First public release

.gitignore

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+
+
+# config:
+ROBOT_CONFIG.hpp
+
+__pycache__
+
+## vim swap files:
+.*.swp
+
+
+
+## Mbed-os:
+
+.mbed
+BUILD/
+GettingStarted.html
+Makefile
+mbed-os.lib
+mbed-os/
+mbed_config.h
+mbed_settings.py
+

Compass.cpp

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+
+#include "Compass.hpp"
+
+
+// Compass chip is:  ST LIS3MDL
+// (old compass chip was: AK09916 from the HERE2 GPS)
+
+Compass::Compass(PinName sda, PinName scl) {
+	_i2c = new I2C(sda, scl);
+	//_i2c.frequency(400000);
+	_ready = false;
+
+	_compass_addr8bit = 0x1e << 1;
+	_leds_addr8bit = 0x55 << 1;
+}
+
+
+void Compass::_write_register(char reg, char value) {
+	char txBuf[2] = {reg, value};
+	_i2c->write(_compass_addr8bit, txBuf, 2);
+}
+
+
+ssize_t Compass::init() {
+	char txBuf[2];
+	char rxBuf[2] = {0, 0};
+
+
+	txBuf[0] = 0x0f;  // WHO_AM_I
+	_i2c->write(_compass_addr8bit, txBuf, 1);
+	_i2c->read(_compass_addr8bit, rxBuf, 1);
+
+	if (rxBuf[0] != 0x3d) {
+		return -1;
+	}
+
+	_write_register(0x20, 0xfc);
+	_write_register(0x21, 0x00);
+	_write_register(0x22, 0x00);
+	_write_register(0x23, 0x0c);
+	_write_register(0x24, 0x40);
+
+	_ready = true;
+	return 0;
+}
+
+ssize_t Compass::get_data(int16_t *xyz) {
+
+	char txBuf[2] = {0x28, 0x0};
+
+	if (!_ready) {
+		return 0;
+	}
+
+	_i2c->write(_compass_addr8bit, txBuf, 1);
+	_i2c->read(_compass_addr8bit, (char*) xyz, 6);
+
+	return 6;
+}
+
+
+int Compass::set_leds(uint8_t red, uint8_t green, uint8_t blue) {
+
+	// Inputs range from 0 to 15 (4 bits)
+
+	char txBuf[5] = {0x01, 0,0,0, 0x83};
+
+	//txBuf[0] = 0x01;  // pwm0 register
+	txBuf[1] = blue & 0x0f;
+	txBuf[2] = green & 0x0f;
+	txBuf[3] = red & 0x0f;
+	//txBuf[4] = 0x83;  // enable, and stop auto-incrementing sequential writes
+	_i2c->write(_leds_addr8bit, txBuf, 5);
+
+	return 0;
+}
+
+
+

Compass.hpp

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+#ifndef __COMPASS_HPP_
+#define __COMPASS_HPP_
+
+#include "mbed.h"
+
+// This is for the HERE2 Compass, i2c portion
+
+// The HERE2 compass has a GPS on Async serial.
+// In i2c mode, it has a compass and an RGB LED.
+
+
+
+//#define ADDR_7_BIT 0x0c
+//#define ADDR_8_BIT 0x18  
+//  ie:   0x0c << 1
+
+class Compass {
+
+public:
+	Compass(PinName, PinName);
+	ssize_t init();
+	ssize_t get_data(int16_t*);
+
+	int set_leds(uint8_t, uint8_t, uint8_t);
+
+private:
+	I2C *_i2c;
+	bool _ready;
+
+	// WTF, why can't I make this work?
+	//const int _addr8bit = ADDR_8_BIT;
+	//const int _addr8bit = 0x18;
+
+	int _compass_addr8bit;
+	int _leds_addr8bit;
+
+	void _write_register(char, char);
+
+};
+
+#endif// __COMPASS_HPP_