void hmc5883l_SetMeasurementMode(int mode) {
u08 b;
b = i2c_RcvByte(I2C_ID_HMC5883L, HMC5883L_CONFIG_A);
b &= 0x7c; // "01111100" clear CRA7, keep existing averaging and datarate settings, clear measuremode bits
b |= ((u08)mode);
//b = (u08)mode;
i2c_XmtByte(I2C_ID_HMC5883L, HMC5883L_CONFIG_A,b);
}
void hmc5883l_Config(void) {
/*
magn.init(false); // Don't set mode yet, we'll do that later on.
// Calibrate HMC using self test, not recommended to change the gain after calibration.
magn.calibrate(1); // Use gain 1=default, valid 0-7, 7 not recommended.
// Single mode conversion was used in calibration, now set continuous mode
hmc5883l_SetOperatingMode(HMC5883L_MEAS_CONTINUOUS);
DELAY_MS(10);
magn.setDOR(B110);
*/
u08 b;
hmc5883l_SetGain(HMC5883L_SCALE_13);
b = 0x78; // "01111000" clear CRA7, 8 sample average, 75Hz data rate, normal measurement flow
i2c_XmtByte(I2C_ID_HMC5883L, HMC5883L_CONFIG_A,b);
hmc5883l_SetOperatingMode(HMC5883L_MEAS_CONTINUOUS);
}
void SetupL3G4200D()
{
i2c_XmtByte(L3G4200D_I2C_ID, L3G4200D_CTRL_REG1, 0x3e); // "00011111"- Data rate 100Hz, BW 25Hz, power up, enable all axes
i2c_XmtByte(L3G4200D_I2C_ID, L3G4200D_CTRL_REG4, 0x90); // "10010000" 500dps, disable selftest
}
void hmc5883l_SetGain(int gain) {
u08 b;
gHMC5883L.gainIndex = gain;
b = (((uint8_t)gain)<<5);
i2c_XmtByte(I2C_ID_HMC5883L, HMC5883L_CONFIG_B,b);
}
void hmc5883l_SetOperatingMode(int mode) {
u08 b;
b = (u08)mode;
i2c_XmtByte(I2C_ID_HMC5883L, HMC5883L_MODE,b);
}
