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MMC35240 is 3-axis magnetic sensor from MEMSIC. This sensor can measure magnetic fields within the full scale range of +-24 Gauss (G). The library provided is libupm-mmc35240.so The example provided is mmc35240-example-cxx where it will print x,y,z axis when trigger buffer data is ready. It's also print azimuth value. This sensor requires calibration. Please shake the sensor in figure 8 pattern, mmc35240-example will print the calibrated level. As the sensor data is noisy, we have implemented denoise algorithm within the sensor library. The azimuth formula is provided by Han, He <he.han@intel.com>. Signed-off-by: Lay, Kuan Loon <kuan.loon.lay@intel.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
112 lines
3.2 KiB
C++
112 lines
3.2 KiB
C++
/*
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* Author: Lay, Kuan Loon <kuan.loon.lay@intel.com>
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* Copyright (c) 2016 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 <iostream>
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#include <unistd.h>
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#include <signal.h>
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#include <math.h>
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#include "mmc35240.hpp"
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using namespace std;
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int shouldRun = true;
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upm::MMC35240* magnetometer;
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void
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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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void
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data_callback(char* data)
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{
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float x, y, z;
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double azimuth;
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int level;
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magnetometer->extract3Axis(data, &x, &y, &z);
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/* calibrated level
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* UNRELIABLE = 0
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* ACCURACY_LOW = 1
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* ACCURACY_MEDIUM = 2
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* ACCURACY_HIGH = >=3
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*/
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level = magnetometer->getCalibratedLevel();
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if ((x == 0) && (y == 0)) {
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cout << "Point (0, 0) is invalid!\n" << endl;
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return;
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}
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if (x == 0) {
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if (y > 0)
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azimuth = 0;
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else
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azimuth = 180;
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} else if (y == 0) {
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if (x > 0)
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azimuth = 90;
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else
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azimuth = 270;
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} else {
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if (x > 0)
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azimuth = 90 - atan(y / x) * 180 / M_PI;
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else
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azimuth = 270 - atan(y / x) * 180 / M_PI;
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}
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cout << "[Calibrated Level:" << level << ']' << "[Azimuth:" << (int) (360 - azimuth) << ']'
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<< '\t' << (int) x << '\t' << (int) y << '\t' << (int) z << "[uT]" << endl;
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}
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int
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main()
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{
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signal(SIGINT, sig_handler);
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//! [Interesting]
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// Instantiate a MMC35240 Magnetic Sensor on iio device 5. This configuration is a reference and
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// should be changed per platform/board type.
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magnetometer = new upm::MMC35240(5);
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// Kernel driver does not allow changing the value of scale at run-time, default scale is
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// 0.001000
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magnetometer->setScale(0.001000);
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// Available sampling frequency are 1.5, 13, 25, 50
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magnetometer->setSamplingFrequency(25.000000);
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magnetometer->enable3AxisChannel();
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magnetometer->installISR(data_callback, NULL);
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magnetometer->enableBuffer(16);
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while (shouldRun) {
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sleep(1);
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}
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magnetometer->disableBuffer();
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//! [Interesting]
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cout << "Exiting" << endl;
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delete magnetometer;
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return 0;
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}
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