o: ActiveSupport::Cache::Entry :@compressedF: @value"¹]"³]
HMC5883L.c
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//Knihovna pro senzor HMC5883L
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//(c) Jan Chroust 2013
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void set_mag (void) //uvodni nastaveni na kontinualni mereni, rozsah ? 8.1 Ga, frekvence mereni 15HZ


  		




  
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//------------------------------


  		




  
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// Low level routines


  		




  
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//------------------------------


  		




  
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void hmc5883l_write_reg(int8 reg, int8 data)


  		




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{


  		




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  i2c_start();       //nastaven? Configuration Register A


  		




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  I2C_Write(MAG_ADDR_W);     


  		




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  I2C_Write(0x00);   


  		




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  I2C_Write(0x70);


  		




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  i2c_stop();


  		




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  Delay_ms(6);


  		




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  i2c_start();       //nastaven? Configuration Register B


  		




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  I2C_Write(MAG_ADDR_W);     


  		




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  I2C_Write(0x01);   


  		




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  I2C_Write(MAG_ROZ810);


  		




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  i2c_stop();


  		




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  Delay_ms(6);


  		




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  i2c_start();          //nastveni Mode Register 


  		




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  I2C_Write(MAG_ADDR_W);     


  		




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  I2C_Write(0x02);   


  		




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  I2C_Write(0x00);


  		




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  i2c_stop();


  		




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  Delay_ms(6);  


  		




  
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i2c_start();


  		




  
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i2c_write(HMC5883L_WRT_ADDR);


  		




  
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i2c_write(reg);


  		




  
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i2c_write(data);


  		




  
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i2c_stop();


  		




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}


  		




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void set_mag_roz (unsigned int8 h) //nastavy rozsah


  		




  
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//------------------------------


  		




  
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int8 hmc5883l_read_reg(int8 reg)


  		




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{


  		




  
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int8 retval;


  		




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//


  		




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  i2c_start();       


  		




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  I2C_Write(MAG_ADDR_W);     


  		




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  I2C_Write(0x01);   


  		




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  I2C_Write(h);


  		




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  i2c_stop();


  		




  
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i2c_start();


  		




  
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i2c_write(HMC5883L_WRT_ADDR);


  		




  
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i2c_write(reg);


  		




  
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i2c_start();


  		




  
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i2c_write(HMC5883L_READ_ADDR);


  		




  
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retval = i2c_read(0);


  		




  
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i2c_stop();


  		




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  Delay_ms(6);


  		




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return(retval);


  		




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}


  		




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byte mag_read(byte reg) //pro cteni reg


  		




  
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//------------------------------


  		




  
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typedef struct


  		




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{


  		




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   i2c_start();


  		




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   I2C_Write(MAG_ADDR_W);


  		




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   I2C_write(reg);


  		




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   i2c_stop();


  		




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   i2c_start();


  		




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   I2C_Write(MAG_ADDR_R);


  		




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   reg=i2c_read(0);


  		




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  return reg;


  		




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}


  		




  
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signed int16 x;


  		




  
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signed int16 y;


  		




  
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signed int16 z;


  		




  
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}hmc5883l_result;


  		




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// This global structure holds the values read


  		




  
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// from the HMC5883L x,y,z registers.


  		




  
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hmc5883l_result compass = {0,0,0};


  		




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signed int16 mag_vypocet(unsigned int8 h, unsigned int8 l) //prepocet na 16bit cislo


  		




  
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//------------------------------


  		




  
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void hmc5883l_read_data(void)


  		




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{


  		




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signed int16 x;


  		




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x = (((unsigned int16) h << 8) + l );


  		




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return x;   


  		




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}


  		




  
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unsigned int8 x_lsb;


  		




  
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unsigned int8 x_msb;


  		




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unsigned int8 y_lsb;


  		




  
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unsigned int8 y_msb;


  		




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signed int16 mag_readX(void) //nacteni osy x


  		




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{


  		




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unsigned int8 h,l;


  		




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signed int16 x;


  		




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h=mag_read(0x03);


  		




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l=mag_read(0x04);


  		




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x=mag_vypocet(h,l);


  		




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return x;


  		




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}


  		




  
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unsigned int8 z_lsb;


  		




  
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unsigned int8 z_msb;


  		




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i2c_start();


  		




  
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i2c_write(HMC5883L_WRT_ADDR);


  		




  
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i2c_write(HMC5883L_X_MSB_REG);  // Point to X-msb register


  		




  
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i2c_start();


  		




  
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i2c_write(HMC5883L_READ_ADDR);


  		




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signed int16 mag_readY(void) //nacteni osy x


  		




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{


  		




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unsigned int8 h,l;


  		




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signed int16 x;


  		




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h=mag_read(0x07);


  		




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l=mag_read(0x08);


  		




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x=mag_vypocet(h,l);


  		




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return x;


  		




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}


  		




  
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x_msb = i2c_read();


  		




  
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x_lsb = i2c_read();


  		




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z_msb = i2c_read();


  		




  
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z_lsb = i2c_read();   


  		




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signed int16 mag_readZ(void) //nacteni osy x


  		




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{


  		




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unsigned int8 h,l;


  		




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signed int16 x;


  		




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h=mag_read(0x05);


  		




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l=mag_read(0x06);


  		




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x=mag_vypocet(h,l);


  		




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return x;


  		




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y_msb = i2c_read();


  		




  
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y_lsb = i2c_read(0); // do a NACK on last read


  		




  
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i2c_stop();


  		




  
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// Combine high and low bytes into 16-bit values.


  		




  
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compass.x = make16(x_msb, x_lsb);


  		




  
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compass.y = make16(y_msb, y_lsb);


  		




  
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compass.z = make16(z_msb, z_lsb);


  		




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}


  		




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:@created_atf1442367213.9772401‹:@expires_in0