Revision 5:5104b90e3f0f, committed 2014-05-02

Comitter:

pHysiX

Date:

Fri May 02 17:01:15 2014 +0000

Parent:

4:bc4e1201e092

Commit message:

Fixed and tidied code. Need to add in features from Teensy/Tilty library

Changed in this revision

--- a/HMC5883L.cpp	Tue Nov 06 17:35:51 2012 +0000
+++ b/HMC5883L.cpp	Fri May 02 17:01:15 2014 +0000
@@ -36,7 +36,7 @@
 {
     // Placement new to avoid additional heap memory allocation.
     new(i2cRaw) I2C(sda, scl);
-    
+    i2c_.frequency(400000);
     init();
 }
 
@@ -51,7 +51,7 @@
 {
     // init - configure your setup here
     setConfigurationA(AVG8_SAMPLES | OUTPUT_RATE_15); // 8 sample average, 15Hz, normal mode
-    setConfigurationB(0x20); // default 
+    setConfigurationB(0x20); // default // TILTY USES 0x00
     setMode(CONTINUOUS_MODE); // continuous sample mode
 }
 
@@ -129,6 +129,29 @@
         output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]);
 }
 
+/**
+*@param[in] x X magnetometer value.
+*@param[in] y Y magnetometer value.
+*@param[in] z Z magnetometer value.
+*@param[in] pitch  Pitch angle in degrees.
+*@param[in] roll Y Roll angle in degrees.
+*/
+float HMC5883L::getTiltCompensatedHeading(int x, int y, int z, float pitch, float roll)
+{
+    /*
+    float pitch_rad = pitch * (M_PI / 180);
+    float roll_rad = roll * (M_PI / 180);
+    
+    int xH = x * cos(pitch_rad) + z * sin(pitch_rad);
+    int yH = x * sin(roll_rad) * sin(pitch_rad) + y * cos(roll_rad) - z * sin(roll_rad) * cos(pitch_rad);
+    
+    float temp = atan2(yH, xH);//(atan2(yH, xH) + M_PI) * 180/M_PI;
+    
+    return temp;
+    */
+    return 0.0;
+}
+
 double HMC5883L::getHeadingXY()
 {
     int16_t raw_data[3];
@@ -144,4 +167,20 @@
         heading -= PI2;
         
     return heading;
+}
+
+/** \brief undocumented function
+
+    \param[in] param description of parameter
+    \param[out] param description of parameter  
+
+    \return return description of return value
+**/
+bool HMC5883L::getDataReady()
+{
+    char cmd[2];
+    cmd[0] = 0x09; // status register
+    i2c_.write(I2C_ADDRESS, cmd, 1, true);
+    i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
+    return cmd[1] == 0x17;
 }
\ No newline at end of file

--- a/HMC5883L.h	Tue Nov 06 17:35:51 2012 +0000
+++ b/HMC5883L.h	Fri May 02 17:01:15 2014 +0000
@@ -219,6 +219,8 @@
     */
     double getHeadingXY();
     
+    float getTiltCompensatedHeading(int x, int y, int z, float pitch, float roll);
+    
     /**
     * Function for getting degree heading using 2-dimensional calculation.
     * 
@@ -233,6 +235,8 @@
         return (getHeadingXY() * RAD_TO_DEG);
     }
 
+    bool getDataReady();
+    
 private:
 
     I2C &i2c_;