Serge Sozonoff / Mbed 2 deprecated HMC6343_test

Test code for the HMC6343 tilt compensated compass

Dependencies:   mbed

main.cpp@0:ee865ceb2360, 2011-05-01 (annotated)

Committer:
ssozonoff
Date:
Sun May 01 13:53:30 2011 +0000
Revision:
0:ee865ceb2360
Basic test code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ssozonoff 0:ee865ceb2360 1 #include "mbed.h"
ssozonoff 0:ee865ceb2360 2 #include "HMC6343.h"
ssozonoff 0:ee865ceb2360 3
ssozonoff 0:ee865ceb2360 4 HMC6343 compass(p9, p10);
ssozonoff 0:ee865ceb2360 5 Serial pc(USBTX, USBRX);
ssozonoff 0:ee865ceb2360 6
ssozonoff 0:ee865ceb2360 7 Ticker t;
ssozonoff 0:ee865ceb2360 8 Ticker t1;
ssozonoff 0:ee865ceb2360 9 Heading heading;
ssozonoff 0:ee865ceb2360 10
ssozonoff 0:ee865ceb2360 11 volatile bool display_values = true;
ssozonoff 0:ee865ceb2360 12 volatile bool sample_sensor = true;
ssozonoff 0:ee865ceb2360 13
ssozonoff 0:ee865ceb2360 14 void do_display_values() {
ssozonoff 0:ee865ceb2360 15 display_values = true;
ssozonoff 0:ee865ceb2360 16 }
ssozonoff 0:ee865ceb2360 17
ssozonoff 0:ee865ceb2360 18 void do_sample_sensor() { sample_sensor = true; }
ssozonoff 0:ee865ceb2360 19
ssozonoff 0:ee865ceb2360 20 int main() {
ssozonoff 0:ee865ceb2360 21 pc.baud(115200);
ssozonoff 0:ee865ceb2360 22 t.attach(&do_display_values, 1);
ssozonoff 0:ee865ceb2360 23 t1.attach_us(&do_sample_sensor, 100 * 500);
ssozonoff 0:ee865ceb2360 24
ssozonoff 0:ee865ceb2360 25 int opMode = compass.getOpMode();
ssozonoff 0:ee865ceb2360 26 printf("Op mode %d\r\n", opMode);
ssozonoff 0:ee865ceb2360 27 opMode |= HMC6343_CM_MR_5HZ;
ssozonoff 0:ee865ceb2360 28
ssozonoff 0:ee865ceb2360 29 //opMode &= ~HMC6343_STDBY;
ssozonoff 0:ee865ceb2360 30 //opMode |= HMC6343_RUN;
ssozonoff 0:ee865ceb2360 31
ssozonoff 0:ee865ceb2360 32 printf("Op mode %d\r\n", opMode);
ssozonoff 0:ee865ceb2360 33 compass.setOpMode(opMode);
ssozonoff 0:ee865ceb2360 34
ssozonoff 0:ee865ceb2360 35 printf("Op mode %d\r\n", compass.getOpMode());
ssozonoff 0:ee865ceb2360 36
ssozonoff 0:ee865ceb2360 37 printf("Compass software version %d\r\n", compass.getSoftwareVersion());
ssozonoff 0:ee865ceb2360 38 printf("Compass variation %f \r\n", compass.getMagneticVariation());
ssozonoff 0:ee865ceb2360 39 printf("Compass measurement rate %d\r\n", compass.getMeasurementRate());
ssozonoff 0:ee865ceb2360 40
ssozonoff 0:ee865ceb2360 41 //compass.setMagneticVariation(0.52);
ssozonoff 0:ee865ceb2360 42 //printf("Compass variation %f \r\n", compass.getMagneticVariation());
ssozonoff 0:ee865ceb2360 43
ssozonoff 0:ee865ceb2360 44 printf("IIR Filter : %d\r\n", compass.isOpModeFlagSet(HMC6343_FILTER));
ssozonoff 0:ee865ceb2360 45 printf("IIR Filter bias : %d\r\n", compass.getIIRFilter());
ssozonoff 0:ee865ceb2360 46
ssozonoff 0:ee865ceb2360 47 //compass.setIIRFilter(4);
ssozonoff 0:ee865ceb2360 48 //printf("IIR Filter bias : %d\r\n", compass.getIIRFilter());
ssozonoff 0:ee865ceb2360 49
ssozonoff 0:ee865ceb2360 50 // seems a restart is needed for this change to happen in the module
ssozonoff 0:ee865ceb2360 51 // compass.setOpMode(opMode &= ~HMC6343_FILTER);
ssozonoff 0:ee865ceb2360 52 // printf("IIR Filter : %d\r\n", compass.isOpModeFlagSet(HMC6343_FILTER));
ssozonoff 0:ee865ceb2360 53
ssozonoff 0:ee865ceb2360 54 compass.setReset();
ssozonoff 0:ee865ceb2360 55
ssozonoff 0:ee865ceb2360 56 while (1) {
ssozonoff 0:ee865ceb2360 57 if (sample_sensor) {
ssozonoff 0:ee865ceb2360 58 compass.sampleHeading(&heading);
ssozonoff 0:ee865ceb2360 59 sample_sensor = false;
ssozonoff 0:ee865ceb2360 60 }
ssozonoff 0:ee865ceb2360 61
ssozonoff 0:ee865ceb2360 62 if (display_values) {
ssozonoff 0:ee865ceb2360 63 pc.printf("bearing %3.1f \r\n", heading.heading);
ssozonoff 0:ee865ceb2360 64 pc.printf("roll %f \r\n", heading.roll);
ssozonoff 0:ee865ceb2360 65 pc.printf("pitch %f \r\n", heading.pitch);
ssozonoff 0:ee865ceb2360 66 display_values = false;
ssozonoff 0:ee865ceb2360 67 }
ssozonoff 0:ee865ceb2360 68 }
ssozonoff 0:ee865ceb2360 69
ssozonoff 0:ee865ceb2360 70 }