Maor Tanami / Mbed 2 deprecated Final_Project

Example of reading and magnetometer sensor (HMC5883L)

Dependencies:   MODSERIAL mbed-rtos mbed

Fork of ReadingMag_HMC5883L by José Claudio

main.cpp@0:6bc5f85ca6fa, 2013-05-21 (annotated)

Committer:
jose_claudiojr
Date:
Tue May 21 13:48:10 2013 +0000
Revision:
0:6bc5f85ca6fa
Child:
1:aea254b39529
Example of reading and magnetometer sensor (HMC5883L)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jose_claudiojr 0:6bc5f85ca6fa 1 #include "mbed.h"
jose_claudiojr 0:6bc5f85ca6fa 2 #include "HMC5883L.h"
jose_claudiojr 0:6bc5f85ca6fa 3
jose_claudiojr 0:6bc5f85ca6fa 4 #include <math.h>
jose_claudiojr 0:6bc5f85ca6fa 5
jose_claudiojr 0:6bc5f85ca6fa 6 #define SDA p9
jose_claudiojr 0:6bc5f85ca6fa 7 #define SCL p10
jose_claudiojr 0:6bc5f85ca6fa 8 #define PI 3.14159265
jose_claudiojr 0:6bc5f85ca6fa 9
jose_claudiojr 0:6bc5f85ca6fa 10 int main()
jose_claudiojr 0:6bc5f85ca6fa 11 {
jose_claudiojr 0:6bc5f85ca6fa 12 float x, y, z, heading;
jose_claudiojr 0:6bc5f85ca6fa 13 /*
jose_claudiojr 0:6bc5f85ca6fa 14 float m_x, m_y, m_z;
jose_claudiojr 0:6bc5f85ca6fa 15 */
jose_claudiojr 0:6bc5f85ca6fa 16 printf("Inicializing...\r\n");
jose_claudiojr 0:6bc5f85ca6fa 17 HMC5883L hmc5883l(SDA, SCL);
jose_claudiojr 0:6bc5f85ca6fa 18 //HMC5883L *hmc5883l = new HMC5883L(SDA, SCL);
jose_claudiojr 0:6bc5f85ca6fa 19 printf("OK...\r\n");
jose_claudiojr 0:6bc5f85ca6fa 20 /*
jose_claudiojr 0:6bc5f85ca6fa 21 for (int i = 0 ; i < 100 ; i++)
jose_claudiojr 0:6bc5f85ca6fa 22 {
jose_claudiojr 0:6bc5f85ca6fa 23 x += hmc5883l.getMx()/100;
jose_claudiojr 0:6bc5f85ca6fa 24 y += hmc5883l.getMy()/100;
jose_claudiojr 0:6bc5f85ca6fa 25 z += hmc5883l.getMz()/100;
jose_claudiojr 0:6bc5f85ca6fa 26 wait_ms(100);
jose_claudiojr 0:6bc5f85ca6fa 27 }
jose_claudiojr 0:6bc5f85ca6fa 28
jose_claudiojr 0:6bc5f85ca6fa 29
jose_claudiojr 0:6bc5f85ca6fa 30 m_x = x/2;
jose_claudiojr 0:6bc5f85ca6fa 31 m_y = y/2;
jose_claudiojr 0:6bc5f85ca6fa 32 m_z = z/2;
jose_claudiojr 0:6bc5f85ca6fa 33 */
jose_claudiojr 0:6bc5f85ca6fa 34 wait(1);
jose_claudiojr 0:6bc5f85ca6fa 35
jose_claudiojr 0:6bc5f85ca6fa 36 while(1)
jose_claudiojr 0:6bc5f85ca6fa 37 {
jose_claudiojr 0:6bc5f85ca6fa 38 /*
jose_claudiojr 0:6bc5f85ca6fa 39 x = m_x - hmc5883l.getMx()*0.92;
jose_claudiojr 0:6bc5f85ca6fa 40 y = m_y - hmc5883l.getMy()*0.92;
jose_claudiojr 0:6bc5f85ca6fa 41 z = m_z - hmc5883l.getMz()*0.92;
jose_claudiojr 0:6bc5f85ca6fa 42 */
jose_claudiojr 0:6bc5f85ca6fa 43 x = hmc5883l.getMx();
jose_claudiojr 0:6bc5f85ca6fa 44 y = hmc5883l.getMy();
jose_claudiojr 0:6bc5f85ca6fa 45 z = hmc5883l.getMz();
jose_claudiojr 0:6bc5f85ca6fa 46
jose_claudiojr 0:6bc5f85ca6fa 47 heading = atan2(y, x);
jose_claudiojr 0:6bc5f85ca6fa 48 if(heading < 0)
jose_claudiojr 0:6bc5f85ca6fa 49 heading += 2*PI;
jose_claudiojr 0:6bc5f85ca6fa 50 if(heading > 2*PI)
jose_claudiojr 0:6bc5f85ca6fa 51 heading -= 2*PI;
jose_claudiojr 0:6bc5f85ca6fa 52
jose_claudiojr 0:6bc5f85ca6fa 53 heading = heading * 180 / PI;
jose_claudiojr 0:6bc5f85ca6fa 54
jose_claudiojr 0:6bc5f85ca6fa 55 // Correct for when signs are reversed.
jose_claudiojr 0:6bc5f85ca6fa 56 //if(heading < 0)
jose_claudiojr 0:6bc5f85ca6fa 57 // heading += 2*PI;
jose_claudiojr 0:6bc5f85ca6fa 58 //if(heading > 2*PI)
jose_claudiojr 0:6bc5f85ca6fa 59 // heading -= 2*PI;
jose_claudiojr 0:6bc5f85ca6fa 60
jose_claudiojr 0:6bc5f85ca6fa 61 //while(heading < 0) heading += 360;
jose_claudiojr 0:6bc5f85ca6fa 62 //while(heading > 360) heading -= 360;
jose_claudiojr 0:6bc5f85ca6fa 63
jose_claudiojr 0:6bc5f85ca6fa 64
jose_claudiojr 0:6bc5f85ca6fa 65 printf("x: %f \t\ty: %f \t\t z: %f \t\t heading: %f \t\r\n", x, y, z, heading);
jose_claudiojr 0:6bc5f85ca6fa 66 wait_ms(200);
jose_claudiojr 0:6bc5f85ca6fa 67
jose_claudiojr 0:6bc5f85ca6fa 68 }
jose_claudiojr 0:6bc5f85ca6fa 69 }