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MeCompass.cpp
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MeCompass.cpp
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/**
* \par Copyright (C), 2012-2016, MakeBlock
* \class MeCompass
* \brief Driver for MeCompass module.
* @file MeCompass.cpp
* @author MakeBlock
* @version V1.0.1
* @date 2015/09/08
* @brief Driver for MeCompass module.
*
* \par Copyright
* This software is Copyright (C), 2012-2016, MakeBlock. Use is subject to license \n
* conditions. The main licensing options available are GPL V2 or Commercial: \n
*
* \par Open Source Licensing GPL V2
* This is the appropriate option if you want to share the source code of your \n
* application with everyone you distribute it to, and you also want to give them \n
* the right to share who uses it. If you wish to use this software under Open \n
* Source Licensing, you must contribute all your source code to the open source \n
* community in accordance with the GPL Version 2 when your application is \n
* distributed. See http://www.gnu.org/copyleft/gpl.html
*
* \par Description
* This file is a drive for MeCompass module, It supports MeCompass V1.0 device provided
* by MakeBlock.
*
* \par Method List:
*
* 1. void MeCompass::setpin(uint8_t keyPin, uint8_t ledPin)
* 2. void MeCompass::begin(void)
* 3. bool MeCompass::testConnection(void)
* 4. double MeCompass::getAngle(void)
* 5. int16_t MeCompass::getHeadingX(void)
* 6. int16_t MeCompass::getHeadingY(void)
* 7. int16_t MeCompass::getHeadingZ(void)
* 8. int16_t MeCompass::getHeading(int16_t *x, int16_t *y, int16_t *z)
*
* \par History:
* <pre>
* `<Author>` `<Time>` `<Version>` `<Descr>`
* Lawrence 2015/09/03 1.0.0 Rebuild the old lib.
* Lawrence 2015/09/08 1.0.1 Added some comments and macros.
* </pre>
*
* @example MeCompassTest.ino
*/
/* Includes ------------------------------------------------------------------*/
#include "MeCompass.h"
#include <avr/wdt.h>
/* Private variables ---------------------------------------------------------*/
volatile uint8_t MeCompass::_keyPin = 0;
volatile uint8_t MeCompass::_ledPin = 0;
/* Private functions ---------------------------------------------------------*/
#ifdef ME_PORT_DEFINED
/**
* Alternate Constructor which can call your own function to map the MeCompass to arduino port,
* no pins are used or initialized here
*/
MeCompass::MeCompass() : MePort(0)
{
Device_Address = COMPASS_DEFAULT_ADDRESS;
Calibration_Flag = false;
}
/**
* Alternate Constructor which can call your own function to map the MeCompass to arduino port,
* no pins are used or initialized here, but PWM frequency set to 976 Hz
* \param[in]
* port - RJ25 port from PORT_1 to M2
*/
MeCompass::MeCompass(uint8_t port) : MePort(port)
{
Device_Address = COMPASS_DEFAULT_ADDRESS;
Calibration_Flag = false;
}
/**
* Alternate Constructor which can call your own function to map the MeCompass to arduino port
* and change the i2c device address
* no pins are used or initialized here, but PWM frequency set to 976 Hz
* \param[in]
* port - RJ25 port from PORT_1 to M2
* \param[in]
* address - the i2c address you want to set
*/
MeCompass::MeCompass(uint8_t port, uint8_t address) : MePort(port)
{
Device_Address = address;
Calibration_Flag = false;
}
#else // ME_PORT_DEFINED
/**
* Alternate Constructor which can call your own function to map the _keyPin and _ledPin to arduino port,
* no pins are used or initialized here
* \param[in]
* keyPin - arduino gpio number
* \param[in]
* ledPin - arduino gpio number
*/
MeCompass::MeCompass(uint8_t keyPin, uint8_t ledPin)
{
Device_Address = COMPASS_DEFAULT_ADDRESS;
Calibration_Flag = false;
_keyPin = keyPin;
_ledPin = ledPin;
}
/**
* Alternate Constructor which can call your own function to map the _keyPin and _ledPin to arduino port
* and change the i2c device address, no pins are used or initialized here
* \param[in]
* keyPin - arduino gpio number
* \param[in]
* ledPin - arduino gpio number
* \param[in]
* address - the i2c address you want to set
*/
MeCompass::MeCompass(uint8_t keyPin, uint8_t ledPin, uint8_t address)
{
Device_Address = address;
Calibration_Flag = false;
_keyPin = keyPin;
_ledPin = ledPin;
}
#endif // ME_PORT_DEFINED
/**
* \par Function
* setpin
* \par Description
* Set the PIN of the button module.
* \param[in]
* keyPin - pin mapping for arduino
* \param[in]
* ledPin - pin mapping for arduino
* \par Output
* None
* \return
* None.
* \par Others
* Set global variable _KeyPin, _ledPin, s1 and s2
*/
void MeCompass::setpin(uint8_t keyPin, uint8_t ledPin)
{
_keyPin = keyPin;
_ledPin = ledPin;
#ifdef ME_PORT_DEFINED
s1 = keyPin;
s2 = ledPin;
#endif // ME_PORT_DEFINED
begin();
}
/**
* \par Function
* begin
* \par Description
* Initialize the MeCompass.
* \param[in]
* None
* \par Output
* None
* \return
* None
* \par Others
* You can check the HMC5883 datasheet for the macro definition.
*/
void MeCompass::begin(void)
{
Wire.begin();
#ifdef ME_PORT_DEFINED
dWrite2(HIGH);//LED
#else // ME_PORT_DEFINED
pinMode(_ledPin, OUTPUT);
digitalWrite(_ledPin, HIGH);
#endif
// write CONFIG_A register
writeReg(COMPASS_RA_CONFIG_A, COMPASS_AVERAGING_8 | COMPASS_RATE_15 | COMPASS_BIAS_NORMAL);
// write CONFIG_B register
writeReg(COMPASS_RA_CONFIG_B, COMPASS_GAIN_1090);
// write MODE register
Measurement_Mode = COMPASS_MODE_SINGLE;
writeReg(COMPASS_RA_MODE, Measurement_Mode);
read_EEPROM_Buffer();
deviceCalibration();
}
/**
* \par Function
* testConnection
* \par Description
* Identify the device whether is the MeCompass.
* \param[in]
* None
* \par Output
* None
* \return
* true or false
* \par Others
* You can check the HMC5883 datasheet for the identification code.
*/
bool MeCompass::testConnection(void)
{
if(readData(COMPASS_RA_ID_A, buffer, 3) == 0)
{
return (buffer[0] == 'H' && buffer[1] == '4' && buffer[2] == '3');
}
return false;
}
/**
* \par Function
* getAngle
* \par Description
* Calculate the yaw angle by the calibrated sensor value.
* \param[in]
* None
* \par Output
* None
* \return
* The angle value from 0 to 360 degrees. If not success, return an error code.
* \par Others
* Will return a correct angle when you keep the MeCompass working in the plane which have calibrated.
*/
double MeCompass::getAngle(void)
{
int16_t cx,cy,cz;
double compass_angle;
int8_t return_value = 0;
deviceCalibration();
return_value = getHeading(&cx, &cy, &cz);
if(return_value != 0)
{
return (double)return_value;
}
if(Calibration_Flag == true)
{
cx = (cx + Cal_parameter.X_excursion) * Cal_parameter.X_gain;
cy = (cy + Cal_parameter.Y_excursion) * Cal_parameter.Y_gain;
cz = (cz + Cal_parameter.Z_excursion) * Cal_parameter.Z_gain;
if(Cal_parameter.Rotation_Axis == 1) //X_Axis
{
compass_angle = atan2( (double)cy, (double)cz );
}
else if(Cal_parameter.Rotation_Axis == 2) //Y_Axis
{
compass_angle = atan2( (double)cx, (double)cz );
}
else if(Cal_parameter.Rotation_Axis == 3) //Z_Axis
{
compass_angle = atan2( (double)cy, (double)cx );
}
}
else
{
int16_t head_X, head_Y, head_Z;
head_X = getHeadingX();
head_Y = getHeadingY();
head_Z = getHeadingZ();
compass_angle = atan2( (double)cy, (double)cx );
}
if(compass_angle < 0)
{
compass_angle = (compass_angle + 2 * COMPASS_PI) * 180 / COMPASS_PI;
}
else
{
compass_angle = compass_angle * 180 / COMPASS_PI;
}
return compass_angle;
}
/**
* \par Function
* getHeadingX
* \par Description
* Get the sensor value of X-axis.
* \param[in]
* None
* \par Output
* None
* \return
* The sensor value of X-axis. If error, will return a error code.
* \par Others
* The sensor value is a 16 bits signed integer.
*/
int16_t MeCompass::getHeadingX(void)
{
int8_t return_value = 0;
deviceCalibration();
return_value = readData( COMPASS_RA_DATAX_H, buffer, 2 );
if(return_value != 0)
{
return return_value;
}
if( Measurement_Mode == COMPASS_MODE_SINGLE )
{
writeReg( COMPASS_RA_MODE, COMPASS_MODE_SINGLE );
}
return ( ( (int16_t)buffer[0] ) << 8 ) | buffer[1];
}
/**
* \par Function
* getHeadingY
* \par Description
* Get the sensor value of Y-axis.
* \param[in]
* None
* \par Output
* None
* \return
* The sensor value of Y-axis. If error, will return a error code.
* \par Others
* The sensor value is a 16 bits signed integer.
*/
int16_t MeCompass::getHeadingY(void)
{
int8_t return_value = 0;
deviceCalibration();
return_value = readData(COMPASS_RA_DATAY_H, buffer, 2);
if(return_value != 0)
{
return return_value;
}
if(Measurement_Mode == COMPASS_MODE_SINGLE)
{
writeReg(COMPASS_RA_MODE, COMPASS_MODE_SINGLE);
}
return ( ( (int16_t)buffer[0] ) << 8) | buffer[1];
}
/**
* \par Function
* getHeadingZ
* \par Description
* Get the sensor value of Z-axis.
* \param[in]
* None
* \par Output
* None
* \return
* The sensor value of Z-axis. If error, will return a error code.
* \par Others
* The sensor value is a 16 bits signed integer.
*/
int16_t MeCompass::getHeadingZ(void)
{
int8_t return_value = 0;
deviceCalibration();
return_value = readData(COMPASS_RA_DATAZ_H, buffer, 2);
if(return_value != 0)
{
return return_value;
}
if(Measurement_Mode == COMPASS_MODE_SINGLE)
{
writeReg(COMPASS_RA_MODE, COMPASS_MODE_SINGLE);
}
return ( ( (int16_t)buffer[0] ) << 8) | buffer[1];
}
/**
* \par Function
* getHeading
* \par Description
* Get the sensor value of 3 axes including X-axis, Y-axis and Z-axis.
* \param[in]
* x - the address of the variable you want to store the value in.
* \param[in]
* y - the address of the variable you want to store the value in.
* \param[in]
* z - the address of the variable you want to store the value in.
* \par Output
* None
* \return
* If error, will return a error code, else return 0.
* \par Others
* The sequence of the sensor data registors of HMC5883 is X, Z, Y.
*/
int16_t MeCompass::getHeading(int16_t *x, int16_t *y, int16_t *z)
{
int8_t return_value = 0;
deviceCalibration();
return_value = readData(COMPASS_RA_DATAX_H, buffer, 6);
if(return_value != 0)
{
return return_value;
}
if(Measurement_Mode == COMPASS_MODE_SINGLE)
{
writeReg(COMPASS_RA_MODE, COMPASS_MODE_SINGLE);
}
*x = ( ( (int16_t)buffer[0] ) << 8) | buffer[1];
*y = ( ( (int16_t)buffer[4] ) << 8) | buffer[5];
*z = ( ( (int16_t)buffer[2] ) << 8) | buffer[3];
return return_value;
}
/**
* \par Function
* writeReg
* \par Description
* Write the registor of i2c device.
* \param[in]
* reg - the address of registor.
* \param[in]
* data - the data that will be written to the registor.
* \par Output
* None
* \return
* Return the error code.
* the definition of the value of variable return_value:
* 0:success
* 1:BUFFER_LENGTH is shorter than size
* 2:address send, nack received
* 3:data send, nack received
* 4:other twi error
* refer to the arduino official library twi.c
* \par Others
* To set the registor for initializing.
*/
int8_t MeCompass::writeReg(int16_t reg, uint8_t data)
{
int8_t return_value = 0;
return_value = writeData(reg, &data, 1);
return(return_value);
}
/**
* \par Function
* writeData
* \par Description
* Write the data to i2c device.
* \param[in]
* start - the address which will write the data to.
* \param[in]
* pData - the head address of data array.
* \param[in]
* size - set the number of data will be written to the devide.
* \par Output
* None
* \return
* Return the error code.
* the definition of the value of variable return_value:
* 0:success
* 1:BUFFER_LENGTH is shorter than size
* 2:address send, nack received
* 3:data send, nack received
* 4:other twi error
* refer to the arduino official library twi.c
* \par Others
* Calling the official i2c library to write data.
*/
int8_t MeCompass::writeData(uint8_t start, const uint8_t *pData, uint8_t size)
{
int8_t return_value = 0;
Wire.beginTransmission(Device_Address);
return_value = Wire.write(start); /* write the start address */
if(return_value != 1)
{
return(I2C_ERROR);
}
Wire.write(pData, size); /* write data bytes */
return_value = Wire.endTransmission(true); /* release the I2C-bus */
return(return_value); //return : no error
}
/**
* \par Function
* readData
* \par Description
* Write the data to i2c device.
* \param[in]
* start - the address which will write the data to.
* \param[in]
* pData - the head address of data array.
* \param[in]
* size - set the number of data will be written to the devide.
* \par Output
* None
* \return
* Return the error code.
* the definition of the value of variable return_value:
* 0:success
* 1:BUFFER_LENGTH is shorter than size
* 2:address send, nack received
* 3:data send, nack received
* 4:other twi error
* refer to the arduino official library twi.c
* \par Others
* Calling the official i2c library to read data.
*/
int8_t MeCompass::readData(uint8_t start, uint8_t *buffer, uint8_t size)
{
int16_t i = 0;
int8_t return_value = 0;
Wire.beginTransmission(Device_Address);
return_value = Wire.write(start);
if(return_value != 1)
{
return(I2C_ERROR);
}
return_value = Wire.endTransmission(false); /* hold the I2C-bus */
if(return_value != 0)
{
return(return_value);
}
delayMicroseconds(1);
/* Third parameter is true: relase I2C-bus after data is read. */
Wire.requestFrom(Device_Address, size, (uint8_t)true);
while(Wire.available() && i < size)
{
buffer[i++] = Wire.read();
}
delayMicroseconds(1);
if(i != size)
{
return(I2C_ERROR);
}
return(0); /* return : no error */
}
/**
* \par Function
* deviceCalibration
* \par Description
* Calibration function for the MeCompass.
* \param[in]
* None
* \par Output
* None
* \return
* None.
* \par Others
* Pressing the button to run the calibration function with the led flickering,
* rotate the MeCompass over 360 degress in a stable plane that you specified to calibrate,
* and press the button again to finish the calibration.
*/
void MeCompass::deviceCalibration(void)
{
#ifdef ME_PORT_DEFINED
if(dRead1(INPUT_PULLUP) == 0) //check the KEY
#else // ME_PORT_DEFINED
pinMode(_keyPin, INPUT_PULLUP);
if(digitalRead(_keyPin) == 0)
#endif
{
delay(10);
#ifdef ME_PORT_DEFINED
if(dRead1(INPUT_PULLUP) == 0)
#else // ME_PORT_DEFINED
pinMode(_keyPin, INPUT_PULLUP);
if(digitalRead(_keyPin) == 0)
#endif
{
if(testConnection()==false)
{
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("It is not Me Compass!!!!!");
#endif
return;
}
long time_num,cal_time;
bool LED_state = 0;
int16_t X_num,Y_num,Z_num;
int16_t X_max = -32768;
int16_t X_min = 32767;
int16_t Y_max = -32768;
int16_t Y_min = 32767;
int16_t Z_max = -32768;
int16_t Z_min = 32767;
int16_t X_abs,Y_abs,Z_abs;
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("Compass calibration !!!");
#endif
time_num = millis();
#ifdef ME_PORT_DEFINED
while(dRead1(INPUT_PULLUP) == 0)
#else // ME_PORT_DEFINED
pinMode(_keyPin, INPUT_PULLUP);
while(digitalRead(_keyPin) == 0)
#endif
{
if( millis() - time_num > 200 ) //control the LED
{
wdt_reset();
time_num = millis();
LED_state = !LED_state;
#ifdef ME_PORT_DEFINED
dWrite2(LED_state);
#else // ME_PORT_DEFINED
pinMode(_ledPin, OUTPUT);
digitalWrite(_ledPin, LED_state);
#endif
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("You can free the KEY now ");
#endif
}
}
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("collecting value.....");
#endif
delay(100);
cal_time = millis();
#ifndef ME_PORT_DEFINED
pinMode(_keyPin, INPUT_PULLUP);
#endif
do
{
if(millis() - time_num > 200) //control the LED
{
wdt_reset();
time_num = millis();
LED_state = !LED_state;
#ifdef ME_PORT_DEFINED
dWrite2(LED_state);
#else // ME_PORT_DEFINED
pinMode(_ledPin, OUTPUT);
digitalWrite(_ledPin, LED_state);
#endif
}
if(millis() - cal_time > 10)
{
wdt_reset();
getHeading(&X_num,&Y_num,&Z_num);
if(X_num < X_min)
{
X_min = X_num;
}
else if(X_num > X_max)
{
X_max = X_num;
}
if(Y_num < Y_min)
{
Y_min = Y_num;
}
else if(Y_num > Y_max)
{
Y_max = Y_num;
}
if(Z_num < Z_min)
{
Z_min = Z_num;
}
else if(Z_num > Z_max)
{
Z_max = Z_num;
}
}
}
#ifdef ME_PORT_DEFINED
while(dRead1(INPUT_PULLUP)==1);
dWrite2(LOW); //turn off the LED
#else // ME_PORT_DEFINED
while(digitalRead(_keyPin) == 1);
pinMode(_ledPin, OUTPUT);
digitalWrite(_ledPin, LOW);
#endif
Cal_parameter.X_excursion = -( (float)X_max + (float)X_min ) / 2;
Cal_parameter.Y_excursion = -( (float)Y_max + (float)Y_min ) / 2;
Cal_parameter.Z_excursion = -( (float)Z_max + (float)Z_min ) / 2;
Cal_parameter.X_gain = 1;
Cal_parameter.Y_gain = ( (float)Y_max - (float)Y_min ) / ( (float)X_max - (float)X_min );
Cal_parameter.Z_gain = ( (float)Z_max - (float)Z_min ) / ( (float)X_max - (float)X_min );
X_abs = abs(X_max-X_min);
Y_abs = abs(Y_max-Y_min);
Z_abs = abs(Z_max-Z_min);
if(X_abs<=Y_abs && X_abs<=Z_abs)
{
Cal_parameter.Rotation_Axis=1; //X_Axis
}
else if(Y_abs<=X_abs && Y_abs<=Z_abs)
{
Cal_parameter.Rotation_Axis=2; //Y_Axis
}
else
{
Cal_parameter.Rotation_Axis=3; //Z_Axis
}
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("Print Calibration Parameter:");
Serial.print("X_excursion: "); Serial.print(Cal_parameter.X_excursion,1); Serial.println(" ");
Serial.print("Y_excursion: "); Serial.print(Cal_parameter.Y_excursion,1); Serial.println(" ");
Serial.print("Z_excursion: "); Serial.print(Cal_parameter.Z_excursion,1); Serial.println(" ");
Serial.print("X_gain: "); Serial.print(Cal_parameter.X_gain,1); Serial.println(" ");
Serial.print("Y_gain: "); Serial.print(Cal_parameter.Y_gain,1); Serial.println(" ");
Serial.print("Z_gain: "); Serial.print(Cal_parameter.Z_gain,1); Serial.println(" ");
Serial.print("Axis = "); Serial.print(Cal_parameter.Rotation_Axis); Serial.println(" ");
#endif
write_EEPROM_Buffer(&Cal_parameter);
#ifdef ME_PORT_DEFINED
dWrite2(HIGH); //turn on the LED
while(dRead1(INPUT_PULLUP) == 0)
{
wdt_reset();
};
#else // ME_PORT_DEFINED
pinMode(_ledPin, OUTPUT);
digitalWrite(_ledPin, HIGH);
pinMode(_keyPin, INPUT_PULLUP);
while(digitalRead(_keyPin) == 0);
#endif
wdt_reset();
delay(100);
}
}
}
/**
* \par Function
* read_EEPROM_Buffer
* \par Description
* Read some calculated calibration parameters from the EEPROM.
* \param[in]
* None
* \par Output
* None
* \return
* None.
* \par Others
* Calibration parameters will be stored in the struct Compass_Calibration_Parameter.
* Call the arduino official EEPROM library.
*/
void MeCompass::read_EEPROM_Buffer(void)
{
uint8_t verify_number;
uint8_t parameter_buffer[sizeof(Compass_Calibration_Parameter)];
struct Compass_Calibration_Parameter *parameter_pointer;
for(int address =0x00; address<sizeof(Compass_Calibration_Parameter); address++)
{
parameter_buffer[address]=EEPROM.read(START_ADDRESS_OF_EEPROM_BUFFER + address);
}
parameter_pointer = (struct Compass_Calibration_Parameter *)parameter_buffer;
verify_number =(uint8_t)( parameter_pointer -> X_excursion
+ parameter_pointer -> Y_excursion
+ parameter_pointer -> Z_excursion
+ parameter_pointer -> X_gain
+ parameter_pointer -> Y_gain
+ parameter_pointer -> Z_gain
+ parameter_pointer -> Rotation_Axis
+ 0xaa );
if(verify_number == parameter_pointer -> verify_flag)
{
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("Verify number is true!!!");
#endif
Cal_parameter = (*parameter_pointer);
Calibration_Flag = true;
}
else
{
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("Verify number is false!!!");
#endif
Calibration_Flag = false;
}
}
/**
* \par Function
* write_EEPROM_Buffer
* \par Description
* Write some calculated calibration parameters to the EEPROM.
* \param[in]
* parameter_pointer - the address of a struct have stored some calculated calibration parameters.
* \par Output
* None
* \return
* None.
* \par Others
* Calibration parameters will be saved in the EEPROM of the MCU.
* Call the arduino official EEPROM library.
*/
void MeCompass::write_EEPROM_Buffer(struct Compass_Calibration_Parameter *parameter_pointer)
{
uint8_t *buffer_pointer;
uint8_t verify_number;
parameter_pointer -> verify_flag = (uint8_t)( parameter_pointer -> X_excursion
+ parameter_pointer -> Y_excursion
+ parameter_pointer -> Z_excursion
+ parameter_pointer -> X_gain
+ parameter_pointer -> Y_gain
+ parameter_pointer -> Z_gain
+ parameter_pointer -> Rotation_Axis
+ 0xaa );
buffer_pointer = (uint8_t *)parameter_pointer;
for(int address = 0x00; address < sizeof(Compass_Calibration_Parameter); address++)
{
EEPROM.write(START_ADDRESS_OF_EEPROM_BUFFER + address, *(buffer_pointer+address));
}
Calibration_Flag = true;
#ifdef COMPASS_SERIAL_DEBUG
Serial.println("Write EEPROM Buffer Success!!!");
#endif
}