upm/examples/c/hmc5883l.c

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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2017 Intel Corporation.
*
* Ported based on original C++ code by:
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include <stdio.h>
#include <signal.h>
#include <upm_utilities.h>
#include "hmc5883l.h"
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
int main(int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate an HMC8883L on I2C bus 0
hmc5883l_context sensor = hmc5883l_init(0);
if (!sensor)
{
printf("%s: hmc5883l_init() failed\n", __FUNCTION__);
return 1;
}
hmc5883l_set_declination(sensor, 0.2749); // Set your declination
// from true north in
// radians
// Print out the coordinates, heading, and direction every second
while (shouldRun)
{
hmc5883l_update(sensor); // Update the coordinates
const int16_t *pos = hmc5883l_coordinates(sensor);
printf("coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
printf("heading: %5.2f direction: %3.2f\n",
hmc5883l_heading(sensor), hmc5883l_direction(sensor));
upm_delay(1);
}
hmc5883l_close(sensor);
//! [Interesting]
return 0;
}