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HMC5883L.c
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HMC5883L.c
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#include <xc.h>
#include <stdint.h>
#include "HMC5883L.h"
#include "system.h"
#include <libpic30.h>
#include <i2c.h>
#include "i2c_lib.h"
void init_hmc() {
__delay_ms(100);
start_i2c();
write_i2c(HMC_ADDR);
write_i2c(HMC_CONFIGA);
write_i2c((0b11 << 5) | (0b110 << 2));
start_i2c();
write_i2c(HMC_ADDR);
write_i2c(HMC_CONFIGB);
write_i2c(0b111 << 5); // set the gain
start_i2c();
write_i2c(HMC_ADDR);
write_i2c(HMC_MODE);
write_i2c(0);
stop_i2c();
__delay_ms(100);
}
MagnometerData read_hmc(){
MagnometerData data;
start_i2c();
// Set hmc internal register
write_i2c(HMC_ADDR);
write_i2c(HMC_DATAX_H);
__delay_ms(1);
start_i2c();
write_i2c(HMC_ADDR | HMC_READ);
//__delay_ms(1);
uint16_t h, l;
h = read_i2c(0);
//__delay_ms(1);
l = read_i2c(0);
//__delay_ms(1);
data.x = (h << 8) + l;
h = read_i2c(0);
//__delay_ms(1);
l = read_i2c(0);
//__delay_ms(1);
data.z = (h << 8) + l;
h = read_i2c(0);
//__delay_ms(1);
//l = read_i2c(1);
l = MasterReadI2C1();
NotAckI2C1();
int i;
for (i = 0; I2C1CONbits.ACKEN && i < 30000; ++i);
data.y = (h << 8) + l;
stop_i2c();
return data;
}