int main ()
{ struct intvector mag; // integer vector of magnetometer measurements
#define magx mag.x.i16 // x axis
#define magy mag.y.i16 // y axis
#define magz mag.z.i16 // z axis
microcontroller_init();
uart1_open(38400); // open UART1
printf ("Starting test...\n\r");
InitI2C(); // Initialise the I2C(1) module
init_HMC5843(); // initialize the HMC5843 chip
test_HMC5843(); // display configuration and ID registers
while(1)
{
HMC5843(&mag); // update magnetometer data
printf( "%5d %5d %5d\r",magx,magy,magz);
microcontroller_delay_ms(100);
} // end while
} // end main
TWDR = data;
TWCR = (1<<TWINT)|(1<<TWEN);
}
// ask for a byte, wait for it arrive, and return it
unsigned char HMC5843::receiveByte(void)
{
waitForReady();
TWCR = ((TWCR&0x0F)|(1<<TWINT)|(1<<TWEA));
waitForReady();
return(TWDR);
}
// get status register. the bits 0 and 1 are zeroed in init. see datasheet
unsigned char HMC5843::readStatus()
{
waitForReady();
return(TWSR);
}
// wait for TWINT to be set before touching the other registers.
void HMC5843::waitForReady(void)
{
// timeout after some time to avoid locking up if something goes wrong
int timeout = 200;
while ((!(TWCR & (1<<TWINT))) && (timeout--));
}
// Set the default object
HMC5843 HMC = HMC5843();
