/* * Author: Lay, Kuan Loon * Copyright (c) 2016 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 #include #include #include #include "mmc35240.hpp" using namespace std; int shouldRun = true; upm::MMC35240* magnetometer; void sig_handler(int signo) { if (signo == SIGINT) shouldRun = false; } void data_callback(char* data) { float x, y, z; double azimuth; int level; magnetometer->extract3Axis(data, &x, &y, &z); /* calibrated level * UNRELIABLE = 0 * ACCURACY_LOW = 1 * ACCURACY_MEDIUM = 2 * ACCURACY_HIGH = >=3 */ level = magnetometer->getCalibratedLevel(); if ((x == 0) && (y == 0)) { cout << "Point (0, 0) is invalid!\n" << endl; return; } if (x == 0) { if (y > 0) azimuth = 0; else azimuth = 180; } else if (y == 0) { if (x > 0) azimuth = 90; else azimuth = 270; } else { if (x > 0) azimuth = 90 - atan(y / x) * 180 / M_PI; else azimuth = 270 - atan(y / x) * 180 / M_PI; } cout << "[Calibrated Level:" << level << ']' << "[Azimuth:" << (int) (360 - azimuth) << ']' << '\t' << (int) x << '\t' << (int) y << '\t' << (int) z << "[uT]" << endl; } int main() { signal(SIGINT, sig_handler); //! [Interesting] // Instantiate a MMC35240 Magnetic Sensor on iio device 5. This configuration is a reference and // should be changed per platform/board type. magnetometer = new upm::MMC35240(5); // Kernel driver does not allow changing the value of scale at run-time, default scale is // 0.001000 magnetometer->setScale(0.001000); // Available sampling frequency are 1.5, 13, 25, 50 magnetometer->setSamplingFrequency(25.000000); magnetometer->enable3AxisChannel(); magnetometer->installISR(data_callback, NULL); magnetometer->enableBuffer(16); while (shouldRun) { sleep(1); } magnetometer->disableBuffer(); //! [Interesting] cout << "Exiting" << endl; delete magnetometer; return 0; }