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hmc5883l: C port; FTI; C++ wraps C

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2017-01-25 17:37:29 -07:00
parent 806b00c2b7
commit 0a91eb0b46
11 changed files with 711 additions and 199 deletions
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9
examples/c++/hmc5883l.cxx
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@ -32,16 +32,17 @@ main(int argc, char **argv)
//! [Interesting]
// Instantiate on I2C
upm::Hmc5883l* compass = new upm::Hmc5883l(0);
int16_t *pos;
compass->set_declination(0.2749); // Set your declination from true north in radians
compass->set_declination(0.2749); // Set your declination from
// true north in radians
// Print out the coordinates, heading, and direction every second
while(true){
compass->update(); // Update the coordinates
pos = compass->coordinates();
const int16_t *pos = compass->coordinates();
fprintf(stdout, "coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
fprintf(stdout, "heading: %5.2f direction: %3.2f\n", compass->heading(), compass->direction());
fprintf(stdout, "heading: %5.2f direction: %3.2f\n",
compass->heading(), compass->direction());
sleep(1);
}
//! [Interesting]

1
examples/c/CMakeLists.txt
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@ -145,6 +145,7 @@ add_example (mcp2515)
add_example (max30100)
add_example (speaker)
add_example (cjq4435)
add_example (hmc5883l)
# Custom examples
add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)

82
examples/c/hmc5883l.c Normal file
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@ -0,0 +1,82 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* 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 <unistd.h>
#include <stdio.h>
#include <signal.h>
#include <upm_utilities.h>
#include "hmc5883l.h"
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an HMC8883L on I2C bus 0
hmc5883l_context sensor = hmc5883l_init(0);
if (!sensor)
{
printf("%s: hmc5883l_init() failed\n", __FUNCTION__);
return 1;
}
hmc5883l_set_declination(sensor, 0.2749); // Set your declination
// from true north in
// radians
// Print out the coordinates, heading, and direction every second
while (shouldRun)
{
hmc5883l_update(sensor); // Update the coordinates
const int16_t *pos = hmc5883l_coordinates(sensor);
printf("coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
printf("heading: %5.2f direction: %3.2f\n",
hmc5883l_heading(sensor), hmc5883l_direction(sensor));
upm_delay(1);
}
hmc5883l_close(sensor);
//! [Interesting]
return 0;
}

43
include/fti/upm_compass.h Normal file
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@ -0,0 +1,43 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 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.
*/
#ifndef UPM_COMPASS_H_
#define UPM_COMPASS_H_
#ifdef __cplusplus
extern "C" {
#endif
// Compass function table
typedef struct _upm_compass_ft {
upm_result_t (*upm_compass_set_scale) (void* dev, float scale);
upm_result_t (*upm_compass_set_offset) (void* dev, float offset);
// returns a heading in degrees
upm_result_t (*upm_compass_get_value) (void* dev, float *value);
} upm_compass_ft;
#ifdef __cplusplus
}
#endif
#endif /* UPM_COMPASS_H_ */

1
include/upm_fti.h
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@ -125,6 +125,7 @@ typedef struct _upm_sensor_ft* (*func_get_upm_sensor_ft)(upm_sensor_t sensor_typ
#include <fti/upm_binary.h>
#include <fti/upm_rotaryencoder.h>
#include <fti/upm_pressure.h>
#include <fti/upm_compass.h>
#ifdef __cplusplus
}

16
src/hmc5883l/CMakeLists.txt
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@ -1,5 +1,11 @@
set (libname "hmc5883l")
set (libdescription "Digital Compass")
set (module_src ${libname}.cxx)
set (module_hpp ${libname}.hpp)
upm_module_init()
upm_mixed_module_init (NAME hmc5883l
DESCRIPTION "3-axis Digital Compass"
C_HDR hmc5883l.h
C_SRC hmc5883l.c
CPP_HDR hmc5883l.hpp
CPP_SRC hmc5883l.cxx
CPP_WRAPS_C
FTI_SRC hmc5883l_fti.c
REQUIRES mraa)
target_link_libraries(${libnamec} m)

246
src/hmc5883l/hmc5883l.c Normal file
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@ -0,0 +1,246 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* 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.h>
#include <stdio.h>
#include <assert.h>
#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
// mode
#define HMC5883L_CONT_MODE 0x00
// start of data registers (MSB/LSB for X, Z, and Y axis)
#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
// scale factors
#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
hmc5883l_context hmc5883l_init(int bus)
{
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
return NULL;
}
hmc5883l_context dev =
(hmc5883l_context)malloc(sizeof(struct _hmc5883l_context));
if (!dev)
return NULL;
// zero out context
memset((void *)dev, 0, sizeof(struct _hmc5883l_context));
if (!(dev->i2c = mraa_i2c_init(bus)))
{
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
hmc5883l_close(dev);
return NULL;
}
// apparently only one address supported...
if (mraa_i2c_address(dev->i2c, HMC5883L_I2C_ADDR))
{
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
hmc5883l_close(dev);
return NULL;
}
// I guess we only support a single configuration...
uint8_t buf[2];
buf[0] = HMC5883L_CONF_REG_B;
buf[1] = GA_1_3_REG; // should be 1.2 according to DS
if (mraa_i2c_write(dev->i2c, buf, 2))
{
printf("%s: mraa_i2c_write(HMC5883L_CONF_REG_B) failed.\n",
__FUNCTION__);
hmc5883l_close(dev);
return NULL;
}
// ... and we only support continuous mode.
buf[0] = HMC5883L_MODE_REG;
buf[1] = HMC5883L_CONT_MODE;
if (mraa_i2c_write(dev->i2c, buf, 2))
{
printf("%s: mraa_i2c_write(HMC5883L_MODE_REG) failed.\n",
__FUNCTION__);
hmc5883l_close(dev);
return NULL;
}
// do an initial update
if (hmc5883l_update(dev))
{
printf("%s: hmc5883l_update() failed.\n", __FUNCTION__);
hmc5883l_close(dev);
return NULL;
}
return dev;
}
void hmc5883l_close(hmc5883l_context dev)
{
assert(dev != NULL);
if (dev->i2c)
mraa_i2c_stop(dev->i2c);
free(dev);
}
upm_result_t hmc5883l_update(const hmc5883l_context dev)
{
assert(dev != NULL);
// set device reg address
if (mraa_i2c_write_byte(dev->i2c, HMC5883L_DATA_REG))
{
printf("%s: mraa_i2c_write_byte(HMC5883L_DATA_REG) failed.\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
uint8_t buf[DATA_REG_SIZE];
// now read the data (6 bytes)
int rb;
if ((rb = mraa_i2c_read(dev->i2c, buf, DATA_REG_SIZE)) != DATA_REG_SIZE)
{
printf("%s: mraa_i2c_read() failed. Got %d bytes, expected %d.\n",
__FUNCTION__, rb, DATA_REG_SIZE);
return UPM_ERROR_OPERATION_FAILED;
}
// The device stores the data in X, Z, Y order, however, we
// store them in X, Y, Z order.
// x
dev->coords[0] = (buf[HMC5883L_X_MSB_REG] << 8 )
| buf[HMC5883L_X_LSB_REG];
// z
dev->coords[2] = (buf[HMC5883L_Z_MSB_REG] << 8 )
| buf[HMC5883L_Z_LSB_REG];
// y
dev->coords[1] = (buf[HMC5883L_Y_MSB_REG] << 8 )
| buf[HMC5883L_Y_LSB_REG];
return UPM_SUCCESS;
}
float hmc5883l_direction(const hmc5883l_context dev)
{
assert(dev != NULL);
// we seem to only support a single scale :(
return atan2(dev->coords[1] * SCALE_0_92_MG,
dev->coords[0] * SCALE_0_92_MG) + dev->declination;
}
float hmc5883l_heading(const hmc5883l_context dev)
{
assert(dev != NULL);
float dir = hmc5883l_direction(dev) * 180/M_PI;
if (dir < 0)
dir += 360.0;
return dir;
}
const int16_t *hmc5883l_coordinates(const hmc5883l_context dev)
{
assert(dev != NULL);
return dev->coords;
}
void hmc5883l_set_declination(const hmc5883l_context dev, float dec)
{
assert(dev != NULL);
dev->declination = dec;
}
float hmc5883l_get_declination(const hmc5883l_context dev)
{
assert(dev != NULL);
return dev->declination;
}

144
src/hmc5883l/hmc5883l.cxx
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@ -1,4 +1,8 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
@ -26,146 +30,52 @@
#include <string>
#include <stdexcept>
#include "math.h"
#include "hmc5883l.hpp"
#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;
using namespace std;
Hmc5883l::Hmc5883l(int bus) : m_i2c(bus)
Hmc5883l::Hmc5883l(int bus) :
m_hmc5883l(hmc5883l_init(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;
if (!m_hmc5883l)
throw std::runtime_error(string(__FUNCTION__)
+ ": hmc5883l_init() failed");
}
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)
upm_result_t Hmc5883l::update(void)
{
m_i2c.address(HMC5883L_I2C_ADDR);
m_i2c.writeByte(HMC5883L_DATA_REG);
if (hmc5883l_update(m_hmc5883l))
throw std::runtime_error(string(__FUNCTION__)
+ ": hmc5883l_update() failed");
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;
// kind of pointless, but want to maintain some compatibility with
// original code.
return UPM_SUCCESS;
}
float
Hmc5883l::direction(void)
float Hmc5883l::direction(void)
{
return atan2(m_coor[1] * SCALE_0_92_MG, m_coor[0] * SCALE_0_92_MG) + m_declination;
return hmc5883l_direction(m_hmc5883l);
}
float
Hmc5883l::heading(void)
float Hmc5883l::heading(void)
{
float dir = Hmc5883l::direction() * 180/M_PI;
if(dir < 0){
dir += 360.0;
}
return dir;
return hmc5883l_heading(m_hmc5883l);
}
int16_t*
Hmc5883l::coordinates(void)
const int16_t *Hmc5883l::coordinates(void)
{
return &m_coor[0];
return hmc5883l_coordinates(m_hmc5883l);
}
void
Hmc5883l::set_declination(float dec)
void Hmc5883l::set_declination(float dec)
{
m_declination = dec;
return hmc5883l_set_declination(m_hmc5883l, dec);
}
float
Hmc5883l::get_declination()
float Hmc5883l::get_declination()
{
return m_declination;
return hmc5883l_get_declination(m_hmc5883l);
}

132
src/hmc5883l/hmc5883l.h Normal file
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@ -0,0 +1,132 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* 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.
*/
#pragma once
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <upm.h>
#include <mraa/i2c.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @file hmc5883l.h
* @library hmc5883l
* @brief HMC5883L 3-Axis Digital Compass
*
*/
/**
* Device context
*/
typedef struct _hmc5883l_context {
mraa_i2c_context i2c;
int16_t coords[3];
float declination;
} *hmc5883l_context;
/**
* Initialize an Hmc5883l device
*
* @param bus Number of the used I2C bus
* @return Device context, or NULL on error
*/
hmc5883l_context hmc5883l_init(int bus);
/**
* Close the device
*
* @param Device context
*/
void hmc5883l_close(hmc5883l_context dev);
/**
* Updates the values by reading from I2C
*
* @param Device context
* @return UPM result
*/
upm_result_t hmc5883l_update(const hmc5883l_context dev);
/*
* Returns the direction. hmc5883l_update() must have been called
* prior to calling this function.
*
* @param Device context
* @return Direction
*/
float hmc5883l_direction(const hmc5883l_context dev);
/*
* Returns the heading. hmc5883l_update() must have been called
* prior to calling this function.
*
* @param Device context
* @return Heading
*/
float hmc5883l_heading(const hmc5883l_context dev);
/**
* Returns a pointer to an int[3] that contains the coordinates as
* integers. hmc5883l_update() must have been called prior to calling
* this function.
*
* @param Device context
* @return *int to an int[3] (X, Y, Z)
*/
const int16_t *hmc5883l_coordinates(const hmc5883l_context dev);
/**
* Sets the magnetic declination for better accuracy.
* hmc5883l_update() must have been called prior to calling this
* function.
*
* @param Device context
* @param dec The magnetic declination
*/
void hmc5883l_set_declination(const hmc5883l_context dev, float dec);
/**
* Gets the current magnetic declination value. hmc5883l_update()
* must have been called prior to calling this function.
*
* @param Device context
* @return Magnetic declination as a floating-point value
*/
float hmc5883l_get_declination(const hmc5883l_context dev);
#ifdef __cplusplus
}
#endif

35
src/hmc5883l/hmc5883l.hpp
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@ -1,4 +1,8 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
@ -24,9 +28,7 @@
*/
#pragma once
#include <mraa/i2c.hpp>
#define MAX_BUFFER_LENGTH 6
#include "hmc5883l.h"
namespace upm {
@ -50,9 +52,10 @@ namespace upm {
*
* Honeywell [HMC5883L]
* (http://www.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf)
* is a 3-axis digital compass. Communication with HMC5883L is simple and
* all done through an I2C interface. Different breakout boards are available.
* Typically, a 3V supply is all that is needed to power the sensor.
* is a 3-axis digital compass. Communication with HMC5883L is
* simple and all done through an I2C interface. Different
* breakout boards are available. Typically, a 3V supply is all
* that is needed to power the sensor.
*
* @image html hmc5883l.jpeg
* @snippet hmc5883l.cxx Interesting
@ -60,9 +63,10 @@ namespace upm {
class Hmc5883l {
public:
/**
* Creates an Hmc5883l object
* Creates an Hmc5883l object. The I2C address cannot be
* changed, and is always 0x1e (7-bit).
*
* @param bus Number of the used I2C bus
* @param bus I2C bus number
*/
Hmc5883l(int bus);
@ -81,14 +85,14 @@ public:
*
* @return *int to an int[3]
*/
int16_t* coordinates();
const int16_t* coordinates();
/**
* Updates the values by reading from I2C
*
* @return 0 if successful
*/
mraa::Result update();
upm_result_t update();
/**
* Sets the magnetic declination for better calibration
@ -101,11 +105,10 @@ public:
* @return Magnetic declination as a floating-point value
*/
float get_declination();
private:
int16_t m_coor[3];
float m_declination;
uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
mraa::I2c m_i2c;
};
protected:
hmc5883l_context m_hmc5883l;
private:
};
}

87
src/hmc5883l/hmc5883l_fti.c Normal file
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@ -0,0 +1,87 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 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"
#include "upm_fti.h"
/**
* This file implements the Function Table Interface (FTI) for this sensor
*/
const char upm_hmc5883l_name[] = "HMC5883L";
const char upm_hmc5883l_description[] = "HMC5883L Compass";
const upm_protocol_t upm_hmc5883l_protocol[] = {UPM_I2C};
const upm_sensor_t upm_hmc5883l_category[] = {UPM_COMPASS};
// forward declarations
const void* upm_hmc5883l_get_ft(upm_sensor_t sensor_type);
void* upm_hmc5883l_init_name();
void upm_hmc5883l_close(void *dev);
upm_result_t upm_hmc5883l_get_heading(void *dev, float *value);
static const upm_sensor_ft ft =
{
.upm_sensor_init_name = upm_hmc5883l_init_name,
.upm_sensor_close = upm_hmc5883l_close,
};
static const upm_compass_ft cft =
{
.upm_compass_get_value = upm_hmc5883l_get_heading,
};
const void* upm_hmc5883l_get_ft(upm_sensor_t sensor_type)
{
switch(sensor_type)
{
case UPM_SENSOR:
return &ft;
case UPM_COMPASS:
return &cft;
default:
return NULL;
}
}
void* upm_hmc5883l_init_name()
{
return NULL;
}
void upm_hmc5883l_close(void *dev)
{
hmc5883l_close((hmc5883l_context)dev);
}
upm_result_t upm_hmc5883l_get_heading(void *dev, float *value)
{
upm_result_t rv;
if ((rv = hmc5883l_update((hmc5883l_context)dev)))
return rv;
*value = hmc5883l_heading((hmc5883l_context)dev);
return UPM_SUCCESS;
}