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/*
HMC5883L.cpp - Class file for the HMC5883L Triple Axis Magnetometer Arduino Library.
This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
WARNING: THE HMC5883L IS NOT IDENTICAL TO THE HMC5883!
Datasheet for HMC5883L:
http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf
*/
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include "HMC5883L.h"
HMC5883L::HMC5883L()
{
m_Scale = 1;
}
MagnetometerRaw HMC5883L::ReadRawAxis()
{
uint8_t* buffer = Read(DataRegisterBegin, 6);
MagnetometerRaw raw = MagnetometerRaw();
raw.XAxis = (buffer[0] << 8) | buffer[1];
raw.ZAxis = (buffer[2] << 8) | buffer[3];
raw.YAxis = (buffer[4] << 8) | buffer[5];
return raw;
}
MagnetometerScaled HMC5883L::ReadScaledAxis()
{
MagnetometerRaw raw = ReadRawAxis();
MagnetometerScaled scaled = MagnetometerScaled();
scaled.XAxis = raw.XAxis * m_Scale;
scaled.ZAxis = raw.ZAxis * m_Scale;
scaled.YAxis = raw.YAxis * m_Scale;
return scaled;
}
int HMC5883L::SetScale(float gauss)
{
uint8_t regValue = 0x00;
if(gauss == 0.88)
{
regValue = 0x00;
m_Scale = 0.73;
}
else if(gauss == 1.3)
{
regValue = 0x01;
m_Scale = 0.92;
}
else if(gauss == 1.9)
{
regValue = 0x02;
m_Scale = 1.22;
}
else if(gauss == 2.5)
{
regValue = 0x03;
m_Scale = 1.52;
}
else if(gauss == 4.0)
{
regValue = 0x04;
m_Scale = 2.27;
}
else if(gauss == 4.7)
{
regValue = 0x05;
m_Scale = 2.56;
}
else if(gauss == 5.6)
{
regValue = 0x06;
m_Scale = 3.03;
}
else if(gauss == 8.1)
{
regValue = 0x07;
m_Scale = 4.35;
}
else
return ErrorCode_1_Num;
// Setting is in the top 3 bits of the register.
regValue = regValue << 5;
Write(ConfigurationRegisterB, regValue);
}
int HMC5883L::SetMeasurementMode(uint8_t mode)
{
Write(ModeRegister, mode);
return 0;
}
void HMC5883L::Write(int address, int data)
{
Wire.beginTransmission(HMC5883L_Address);
#if ARDUINO >= 100
Wire.write((uint8_t)address);
Wire.write((uint8_t)data);
#else
Wire.send(address);
Wire.send(data);
#endif
Wire.endTransmission();
}
uint8_t* HMC5883L::Read(int address, int length)
{
Wire.beginTransmission(HMC5883L_Address);
#if ARDUINO >= 100
Wire.write((uint8_t)address);
#else
Wire.send(address);
#endif
Wire.endTransmission();
Wire.beginTransmission(HMC5883L_Address);
Wire.requestFrom(HMC5883L_Address, length);
uint8_t buffer[length];
if(Wire.available() == length)
{
for(uint8_t i = 0; i < length; i++)
{
#if ARDUINO >= 100
buffer[i] = Wire.read();
#else
buffer[i] = Wire.receive();
#endif
}
}
Wire.endTransmission();
return buffer;
}
char* HMC5883L::GetErrorText(int errorCode)
{
if (errorCode == ErrorCode_1_Num)
return ErrorCode_1;
return "Error not defined.";
}
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