Diff: HMC5883L.cpp

Revision:

3:6aac221b613d

Parent:

2:bbc9ad18fd3e

diff -r bbc9ad18fd3e -r 6aac221b613d HMC5883L.cpp
--- a/HMC5883L.cpp	Wed Aug 05 13:16:12 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,156 +0,0 @@
-/*   HMC5883L Digital Compass Library
-*
-*    @author: Baser Kandehir 
-*    @date: August 5, 2015
-*    @license: MIT license
-*     
-*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
-*
-*   Permission is hereby granted, free of charge, to any person obtaining a copy
-*   of this software and associated documentation files (the "Software"), to deal
-*   in the Software without restriction, including without limitation the rights
-*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-*   copies of the Software, and to permit persons to whom the Software is
-*   furnished to do so, subject to the following conditions:
-*
-*   The above copyright notice and this permission notice shall be included in
-*   all copies or substantial portions of the Software.
-*
-*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-*   THE SOFTWARE.
-*
-*/
-
-// Some part of the code is adapted from Adafruit HMC5883 library
-
-#include "HMC5883L.h"
-
-/* NUCLEO F411RE board */
-static I2C i2c(D14, D15);         // setup i2c (SDA,SCL)  
-
-static float Gauss_LSB_XY = 1100.0F; // Varies with gain
-static float Gauss_LSB_Z =  980.0F;  // Varies with gain
- 
-void HMC5883L::setMagGain(MagGain gain)
-{
-    writeByte(HMC5883L_ADDRESS, CONFIG_B, (int8_t)gain);    
-    
-    switch(gain)
-    {
-        case MagGain_13:
-            Gauss_LSB_XY = 1100;
-            Gauss_LSB_Z  = 980;
-            break;
-        case MagGain_19:
-            Gauss_LSB_XY = 855;
-            Gauss_LSB_Z  = 760;
-            break;
-        case MagGain_25:
-            Gauss_LSB_XY = 670;
-            Gauss_LSB_Z  = 600;
-            break;
-        case MagGain_40:
-            Gauss_LSB_XY = 450;
-            Gauss_LSB_Z  = 400;
-            break;
-        case MagGain_47:
-            Gauss_LSB_XY = 400;
-            Gauss_LSB_Z  = 255;
-            break;
-        case MagGain_56:
-            Gauss_LSB_XY = 330;
-            Gauss_LSB_Z  = 295;
-            break;
-        case MagGain_81:
-            Gauss_LSB_XY = 230;
-            Gauss_LSB_Z  = 205;
-            break;
-    }  
-}
-
-void HMC5883L::writeByte(uint8_t address, uint8_t regAddress, uint8_t data)
-{
-    char data_write[2];
-    data_write[0]=regAddress;           // I2C sends MSB first. Namely  >>|regAddress|>>|data|
-    data_write[1]=data;
-    i2c.write(address,data_write,2,0);  // i2c.write(int address, char* data, int length, bool repeated=false);  
-}
-
-char HMC5883L::readByte(uint8_t address, uint8_t regAddress)
-{
-    char data_read[1];                   // will store the register data    
-    char data_write[1];
-    data_write[0]=regAddress;
-    i2c.write(address,data_write,1,1);   // repeated = true
-    i2c.read(address,data_read,1,0);     // read the data and stop
-    return data_read[0];
-} 
-
-void HMC5883L::readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest)
-{
-    char data[10],data_write[1];  
-    data_write[0]=regAddress;      
-    i2c.write(address,data_write,1,1);
-    i2c.read(address,data,byteNum,0);
-    for(int i=0;i<byteNum;i++)          // equate the addresses
-        dest[i]=data[i];
-}
-
-void HMC5883L::init()
-{
-    writeByte(HMC5883L_ADDRESS, CONFIG_A, 0x78);  // Number of samples averaged: 8, Data output rate: 75 Hz
-    writeByte(HMC5883L_ADDRESS, MODE,     0x00);  // Continuous-Measurement Mode
-    setMagGain(MagGain_13);
-    wait_ms(10);
-}
-
-void HMC5883L::readMagData(float* dest)
-{
-    uint8_t rawData[6]; // x,y,z mag data
-    
-    /* Read six raw data registers sequentially and write them into data array */
-    readBytes(HMC5883L_ADDRESS, OUT_X_MSB, 6, &rawData[0]); 
-    
-    /* Turn the MSB LSB into signed 16-bit value */
-    dest[0] = (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]);  // MAG_XOUT
-    dest[2] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]);  // MAG_ZOUT
-    dest[1] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]);  // MAG_YOUT 
-    
-    /* Convert raw data to magnetic field values in microtesla */
-     dest[0] = dest[0] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
-     dest[1] = dest[1] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
-     dest[2] = dest[2] / Gauss_LSB_Z  * GAUSS_TO_MICROTESLA;
-}
-
-double HMC5883L::getHeading()
-{
-    float magData[3];
-    readMagData(magData);
-    
-    /* Calculate the heading while Z axis of the module is pointing up */
-    double heading = atan2(magData[1], magData[0]);
-    
-    // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
-    // declinationAngle can be found here http://www.magnetic-declination.com/
-    // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
-    float declinationAngle = 0.096;
-    heading += declinationAngle;
-    
-    // Correct for when signs are reversed.
-    if(heading < 0)
-        heading += 2*PI;
-    
-    // Check for wrap due to addition of declination.
-    if(heading > 2*PI)
-        heading -= 2*PI;
-    
-    /* Convert radian to degrees */
-    heading = heading * 180 / PI;  
-    
-    return heading;    
-}