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#include "Compass.h"
#include <Wire.h>
void Compass::begin(){
Wire.begin();
}
float Compass::getReading(){
_beginTransmission();
_endTransmission();
//time delays required by HMC6352 upon receipt of the command
//Get Data. Compensate and Calculate New Heading : 6ms
delay(6);
Wire.requestFrom(HMC6352SlaveAddress, 2); //get the two data bytes, MSB and LSB
//"The heading output data will be the value in tenths of degrees
//from zero to 3599 and provided in binary format over the two bytes."
byte MSB = Wire.read();
byte LSB = Wire.read();
float headingSum = (MSB << 8) + LSB; //(MSB / LSB sum)
float headingInt = headingSum / 10;
return headingInt;
}
void Compass::_beginTransmission(){
Wire.beginTransmission(HMC6352SlaveAddress);
Wire.write(HMC6352ReadAddress);
}
void Compass::_endTransmission(){
Wire.endTransmission();
}
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