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Added support for custom TwoWire interfce #6

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Added support for custom TwoWire interfce #6

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281 changes: 145 additions & 136 deletions Adafruit_HMC5883_U.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,15 +47,15 @@ static float _hmc5883_Gauss_LSB_Z = 980.0F; // Varies with gain
/**************************************************************************/
void Adafruit_HMC5883_Unified::write8(byte address, byte reg, byte value)
{
Wire.beginTransmission(address);
#if ARDUINO >= 100
Wire.write((uint8_t)reg);
Wire.write((uint8_t)value);
#else
Wire.send(reg);
Wire.send(value);
#endif
Wire.endTransmission();
_wire->beginTransmission(address);
#if ARDUINO >= 100
_wire->write((uint8_t)reg);
_wire->write((uint8_t)value);
#else
_wire->send(reg);
_wire->send(value);
#endif
_wire->endTransmission();
}

/**************************************************************************/
Expand All @@ -65,24 +65,24 @@ void Adafruit_HMC5883_Unified::write8(byte address, byte reg, byte value)
/**************************************************************************/
byte Adafruit_HMC5883_Unified::read8(byte address, byte reg)
{
byte value;

Wire.beginTransmission(address);
#if ARDUINO >= 100
Wire.write((uint8_t)reg);
#else
Wire.send(reg);
#endif
Wire.endTransmission();
Wire.requestFrom(address, (byte)1);
#if ARDUINO >= 100
value = Wire.read();
#else
value = Wire.receive();
#endif
Wire.endTransmission();

return value;
byte value;

_wire->beginTransmission(address);
#if ARDUINO >= 100
_wire->write((uint8_t)reg);
#else
_wire->send(reg);
#endif
_wire->endTransmission();
_wire->requestFrom(address, (byte)1);
#if ARDUINO >= 100
value = _wire->read();
#else
value = _wire->receive();
#endif
_wire->endTransmission();

return value;
}

/**************************************************************************/
Expand All @@ -92,79 +92,86 @@ byte Adafruit_HMC5883_Unified::read8(byte address, byte reg)
/**************************************************************************/
void Adafruit_HMC5883_Unified::read()
{
// Read the magnetometer
Wire.beginTransmission((byte)HMC5883_ADDRESS_MAG);
#if ARDUINO >= 100
Wire.write(HMC5883_REGISTER_MAG_OUT_X_H_M);
#else
Wire.send(HMC5883_REGISTER_MAG_OUT_X_H_M);
#endif
Wire.endTransmission();
Wire.requestFrom((byte)HMC5883_ADDRESS_MAG, (byte)6);
// Wait around until enough data is available
while (Wire.available() < 6);

// Note high before low (different than accel)
#if ARDUINO >= 100
uint8_t xhi = Wire.read();
uint8_t xlo = Wire.read();
uint8_t zhi = Wire.read();
uint8_t zlo = Wire.read();
uint8_t yhi = Wire.read();
uint8_t ylo = Wire.read();
#else
uint8_t xhi = Wire.receive();
uint8_t xlo = Wire.receive();
uint8_t zhi = Wire.receive();
uint8_t zlo = Wire.receive();
uint8_t yhi = Wire.receive();
uint8_t ylo = Wire.receive();
#endif
// Shift values to create properly formed integer (low byte first)
_magData.x = (int16_t)(xlo | ((int16_t)xhi << 8));
_magData.y = (int16_t)(ylo | ((int16_t)yhi << 8));
_magData.z = (int16_t)(zlo | ((int16_t)zhi << 8));
// ToDo: Calculate orientation
_magData.orientation = 0.0;
// Read the magnetometer
_wire->beginTransmission((byte)HMC5883_ADDRESS_MAG);
#if ARDUINO >= 100
_wire->write(HMC5883_REGISTER_MAG_OUT_X_H_M);
#else
_wire->send(HMC5883_REGISTER_MAG_OUT_X_H_M);
#endif
_wire->endTransmission();
_wire->requestFrom((byte)HMC5883_ADDRESS_MAG, (byte)6);

// Wait around until enough data is available
while(_wire->available() < 6);

// Note high before low (different than accel)
#if ARDUINO >= 100
uint8_t xhi = _wire->read();
uint8_t xlo = _wire->read();
uint8_t zhi = _wire->read();
uint8_t zlo = _wire->read();
uint8_t yhi = _wire->read();
uint8_t ylo = _wire->read();
#else
uint8_t xhi = _wire->receive();
uint8_t xlo = _wire->receive();
uint8_t zhi = _wire->receive();
uint8_t zlo = _wire->receive();
uint8_t yhi = _wire->receive();
uint8_t ylo = _wire->receive();
#endif

// Shift values to create properly formed integer (low byte first)
_magData.x = (int16_t)(xlo | ((int16_t)xhi << 8));
_magData.y = (int16_t)(ylo | ((int16_t)yhi << 8));
_magData.z = (int16_t)(zlo | ((int16_t)zhi << 8));

// ToDo: Calculate orientation
_magData.orientation = 0.0;
}

/***************************************************************************
CONSTRUCTOR
***************************************************************************/

/**************************************************************************/
/*!
@brief Instantiates a new Adafruit_HMC5883 class
*/
/**************************************************************************/
Adafruit_HMC5883_Unified::Adafruit_HMC5883_Unified(int32_t sensorID) {
_sensorID = sensorID;
Adafruit_HMC5883_Unified::Adafruit_HMC5883_Unified(int32_t sensorID)
{
_sensorID = sensorID;
}

/***************************************************************************
PUBLIC FUNCTIONS
***************************************************************************/

/**************************************************************************/
/*!
@brief Setups the HW
*/
/**************************************************************************/
bool Adafruit_HMC5883_Unified::begin()
{
// Enable I2C
Wire.begin();
// Enable I2C
Wire.begin();
return begin(Wire);
}

bool Adafruit_HMC5883_Unified::begin(TwoWire& w)
{
_wire = &w;

// Enable the magnetometer
write8(HMC5883_ADDRESS_MAG, HMC5883_REGISTER_MAG_MR_REG_M, 0x00);

// Set the gain to a known level
setMagGain(HMC5883_MAGGAIN_1_3);
// Enable the magnetometer
write8(HMC5883_ADDRESS_MAG, HMC5883_REGISTER_MAG_MR_REG_M, 0x00);

return true;
// Set the gain to a known level
setMagGain(HMC5883_MAGGAIN_1_3);

return true;
}

/**************************************************************************/
Expand All @@ -174,83 +181,85 @@ bool Adafruit_HMC5883_Unified::begin()
/**************************************************************************/
void Adafruit_HMC5883_Unified::setMagGain(hmc5883MagGain gain)
{
write8(HMC5883_ADDRESS_MAG, HMC5883_REGISTER_MAG_CRB_REG_M, (byte)gain);
_magGain = gain;
switch(gain)
{
write8(HMC5883_ADDRESS_MAG, HMC5883_REGISTER_MAG_CRB_REG_M, (byte)gain);

_magGain = gain;

switch(gain)
{
case HMC5883_MAGGAIN_1_3:
_hmc5883_Gauss_LSB_XY = 1100;
_hmc5883_Gauss_LSB_Z = 980;
break;
_hmc5883_Gauss_LSB_XY = 1100;
_hmc5883_Gauss_LSB_Z = 980;
break;
case HMC5883_MAGGAIN_1_9:
_hmc5883_Gauss_LSB_XY = 855;
_hmc5883_Gauss_LSB_Z = 760;
break;
_hmc5883_Gauss_LSB_XY = 855;
_hmc5883_Gauss_LSB_Z = 760;
break;
case HMC5883_MAGGAIN_2_5:
_hmc5883_Gauss_LSB_XY = 670;
_hmc5883_Gauss_LSB_Z = 600;
break;
_hmc5883_Gauss_LSB_XY = 670;
_hmc5883_Gauss_LSB_Z = 600;
break;
case HMC5883_MAGGAIN_4_0:
_hmc5883_Gauss_LSB_XY = 450;
_hmc5883_Gauss_LSB_Z = 400;
break;
_hmc5883_Gauss_LSB_XY = 450;
_hmc5883_Gauss_LSB_Z = 400;
break;
case HMC5883_MAGGAIN_4_7:
_hmc5883_Gauss_LSB_XY = 400;
_hmc5883_Gauss_LSB_Z = 255;
break;
_hmc5883_Gauss_LSB_XY = 400;
_hmc5883_Gauss_LSB_Z = 255;
break;
case HMC5883_MAGGAIN_5_6:
_hmc5883_Gauss_LSB_XY = 330;
_hmc5883_Gauss_LSB_Z = 295;
break;
_hmc5883_Gauss_LSB_XY = 330;
_hmc5883_Gauss_LSB_Z = 295;
break;
case HMC5883_MAGGAIN_8_1:
_hmc5883_Gauss_LSB_XY = 230;
_hmc5883_Gauss_LSB_Z = 205;
break;
}
_hmc5883_Gauss_LSB_XY = 230;
_hmc5883_Gauss_LSB_Z = 205;
break;
}
}

/**************************************************************************/
/*!
/*!
@brief Gets the most recent sensor event
*/
/**************************************************************************/
bool Adafruit_HMC5883_Unified::getEvent(sensors_event_t *event) {
/* Clear the event */
memset(event, 0, sizeof(sensors_event_t));

/* Read new data */
read();

event->version = sizeof(sensors_event_t);
event->sensor_id = _sensorID;
event->type = SENSOR_TYPE_MAGNETIC_FIELD;
event->timestamp = 0;
event->magnetic.x = _magData.x / _hmc5883_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
event->magnetic.y = _magData.y / _hmc5883_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
event->magnetic.z = _magData.z / _hmc5883_Gauss_LSB_Z * SENSORS_GAUSS_TO_MICROTESLA;

return true;
bool Adafruit_HMC5883_Unified::getEvent(sensors_event_t* event)
{
/* Clear the event */
memset(event, 0, sizeof(sensors_event_t));

/* Read new data */
read();

event->version = sizeof(sensors_event_t);
event->sensor_id = _sensorID;
event->type = SENSOR_TYPE_MAGNETIC_FIELD;
event->timestamp = 0;
event->magnetic.x = _magData.x / _hmc5883_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
event->magnetic.y = _magData.y / _hmc5883_Gauss_LSB_XY * SENSORS_GAUSS_TO_MICROTESLA;
event->magnetic.z = _magData.z / _hmc5883_Gauss_LSB_Z * SENSORS_GAUSS_TO_MICROTESLA;

return true;
}

/**************************************************************************/
/*!
/*!
@brief Gets the sensor_t data
*/
/**************************************************************************/
void Adafruit_HMC5883_Unified::getSensor(sensor_t *sensor) {
/* Clear the sensor_t object */
memset(sensor, 0, sizeof(sensor_t));

/* Insert the sensor name in the fixed length char array */
strncpy (sensor->name, "HMC5883", sizeof(sensor->name) - 1);
sensor->name[sizeof(sensor->name)- 1] = 0;
sensor->version = 1;
sensor->sensor_id = _sensorID;
sensor->type = SENSOR_TYPE_MAGNETIC_FIELD;
sensor->min_delay = 0;
sensor->max_value = 800; // 8 gauss == 800 microTesla
sensor->min_value = -800; // -8 gauss == -800 microTesla
sensor->resolution = 0.2; // 2 milligauss == 0.2 microTesla
void Adafruit_HMC5883_Unified::getSensor(sensor_t* sensor)
{
/* Clear the sensor_t object */
memset(sensor, 0, sizeof(sensor_t));

/* Insert the sensor name in the fixed length char array */
strncpy(sensor->name, "HMC5883", sizeof(sensor->name) - 1);
sensor->name[sizeof(sensor->name) - 1] = 0;
sensor->version = 1;
sensor->sensor_id = _sensorID;
sensor->type = SENSOR_TYPE_MAGNETIC_FIELD;
sensor->min_delay = 0;
sensor->max_value = 800; // 8 gauss == 800 microTesla
sensor->min_value = -800; // -8 gauss == -800 microTesla
sensor->resolution = 0.2; // 2 milligauss == 0.2 microTesla
}
2 changes: 2 additions & 0 deletions Adafruit_HMC5883_U.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,7 @@ class Adafruit_HMC5883_Unified : public Adafruit_Sensor
Adafruit_HMC5883_Unified(int32_t sensorID = -1);

bool begin(void);
bool begin(TwoWire &w);
void setMagGain(hmc5883MagGain gain);
bool getEvent(sensors_event_t*);
void getSensor(sensor_t*);
Expand All @@ -110,6 +111,7 @@ class Adafruit_HMC5883_Unified : public Adafruit_Sensor
hmc5883MagGain _magGain;
hmc5883MagData _magData; // Last read magnetometer data will be available here
int32_t _sensorID;
TwoWire *_wire;

void write8(byte address, byte reg, byte value);
byte read8(byte address, byte reg);
Expand Down