170bdd104f
Large change that removes the duplicated MIT notice withe a spdx tag Signed-off-by: Thomas Ingleby <thomas.ingleby@intel.com>
119 lines
4.1 KiB
Java
119 lines
4.1 KiB
Java
/*
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* Author: Brendan Le Foll <brendan.le.foll@intel.com>
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* Author: Thomas Ingleby <thomas.c.ingleby@intel.com>
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* Copyright (c) 2014 Intel Corporation.
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* Author: Petre Eftime <petre.p.eftime@intel.com>
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* Copyright (c) 2015 Intel Corporation.
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*
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* SPDX-License-Identifier: MIT
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*/
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import mraa.I2c;
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public class I2cCompass {
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static {
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try {
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System.loadLibrary("mraajava");
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} catch (UnsatisfiedLinkError e) {
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System.err.println(
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"Native code library failed to load. See the chapter on Dynamic Linking Problems in the SWIG Java documentation for help.\n" +
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e);
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System.exit(1);
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}
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}
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final static byte MAX_BUFFER_LENGTH = 6;
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final static byte CONF_BUFFER_LENGTH = 2;
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final static short HMC5883L_I2C_ADDR = 0x1E;
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// configuration registers
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final static byte HMC5883L_CONF_REG_A = 0x00;
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final static byte HMC5883L_CONF_REG_B = 0x01;
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// mode register
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final static byte HMC5883L_MODE_REG = 0x02;
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// data register
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final static byte HMC5883L_X_MSB_REG = 0;
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final static byte HMC5883L_X_LSB_REG = 1;
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final static byte HMC5883L_Z_MSB_REG = 2;
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final static byte HMC5883L_Z_LSB_REG = 3;
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final static byte HMC5883L_Y_MSB_REG = 4;
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final static byte HMC5883L_Y_LSB_REG = 5;
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final static byte DATA_REG_SIZE = 6;
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// status register
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final static byte HMC5883L_STATUS_REG = 0x09;
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// ID registers
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final static byte HMC5883L_ID_A_REG = 0x0A;
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final static byte HMC5883L_ID_B_REG = 0x0B;
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final static byte HMC5883L_ID_C_REG = 0x0C;
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final static byte HMC5883L_CONT_MODE = 0x00;
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final static byte HMC5883L_DATA_REG = 0x03;
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// scales
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final static byte GA_0_88_REG = ((byte) (0x00 << 5));
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final static byte GA_1_3_REG = ((byte) (0x01 << 5));
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final static byte GA_1_9_REG = ((byte) (0x02 << 5));
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final static byte GA_2_5_REG = ((byte) (0x03 << 5));
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final static byte GA_4_0_REG = ((byte) (0x04 << 5));
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final static byte GA_4_7_REG = ((byte) (0x05 << 5));
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final static byte GA_5_6_REG = ((byte) (0x06 << 5));
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final static byte GA_8_1_REG = ((byte) (0x07 << 5));
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// digital resolutions
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final static float SCALE_0_73_MG = 0.73f;
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final static float SCALE_0_92_MG = 0.92f;
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final static float SCALE_1_22_MG = 1.22f;
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final static float SCALE_1_52_MG = 1.52f;
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final static float SCALE_2_27_MG = 2.27f;
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final static float SCALE_2_56_MG = 2.56f;
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final static float SCALE_3_03_MG = 3.03f;
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final static float SCALE_4_35_MG = 4.35f;
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public static void main(String[] args) throws InterruptedException {
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float direction = 0;
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int x, y, z;
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byte[] rx_tx_buf = new byte[MAX_BUFFER_LENGTH];
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byte[] conf_buf = new byte[CONF_BUFFER_LENGTH];
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//! [Interesting]
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I2c i2c = new I2c(0);
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i2c.address(HMC5883L_I2C_ADDR);
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conf_buf[0] = HMC5883L_CONF_REG_B;
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conf_buf[1] = GA_1_3_REG;
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i2c.write(conf_buf);
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//! [Interesting]
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i2c.address(HMC5883L_I2C_ADDR);
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conf_buf[0] = HMC5883L_MODE_REG;
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conf_buf[1] = HMC5883L_CONT_MODE;
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i2c.write(conf_buf);
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for (int i = 100; i > 0; --i) {
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i2c.address(HMC5883L_I2C_ADDR);
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i2c.writeByte(HMC5883L_DATA_REG);
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i2c.address(HMC5883L_I2C_ADDR);
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i2c.read(rx_tx_buf);
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x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8) | (rx_tx_buf[HMC5883L_X_LSB_REG] & 0xFF);
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z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8) | (rx_tx_buf[HMC5883L_Z_LSB_REG] & 0xFF);
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y = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8) | (rx_tx_buf[HMC5883L_Y_LSB_REG] & 0xFF);
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direction = (float) Math.atan2(y * SCALE_0_92_MG, x * SCALE_0_92_MG);
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if (direction < 0)
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direction += 2 * Math.PI;
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System.out.println(String.format("Compass scaled data x : %f, y : %f, z : %f\n", x * SCALE_0_92_MG, y * SCALE_0_92_MG,
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z * SCALE_0_92_MG));
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System.out.println(String.format("Heading : %f\n", direction * 180 / Math.PI));
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Thread.sleep(1000);
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}
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}
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}
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