sshahryiar
Joined: 05 May 2010
Posts: 94
Location: Dhaka, Bangladesh
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| HMC1022 (GY-26) UART Compass Library |
 Posted: Fri Jul 17, 2015 12:01 pm |
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HMC1022.h
| Code: |
#define Default_I2C_Address 0xE0
#define Get_Angular_Measurement 0x31
#define Start_Calibration 0xC0
#define End_Calibration 0xC1
#define Set_Magnetic_Declination_High_Byte 0x03
#define Set_Magnetic_Declination_Low_Byte 0x04
#define no_of_data_bytes_returned 0x08
#define calibration_LED pin_C1
#use RS232(UART1, baud = 9600, stop = 1, parity = N, timeout = 1000)
float read_heading();
void calibrate_compass();
void factory_reset();
void set_I2C_address(unsigned char i2c_address);
void set_declination_angle(unsigned long angle);
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HMC1022.c
| Code: |
#include "HMC1022.h"
float read_heading()
{
unsigned char s = 0;
unsigned long CRC = 0x00;
register float heading = 0;
unsigned char data_bytes[no_of_data_bytes_returned] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
putc(Get_Angular_Measurement);
for(s = 0; s < no_of_data_bytes_returned; s++)
{
data_bytes[s] = getc();
if(s < 7)
{
CRC += data_bytes[s];
}
}
CRC = (CRC & 0xFF);
if(CRC == data_bytes[7])
{
for(s = 2; s < 7; s++)
{
data_bytes[s] -= 0x30;
}
heading = (data_bytes[2] * 100.0);
heading += (data_bytes[3] * 10.0);
heading += (data_bytes[4] * 1.0);
heading += (data_bytes[6] * 0.1);
}
else
{
heading = -1;
}
return heading;
}
void calibrate_compass()
{
unsigned char s = 0x00;
putc(Start_Calibration);
for(s = 0; s < 60; s++)
{
output_high(calibration_LED);
delay_ms(100);
output_low(calibration_LED);
delay_ms(900);
}
for(s = 0; s < 60; s++)
{
output_high(calibration_LED);
delay_ms(400);
output_low(calibration_LED);
delay_ms(600);
}
putc(End_Calibration);
}
void factory_reset()
{
putc(0xA0);
putc(0xAA);
putc(0xA5);
putc(0xC5);
}
void set_I2C_address(unsigned char i2c_address)
{
putc(0xA0);
putc(0xAA);
putc(0xA5);
putc(i2c_address);
}
void set_declination_angle(unsigned long angle)
{
unsigned long hb = 0;
unsigned char lb = 0;
lb = (angle & 0x00FF);
hb = (angle & 0xFF00);
hb >>= 8;
putc(Set_Magnetic_Declination_High_Byte);
putc(hb);
putc(Set_Magnetic_Declination_Low_Byte);
putc(lb);
}
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SShahryiar |
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