2014-04-25 14:48:43 +01:00
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/*
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* Author: Brendan Le Foll <brendan.le.foll@intel.com>
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2015-02-10 11:34:28 -08:00
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* Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
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2014-04-25 14:48:43 +01:00
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* Copyright (c) 2014 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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2017-08-30 15:00:29 -07:00
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#include <stdio.h>
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2016-04-25 14:27:51 -07:00
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#include "hmc5883l.hpp"
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2017-08-30 15:00:29 -07:00
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#include "upm_utilities.h"
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2014-04-25 14:48:43 +01:00
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int
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2017-08-30 15:00:29 -07:00
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main(int argc, char** argv)
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2014-04-25 14:48:43 +01:00
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{
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2017-08-30 15:00:29 -07:00
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//! [Interesting]
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2015-01-15 14:57:51 -08:00
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// Instantiate on I2C
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2017-08-30 15:00:29 -07:00
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upm::Hmc5883l compass(0);
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2014-11-14 11:34:43 -08:00
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2017-08-30 15:00:29 -07:00
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compass.set_declination(0.2749); // Set your declination from
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// true north in radians
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2014-11-14 11:34:43 -08:00
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2015-01-15 14:57:51 -08:00
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// Print out the coordinates, heading, and direction every second
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2017-08-30 15:00:29 -07:00
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while (true) {
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compass.update(); // Update the coordinates
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const int16_t* pos = compass.coordinates();
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2014-11-14 11:34:43 -08:00
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fprintf(stdout, "coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
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2017-08-30 15:00:29 -07:00
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fprintf(stdout, "heading: %5.2f direction: %3.2f\n", compass.heading(), compass.direction());
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upm_delay(1);
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2014-11-14 11:34:43 -08:00
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}
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2017-08-30 15:00:29 -07:00
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//! [Interesting]
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2014-04-25 14:48:43 +01:00
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return 0;
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}
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