mirror of https://github.com/noisymime/Arduino.git
34 lines
869 B
C++
34 lines
869 B
C++
#include "Compass.h"
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#include <Wire.h>
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void Compass::begin(){
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Wire.begin();
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}
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float Compass::getReading(){
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_beginTransmission();
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_endTransmission();
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//time delays required by HMC6352 upon receipt of the command
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//Get Data. Compensate and Calculate New Heading : 6ms
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delay(6);
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Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
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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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float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
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float headingInt = headingSum / 10;
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return headingInt;
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}
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void Compass::_beginTransmission(){
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Wire.beginTransmission(HMC6352SlaveAddress);
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Wire.write(HMC6352ReadAddress);
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}
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void Compass::_endTransmission(){
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Wire.endTransmission();
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} |