airbourne/airbourne/examples/i2c_mag/main.cpp
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1 /*
2  * Copyright (c) 2017, James Jackson
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
8  *
9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
15  *
16  * * Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
27  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
28  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #include "system.h"
33 #include "i2c.h"
34 #include "hmc5883l.h"
35 #include "led.h"
36 #include "vcp.h"
37 #include "printf.h"
38 
40 
41 static void _putc(void *p, char c)
42 {
43  (void)p; // avoid compiler warning about unused variable
44  uartPtr->put_byte(c);
45 }
46 
47 int main() {
48 
49  systemInit();
50 
51  VCP vcp;
52  vcp.init();
53  uartPtr = &vcp;
55 
56  LED warn;
57  warn.init(LED1_GPIO, LED1_PIN);
58  LED info;
59  info.init(LED2_GPIO, LED2_PIN);
60 
61  delay(500);
62 
63  info.on();
64  I2C i2c1;
66  HMC5883L mag;
67 
68 
69  mag.init(&i2c1);
70 
71  float mag_data[3] = {0., 0., 0.};
72  while(1)
73  {
74  mag.update();
75  if (mag.present())
76  {
77  warn.off();
78  info.toggle();
79  mag.read(mag_data);
80  printf("%d, %d, %d\n",
81  (int32_t)(mag_data[0]),
82  (int32_t)(mag_data[1]),
83  (int32_t)(mag_data[2]));
84  }
85  else
86  {
87  warn.on();
88  printf("error\n");
89  }
90  delay(10);
91  }
92 }
void systemInit(void)
Definition: system.c:55
void toggle(void)
Definition: gpio.cpp:52
#define printf
Definition: printf.h:119
void init(GPIO_TypeDef *gpio_port, uint16_t pin)
Definition: led.cpp:34
#define LED2_PIN
Definition: revo_f4.h:134
void init(const i2c_hardware_struct_t *c)
Definition: i2c.cpp:53
void init()
Definition: vcp.cpp:24
#define LED2_GPIO
Definition: revo_f4.h:133
Definition: led.h:38
bool present()
Definition: hmc5883l.cpp:68
#define LED1_GPIO
Definition: revo_f4.h:131
#define LED1_PIN
Definition: revo_f4.h:132
void put_byte(uint8_t ch) override
Definition: vcp.cpp:106
void update()
Definition: hmc5883l.cpp:75
void on()
Definition: led.cpp:39
Definition: vcp.h:20
void init_printf(void *putp, void(*putf)(void *, char))
Definition: printf.cpp:245
#define EXTERNAL_I2C
Definition: revo_f4.h:128
Definition: i2c.h:40
int16_t mag_data[3]
Definition: hmc5883l_read.c:28
#define NULL
Definition: usbd_def.h:50
bool init(I2C *i2c_drv)
Definition: hmc5883l.cpp:38
bool read(float mag_data[])
Definition: hmc5883l.cpp:99
void off()
Definition: led.cpp:44
const i2c_hardware_struct_t i2c_config[NUM_I2C]
Definition: revo_f4.h:120
static void _putc(void *p, char c)
void delay(uint32_t ms)
Definition: system.c:98


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18