--- /dev/null
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "hmc5883l.h"
+
+int
+main(int argc, char **argv)
+{
+ upm::Hmc5883l* compass = new upm::Hmc5883l();
+ fprintf(stdout, "heading: %f\n", compass->heading());
+
+ return 0;
+}
--- /dev/null
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "math.h"
+#include "hmc5883l.h"
+
+#define MAX_BUFFER_LENGTH 6
+#define HMC5883L_I2C_ADDR 0x1E
+
+//configuration registers
+#define HMC5883L_CONF_REG_A 0x00
+#define HMC5883L_CONF_REG_B 0x01
+
+//mode register
+#define HMC5883L_MODE_REG 0x02
+
+//data register
+#define HMC5883L_X_MSB_REG 0
+#define HMC5883L_X_LSB_REG 1
+#define HMC5883L_Z_MSB_REG 2
+#define HMC5883L_Z_LSB_REG 3
+#define HMC5883L_Y_MSB_REG 4
+#define HMC5883L_Y_LSB_REG 5
+#define DATA_REG_SIZE 6
+
+//status register
+#define HMC5883L_STATUS_REG 0x09
+
+//ID registers
+#define HMC5883L_ID_A_REG 0x0A
+#define HMC5883L_ID_B_REG 0x0B
+#define HMC5883L_ID_C_REG 0x0C
+
+#define HMC5883L_CONT_MODE 0x00
+#define HMC5883L_DATA_REG 0x03
+
+//scales
+#define GA_0_88_REG 0x00 << 5
+#define GA_1_3_REG 0x01 << 5
+#define GA_1_9_REG 0x02 << 5
+#define GA_2_5_REG 0x03 << 5
+#define GA_4_0_REG 0x04 << 5
+#define GA_4_7_REG 0x05 << 5
+#define GA_5_6_REG 0x06 << 5
+#define GA_8_1_REG 0x07 << 5
+
+//digital resolutions
+#define SCALE_0_73_MG 0.73
+#define SCALE_0_92_MG 0.92
+#define SCALE_1_22_MG 1.22
+#define SCALE_1_52_MG 1.52
+#define SCALE_2_27_MG 2.27
+#define SCALE_2_56_MG 2.56
+#define SCALE_3_03_MG 3.03
+#define SCALE_4_35_MG 4.35
+
+using namespace upm;
+
+Hmc5883l::Hmc5883l()
+{
+ i2c = new maa::I2CSlave(26, 27);
+
+ i2c->address(HMC5883L_I2C_ADDR);
+ rx_tx_buf[0] = HMC5883L_CONF_REG_B;
+ rx_tx_buf[1] = GA_1_3_REG;
+ i2c->write(rx_tx_buf, 2);
+
+ i2c->address(HMC5883L_I2C_ADDR);
+ rx_tx_buf[0] = HMC5883L_MODE_REG;
+ rx_tx_buf[1] = HMC5883L_CONT_MODE;
+ i2c->write(rx_tx_buf, 2);
+
+ Hmc5883l::update();
+}
+
+int
+Hmc5883l::update(void)
+{
+ i2c->address(HMC5883L_I2C_ADDR);
+ i2c->write(HMC5883L_DATA_REG);
+
+ i2c->address(HMC5883L_I2C_ADDR);
+ i2c->read(rx_tx_buf, DATA_REG_SIZE);
+
+ // x
+ coor[0] = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
+ // z
+ coor[2] = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;
+ // y
+ coor[1] = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Y_LSB_REG] ;
+}
+
+float
+Hmc5883l::direction(void)
+{
+ return atan2(coor[1] * SCALE_0_92_MG, coor[0] * SCALE_0_92_MG);
+}
+
+float
+Hmc5883l::heading(void)
+{
+ return Hmc5883l::direction() * 180/M_PI;
+}
+
+int*
+Hmc5883l::coordinates(void)
+{
+ return &coor[0];
+}
--- /dev/null
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <maa/maa.h>
+
+#define MAX_BUFFER_LENGTH 6
+
+namespace upm {
+
+class Hmc5883l {
+public:
+ Hmc5883l();
+ float direction();
+ float heading();
+ int* coordinates();
+ int update();
+private:
+ int coor[3];
+ char rx_tx_buf[MAX_BUFFER_LENGTH];
+ maa::I2CSlave* i2c;
+};
+
+}
projects / contrib / upm.git / commitdiff