71 lines
2 KiB
C++
71 lines
2 KiB
C++
/*
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* HMC6352.cpp
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*
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* Copyright (c) 2009 Ruben Laguna <ruben.laguna at gmail.com>. All rights reserved.
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*
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <Wire.h>
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#include "Arduino.h"
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#include "HMC6352.h"
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int HMC6352SlaveAddress = 0x21;
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int HMC6352ReadAddress = 0x41; //"A" in hex, A command is: "Get Data" command
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int HMC6352SleepAddress = 0x53; //"S" in hex, S command is: "Sleep" command
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int HMC6352WakeAddress = 0x57; //"W" in hex, W command is: "Wake" command
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int HMC6352Class::GetHeading()
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{
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float headingSum;
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Wire.beginTransmission(HMC6352SlaveAddress);
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Wire.write(HMC6352ReadAddress); // The "Get Data" command
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Wire.endTransmission();
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delay(8); //6000 microseconds minimum 6 ms
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Wire.requestFrom(HMC6352SlaveAddress, 2);
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//"The heading output data will be the value in tenths of degrees
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//from zero to 3599 and provided in binary format over the two bytes."
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byte MSB = Wire.read();
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byte LSB = Wire.read();
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headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
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return (headingSum / 10);
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}
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void HMC6352Class::Wake()
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{
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Wire.beginTransmission(HMC6352SlaveAddress);
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Wire.write(HMC6352WakeAddress); //W wake up exit sleep mode
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Wire.endTransmission();
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}
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void HMC6352Class::Sleep()
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{
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Wire.beginTransmission(HMC6352SlaveAddress);
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Wire.write(HMC6352SleepAddress); //S enter sleep mode
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Wire.endTransmission();
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}
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HMC6352Class HMC6352;
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