Diff: main.cpp

Revision:

0:ee865ceb2360

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun May 01 13:53:30 2011 +0000
@@ -0,0 +1,70 @@
+#include "mbed.h"
+#include "HMC6343.h"
+
+HMC6343 compass(p9, p10);
+Serial pc(USBTX, USBRX);
+
+Ticker t;
+Ticker t1;
+Heading heading;
+
+volatile bool display_values = true;
+volatile bool sample_sensor = true;
+
+void do_display_values() {
+    display_values = true;
+}
+
+void do_sample_sensor() { sample_sensor = true; }
+
+int main() {
+    pc.baud(115200);
+    t.attach(&do_display_values, 1);
+    t1.attach_us(&do_sample_sensor, 100 * 500);
+    
+    int opMode = compass.getOpMode();
+    printf("Op mode %d\r\n", opMode);    
+    opMode |= HMC6343_CM_MR_5HZ;
+    
+    //opMode &= ~HMC6343_STDBY;
+    //opMode |= HMC6343_RUN;
+    
+    printf("Op mode %d\r\n", opMode);
+    compass.setOpMode(opMode);
+
+    printf("Op mode %d\r\n", compass.getOpMode());
+    
+    printf("Compass software version %d\r\n", compass.getSoftwareVersion());
+    printf("Compass variation %f \r\n", compass.getMagneticVariation()); 
+    printf("Compass measurement rate %d\r\n", compass.getMeasurementRate());   
+
+    //compass.setMagneticVariation(0.52);
+    //printf("Compass variation %f \r\n", compass.getMagneticVariation());
+    
+    printf("IIR Filter : %d\r\n", compass.isOpModeFlagSet(HMC6343_FILTER));    
+    printf("IIR Filter bias : %d\r\n", compass.getIIRFilter());
+
+    //compass.setIIRFilter(4);
+    //printf("IIR Filter bias : %d\r\n", compass.getIIRFilter());
+
+    // seems a restart is needed for this change to happen in the module
+    // compass.setOpMode(opMode &= ~HMC6343_FILTER);
+    // printf("IIR Filter : %d\r\n", compass.isOpModeFlagSet(HMC6343_FILTER));        
+    
+    compass.setReset();
+    
+    while (1) {
+        if (sample_sensor) {
+            compass.sampleHeading(&heading);
+            sample_sensor = false;
+        }
+
+        if (display_values) {
+            pc.printf("bearing %3.1f \r\n", heading.heading);
+            pc.printf("roll %f \r\n", heading.roll);
+            pc.printf("pitch %f \r\n", heading.pitch);
+            display_values = false;
+        }
+    }
+
+}
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