Andy Little / Mbed OS mag_test3

First draft HMC5883 magnetometer sensor using physical quantities, outputting via serial port using std::cout on mbed os 5

main.cpp@5:47026facc081, 2020-03-24 (annotated)

Committer:
skyscraper
Date:
Tue Mar 24 23:29:42 2020 +0000
Revision:
5:47026facc081
Parent:
4:53e468c49c17
Child:
6:cc08f2d64773
Updated with magnetometer calibration routine, raw values out and output with offfsets removed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skyscraper 0:37dbfb036586 1
skyscraper 0:37dbfb036586 2 #include "mbed.h"
skyscraper 2:9ffb2f18756b 3 #include "hmc5883.h"
skyscraper 0:37dbfb036586 4 #include <quan/max.hpp>
skyscraper 0:37dbfb036586 5 #include <quan/min.hpp>
skyscraper 3:2834be4e10ef 6 #include <quan/time.hpp>
skyscraper 3:2834be4e10ef 7
skyscraper 4:53e468c49c17 8 void mag_adjusted_values(
skyscraper 4:53e468c49c17 9 quan::time::ms const & update_rate,
skyscraper 4:53e468c49c17 10 quan::three_d::vect<quan::magnetic_flux_density::uT> const & offset
skyscraper 4:53e468c49c17 11 );
skyscraper 3:2834be4e10ef 12 void mag_raw_values(quan::time::ms const & update_rate);
skyscraper 3:2834be4e10ef 13 void mag_offset_calibrate();
skyscraper 0:37dbfb036586 14
skyscraper 2:9ffb2f18756b 15 namespace {
skyscraper 2:9ffb2f18756b 16
skyscraper 2:9ffb2f18756b 17 QUAN_QUANTITY_LITERAL(magnetic_flux_density,gauss);
skyscraper 2:9ffb2f18756b 18 QUAN_QUANTITY_LITERAL(magnetic_flux_density,milli_gauss);
skyscraper 2:9ffb2f18756b 19 QUAN_QUANTITY_LITERAL(magnetic_flux_density,uT);
skyscraper 3:2834be4e10ef 20 QUAN_QUANTITY_LITERAL(time,ms);
skyscraper 0:37dbfb036586 21
skyscraper 2:9ffb2f18756b 22 // terminal loop, printing message periodically
skyscraper 2:9ffb2f18756b 23 void loop_forever(std::string const & str)
skyscraper 2:9ffb2f18756b 24 {
skyscraper 3:2834be4e10ef 25 DigitalOut led2(LED2);
skyscraper 2:9ffb2f18756b 26 // stop but print error dynamically
skyscraper 2:9ffb2f18756b 27 int count = 0;
skyscraper 2:9ffb2f18756b 28 for (;;) {
skyscraper 2:9ffb2f18756b 29 led2 = 1;
skyscraper 2:9ffb2f18756b 30 std::cout << str << " " << count++ << '\n';
skyscraper 2:9ffb2f18756b 31 ThisThread::sleep_for(200U);
skyscraper 2:9ffb2f18756b 32 led2 = 0;
skyscraper 2:9ffb2f18756b 33 ThisThread::sleep_for(800U);
skyscraper 2:9ffb2f18756b 34 }
skyscraper 0:37dbfb036586 35 }
skyscraper 0:37dbfb036586 36 }// namespace
skyscraper 0:37dbfb036586 37
skyscraper 0:37dbfb036586 38 int main()
skyscraper 0:37dbfb036586 39 {
skyscraper 0:37dbfb036586 40 std::cout << "HMC5883 test\n";
skyscraper 0:37dbfb036586 41 //wait for mag to init
skyscraper 0:37dbfb036586 42 ThisThread::sleep_for(500U);
skyscraper 0:37dbfb036586 43
skyscraper 3:2834be4e10ef 44 if ( mag_detected() ) {
skyscraper 0:37dbfb036586 45 std::cout << "Detected a HMC5883\n";
skyscraper 0:37dbfb036586 46 } else {
skyscraper 0:37dbfb036586 47 loop_forever("Failed to detect HMC5883");
skyscraper 0:37dbfb036586 48 }
skyscraper 0:37dbfb036586 49
skyscraper 5:47026facc081 50 // N.b after offsets removed mag was reading around 34.49 uT, so not bad!
skyscraper 0:37dbfb036586 51 constexpr auto earth_magnetic_field_flux_density = 31.869_uT;
skyscraper 3:2834be4e10ef 52 bool const success =
skyscraper 0:37dbfb036586 53 mag_set_samples_average(8) &&
skyscraper 0:37dbfb036586 54 mag_set_range( earth_magnetic_field_flux_density * 2U);
skyscraper 0:37dbfb036586 55 if ( !success) {
skyscraper 0:37dbfb036586 56 loop_forever("HMC5883 setup failed");
skyscraper 0:37dbfb036586 57 }
skyscraper 3:2834be4e10ef 58 std::cout << " mag range set to " << mag_get_range() << '\n';
skyscraper 2:9ffb2f18756b 59
skyscraper 4:53e468c49c17 60 // offsets from calib engine
skyscraper 4:53e468c49c17 61 quan::three_d::vect<
skyscraper 4:53e468c49c17 62 quan::magnetic_flux_density::uT
skyscraper 4:53e468c49c17 63 > offsets{7.96466_uT,-8.10162_uT,1.50555_uT};
skyscraper 4:53e468c49c17 64
skyscraper 4:53e468c49c17 65 mag_adjusted_values(20_ms,offsets);
skyscraper 4:53e468c49c17 66 // mag_raw_values(20_ms);
skyscraper 3:2834be4e10ef 67 // mag_offset_calibrate();
skyscraper 3:2834be4e10ef 68
skyscraper 0:37dbfb036586 69 }