initial commit of upm with hmc5883l support

Signed-off-by: Brendan Le Foll <brendan.le.foll@intel.com>

CMakeLists.txt

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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)

README

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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

examples/CMakeLists.txt

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+add_executable (compass compass.cxx)
+
+include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
+
+target_link_libraries (compass hmc5883l)

examples/compass.cxx

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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;
+}

src/CMakeLists.txt

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+add_subdirectory (hmc5883l)

src/hmc5883l/CMakeLists.txt

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

src/hmc5883l/hmc5883l.cxx

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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];
+}

src/hmc5883l/hmc5883l.h

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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;
+};
+
+}