
+void read_hmc5883();
 
 Serial pc(USBTX, USBRX); //tx, rx
 
 int accelerometer_data[3];
 int gyro_data[3];
-//int magnetometer_data[3];
+int magnetometer_data[3];
 
 PwmOut led(LED1);
 
@@ -42,26 +44,13 @@
 int main() {
 
 	init_adxl345();
-	//init_hmc5843();
 	init_itg3200();
-    
-    //pc.printf("Press 'u' to turn LED1 brightness up, 'd' to turn it down.\n");
+	init_hmc5883();
     
     while(1) {        
-        /*
-        char c = pc.getc();
-        if((c == 'u') && (brightness < 0.5)) {
-        	brightness += 0.01;
-        	led = brightness;
-        }
-        if((c == 'd') && (brightness > 0.0)) {
-        	brightness -= 0.01;
-        	led = brightness;
-        }
-        */
         //read_adxl345();
-        read_itg3200();
-        
+        //read_itg3200();
+        read_hmc5883();
     }
 }
 
@@ -123,24 +112,29 @@
 	
 	pc.printf("GYRO: %i\t%i\t%i", gyro_data[0], gyro_data[1], gyro_data[2]);
 }
-/*
-void init_hmc5843() {
-	bytes data = 0;
+
+void init_hmc5883() {
+	char data[2];
+	data[0] = HMC5883_REGISTER_MEASMODE;
+	data[1] = HMC5883_MEASMODE_CONT;
   
-	i2c_write(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, HMC5843_MEASMODE_CONT);
-
-	i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_MEASMODE, 1, &data);
-	Serial.println((unsigned int)data);
+	i2c.write(HMC5883_ADDRESS_W, data, 2);
+	i2c.read(HMC5883_ADDRESS_R, data, 1);
+	
+	pc.printf("%i\n",(unsigned int)data);
 }
 
-void read_hmc5843() {
-	bytes bytes[6];
+void read_hmc5883() {
+	char bytes[6];
 	memset(bytes,0,6);
+	bytes[0] = HMC5883_REGISTER_XMSB;
 
-	i2c_read(HMC5843_ADDRESS, HMC5843_REGISTER_XMSB, 6, bytes);
+	i2c.write(HMC5883_ADDRESS_W, bytes, 1);
+	i2c.read(HMC5883_ADDRESS_R, bytes, 6);
 
 	for (int i=0;i<3;++i) {
 		magnetometer_data[i] = (int)bytes[2*i + 1] + (((int)bytes[2*i]) << 8);
 	}
-}
-*/
\ No newline at end of file
+	
+	pc.printf("Magnet: %i\t%i\t%i", magnetometer_data[0], magnetometer_data[1], magnetometer_data[2]);
+}
\ No newline at end of file