diff options
Diffstat (limited to 'peripheral/libupm/src/hmc5883l/hmc5883l.cxx')
| -rw-r--r-- | peripheral/libupm/src/hmc5883l/hmc5883l.cxx | 171 |
1 files changed, 0 insertions, 171 deletions
diff --git a/peripheral/libupm/src/hmc5883l/hmc5883l.cxx b/peripheral/libupm/src/hmc5883l/hmc5883l.cxx deleted file mode 100644 index bcada4b..0000000 --- a/peripheral/libupm/src/hmc5883l/hmc5883l.cxx +++ /dev/null @@ -1,171 +0,0 @@ -/* - * Author: Brendan Le Foll <brendan.le.foll@intel.com> - * Contributions: Mihai Tudor Panu <mihai.tudor.panu@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 <string> -#include <stdexcept> - -#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(int bus) : m_i2c(bus) -{ - mraa::Result error; - error = m_i2c.address(HMC5883L_I2C_ADDR); - if(error != mraa::SUCCESS){ - throw std::invalid_argument(std::string(__FUNCTION__) + - ": i2c.address() failed"); - return; - } - m_rx_tx_buf[0] = HMC5883L_CONF_REG_B; - m_rx_tx_buf[1] = GA_1_3_REG; - error = m_i2c.write(m_rx_tx_buf, 2); - if(error != mraa::SUCCESS){ - throw std::runtime_error(std::string(__FUNCTION__) + - ": i2c.write() configuration failed"); - return; - } - - error = m_i2c.address(HMC5883L_I2C_ADDR); - if(error != mraa::SUCCESS){ - throw std::invalid_argument(std::string(__FUNCTION__) + - ": i2c.address() failed"); - return; - } - m_rx_tx_buf[0] = HMC5883L_MODE_REG; - m_rx_tx_buf[1] = HMC5883L_CONT_MODE; - error = m_i2c.write(m_rx_tx_buf, 2); - if(error != mraa::SUCCESS){ - throw std::runtime_error(std::string(__FUNCTION__) + - ": i2c.write() mode failed"); - return; - } - - Hmc5883l::update(); -} - -mraa::Result -Hmc5883l::update(void) -{ - m_i2c.address(HMC5883L_I2C_ADDR); - m_i2c.writeByte(HMC5883L_DATA_REG); - - m_i2c.address(HMC5883L_I2C_ADDR); - m_i2c.read(m_rx_tx_buf, DATA_REG_SIZE); - - // x - m_coor[0] = (m_rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | m_rx_tx_buf[HMC5883L_X_LSB_REG]; - // z - m_coor[2] = (m_rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | m_rx_tx_buf[HMC5883L_Z_LSB_REG]; - // y - m_coor[1] = (m_rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | m_rx_tx_buf[HMC5883L_Y_LSB_REG]; - - return mraa::SUCCESS; -} - -float -Hmc5883l::direction(void) -{ - return atan2(m_coor[1] * SCALE_0_92_MG, m_coor[0] * SCALE_0_92_MG) + m_declination; -} - -float -Hmc5883l::heading(void) -{ - float dir = Hmc5883l::direction() * 180/M_PI; - if(dir < 0){ - dir += 360.0; - } - return dir; -} - -int16_t* -Hmc5883l::coordinates(void) -{ - return &m_coor[0]; -} - -void -Hmc5883l::set_declination(float dec) -{ - m_declination = dec; -} - -float -Hmc5883l::get_declination() -{ - return m_declination; -} |