From 495e815e47d06e388f26edb884c10b315bee9346 Mon Sep 17 00:00:00 2001 From: Rick Waldron Date: Tue, 3 May 2016 17:49:07 -0400 Subject: [PATCH] Compass: MAG3110 (incl. tests & diagrams) Signed-off-by: Rick Waldron --- README.md | 2 + docs/breadboard/compass-MAG3110-tessel.fzz | Bin 0 -> 85472 bytes docs/breadboard/compass-MAG3110-tessel.png | Bin 0 -> 65315 bytes docs/breadboard/compass-MAG3110.fzz | Bin 0 -> 13058 bytes docs/breadboard/compass-MAG3110.png | Bin 0 -> 93475 bytes docs/compass-MAG3110-tessel.md | 83 +++ docs/compass-MAG3110.md | 80 +++ eg/compass-MAG3110-tessel.js | 31 ++ eg/compass-MAG3110.js | 28 + lib/compass.js | 588 +++++++++++++++------ lib/fn.js | 4 + test/compass.js | 126 ++++- tpl/programs.json | 8 + 13 files changed, 780 insertions(+), 170 deletions(-) create mode 100644 docs/breadboard/compass-MAG3110-tessel.fzz create mode 100644 docs/breadboard/compass-MAG3110-tessel.png create mode 100644 docs/breadboard/compass-MAG3110.fzz create mode 100644 docs/breadboard/compass-MAG3110.png create mode 100644 docs/compass-MAG3110-tessel.md create mode 100644 docs/compass-MAG3110.md create mode 100644 eg/compass-MAG3110-tessel.js create mode 100644 eg/compass-MAG3110.js diff --git a/README.md b/README.md index 16b1af4f7..470ed9899 100644 --- a/README.md +++ b/README.md @@ -355,6 +355,8 @@ To interactively navigate the examples, visit the [Johnny-Five examples](http:// - [Compass - HMC5883L](https://github.com/rwaldron/johnny-five/blob/master/docs/compass-hmc5883l.md) - [Compass - HMC6352](https://github.com/rwaldron/johnny-five/blob/master/docs/compass-hmc6352.md) - [Compass - Logger](https://github.com/rwaldron/johnny-five/blob/master/docs/magnetometer-log.md) +- [Compass - MAG3110](https://github.com/rwaldron/johnny-five/blob/master/docs/compass-MAG3110.md) +- [Compass - MAG3110 on Tessel 2](https://github.com/rwaldron/johnny-five/blob/master/docs/compass-MAG3110-tessel.md) - [Compass / Magnetometer](https://github.com/rwaldron/johnny-five/blob/master/docs/magnetometer.md) ### Piezo diff --git a/docs/breadboard/compass-MAG3110-tessel.fzz b/docs/breadboard/compass-MAG3110-tessel.fzz new file mode 100644 index 0000000000000000000000000000000000000000..27759817a4f32d09bc844bce2646205d276575f6 GIT binary patch literal 85472 zcmZU&b9^RI(>9n)W@1b-v2EM7ZQikM+qRQCoY=N)b7I@xJkPtkzwh1czq+q;PF<&} zx~u9`%S(a%L3x7X`GB5 z9gVGMO*}5NwHymrk$txHdS{LxopzQanwU0SnzNhcvzgny@9hxb>(ROW*zA40N$eRI z>g+F8LI%$JG1(JhVq&@+yTJBeONKQnyh=21i$*xAUv^FlVl#;*JRj zy2^xkZD9{bmA$`Y4Tc+2+ce@*$;x3QIWDhyqdlJDK2K=PU8FwxWQrL+-gl0=$J)C~ zB@s~=Iu*(@BUdJoUG!QNZOn0bT6LvY^CYHhUZtZp1IliH{~G*=wg3ZU6dz10ALNM6 zzwL^$_(`nv(wZlGXliwzT_Jj#osCT=4`kO?bw;)M|Nb1KEsHpM-7eN>6AwTz&oW^< zMaXAYHqH>~<(vI;AR43qqTN&i&M)WhX4V9lwD1i+y(2%v@aLQ@&_R^Xz;fY7J3Z&GP9X)z6!13}pV~fjTC- z6A0ATa)nh%Z`U5gYm7QPAv7#7b7Z4(n3Q80qgBO`Ny{c16ygkb|KfnmJv^1f$)Dqv zI%1|uS?o&+n8>l|&@U~sC{=Ns_VJcDGYRY^3W$}8$YhW 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+ +Fritzing diagram: [docs/breadboard/compass-MAG3110-tessel.fzz](breadboard/compass-MAG3110-tessel.fzz) + +  + + + + +Run this example from the command line with: +```bash +node eg/compass-MAG3110-tessel.js +``` + + +```javascript +var Tessel = require("tessel-io"); +var five = require("../"); +var board = new five.Board({ + io: new Tessel() +}); + +board.on("ready", function() { + + var compass = new five.Compass({ + controller: "MAG3110", + // Optionally pre-load the offsets + offsets: { + x: [-819, -335], + y: [702, 1182], + z: [-293, -13], + }, + }); + + compass.on("calibrated", function(offsets) { + // Use this data with the optional "offsets" property above + console.log("calibrated:", offsets); + }); + + compass.on("change", function() { + console.log("change"); + console.log(" heading : ", Math.floor(this.heading)); + console.log(" bearing : ", this.bearing.name); + console.log("--------------------------------------"); + }); +}); + + +``` + + + + + + + + +  + + + +## License +Copyright (c) 2012, 2013, 2014 Rick Waldron +Licensed under the MIT license. +Copyright (c) 2016 The Johnny-Five Contributors +Licensed under the MIT license. + + diff --git a/docs/compass-MAG3110.md b/docs/compass-MAG3110.md new file mode 100644 index 000000000..112a44ac4 --- /dev/null +++ b/docs/compass-MAG3110.md @@ -0,0 +1,80 @@ + + +# Compass - MAG3110 + + + + + + + + +##### Breadboard for "Compass - MAG3110" + + + +![docs/breadboard/compass-MAG3110.png](breadboard/compass-MAG3110.png)
+ +Fritzing diagram: [docs/breadboard/compass-MAG3110.fzz](breadboard/compass-MAG3110.fzz) + +  + + + + +Run this example from the command line with: +```bash +node eg/compass-MAG3110.js +``` + + +```javascript +var five = require("../"); +var board = new five.Board(); + +board.on("ready", function() { + + var compass = new five.Compass({ + controller: "MAG3110", + // Optionally pre-load the offsets + offsets: { + x: [-819, -335], + y: [702, 1182], + z: [-293, -13], + }, + }); + + compass.on("calibrated", function(offsets) { + // Use this data with the optional "offsets" property above + console.log("calibrated:", offsets); + }); + + compass.on("change", function() { + console.log("change"); + console.log(" heading : ", Math.floor(this.heading)); + console.log(" bearing : ", this.bearing.name); + console.log("--------------------------------------"); + }); +}); + + +``` + + + + + + + + +  + + + +## License +Copyright (c) 2012, 2013, 2014 Rick Waldron +Licensed under the MIT license. +Copyright (c) 2016 The Johnny-Five Contributors +Licensed under the MIT license. + + diff --git a/eg/compass-MAG3110-tessel.js b/eg/compass-MAG3110-tessel.js new file mode 100644 index 000000000..5d10afa4c --- /dev/null +++ b/eg/compass-MAG3110-tessel.js @@ -0,0 +1,31 @@ +var Tessel = require("tessel-io"); +var five = require("../"); +var board = new five.Board({ + io: new Tessel() +}); + +board.on("ready", function() { + + var compass = new five.Compass({ + controller: "MAG3110", + // Optionally pre-load the offsets + offsets: { + x: [-819, -335], + y: [702, 1182], + z: [-293, -13], + }, + }); + + compass.on("calibrated", function(offsets) { + // Use this data with the optional "offsets" property above + console.log("calibrated:", offsets); + }); + + compass.on("change", function() { + console.log("change"); + console.log(" heading : ", Math.floor(this.heading)); + console.log(" bearing : ", this.bearing.name); + console.log("--------------------------------------"); + }); +}); + diff --git a/eg/compass-MAG3110.js b/eg/compass-MAG3110.js new file mode 100644 index 000000000..7bc3d2a56 --- /dev/null +++ b/eg/compass-MAG3110.js @@ -0,0 +1,28 @@ +var five = require("../"); +var board = new five.Board(); + +board.on("ready", function() { + + var compass = new five.Compass({ + controller: "MAG3110", + // Optionally pre-load the offsets + offsets: { + x: [-819, -335], + y: [702, 1182], + z: [-293, -13], + }, + }); + + compass.on("calibrated", function(offsets) { + // Use this data with the optional "offsets" property above + console.log("calibrated:", offsets); + }); + + compass.on("change", function() { + console.log("change"); + console.log(" heading : ", Math.floor(this.heading)); + console.log(" bearing : ", this.bearing.name); + console.log("--------------------------------------"); + }); +}); + diff --git a/lib/compass.js b/lib/compass.js index 04897845d..ee72bd089 100644 --- a/lib/compass.js +++ b/lib/compass.js @@ -1,38 +1,29 @@ -var Board = require("./board"), - Emitter = require("events").EventEmitter, - util = require("util"), - __ = require("./fn"), - int16 = __.int16; - +var Board = require("./board"); +var Emitter = require("events").EventEmitter; +var util = require("util"); +var Fn = require("./fn"); +var int16 = Fn.int16; var priv = new Map(); var Controllers = { - /** - * HMC5883L: 3-Axis Compass Module - * 0x1E - * - * https://sites.google.com/site/parallaxinretailstores/home/compass-module-3-axis-hmc5883l - * - * http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf - * P. 10,11,12,13 - * - * http://www.memsense.com/docs/MTD-0801_1_0_Calculating_Heading_Elevation_Bank_Angle.pdf - * - * https://www.loveelectronics.co.uk/Tutorials/13/tilt-compensated-compass-arduino-tutorial - * - */ + // https://cdn-shop.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883L: { REGISTER: { value: { + // Page 11 + // Table 2: Register List + // // Configuration Register A CRA: 0x00, // Configuration Register B // This may change, depending on gauss CRB: 0x01, - MEASUREMENT: 0x02, - READ: 0x03 + // Mode Register + MODE: 0x02, + // Data Output X MSB Register + READ: 0x03, } }, initialize: { @@ -42,7 +33,6 @@ var Controllers = { var READLENGTH = 6; state.scale = 1; - state.register = 0x40; Object.assign(state, new Compass.Scale(opts.gauss || 0.88)); @@ -50,31 +40,37 @@ var Controllers = { this.io.i2cConfig(opts); + // Page 18 + // OPERATIONAL EXAMPLES... + // + // 1. Write CRA (00) – send 0x3C 0x00 0x70 (8-average, 15 Hz default, normal measurement) + // // Set CRA + // Page 12 this.io.i2cWrite(address, this.REGISTER.CRA, 0x70); // Set CRB - this.io.i2cWrite(address, this.REGISTER.CRB, state.register); + // Page 13 + this.io.i2cWrite(address, this.REGISTER.CRB, 0x40); + // Page 14 // Measurement: Continuous - this.io.i2cWrite(address, this.REGISTER.MEASUREMENT, 0x00); + this.io.i2cWrite(address, this.REGISTER.MODE, 0x00); - // Initialize continuous read this.io.i2cRead(address, this.REGISTER.READ, READLENGTH, function(bytes) { - dataHandler.call(this, { + dataHandler({ x: int16(bytes[0], bytes[1]), y: int16(bytes[4], bytes[5]), z: int16(bytes[2], bytes[3]), }); - }.bind(this)); + }); } }, toScaledHeading: { - value: function(data) { - var x = data.x * data.scale; - var y = data.y * data.scale; + value: function(raw) { + var state = priv.get(this); - return ToHeading(x, y); + return ToHeading(raw.x * state.scale, raw.y * state.scale); } } }, @@ -109,17 +105,18 @@ var Controllers = { // Initialize continuous read this.io.i2cRead(address, this.REGISTER.READ, READLENGTH, function(bytes) { - dataHandler.call(this, { + dataHandler({ x: (((bytes[0] << 8) + bytes[1]) / 10) | 0, y: null, z: null, }); - }.bind(this)); + }); } }, toScaledHeading: { - value: function(data) { - return data.x * data.scale; + value: function(raw) { + var state = priv.get(this); + return raw.x * state.scale; }, }, }, @@ -150,6 +147,294 @@ var Controllers = { }, }, }, + + // http://www.nxp.com/files/sensors/doc/data_sheet/MAG3110.pdf + MAG3110: { + REGISTER: { + value: { + // Page 15 + // Table 11 Register Address Map + // DR_STATUS + STATUS: 0x00, + // OUT_X_MSB + READ: 0x01, + // OFF_X_MSB + OFFSETS: 0x09, + // CTRL_REG1 + CTRL_REG1: 0x10, + // CTRL_REG2 + CTRL_REG2: 0x11, + } + }, + initialize: { + value: function(opts, dataHandler) { + var state = priv.get(this); + + // MAG3110 has only one possible address + var address = 0x0E; + var isDataPending = false; + var temp; + + state.isCalibrated = false; + state.isPreCalibrated = false; + state.hasEmittedCalibration = false; + state.measurements = 20; + + state.offsets = { + x: 0, + y: 0, + z: 0, + }; + state.accum = { + x: { offset: null, high: 0, low: 0 }, + y: { offset: null, high: 0, low: 0 }, + z: { offset: null, high: 0, low: 0 }, + }; + opts.delay = 2; + opts.address = address; + + if (opts.offsets) { + state.isCalibrated = true; + state.isPreCalibrated = true; + + if (Array.isArray(opts.offsets)) { + temp = opts.offsets.slice(); + opts.offsets = { + x: temp[0], + y: temp[1], + z: temp[2], + }; + } + + state.accum.x.low = opts.offsets.x[0]; + state.accum.x.high = opts.offsets.x[1]; + state.accum.x.offset = (state.accum.x.low + state.accum.x.high) / 2; + + state.accum.y.low = opts.offsets.y[0]; + state.accum.y.high = opts.offsets.y[1]; + state.accum.y.offset = (state.accum.y.low + state.accum.y.high) / 2; + + state.accum.z.low = opts.offsets.z[0]; + state.accum.z.high = opts.offsets.z[1]; + state.accum.z.offset = (state.accum.z.low + state.accum.z.high) / 2; + } + + /* + Page 14 + 4.2.7 MAG3110 Setup Examples + + Continuous measurements with ODR = 80 Hz, OSR = 1 + + 1. Enable automatic magnetic sensor resets by setting bit AUTO_MRST_EN in CTRL_REG2. + (CTRL_REG2 = 0x80) + 2. Put MAG3110 in active mode 80 Hz ODR with OSR = 1 by writing 0x01 to CTRL_REG1 + (CTRL_REG1 = 0x01) + 3. At this point it is possible to sync with MAG3110 utilizing INT1 pin or + using polling of the DR_STATUS register as explained in section 4.2.5. + */ + + this.io.i2cConfig(opts); + /* + Page 21 + 5.5.2 CTRL_REG2 (0x11) + Table 33. + CTRL_REG2 Register + + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + | A | | R | M | | | | | + + A: Automatic Magnetic Sensor Reset. Default value: 0. + R: Data output correction. Default value: 0. + M: Magnetic Sensor Reset (One-Shot). Default value: 0. + + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + | 1 | | 0 | 0 | | | | | + + 0b10000000 = 128 = 0x80 + + RAW + 0b10100000 = 160 = 0xA0 + */ + this.io.i2cWrite(address, this.REGISTER.CTRL_REG2, 0x80); + // this.io.i2cWrite(address, this.REGISTER.CTRL_REG2, 0xA0); + + /* + Page 20 + 5.5.1 CTRL_REG1 (0x10) + Table 30. CTRL_REG1 Register + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + |DR2|DR1|DR0|OS1|OS0|FR |TM |AC | + + See Table 31. CTRL_REG1 Description for complete descriptions + + (Active mode, 80Hz) + + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 1 | + + 0b00000001 = 1 = 0x01 + */ + this.io.i2cWrite(address, this.REGISTER.CTRL_REG1, 0x01); + + var measured = { + x: 0, + y: 0, + z: 0, + }; + + var readCycle = function() { + this.io.i2cReadOnce(address, this.REGISTER.STATUS, 1, function(data) { + /* + Page 16 + 5.1.1 DR_STATUS (0x00) + + Table 12 + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + |OVR|ZOW|XOW|YOW|DR |ZDR|YDR|XDR| + + Table 13 + (Contains Complete descriptions) + + OVR (ZYXOW) (X, Y, Z-axis Data Overwrite. Default value: 0.) + 0: No Data overwritten + 1: Previous X, Y, Z has been overwritten + + ZOW, YOW, XOW: + 0: No Data overwritten + 1: Previous X, Y, Z has been overwritten + + DR (ZYXDR) (X or Y or Z-axis new Data Ready. Default value: 0.) + 0: No new data is ready + 1: New full set of data is ready + + ZDR, YDR, XDR: + 0: No new data is ready + 1: New X, Y, Z data is ready + + | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 | + |---|---|---|---|---|---|---|---| + | 0 | 0 | 0 | 0 | 1 | 1 | 1 | 1 | + + + 0b00001111 = 15 = 0x0F: A complete set of axis data is available + + 0b11111111 = 255 = 0xFF: All data is newly written + + */ + if (!isDataPending && (data[0] === 0x0F || data[0] === 0xFF)) { + isDataPending = true; + + this.io.i2cReadOnce(address, this.REGISTER.READ, 6, function(bytes) { + var timeout = 0; + + isDataPending = false; + + measured.x = int16(bytes[0], bytes[1]); + measured.y = int16(bytes[2], bytes[3]); + measured.z = int16(bytes[4], bytes[5]); + + if (!state.isCalibrated) { + + if (state.accum.x.offset === null) { + state.accum.x.offset = measured.x; + state.accum.x.low = measured.x; + state.accum.x.high = measured.x; + } + + if (state.accum.y.offset === null) { + state.accum.y.offset = measured.y; + state.accum.y.low = measured.y; + state.accum.y.high = measured.y; + } + + state.accum.x.low = Math.min(state.accum.x.low, measured.x); + state.accum.x.high = Math.max(state.accum.x.high, measured.x); + state.accum.x.offset = Math.trunc((state.accum.x.low + state.accum.x.high) / 2); + + state.accum.y.low = Math.min(state.accum.y.low, measured.y); + state.accum.y.high = Math.max(state.accum.y.high, measured.y); + state.accum.y.offset = Math.trunc((state.accum.y.low + state.accum.y.high) / 2); + + state.accum.z.low = Math.min(state.accum.z.low, measured.z); + state.accum.z.high = Math.max(state.accum.z.high, measured.z); + state.accum.z.offset = Math.trunc((state.accum.z.low + state.accum.z.high) / 2); + + --state.measurements; + + if (!state.measurements) { + state.isCalibrated = true; + } + } + + if (state.isCalibrated) { + if (!state.hasEmittedCalibration) { + state.hasEmittedCalibration = true; + + state.offsets.x = state.accum.x.offset; + state.offsets.y = state.accum.y.offset; + state.offsets.z = state.accum.z.offset; + + this.io.i2cWrite(address, this.REGISTER.OFFSETS, [ + state.offsets.x >> 7, (state.offsets.x << 1) & 0xFF, + state.offsets.y >> 7, (state.offsets.y << 1) & 0xFF, + state.offsets.z >> 7, (state.offsets.z << 1) & 0xFF, + ]); + + this.emit("calibrated", { + x: [state.accum.x.low, state.accum.x.high], + y: [state.accum.y.low, state.accum.y.high], + z: [state.accum.z.low, state.accum.z.high], + }); + } + + timeout = Math.floor(1000 / 80); + + dataHandler(measured); + } + + // MAG3110 is set to read at 80Hz (do this after calibration) + setTimeout(readCycle, timeout); + }.bind(this)); + } else { + readCycle(); + } + }.bind(this)); + }.bind(this); + + readCycle(); + } + }, + calibrate: { + value: function(measurements) { + var state = priv.get(this); + + state.isCalibrated = false; + state.measurements = measurements; + } + }, + toScaledHeading: { + value: function(raw) { + var state = priv.get(this); + var scale = { + x: 1 / (state.accum.x.high - state.accum.x.low), + y: 1 / (state.accum.y.high - state.accum.y.low), + }; + + var heading = Math.atan2(-raw.y * scale.y, raw.x * scale.x); + + if (heading < 0) { + heading += 2 * Math.PI; + } + + return Math.trunc(heading * Fn.RAD_TO_DEG); + }, + }, + }, }; @@ -186,7 +471,11 @@ function Compass(opts) { var freq = opts.freq || 25; var controller = null; - var raw = null; + var raw = { + x: null, + y: null, + z: null, + }; var state = { x: 0, y: 0, @@ -223,7 +512,7 @@ function Compass(opts) { } setInterval(function() { - if (raw === null) { + if (raw.x === null) { return; } var isChange = false; @@ -249,69 +538,65 @@ function Compass(opts) { }); } }.bind(this), freq); -} - - -util.inherits(Compass, Emitter); - - -Object.defineProperties(Compass.prototype, { - /** - * [read-only] Bearing information - * @name bearing - * @property - * @type Object - * - * - name - abbr - low - mid - high - heading - * - */ - bearing: { - get: function() { - var length = Compass.Points.length; - var heading = Math.floor(this.heading); - var point; - - for (var i = 0; i < length; i++) { - point = Compass.Points[i]; - - if (point.range.includes(heading)) { - // Specify fields to return to avoid returning the - // range array (too much noisy data) - return { - name: point.point, - abbr: point.abbr, - low: point.low, - mid: point.mid, - high: point.high, - heading: heading - }; + Object.defineProperties(this, { + /** + * [read-only] Bearing information + * @name bearing + * @property + * @type Object + * + * + name + abbr + low + mid + high + heading + * + */ + + bearing: { + get: function() { + var length = Compass.Points.length; + var heading = Math.floor(state.heading); + var point; + + for (var i = 0; i < length; i++) { + point = Compass.Points[i]; + + if (point.range.includes(heading)) { + // Specify fields to return to avoid returning the + // range array (too much noisy data) + return { + name: point.name, + abbr: point.abbr, + low: point.low, + high: point.high, + heading: heading + }; + } } } - } - }, + }, - /** - * [read-only] Heading (azimuth) - * @name heading - * @property - * @type number - */ - heading: { - get: function() { - var state = priv.get(this); - return this.toScaledHeading(state); + /** + * [read-only] Heading (azimuth) + * @name heading + * @property + * @type number + */ + heading: { + get: function() { + return this.toScaledHeading(raw); + } } - } -}); + }); +} +util.inherits(Compass, Emitter); + function ToHeading(x, y) { /** * @@ -346,17 +631,17 @@ function ToHeading(x, y) { */ - var heading = Math.atan2(y, x); + var radians = Math.atan2(y, x); - if (heading < 0) { - heading += 2 * Math.PI; + if (radians < 0) { + radians += 2 * Math.PI; } - if (heading > 2 * Math.PI) { - heading -= 2 * Math.PI; + if (radians > 2 * Math.PI) { + radians -= 2 * Math.PI; } - return heading * (180 / Math.PI); + return radians * Fn.RAD_TO_DEG; } @@ -414,209 +699,176 @@ Compass.Scale = function(gauss) { */ Compass.Points = [{ - point: "North", + name: "North", abbr: "N", low: 354.38, - mid: 360, high: 360 }, { - point: "North", + name: "North", abbr: "N", low: 0, - mid: 0, high: 5.62 }, { - point: "North by East", + name: "North by East", abbr: "NbE", low: 5.63, - mid: 11.25, high: 16.87 }, { - point: "North-NorthEast", + name: "North-NorthEast", abbr: "NNE", low: 16.88, - mid: 22.5, high: 28.12 }, { - point: "NorthEast by North", + name: "NorthEast by North", abbr: "NEbN", low: 28.13, - mid: 33.75, high: 39.37 }, { - point: "NorthEast", + name: "NorthEast", abbr: "NE", low: 39.38, - mid: 45, high: 50.62 }, { - point: "NorthEast by East", + name: "NorthEast by East", abbr: "NEbE", low: 50.63, - mid: 56.25, high: 61.87 }, { - point: "East-NorthEast", + name: "East-NorthEast", abbr: "ENE", low: 61.88, - mid: 67.5, high: 73.12 }, { - point: "East by North", + name: "East by North", abbr: "EbN", low: 73.13, - mid: 78.75, high: 84.37 }, { - point: "East", + name: "East", abbr: "E", low: 84.38, - mid: 90, high: 95.62 }, { - point: "East by South", + name: "East by South", abbr: "EbS", low: 95.63, - mid: 101.25, high: 106.87 }, { - point: "East-SouthEast", + name: "East-SouthEast", abbr: "ESE", low: 106.88, - mid: 112.5, high: 118.12 }, { - point: "SouthEast by East", + name: "SouthEast by East", abbr: "SEbE", low: 118.13, - mid: 123.75, high: 129.37 }, { - point: "SouthEast", + name: "SouthEast", abbr: "SE", low: 129.38, - mid: 135, high: 140.62 }, { - point: "SouthEast by South", + name: "SouthEast by South", abbr: "SEbS", low: 140.63, - mid: 146.25, high: 151.87 }, { - point: "South-SouthEast", + name: "South-SouthEast", abbr: "SSE", low: 151.88, - mid: 157.5, high: 163.12 }, { - point: "South by East", + name: "South by East", abbr: "SbE", low: 163.13, - mid: 168.75, high: 174.37 }, { - point: "South", + name: "South", abbr: "S", low: 174.38, - mid: 180, high: 185.62 }, { - point: "South by West", + name: "South by West", abbr: "SbW", low: 185.63, - mid: 191.25, high: 196.87 }, { - point: "South-SouthWest", + name: "South-SouthWest", abbr: "SSW", low: 196.88, - mid: 202.5, high: 208.12 }, { - point: "SouthWest by South", + name: "SouthWest by South", abbr: "SWbS", low: 208.13, - mid: 213.75, high: 219.37 }, { - point: "SouthWest", + name: "SouthWest", abbr: "SW", low: 219.38, - mid: 225, high: 230.62 }, { - point: "SouthWest by West", + name: "SouthWest by West", abbr: "SWbW", low: 230.63, - mid: 236.25, high: 241.87 }, { - point: "West-SouthWest", + name: "West-SouthWest", abbr: "WSW", low: 241.88, - mid: 247.5, high: 253.12 }, { - point: "West by South", + name: "West by South", abbr: "WbS", low: 253.13, - mid: 258.75, high: 264.37 }, { - point: "West", + name: "West", abbr: "W", low: 264.38, - mid: 270, high: 275.62 }, { - point: "West by North", + name: "West by North", abbr: "WbN", low: 275.63, - mid: 281.25, high: 286.87 }, { - point: "West-NorthWest", + name: "West-NorthWest", abbr: "WNW", low: 286.88, - mid: 292.5, high: 298.12 }, { - point: "NorthWest by West", + name: "NorthWest by West", abbr: "NWbW", low: 298.13, - mid: 303.75, high: 309.37 }, { - point: "NorthWest", + name: "NorthWest", abbr: "NW", low: 309.38, - mid: 315.00, high: 320.62 }, { - point: "NorthWest by North", + name: "NorthWest by North", abbr: "NWbN", low: 320.63, - mid: 326.25, high: 331.87 }, { - point: "North-NorthWest", + name: "North-NorthWest", abbr: "NNW", low: 331.88, - mid: 337.5, high: 343.12 }, { - point: "North by West", + name: "North by West", abbr: "NbW", low: 343.13, - mid: 348.75, high: 354.37 }]; // Add ranges to each compass point record Compass.Points.forEach(function(point, k) { - this[k].range = __.range(Math.floor(point.low), Math.floor(point.high)); -}, Compass.Points); + Compass.Points[k].range = Fn.range(Math.floor(point.low), Math.floor(point.high)); +}); diff --git a/lib/fn.js b/lib/fn.js index 38d2f4826..6ee9c6bd6 100644 --- a/lib/fn.js +++ b/lib/fn.js @@ -344,4 +344,8 @@ for (var i = 0; i < MAX; i++) { } */ + +Fn.RAD_TO_DEG = 180 / Math.PI; +Fn.DEG_TO_RAD = Math.PI / 180; + module.exports = Fn; diff --git a/test/compass.js b/test/compass.js index 234fdafe2..db4c75200 100644 --- a/test/compass.js +++ b/test/compass.js @@ -8,14 +8,12 @@ var expecteds = { name: "North", abbr: "N", low: 0, - mid: 0, high: 5.62, heading: 0 }, { name: "North", abbr: "N", low: 0, - mid: 0, high: 5.62, heading: 0 }, ] @@ -126,6 +124,130 @@ var expecteds = { }); +exports["Compass - MAG3110"] = { + setUp: function(done) { + this.sandbox = sinon.sandbox.create(); + this.clock = this.sandbox.useFakeTimers(); + this.board = newBoard(); + + this.i2cConfig = this.sandbox.spy(MockFirmata.prototype, "i2cConfig"); + this.i2cWrite = this.sandbox.spy(MockFirmata.prototype, "i2cWrite"); + this.i2cReadOnce = this.sandbox.spy(MockFirmata.prototype, "i2cReadOnce"); + + this.compass = new Compass({ + board: this.board, + controller: "MAG3110", + offsets: { + x: [-819, -335], + y: [702, 1182], + z: [-293, -13], + }, + }); + + this.properties = [{ + name: "bearing" + }, { + name: "heading" + }]; + + done(); + }, + + tearDown: function(done) { + Board.purge(); + this.sandbox.restore(); + done(); + }, + + shape: function(test) { + test.expect(this.properties.length); + + this.properties.forEach(function(property) { + test.notEqual(typeof this.compass[property.name], "undefined"); + }, this); + test.done(); + }, + + fwdOptionsToi2cConfig: function(test) { + test.expect(3); + + this.i2cConfig.reset(); + + new Compass({ + controller: "MAG3110", + address: 0xff, + bus: "i2c-1", + board: this.board + }); + + var forwarded = this.i2cConfig.lastCall.args[0]; + + test.equal(this.i2cConfig.callCount, 1); + // Controller will overrule an explicit address + test.equal(forwarded.address, 0x0E); + test.equal(forwarded.bus, "i2c-1"); + + test.done(); + }, + + data: function(test) { + test.expect(3); + + var status = this.i2cReadOnce.getCall(0).args[3]; + var spy = sinon.spy(); + + this.compass.on("data", spy); + + status([15]); + + this.clock.tick(25); + + var handler = this.i2cReadOnce.getCall(1).args[3]; + + // Taken from actual output + handler([ 0, 153, 255, 247, 0, 102 ]); + + this.clock.tick(25); + + test.equal(spy.callCount, 1); + test.equal(spy.lastCall.args[0].heading, 3); + test.equal(this.compass.heading, 3); + + test.done(); + }, + + change: function(test) { + test.expect(7); + + + var status = this.i2cReadOnce.getCall(0).args[3]; + var spy = sinon.spy(); + + this.compass.on("change", spy); + + status([15]); + + var handler = this.i2cReadOnce.getCall(1).args[3]; + + + handler([0, 153, 255, 247, 0, 102]); + this.clock.tick(100); + + handler([0, 155, 255, 242, 0, 93]); + this.clock.tick(100); + + test.equal(spy.callCount, 2); + test.equal(spy.firstCall.args[0].heading, 3); + test.equal(spy.lastCall.args[0].heading, 5); + test.equal(this.compass.bearing.name, Compass.Points[1].name); + test.equal(this.compass.bearing.abbr, Compass.Points[1].abbr); + test.equal(this.compass.bearing.low, Compass.Points[1].low); + test.equal(this.compass.bearing.high, Compass.Points[1].high); + + test.done(); + }, +}; + exports["Invalid or missing controller"] = { missing: function(test) { test.expect(1); diff --git a/tpl/programs.json b/tpl/programs.json index f5c4aa827..909ad8eb4 100644 --- a/tpl/programs.json +++ b/tpl/programs.json @@ -872,6 +872,14 @@ "file": "compass-hmc6352.js", "title": "Compass - HMC6352" }, + { + "file": "compass-MAG3110.js", + "title": "Compass - MAG3110" + }, + { + "file": "compass-MAG3110-tessel.js", + "title": "Compass - MAG3110 on Tessel 2" + }, { "file": "compass-hmc5883l.js", "title": "Compass - HMC5883L"