| /* | |
| 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 | |
| */ | |
| 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(); | |
| } | |