initial commit of upm with hmc5883l support

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>
This commit is contained in:
Brendan Le Foll 2014-04-25 14:48:43 +01:00
commit d986654455
8 changed files with 239 additions and 0 deletions

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CMakeLists.txt Normal file
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cmake_minimum_required (VERSION 2.8)
project (upm)
set (SWIG_EXECUTABLE /usr/bin/swig)
find_package (SWIG REQUIRED)
include (${SWIG_USE_FILE})
find_package(PkgConfig REQUIRED)
pkg_check_modules(MAA maa>=0.1.1)
set (CMAKE_SWIG_FLAGS "")
add_subdirectory (src)
add_subdirectory (examples)

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README Normal file
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UPM - Sensor/Actuator repository for Maa
UPM is a high level repository for sensors that use maa.
For more information on maa, see the maa README

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examples/CMakeLists.txt Normal file
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add_executable (compass compass.cxx)
include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
target_link_libraries (compass hmc5883l)

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examples/compass.cxx Normal file
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/*
* 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;
}

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src/CMakeLists.txt Normal file
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add_subdirectory (hmc5883l)

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add_library (hmc5883l SHARED hmc5883l.cxx)
include_directories (${MAA_INCLUDE_DIR})
target_link_libraries (hmc5883l ${MAA_LIBRARIES})

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src/hmc5883l/hmc5883l.cxx Normal file
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/*
* 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];
}

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src/hmc5883l/hmc5883l.h Normal file
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/*
* 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;
};
}