Andrew Lindsay / Mbed 2 deprecated Wi-Go-MagnetometerTest

Quick test of the Wi-Go Magnetometer

Dependencies:   TSI mbed MAG3110

main.cpp@4:e7831feff821, 2013-05-24 (annotated)

Committer:
SomeRandomBloke
Date:
Fri May 24 20:05:54 2013 +0000
Revision:
4:e7831feff821
Parent:
3:945e32be0448
Child:
6:dafb20e438bf
updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 2:c19e63728e2e 1 /**
SomeRandomBloke 2:c19e63728e2e 2 * Simple MAG3110 test/demo program, based on various bits of code found.
SomeRandomBloke 2:c19e63728e2e 3 * Updated for Mbed FRDM-KL25Z and Avnet Wi-Go module.
SomeRandomBloke 2:c19e63728e2e 4 *
SomeRandomBloke 2:c19e63728e2e 5 * Operation:
SomeRandomBloke 2:c19e63728e2e 6 * 1. On startup Red LED flashes indicating calibration mode entered
SomeRandomBloke 2:c19e63728e2e 7 * 2. Slide finger along capacitive sensor and release
SomeRandomBloke 2:c19e63728e2e 8 * 3. Green LED flashes indicating calibration mode.
SomeRandomBloke 2:c19e63728e2e 9 * 4. Rotate board once in horizontal plane
SomeRandomBloke 2:c19e63728e2e 10 * 5. Tap and release capacitive sensor. Board now calibrated with min/max values
SomeRandomBloke 2:c19e63728e2e 11 * 6. LEDs now off. Rotate board. When Blue LED lights the bottom of the board is
SomeRandomBloke 2:c19e63728e2e 12 * pointing to approximately North (+/- 22.5')
SomeRandomBloke 2:c19e63728e2e 13 *
SomeRandomBloke 2:c19e63728e2e 14 * If USB cable connected then you would see debug messages and other headings displayed, e.g. N, NE, E, SE, S, SW, W and NW.
SomeRandomBloke 2:c19e63728e2e 15 *
SomeRandomBloke 2:c19e63728e2e 16 * Also displays register values when starting.
SomeRandomBloke 2:c19e63728e2e 17 *
SomeRandomBloke 2:c19e63728e2e 18 * Ideally the calibration settings would be stored in flash/eeprom and retrieves each time.
SomeRandomBloke 2:c19e63728e2e 19 *
SomeRandomBloke 2:c19e63728e2e 20 * By Andrew D. Lindsay, @AndrewDLindsay
SomeRandomBloke 2:c19e63728e2e 21 *
SomeRandomBloke 3:945e32be0448 22 *
SomeRandomBloke 2:c19e63728e2e 23 *
SomeRandomBloke 2:c19e63728e2e 24 */
SomeRandomBloke 2:c19e63728e2e 25
SomeRandomBloke 0:26bfff579f01 26 #include "mbed.h"
SomeRandomBloke 1:d45fc466a46e 27 #include "TSISensor.h"
SomeRandomBloke 0:26bfff579f01 28 #include "math.h"
SomeRandomBloke 3:945e32be0448 29 #include "MAG3110.h"
SomeRandomBloke 0:26bfff579f01 30
SomeRandomBloke 0:26bfff579f01 31
SomeRandomBloke 4:e7831feff821 32 //#define PI 3.14159265359
SomeRandomBloke 2:c19e63728e2e 33 #define ON 0
SomeRandomBloke 2:c19e63728e2e 34 #define OFF 1
SomeRandomBloke 0:26bfff579f01 35
SomeRandomBloke 2:c19e63728e2e 36 // Some LEDs for showing status
SomeRandomBloke 0:26bfff579f01 37 DigitalOut redLed(LED_RED);
SomeRandomBloke 0:26bfff579f01 38 DigitalOut greenLed(LED_GREEN);
SomeRandomBloke 0:26bfff579f01 39 DigitalOut blueLed(LED_BLUE);
SomeRandomBloke 0:26bfff579f01 40
SomeRandomBloke 2:c19e63728e2e 41 // Slide sensor acts as a button
SomeRandomBloke 1:d45fc466a46e 42 TSISensor tsi;
SomeRandomBloke 2:c19e63728e2e 43
SomeRandomBloke 3:945e32be0448 44 //MAG3100 mag(&i2c, &pc); //DEBUG verion
SomeRandomBloke 4:e7831feff821 45 MAG3110 mag(PTE0, PTE1);
SomeRandomBloke 3:945e32be0448 46
SomeRandomBloke 0:26bfff579f01 47
SomeRandomBloke 0:26bfff579f01 48
SomeRandomBloke 0:26bfff579f01 49 void calXY() //magnetometer calibration: finding max and min of X, Y axis
SomeRandomBloke 0:26bfff579f01 50 {
SomeRandomBloke 0:26bfff579f01 51 int tempXmax, tempXmin, tempYmax, tempYmin, newX, newY;
SomeRandomBloke 3:945e32be0448 52
SomeRandomBloke 1:d45fc466a46e 53 redLed = ON;
SomeRandomBloke 1:d45fc466a46e 54
SomeRandomBloke 2:c19e63728e2e 55 printf("Waiting for initial press\n");
SomeRandomBloke 2:c19e63728e2e 56 // Wait for slider to be pressed
SomeRandomBloke 2:c19e63728e2e 57 while( tsi.readDistance() == 0 ) {
SomeRandomBloke 2:c19e63728e2e 58 redLed = ON;
SomeRandomBloke 2:c19e63728e2e 59 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 60 redLed = OFF;
SomeRandomBloke 1:d45fc466a46e 61 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 62 }
SomeRandomBloke 3:945e32be0448 63
SomeRandomBloke 2:c19e63728e2e 64 printf("Waiting for release\n");
SomeRandomBloke 1:d45fc466a46e 65
SomeRandomBloke 1:d45fc466a46e 66 // Wait for release
SomeRandomBloke 1:d45fc466a46e 67 while( tsi.readDistance() != 0 ) {
SomeRandomBloke 1:d45fc466a46e 68 redLed = OFF;
SomeRandomBloke 1:d45fc466a46e 69 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 70 redLed = ON;
SomeRandomBloke 1:d45fc466a46e 71 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 72 }
SomeRandomBloke 1:d45fc466a46e 73 redLed = OFF;
SomeRandomBloke 2:c19e63728e2e 74 wait(0.5);
SomeRandomBloke 3:945e32be0448 75
SomeRandomBloke 2:c19e63728e2e 76 printf("Rotate\n");
SomeRandomBloke 3:945e32be0448 77
SomeRandomBloke 3:945e32be0448 78 tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
SomeRandomBloke 3:945e32be0448 79 tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 2:c19e63728e2e 80
SomeRandomBloke 2:c19e63728e2e 81 while(tsi.readDistance() == 0) {
SomeRandomBloke 2:c19e63728e2e 82 greenLed = ON;
SomeRandomBloke 2:c19e63728e2e 83 wait(0.1);
SomeRandomBloke 2:c19e63728e2e 84 greenLed = OFF;
SomeRandomBloke 2:c19e63728e2e 85 wait(0.1);
SomeRandomBloke 3:945e32be0448 86 newX = mag.readVal(MAG_OUT_X_MSB);
SomeRandomBloke 3:945e32be0448 87 newY = mag.readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 2:c19e63728e2e 88 if (newX > tempXmax) tempXmax = newX;
SomeRandomBloke 2:c19e63728e2e 89 if (newX < tempXmin) tempXmin = newX;
SomeRandomBloke 2:c19e63728e2e 90 if (newY > tempYmax) tempYmax = newY;
SomeRandomBloke 2:c19e63728e2e 91 if (newY < tempYmin) tempYmin = newY;
SomeRandomBloke 0:26bfff579f01 92 }
SomeRandomBloke 3:945e32be0448 93
SomeRandomBloke 3:945e32be0448 94 mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
SomeRandomBloke 0:26bfff579f01 95
SomeRandomBloke 1:d45fc466a46e 96 // Wait for release
SomeRandomBloke 1:d45fc466a46e 97 while( tsi.readDistance() != 0 ) {
SomeRandomBloke 1:d45fc466a46e 98 greenLed = OFF;
SomeRandomBloke 1:d45fc466a46e 99 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 100 greenLed = ON;
SomeRandomBloke 1:d45fc466a46e 101 wait(0.2);
SomeRandomBloke 1:d45fc466a46e 102 }
SomeRandomBloke 1:d45fc466a46e 103 greenLed = OFF;
SomeRandomBloke 1:d45fc466a46e 104 wait(1.0);
SomeRandomBloke 0:26bfff579f01 105 }
SomeRandomBloke 0:26bfff579f01 106
SomeRandomBloke 0:26bfff579f01 107 int main()
SomeRandomBloke 0:26bfff579f01 108 {
SomeRandomBloke 0:26bfff579f01 109 printf("MAG3110 Test\n");
SomeRandomBloke 0:26bfff579f01 110
SomeRandomBloke 1:d45fc466a46e 111 redLed = OFF;
SomeRandomBloke 1:d45fc466a46e 112 greenLed = OFF;
SomeRandomBloke 1:d45fc466a46e 113 blueLed = OFF;
SomeRandomBloke 3:945e32be0448 114
SomeRandomBloke 0:26bfff579f01 115 // Get some values
SomeRandomBloke 3:945e32be0448 116 printf("DR_STATUS %X\n", mag.readReg( MAG_DR_STATUS ));
SomeRandomBloke 3:945e32be0448 117 printf("WHO_AM_I %X\n", mag.readReg( MAG_WHO_AM_I ));
SomeRandomBloke 3:945e32be0448 118 printf("SYSMOD %X\n", mag.readReg( MAG_SYSMOD ));
SomeRandomBloke 3:945e32be0448 119 printf("DIE_TEMP %d\n", mag.readReg( MAG_DIE_TEMP ));
SomeRandomBloke 0:26bfff579f01 120
SomeRandomBloke 3:945e32be0448 121 printf("OFF_X %d\n", mag.readVal( MAG_OFF_X_MSB ));
SomeRandomBloke 3:945e32be0448 122 printf("OFF_Y %d\n", mag.readVal( MAG_OFF_Y_MSB ));
SomeRandomBloke 3:945e32be0448 123 printf("OFF_Z %d\n", mag.readVal( MAG_OFF_Z_MSB ));
SomeRandomBloke 0:26bfff579f01 124
SomeRandomBloke 3:945e32be0448 125 printf("CTRL_REG1 %X\n", mag.readReg( MAG_CTRL_REG1 ));
SomeRandomBloke 3:945e32be0448 126 printf("CTRL_REG2 %X\n", mag.readReg( MAG_CTRL_REG2 ));
SomeRandomBloke 0:26bfff579f01 127
SomeRandomBloke 0:26bfff579f01 128 printf("calibrate\n");
SomeRandomBloke 0:26bfff579f01 129 calXY();
SomeRandomBloke 0:26bfff579f01 130 printf("....Finished\n");
SomeRandomBloke 0:26bfff579f01 131
SomeRandomBloke 1:d45fc466a46e 132 redLed = OFF;
SomeRandomBloke 1:d45fc466a46e 133 greenLed = OFF;
SomeRandomBloke 1:d45fc466a46e 134 blueLed = OFF;
SomeRandomBloke 3:945e32be0448 135
SomeRandomBloke 0:26bfff579f01 136 while (1) {
SomeRandomBloke 0:26bfff579f01 137 wait(0.5);
SomeRandomBloke 3:945e32be0448 138 int xVal = mag.readVal(MAG_OUT_X_MSB);
SomeRandomBloke 3:945e32be0448 139 int yVal = mag.readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 4:e7831feff821 140 float heading = mag.getHeading();
SomeRandomBloke 3:945e32be0448 141
SomeRandomBloke 2:c19e63728e2e 142 // Do something with heading - display direction and turn on blue LED if heading approx north
SomeRandomBloke 3:945e32be0448 143 if (abs(heading) <= 22.5) {
SomeRandomBloke 3:945e32be0448 144 printf("N\n");
SomeRandomBloke 3:945e32be0448 145 blueLed = ON;
SomeRandomBloke 3:945e32be0448 146 } else blueLed = OFF;
SomeRandomBloke 0:26bfff579f01 147 if (abs(heading) >= 157.5) printf("S\n");
SomeRandomBloke 0:26bfff579f01 148 if (heading >= 67.5 && heading <= 112.5) printf("E \n");
SomeRandomBloke 0:26bfff579f01 149 if (heading <= -67.5 && heading >= -112.5) printf("W \n");
SomeRandomBloke 0:26bfff579f01 150 if (heading > 22.5 && heading < 67.5) printf("NE\n");
SomeRandomBloke 0:26bfff579f01 151 if (heading < -22.5 && heading > -67.5) printf("NW\n");
SomeRandomBloke 0:26bfff579f01 152 if (heading > 112.5 && heading < 157.5) printf("SE\n");
SomeRandomBloke 0:26bfff579f01 153 if (heading < -112.5 && heading > -157.5) printf("SW\n");
SomeRandomBloke 0:26bfff579f01 154
SomeRandomBloke 0:26bfff579f01 155 if (heading < 0) heading += 360.0;
SomeRandomBloke 0:26bfff579f01 156 printf("X = %d, Y = %d, Heading %f\n", xVal, yVal, heading);
SomeRandomBloke 0:26bfff579f01 157
SomeRandomBloke 0:26bfff579f01 158 }
SomeRandomBloke 0:26bfff579f01 159 }