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a9536d3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | /*
Copyright (c) 2013 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "Compass.h"
#include <Wire.h>
void Compass::begin(){
Wire.begin();
}
float Compass::getReading(){
_beginTransmission();
_endTransmission();
//time delays required by HMC6352 upon receipt of the command
//Get Data. Compensate and Calculate New Heading : 6ms
delay(6);
Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
//"The heading output data will be the value in tenths of degrees
//from zero to 3599 and provided in binary format over the two bytes."
byte MSB = Wire.read();
byte LSB = Wire.read();
float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
float headingInt = headingSum / 10;
return headingInt;
}
void Compass::_beginTransmission(){
Wire.beginTransmission(HMC6352SlaveAddress);
Wire.write(HMC6352ReadAddress);
}
void Compass::_endTransmission(){
Wire.endTransmission();
}
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