Calculation of GPS and Compass

how make gps , compass calculation or programming making autonomous robot to  drive straight in programming using gps em406a

and compass hmc6352

the gps produce strings include latitude , longitude. need parse strings know position , height.
iirc search word nmea

the compass 6352 more difficult 1 talk to. have worked 1 , took several days reasonable readings it. started library other issues came in between not finished. latest version find , might starting point you.

i recall setting different modes not easy , @ moment whole compass blocked. took me long running again, usage of code below @ own risk. means disclaimers apply, , won't fix code or blocking compass.

the query mode simplest.

code: [select]


//
//    file: querymode.pde
//  author: rob tillaart
// version: 0.1.00
// purpose: test app hmc6352 library arduino
//
// released public domain
//

#include <wire.h>
#include <hmc6352.h>

hmc6352 compass(0x21);

void setup()
{
  serial.begin(115200);
  serial.println("demo hmc6352: continuous mode");
  serial.println(hmc_lib_version);
 
  compass.setoperationalmodus(cont, 20, true);  // 20 hz
 
  serial.println(compass.getoperationalmodus());
  compass.direction();  // first time
}

void loop()
{
  int x = compass.qry();
  serial.print("degree: ");
  serial.println(x);

  // serial.println(compass.getoperationalmodus(), bin);
  delay(50);  // 20 hz
}



and .h file

code: [select]


//
//    file: hmc6352.h
//  author: rob tillaart
// version: 0.1.03
// purpose: hmc6352 library arduino
//
// details: see cpp file
//
// released public domain
//

//#ifndef hmc6352_h
//#define hmc6352_h

#include "wprogram.h"

#define hmc_lib_version "0.1.01"

#define hmc_get_data 0x41
#define hmc_wake 0x57
#define hmc_sleep 0x53
#define hmc_save_op_mode 0x4c
#define hmc_callibrate_on 0x43
#define hmc_callibrate_off 0x45
#define hmc_update_offsets 0x4f
#define hmc_write_ram 0x47
#define hmc_read_ram 0x67
#define hmc_write_eeprom 0x77
#define hmc_read_eeprom 0x72

enum hmcmode { standby=0, query=1, cont=2, error};

class hmc6352
{
public:
    hmc6352(uint8_t device);

// basic calls standby mode
int getheading(void); // merge of ask & read
    int askheading(void);
    int readheading(void);

    int wakeup(void);
    int sleep(void);

// expert calls
int factoryreset();

int setoperationalmodus(hmcmode m, uint8_t freq, bool periodicreset);
int getoperationalmodus();

int setoutputmodus(uint8_t om);
int getoutputmodus();

int callibrationon(void);
int callibrationoff(void);

int seti2caddress(uint8_t address);
int geti2caddress();

int writeeeprom(uint8_t address, uint8_t data);
int readeeprom(uint8_t address);

int writeram(uint8_t address, uint8_t data);
int readram(uint8_t address);


// not tested / unknown
int settimedelay(uint8_t msec);
int gettimedelay();
int setmeasurementsumming(uint8_t ms);
int getmeasurementsumming();
int saveopmode(void); 
int updateoffsets(void);



  private:
int cmd(uint8_t c);
int readcmd(uint8_t c, uint8_t address);
int writecmd(uint8_t c, uint8_t address, uint8_t data);

uint8_t _device;
};

//#endif


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