diff options
Diffstat (limited to 'peripheral/libmraa/examples/c++/I2c-compass.cpp')
-rw-r--r-- | peripheral/libmraa/examples/c++/I2c-compass.cpp | 144 |
1 files changed, 0 insertions, 144 deletions
diff --git a/peripheral/libmraa/examples/c++/I2c-compass.cpp b/peripheral/libmraa/examples/c++/I2c-compass.cpp deleted file mode 100644 index 582ae18..0000000 --- a/peripheral/libmraa/examples/c++/I2c-compass.cpp +++ /dev/null @@ -1,144 +0,0 @@ -/* - * 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 "mraa.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 nicely\n"); - running = -1; - } -} - -int -main() -{ - float direction = 0; - int16_t x = 0, y = 0, z = 0; - uint8_t rx_tx_buf[MAX_BUFFER_LENGTH]; - - //! [Interesting] - mraa::I2c* i2c; - i2c = new mraa::I2c(0); - - 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); - //! [Interesting] - - 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); - - signal(SIGINT, sig_handler); - - while (running == 0) { - i2c->address(HMC5883L_I2C_ADDR); - i2c->writeByte(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 MRAA_SUCCESS; -} |