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hmc5883l: changed to standard heading and added declination

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Signed-off-by: Mihai Tudor Panu <mihai.t.panu@intel.com>
This commit is contained in:
Mihai Tudor Panu
2014-11-14 11:34:43 -08:00
parent 03318b3c4d
commit ea7b7a23fa
3 changed files with 48 additions and 5 deletions
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14
examples/hmc5883l.cxx
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@@ -1,5 +1,6 @@
/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
@@ -22,6 +23,7 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <unistd.h>
#include "hmc5883l.h"
int
@@ -29,7 +31,17 @@ main(int argc, char **argv)
{
//! [Interesting]
upm::Hmc5883l* compass = new upm::Hmc5883l(0);
fprintf(stdout, "heading: %f\n", compass->heading());
int *pos;
compass->set_declination(0.2749); // Set your declination from true north in radians
while(true){
compass->update(); // Update the coordinates
pos = compass->coordinates();
fprintf(stdout, "coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
fprintf(stdout, "heading: %5.2f direction: %3.2f\n", compass->heading(), compass->direction());
sleep(1);
}
//! [Interesting]
return 0;

23
src/hmc5883l/hmc5883l.cxx
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@@ -1,5 +1,6 @@
/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
@@ -94,7 +95,7 @@ Hmc5883l::Hmc5883l(int bus)
Hmc5883l::update();
}
int
mraa_result_t
Hmc5883l::update(void)
{
mraa_i2c_address(m_i2c, HMC5883L_I2C_ADDR);
@@ -116,13 +117,17 @@ Hmc5883l::update(void)
float
Hmc5883l::direction(void)
{
return atan2(m_coor[1] * SCALE_0_92_MG, m_coor[0] * SCALE_0_92_MG);
return atan2(m_coor[1] * SCALE_0_92_MG, m_coor[0] * SCALE_0_92_MG) + m_declination;
}
float
Hmc5883l::heading(void)
{
return Hmc5883l::direction() * 180/M_PI;
float dir = Hmc5883l::direction() * 180/M_PI;
if(dir < 0){
dir += 360.0;
}
return dir;
}
int*
@@ -130,3 +135,15 @@ Hmc5883l::coordinates(void)
{
return &m_coor[0];
}
void
Hmc5883l::set_declination(float dec)
{
m_declination = dec;
}
float
Hmc5883l::get_declination()
{
return m_declination;
}

16
src/hmc5883l/hmc5883l.h
View File

@@ -1,5 +1,6 @@
/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Contributions: Mihai Tudor Panu <mihai.t.panu@intel.com>
* Copyright (c) 2014 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
@@ -78,9 +79,22 @@ public:
*
* @return 0 for success
*/
int update();
mraa_result_t update();
/**
* Sets the magnetic declination for better calibration
*/
void set_declination(float dec);
/**
* Gets the current magnetic declination value
*
* @return magnetic declination as a float
*/
float get_declination();
private:
int m_coor[3];
float m_declination;
uint8_t m_rx_tx_buf[MAX_BUFFER_LENGTH];
mraa_i2c_context m_i2c;
};