hiroya taura / Mbed 2 deprecated LAURUS_program

MPU6050のサンプルプログラム２

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by LAURUS

HMC5883L/HMC5883L.cpp@1:6cd6d2760856, 2015-05-24 (annotated)

Committer:
ojan
Date:
Sun May 24 17:32:47 2015 +0000
Revision:
1:6cd6d2760856
Parent:
0:bc6f14fc60c7 
Send all sensor's data to PC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ojan 0:bc6f14fc60c7 1 #include "mbed.h"
ojan 0:bc6f14fc60c7 2 #include "HMC5883L.h"
ojan 0:bc6f14fc60c7 3
ojan 1:6cd6d2760856 4 HMC5883L::HMC5883L(I2C* p_i2c): i2c(p_i2c) {}
ojan 0:bc6f14fc60c7 5
ojan 0:bc6f14fc60c7 6 HMC5883L::~HMC5883L() {
ojan 0:bc6f14fc60c7 7 i2c = NULL;
ojan 0:bc6f14fc60c7 8 }
ojan 0:bc6f14fc60c7 9
ojan 0:bc6f14fc60c7 10 int HMC5883L::init() {
ojan 0:bc6f14fc60c7 11 return 1;
ojan 0:bc6f14fc60c7 12 }
ojan 0:bc6f14fc60c7 13
ojan 0:bc6f14fc60c7 14 int HMC5883L::read() {
ojan 0:bc6f14fc60c7 15 char cmd[2] = {0x02, 0x01};
ojan 0:bc6f14fc60c7 16 int ret = i2c->write(hmc_addr, cmd, 2);
ojan 0:bc6f14fc60c7 17 if(ret != 0) return 0;
ojan 0:bc6f14fc60c7 18
ojan 0:bc6f14fc60c7 19 cmd[0] = 0x03;
ojan 0:bc6f14fc60c7 20 i2c->write(hmc_addr, cmd, 1);
ojan 0:bc6f14fc60c7 21 i2c->read(hmc_addr | 0x01, data.reg, 6, true);
ojan 0:bc6f14fc60c7 22
ojan 0:bc6f14fc60c7 23 // データのHとLが逆に読み込まれているのでスワップする
ojan 0:bc6f14fc60c7 24 for(int i=0; i<3; i++) {
ojan 0:bc6f14fc60c7 25 char temp = 0;
ojan 0:bc6f14fc60c7 26 temp = data.reg[i*2];
ojan 0:bc6f14fc60c7 27 data.reg[i*2] = data.reg[i*2+1];
ojan 0:bc6f14fc60c7 28 data.reg[i*2+1] = temp;
ojan 0:bc6f14fc60c7 29 }
ojan 0:bc6f14fc60c7 30
ojan 1:6cd6d2760856 31 // 軸を加速度センサーとあわせる
ojan 0:bc6f14fc60c7 32 int16_t temp = data.value[1];
ojan 0:bc6f14fc60c7 33 data.value[1] = data.value[2];
ojan 0:bc6f14fc60c7 34 data.value[2] = temp;
ojan 0:bc6f14fc60c7 35
ojan 1:6cd6d2760856 36 temp = data.value[1];
ojan 1:6cd6d2760856 37 data.value[1] = -data.value[0];
ojan 1:6cd6d2760856 38 data.value[0] = temp;
ojan 1:6cd6d2760856 39
ojan 1:6cd6d2760856 40
ojan 0:bc6f14fc60c7 41 return 1;
ojan 0:bc6f14fc60c7 42 }