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83 lines
2.5 KiB
C
83 lines
2.5 KiB
C
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2017 Intel Corporation.
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*
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* Ported based on original C++ code by:
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* Author: Brendan Le Foll <brendan.le.foll@intel.com>
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* Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
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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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#include <unistd.h>
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#include <stdio.h>
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#include <signal.h>
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#include <upm_utilities.h>
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#include "hmc5883l.h"
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bool shouldRun = true;
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void sig_handler(int signo)
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{
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if (signo == SIGINT)
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shouldRun = false;
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}
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int main(int argc, char **argv)
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate an HMC8883L on I2C bus 0
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hmc5883l_context sensor = hmc5883l_init(0);
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if (!sensor)
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{
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printf("%s: hmc5883l_init() failed\n", __FUNCTION__);
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return 1;
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}
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hmc5883l_set_declination(sensor, 0.2749); // Set your declination
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// from true north in
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// radians
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// Print out the coordinates, heading, and direction every second
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while (shouldRun)
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{
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hmc5883l_update(sensor); // Update the coordinates
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const int16_t *pos = hmc5883l_coordinates(sensor);
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printf("coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
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printf("heading: %5.2f direction: %3.2f\n",
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hmc5883l_heading(sensor), hmc5883l_direction(sensor));
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upm_delay(1);
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}
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hmc5883l_close(sensor);
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//! [Interesting]
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return 0;
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}
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