--- /dev/null
+/*
+ * Author: Brendan Le Foll <brendan.le.foll@intel.com>
+ * Author: Thomas Ingleby <thomas.c.ingleby@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 <unistd.h>
+#include <signal.h>
+
+#include "i2c.hpp"
+#include "math.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
+
+
+int running = 0;
+
+void
+sig_handler(int signo)
+{
+ if (signo == SIGINT) {
+ printf("closing PWM nicely\n");
+ running = -1;
+ }
+}
+
+int main ()
+{
+ maa::I2c* i2c;
+ i2c = new maa::I2c(0);
+ float direction = 0;
+ int16_t x = 0, y = 0, z = 0;
+ char rx_tx_buf[MAX_BUFFER_LENGTH];
+
+ 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);
+
+ signal(SIGINT, sig_handler);
+
+ while (running == 0) {
+ i2c->address(HMC5883L_I2C_ADDR);
+ i2c->write_byte(HMC5883L_DATA_REG);
+
+ i2c->address(HMC5883L_I2C_ADDR);
+ i2c->read(rx_tx_buf, DATA_REG_SIZE);
+
+ x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
+ z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;
+ y = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Y_LSB_REG] ;
+
+ //scale and calculate direction
+ direction = atan2(y * SCALE_0_92_MG, x * SCALE_0_92_MG);
+
+ //check if the signs are reversed
+ if (direction < 0)
+ direction += 2 * M_PI;
+
+ printf("Compass scaled data x : %f, y : %f, z : %f\n", x * SCALE_0_92_MG, y * SCALE_0_92_MG, z * SCALE_0_92_MG) ;
+ printf("Heading : %f\n", direction * 180/M_PI);
+ sleep(1);
+ }
+ delete i2c;
+
+ return MAA_SUCCESS;
+}
--- /dev/null
+/*
+ * Author: Thomas Ingleby <thomas.c.ingleby@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 <unistd.h>
+#include <signal.h>
+
+#include "pwm.hpp"
+
+int running = 0;
+
+void
+sig_handler(int signo)
+{
+ if (signo == SIGINT) {
+ printf("closing PWM nicely\n");
+ running = -1;
+ }
+}
+
+int main ()
+{
+ maa::Pwm* pwm;
+
+ pwm = new maa::Pwm(3);
+ if (pwm == NULL) {
+ return MAA_ERROR_UNSPECIFIED;
+ }
+ fprintf(stdout, "Cycling PWM on IO3 (pwm3) \n");
+
+ signal(SIGINT, sig_handler);
+
+ float value = 0.0f;
+ while (running == 0) {
+ value = value + 0.01f;
+ pwm->write(value);
+ usleep(50000);
+ if (value >= 1.0f) {
+ value = 0.0f;
+ }
+ }
+ delete pwm;
+
+ return MAA_SUCCESS;
+}
--- /dev/null
+/*
+ * Author: Thomas Ingleby <thomas.c.ingleby@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 <unistd.h>
+#include <signal.h>
+#include <stdint.h>
+
+#include "spi.hpp"
+
+int running = 0;
+
+void
+sig_handler(int signo)
+{
+ if (signo == SIGINT) {
+ printf("closing spi nicely\n");
+ running = -1;
+ }
+}
+
+int main ()
+{
+ maa::Spi* spi;
+
+ spi = new maa::Spi(0);
+
+ signal(SIGINT, sig_handler);
+
+ uint8_t data[] = {0x00, 100};
+ uint8_t *recv;
+ while (running == 0) {
+ int i;
+ for (i = 90; i < 130; i++) {
+ data[1] = i;
+ recv = spi->write_buf(data, 2);
+ printf("Writing -%i",i);
+ printf("RECIVED-%i-%i\n",recv[0],recv[1]);
+ usleep(100000);
+ }
+ for (i = 130; i > 90; i--) {
+ data[1] = i;
+ recv = spi->write_buf(data, 2);
+ printf("Writing -%i",i);
+ printf("RECIVED-%i-%i\n",recv[0],recv[1]);
+ usleep(100000);
+ }
+
+ }
+ delete spi;
+
+ return MAA_SUCCESS;
+}
projects / contrib / mraa.git / commitdiff