does anyone have an example output for heading in float32? also, how do i convert it to a whole number? my module is xmitting 10111111, 10000000, 00000000, 00000000 which equals 01111111, 00000000, 00000000, 00000000
0x7f, 0x00, 0x00, 0x00, 127
hello its good. Can you provide me code of v2xe. As your data show that you had completed it. i am university student and doing project. i shall be very thankful to you if you provide me that code and the one i wrote kindly check it out.
/*
V2XE code based on:
V2XE Example.c
Created by John Gonzaga on Thu Dec 18 2003.
Copyright (c) 2003 PNI Corporation. All rights reserved.
SPI code based on:
Spi.cpp - SPI library
Copyright (c) 2008 Cam Thompson.
Author: Cam Thompson, Micromega Corporation, <www.micromegacorp.com>
Version: December 15, 2008
*/
#include<SPI.h>
#define SCK_PIN 13
#define MISO_PIN 12
#define MOSI_PIN 11
#define SYNC_PIN 10
const int chipSelectPin = 7;
#define kSyncChar 0xAA
#define kTerminator 0x00
enum
{
// commands/frame types
kGetModInfo = 1, // 0x01
kModInfoResp, // 0x02
kSetDataComponents, // 0x03
kGetData, // 0x04
kDataResp, // 0x05
kSetConfig, // 0x06
kGetConfig, // 0x07
kConfigResp, // 0x08
kSaveConfig, // 0x09
kStartCal, // 0x0A
kStopCal, // 0x0B
kGetCalData, // 0x0C
kCalDataResp, // 0x0D
kSetCalData, // 0x0E
// data types
kRawX = 1, // 0x01
kRawY, // 0x02
kCalibratedX, // 0x03
kCalibratedY, // 0x04
kHeading, // 0x05
kMagnitude, // 0x06
kTemperature, // 0x07
kDistortion, // 0x08
kCalStatus, // 0x09
// config types
kDeclination = 1, // 0x01
kTrueNorth, // 0x02
kCalSampleFreq, // 0x03
kSampleFreq, // 0x04
kPeriod, // 0x05
kBigEndian, // 0x06
kDampingSize, // 0x07
// cal data types
kXOffset = 1, // 0x01
kYOffset, // 0x02
kXGain, // 0x03
kYGain, // 0x04
kPhi, // 0x05
kCalMagnitude // 0x06
};
/* TODO clean this up*/
typedef struct
{
long x, y;
float xe, ye;
float heading, magnitude;
float temperature;
byte distortion, calStatus;
} V2XEData;
V2XEData* data;
void init_compass(){
byte tmp;
// initialize the SPI pins
pinMode(SCK_PIN, OUTPUT);
pinMode(MOSI_PIN, OUTPUT);
pinMode(MISO_PIN, INPUT);
pinMode(chipSelectPin, OUTPUT);
pinMode(SYNC_PIN, OUTPUT);
digitalWrite(SYNC_PIN, LOW);
// The V2Xe must be talked to at f <= 3.6864 MHz -> FOSC/4
// enable SPI Master, MSB, SPI mode 0, FOSC/4 (= 2MHz on the 3,3v, 8MHz arduino mini pro)
//mode(2);
delay(20);
// sync the compass
v2xe_sync();
}
void mode(byte config){
// have a look at the atmega datasheet for meaning of the config parameter.
byte tmp;
// enable SPI master with configuration byte specified
SPCR = 0;
SPCR = (config & 0x7F) | (1<<SPE) | (1<<MSTR);
tmp = SPSR;
tmp = SPDR;
}
void v2xe_sync(){
digitalWrite(SYNC_PIN, LOW);
delayMicroseconds(100);
digitalWrite(SYNC_PIN, HIGH);
delayMicroseconds(100);
digitalWrite(SYNC_PIN, LOW);
delay(20);
}
// low level transmission function
byte spi_transmit(byte value){
SPDR = value;
while (!(SPSR & (1<<SPIF))) ;
return SPDR;
}
//Higher level transmission functions
//----------------------------------------
byte spi_receive_byte(){
return spi_transmit(0);
}
//Endinaness s by default the "wrong one" (aka not he one used by the arduino)
unsigned long spi_receive_ulong(){
unsigned long res = ((unsigned long)spi_transmit(0)) << 24
| ((unsigned long)spi_transmit(0)) << 16
| ((unsigned long)spi_transmit(0)) << 8
| ((unsigned long)spi_transmit(0)) ;
return res;
}
/*
// TODO revert the endianess of the compass and use this function instead
unsigned long spi_receive_ulong(){
unsigned long res = ((unsigned long)spi_transmit(0))
| ((unsigned long)spi_transmit(0)) << 8
| ((unsigned long)spi_transmit(0)) << 16
| ((unsigned long)spi_transmit(0)) << 24;
return res;
}*/
long spi_receive_long(){
unsigned long res = spi_receive_ulong();
return *((long*)((void*)&res));
}
float spi_receive_float(){
unsigned long res = spi_receive_ulong();
return *((float*)((void*)&res));
}
void ask_mod_info(){
byte index, count, type, buffer[64];
index = 0;
buffer[index++] = kSyncChar; // all frames always start with a sync character
buffer[index++] = kGetModInfo; // the frame type
buffer[index++] = kTerminator; // don't forget the terminator
// now transmit the command
count = index;
index = 0;
while(count--){
// just throw away whatever is receive
spi_transmit(buffer[index++]);
}
}
void ask_heading(){
byte index, count, type, buffer[64];
index = 0;
buffer[index++] = kSyncChar; // all frames always start with a sync character
buffer[index++] = kSetDataComponents; // the frame type
buffer[index++] = 1; // number of components to retrieve
buffer[index++] = kHeading;
buffer[index++] = kTerminator; // don't forget the terminator
// now transmit the command
count = index;
index = 0;
while(count--){
// just throw away whatever is receive
spi_transmit(buffer[index++]);
}
}
void get_data(){
byte index, count, type, buffer[64];
index = 0;
buffer[index++] = kSyncChar; // all frames always start with a sync character
buffer[index++] = kGetData; // the frame type
buffer[index++] = kTerminator; // don't forget the terminator
// now transmit the command
count = index;
index = 0;
while(count--){
// just throw away whatever is receive
spi_transmit(buffer[index++]);
}
}
void receive_data(){
byte frame, count, type;
// now poll the response by looking for the response SyncChar
while(spi_receive_byte() != kSyncChar) delayMicroseconds(250);
frame = spi_receive_byte();
// the next byte will be the response frame type
if(frame == kDataResp){
// the next byte will be the data component count
count = spi_receive_byte();
while(count--){
// get the component data identifier
type = spi_receive_byte();
switch(type){
case kRawX:
data->x = spi_receive_long();
// The "long" raw X count is now stored in data->x
// The V2Xe can return in little endian or big endian
// format, so prior to any transmission set the
// V2Xe endian format
break;
case kRawY:
data->y = spi_receive_long();
break;
case kCalibratedX:
data->xe = spi_receive_float();
break;
case kCalibratedY:
data->ye = spi_receive_float();
break;
case kHeading:
data->heading = spi_receive_float();
break;
case kMagnitude:
data->magnitude = spi_receive_float();
break;
case kTemperature:
data->temperature = spi_receive_float();
break;
case kDistortion:
data->distortion = spi_receive_byte();
break;
case kCalStatus:
data->calStatus = spi_receive_byte();
break;
default:
// error condition
break;
}
}
}
Serial.println((int) data->heading );
// cleanup of the eventual garbage
while(spi_receive_byte() != kTerminator);
}
void GetData()
{
byte index, count, type, buffer[64];
index = 0;
// send SetDataComponents command to get all the data
// the order of the components
buffer[index++] = kSyncChar; // all frames always start with a sync character
buffer[index++] = kSetDataComponents; // the frame type
buffer[index++] = 9; // number of components to retrieve
buffer[index++] = kRawX; // followed by the component identifiers
buffer[index++] = kRawY; // ... the order of the identifiers
buffer[index++] = kCalibratedX; // ... will the same in the response
buffer[index++] = kCalibratedY; // ... frame, DataResp
buffer[index++] = kHeading;
buffer[index++] = kMagnitude;
buffer[index++] = kTemperature;
buffer[index++] = kDistortion;
buffer[index++] = kCalStatus;
buffer[index++] = kTerminator; // don't forget the terminator
// now transmit the command
count = index;
index = 0;
while(count--)
{
// just throw away whatever is receive
spi_transmit(buffer[index++]);
}
// now poll the response by looking for the response SyncChar
while(spi_receive_byte() == kSyncChar);
// the next byte will be the response frame type
if(spi_receive_byte() == kDataResp)
{
// the next byte will be the data component count
count = spi_receive_byte();
while(count--)
{
// get the component data identifier
type = (0);
switch(type)
{
case kRawX:
data->x = spi_receive_long();
// The "long" raw X count is now stored in data->x
// The V2Xe can return in little endian or big endian
// format, so prior to any transmission set the
// V2Xe endian format
break;
case kRawY:
data->y = spi_receive_long();
break;
case kCalibratedX:
data->xe = spi_receive_float();
break;
case kCalibratedY:
data->ye = spi_receive_float();
break;
case kHeading:
data->heading = spi_receive_float();
break;
case kMagnitude:
data->magnitude = spi_receive_float();
break;
case kTemperature:
data->temperature = spi_receive_float();
break;
case kDistortion:
data->distortion = spi_receive_byte();
break;
case kCalStatus:
data->calStatus = spi_receive_byte();
break;
default:
// error condition
break;
}
}
}
}
void setup()
{
Serial.begin(9600);
SPI.setClockDivider(SPI_CLOCK_DIV8);
SPI.begin();
SPI.setDataMode(SPI_MODE0);
}
void loop()
{
digitalWrite(chipSelectPin, LOW);
GetData();
Serial.println(data->heading);
digitalWrite(chipSelectPin, HIGH);
}