1 /*
2 * Author: Brendan Le Foll <brendan.le.foll@intel.com>
3 * Contributions: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
4 * Copyright (c) 2014 Intel Corporation.
5 *
6 * Permission is hereby granted, free of charge, to any person obtaining
7 * a copy of this software and associated documentation files (the
8 * "Software"), to deal in the Software without restriction, including
9 * without limitation the rights to use, copy, modify, merge, publish,
10 * distribute, sublicense, and/or sell copies of the Software, and to
11 * permit persons to whom the Software is furnished to do so, subject to
12 * the following conditions:
13 *
14 * The above copyright notice and this permission notice shall be
15 * included in all copies or substantial portions of the Software.
16 *
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
18 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
19 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
20 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
21 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
22 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
23 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
24 */
25
26 #include <unistd.h>
27 #include "hmc5883l.h"
28
29 int
main(int argc,char ** argv)30 main(int argc, char **argv)
31 {
32 //! [Interesting]
33 // Instantiate on I2C
34 upm::Hmc5883l* compass = new upm::Hmc5883l(0);
35 int16_t *pos;
36
37 compass->set_declination(0.2749); // Set your declination from true north in radians
38
39 // Print out the coordinates, heading, and direction every second
40 while(true){
41 compass->update(); // Update the coordinates
42 pos = compass->coordinates();
43 fprintf(stdout, "coor: %5d %5d %5d ", pos[0], pos[1], pos[2]);
44 fprintf(stdout, "heading: %5.2f direction: %3.2f\n", compass->heading(), compass->direction());
45 sleep(1);
46 }
47 //! [Interesting]
48
49 return 0;
50 }
51