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Regard whitespace Rev 348 → Rev 354

/programy/Atmel32_C/compass/compass.c
0,0 → 1,104
/* compass.c
*
* Software to read from the CMPS03 magnetic compass.
*
* By Josh Marshall, joshua dot marshall at studentmail dot newcastle dot edu dot au
* October 15, 2004.
*
* Adapted from code for the SP03 speech synthesiser
* By Bram Stolk, b.stolk at chello.nl
*
* Bram Stolk's notes:
* In linux, you can do I2C stuff in user-space, if you enable
* the device-interface to i2c. You can use plain read() and
* write() calls on your /dev/i2c-0 file.
*
* NOTE: Check if you have an i2c adapter active by doing:
* cat /proc/bus/i2c
* If this comes up empty, then you have no adapters. If the
* file does not exist at all, you probably lack i2c kernel
* support alltogether.
*/
 
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
 
/* Note that the documentation for the compass states its address as 0xC0.
* However, this includes the low bit which specifies read or write.
* Linux i2c does not include this bit in this address, so the actual
* address is 0xC0 shifted down, 0x60.
*/
#define CMPS03_ADDR 0x60
 
/* The important registers on the compass. Internal/test registers omitted. */
#define CMPS03_SOFTWARE_REVISION 0x0
#define CMPS03_BEARING_BYTE 0x1
#define CMPS03_BEARING_WORD_HIGH 0x2
#define CMPS03_BEARING_WORD_LOW 0x3
#define CMPS03_CALIBRATE_CMD 0xF
 
int main(int argc, char *argv[]) {
char *end;
int res,file;
int e1;
char filename[20] ;
long funcs;
int heading_byte, heading_word_h, heading_word_l;
int bearing_long, bearing_degrees;
sprintf(filename,"/dev/i2c-%d");
if ((file = open(filename,O_RDWR)) < 0) {
e1 = errno;
if (e1 != ENOENT) {
fprintf(stderr,"Error: Could not open file '%s' : %sn",
filename,strerror(e1));
if(e1 == EACCES)
fprintf(stderr,"Run as root?n");
}
}
if (ioctl(file,I2C_SLAVE,CMPS03_ADDR) < 0) {
if (errno == EBUSY) {
printf("device is busyn");
}
printf("Got error: %d\n", errno);
exit(0);
}
/* Get software revision number */
res = i2c_smbus_read_byte_data(file, CMPS03_SOFTWARE_REVISION);
if (res < 0) {
printf("Cannot read software revision leveln");
} else {
printf("Software revision level: %02xn", res);
}
/* Loop and read from the compass. */
while (1) {
/* The heading byte is 0-255 for the 360 degrees. */
heading_byte = i2c_smbus_read_byte_data(file, CMPS03_BEARING_BYTE);
if (heading_byte < 0) { printf("Error reading from compass."); exit(1);}
/* The high resolution heading is given in two registers, and is 10 * the
* heading in degrees, ie 359.9 degrees reads as 3599. */
heading_word_h = i2c_smbus_read_byte_data(file, CMPS03_BEARING_WORD_HIGH);
if (heading_word_h < 0) { printf("Error reading from compass."); exit(1);}
heading_word_l = i2c_smbus_read_byte_data(file, CMPS03_BEARING_WORD_LOW);
if (heading_word_l < 0) { printf("Error reading from compass."); exit(1);}
/* Combine the two bytes, and get the heading in degrees. */
bearing_long = heading_word_h * 256 + heading_word_l;
bearing_degrees = bearing_long / 10;
printf("Bearing: %d \n", bearing_degrees);
/* Wait for a while. */
usleep(200000);
}
}
/programy/Atmel32_C/compass/compass.cpp
39,7 → 39,7
 
static char* version = "CompassControlloler, version 0.1";
 
static char* help = "Usage: BoardController [OPTION]\n -I\t\tshow ID\n -M\t\tshow model\n -R\t\tshow revision\n -S\t\tshow serial no.\n -T\t\tshow temperature\n\n";
static char* help = "Usage: BoardController [OPTION]\n -A\t\tshow Azimuth\n -M\t\tshow model\n -R\t\tshow revision\n -S\t\tshow serial no.\n -T\t\tshow temperature\n\n";
 
#define I2C_SLAVE 0x0703 /* Change slave address */
#define I2C_RDWR 0x0707 /* Combined R/W transfer (one stop only)*/