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133 lines
3.7 KiB
C
133 lines
3.7 KiB
C
/*
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* Copyright (C) 2018 Gunar Schorcht
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup tests
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* @brief Test application for the HMC5883L 3-axis digital compass
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* @author Gunar Schorcht <gunar@schorcht.net>
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* @file
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*
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* The test application demonstrates the use of the HMC5883L. It uses the
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* default configuration parameters.
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*
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* - Continuous measurement at a Data Output Rate (DOR) of 15 Hz
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* - Normal mode, no biasing
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* - Gain 1090 LSB/Gs
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* - No averaging of data samples
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*
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* The application can use different approaches to get new data:
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*
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* - using the #hmc5883l_read function at a lower rate than the the DOR
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* - using the data-ready interrupt (**DRDY**), see #hmc5883l_init_int.
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*
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* To use the data-ready interrupt (**DRDY), the application has to enable
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* module `hmc5883l_int` and has to configure the GPIO to which the
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* interrupt signal is connected. This is done by overrding the default
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* configuration parameter `HMC5883L_PARAM_INT_PIN` if necessary, for example:
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*
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* ```
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* USEMODULE=hmc5883l_int CFLAGS='-DHMC5883L_PARAM_INT_PIN=GPIO_PIN\(0,12\)' \
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* make flash -C tests/drivers/hmc5883l BOARD=...
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* ```
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*
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* The heading angle is calculated for a magnetic declination in radians defined
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* by `HMC5883L_MAG_DECL`. This depends on the current location. The value for
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* the current location can be determined at http://www.magnetic-declination.com/.
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*/
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#include <math.h>
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#include <stdio.h>
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#include "thread.h"
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#include "xtimer.h"
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#include "hmc5883l.h"
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#include "hmc5883l_params.h"
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/*
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* Magnetic declination in radians according to the real geo location, see:
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* http://www.magnetic-declination.com/
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*/
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#ifndef HMC5883L_MAG_DECL
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#define HMC5883L_MAG_DECL (0.0573F)
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#endif
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#ifndef M_PI
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#define M_PI (3.14159265358979323846)
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#endif
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#define HMC5883L_SLEEP (100 * US_PER_MS)
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kernel_pid_t p_main;
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#if MODULE_HMC5883L_INT
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static void hmc5883l_isr_data_ready (void *arg)
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{
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(void)arg;
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/* send a message to trigger main thread to handle the interrupt */
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msg_t msg;
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msg_send(&msg, p_main);
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}
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#endif
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int main(void)
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{
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hmc5883l_t dev;
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p_main = thread_getpid();
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puts("HMC5883L magnetometer driver test application\n");
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puts("Initializing HMC5883L sensor");
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/* initialize the sensor with default configuration parameters */
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if (hmc5883l_init(&dev, &hmc5883l_params[0]) == HMC5883L_OK) {
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puts("[OK]\n");
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}
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else {
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puts("[Failed]");
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return 1;
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}
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#if MODULE_HMC5883L_INT
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/* init INT2/DRDY signal pin and enable the interrupt */
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hmc5883l_init_int(&dev, hmc5883l_isr_data_ready, 0);
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#endif /* MODULE_HMC5883L_INT */
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while (1) {
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#if MODULE_HMC5883L_INT
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/* wait for data ready interrupt */
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msg_t msg;
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msg_receive(&msg);
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#else
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/* wait longer than period of HMC5883L DOR */
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xtimer_usleep(HMC5883L_SLEEP);
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#endif
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/* read data in any case */
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hmc5883l_data_t data;
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if (hmc5883l_read(&dev, &data) == HMC5883L_OK) {
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/* print xyz data */
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printf("magn [mGs] x = %" PRIi16 ", y = %" PRIi16 ", z = %" PRIi16 "\n",
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data.x, data.y, data.z);
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/* compute and print heading for the given magnetic declination in rad */
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float head = atan2(data.y, data.x) + HMC5883L_MAG_DECL;
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if (head < 0) {
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head += 2 * M_PI;
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}
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if (head > 2 * M_PI) {
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head -= 2 * M_PI;
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}
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unsigned deg = head * 180 / M_PI;
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printf("head [deg] %u\n", deg);
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}
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}
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return 0;
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}
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