Example #1
0
void main(void)
{
  int y = 0;
  WDTCTL = WDTPW + WDTHOLD;                 // Stop WDT

  PMAPPWD = 0x02D52;                        // Get write-access to port mapping regs
  P1MAP3 = PM_UCB0SDA;                      // Map UCB0SDA output to P2.6
  P1MAP2 = PM_UCB0SCL;                      // Map UCB0SCL output to P2.7
  PMAPPWD = 0;                              // Lock port mapping registers

  P1SEL |= BIT3 + BIT2;                     // Select P2.6 & P2.7 to I2C function

  HMC5883L_initialize();

  while(1)
  {
  HMC5883L_read_once(magData);


  while(y<5000){y++;}
  y=0;

  }

}
Example #2
0
/* Main loop */
int main()
{   
    /*Clear received array */
    memset(&received[0], 0, sizeof(received));
       
    /* Start the SCB UART, Timer and its interrupt */
    ModbusUART_Start();
    MessageReceived_StartEx(messageReceived_isr);  
    writeEnable_Write(0); // receive mode
    
    I2C_MASTER_Start(); //Start communicating to HMC5883L
    
    /* Start the encoder interrupt */
    SpeedInterrupt_StartEx(speed_isr);
    SpeedTimer_Start();

    int i = 0;
    
    CyGlobalIntEnable; /* comment this line to disable global interrupts. */
    
    /* Setup Scaling factors for Modbus */ 
    //mb.PIDScaler = 1000;
    scaleModbusPIDConstants();
    
    uint8 ida = 0;
    HMC5883L_Init();
    compassOnline = HMC5883L_testConnection();
    if(compassOnline){
        HMC5883L_initialize();
    }   
    
    while(forever)
    {       
        if(modbusMessage)
        {
          processMessage();
        }

        if(compassOnline)
        {            
            HMC5883L_getHeading(&cx,&cy,&cz);
            sx = (double)(cx) * scale * 10.0;
            sy = (double)cy   * scale * 10.0;
            sz = (double)cz   * scale * 10.0;
            
            holdingReg[0] = (int16)sx;
            holdingReg[1] = (int16)sy;
            
            if((holdingReg[4] !=0) && (holdingReg[5] !=0))
            {
                //master has set offsets so it wants us to calculate the bearing here
                offsetsx = ((double)((int16)holdingReg[4])) /10.0;
                offsetsy = ((double)((int16)holdingReg[5])) /10.0;  
                
                bearing  = atan2(((sy/10.0) + offsetsy), ((sx/10.0) + offsetsx));
                unchangedBearing = bearing;
                unchangedBearing = unchangedBearing*(180.0 / M_PI);//convert to degrees
                holdingReg[11] = (int16)unchangedBearing; //store to -180 to 180 bearing;
                
                if (bearing < 0)
                    bearing += 2 * M_PI;
                 bearing = bearing*(180.0 / M_PI);//convert to degrees
                 holdingReg[3] = (uint16)bearing*10;
                
                pidSpeed = calculatePID(abs(bearing), abs(holdingReg[10]));
                holdingReg[12] = (uint16) pidSpeed;
            }
            
            //We don't want to scale the PID contants every time as the floating point
            //stuff is wasteful.
            if(i < 1000){
                i ++;
            }
            else{
                scaleModbusPIDConstants();
                i = 0;
            }
            
            if(speedInterruptFlag)
            {
                
                speedInterruptFlag = 0;
            }
        }
    }
}