# HG changeset patch
# User Paul Boddie <paul@boddie.org.uk>
# Date 1418753228 0
# Node ID e7c0bbc0a71e6fe4ad28bdbe818b837f81b12346
# Parent  2001f688df48ab8874fc82f07a9f513b4e14fc46
Added a magnetometer test program and updated the Makefile.

diff -r 2001f688df48 -r e7c0bbc0a71e Makefile
--- a/Makefile	Tue Dec 16 18:04:56 2014 +0000
+++ b/Makefile	Tue Dec 16 18:07:08 2014 +0000
@@ -18,9 +18,10 @@
 LDFLAGS = -lm -lubb -L$(LIBUBB) $(shell $(SYSROOT)/usr/bin/sdl-config --libs) -Wl,-rpath-link,$(SYSROOT)/usr/lib -lSDL_gfx
 
 IMU = imu
-TEST = itest
+ITEST = itest
+MTEST = mtest
 CALIBRATE = calibrate
-TARGETS = $(IMU) $(TEST) $(CALIBRATE)
+TARGETS = $(IMU) $(ITEST) $(MTEST) $(CALIBRATE)
 
 BASICSRC = imu.c i2c.c shutdown.c geo.c
 UISRC = measure.c ui.c gui.c
@@ -28,13 +29,16 @@
 IMUSRC = $(BASICSRC) $(UISRC) main.c
 IMUOBJ = $(IMUSRC:.c=.o)
 
-TESTSRC = $(BASICSRC) $(UISRC) itest.c
-TESTOBJ = $(TESTSRC:.c=.o)
+ITESTSRC = $(BASICSRC) $(UISRC) itest.c
+ITESTOBJ = $(ITESTSRC:.c=.o)
+
+MTESTSRC = $(BASICSRC) $(UISRC) mtest.c
+MTESTOBJ = $(MTESTSRC:.c=.o)
 
 CALIBRATESRC = $(BASICSRC) calibrate.c
 CALIBRATEOBJ = $(CALIBRATESRC:.c=.o)
 
-ALLSRC = $(BASICSRC) $(UISRC) main.c itest.c calibrate.c
+ALLSRC = $(BASICSRC) $(UISRC) main.c itest.c mtest.c calibrate.c
 ALLOBJ = $(ALLSRC:.c=.o)
 
 .PHONY:	all clean distclean
@@ -50,8 +54,11 @@
 $(IMU): $(IMUOBJ)
 	$(CC) $(LDFLAGS) $(IMUOBJ) -o $@
 
-$(TEST): $(TESTOBJ)
-	$(CC) $(LDFLAGS) $(TESTOBJ) -o $@
+$(ITEST): $(ITESTOBJ)
+	$(CC) $(LDFLAGS) $(ITESTOBJ) -o $@
+
+$(MTEST): $(MTESTOBJ)
+	$(CC) $(LDFLAGS) $(MTESTOBJ) -o $@
 
 $(CALIBRATE): $(CALIBRATEOBJ)
 	$(CC) $(LDFLAGS) $(CALIBRATEOBJ) -o $@
diff -r 2001f688df48 -r e7c0bbc0a71e mtest.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mtest.c	Tue Dec 16 18:07:08 2014 +0000
@@ -0,0 +1,123 @@
+/*
+ * Sample Pololu MinIMU-9 measurements.
+ *
+ * Copyright (C) 2013, 2014 Paul Boddie
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <string.h>
+#include <unistd.h>
+#include "imu.h"
+#include "shutdown.h"
+#include "geo.h"
+#include "measure.h"
+
+vectorf xymax = {{0, 0, 0}},
+        yzmax = {{0, 0, 0}},
+        xzmax = {{0, 0, 0}};
+
+void mtest_shutdown(int signum)
+{
+    printf("\n%-6.4f %-6.4f %-6.4f %-6.4f %-6.4f %-6.4f\n",
+        xymax.x, xymax.y, yzmax.y, yzmax.z, xzmax.x, xzmax.z);
+    init_shutdown(signum);
+}
+
+/* Main program. */
+
+int main(int argc, char *argv[])
+{
+    uint8_t result[6];
+    vectorf value;
+    double xymag, yzmag, xzmag;
+    double xymagmax = 0, yzmagmax = 0, xzmagmax = 0;
+
+    signal(SIGINT, mtest_shutdown);
+
+    /* Access the 8:10 port. */
+
+    if (ubb_open(0) < 0) {
+        perror("ubb_open");
+        return 1;
+    }
+
+    ubb_power(1);
+    printf("Power on.\n");
+
+    /* Bring the IMU up. */
+
+    imu_init();
+
+    imu_sendone(IMU_MAGNET_ADDRESS, IMU_MAGNET_CRA_REG_M, IMU_MAGNET_FREQ);
+    imu_sendone(IMU_MAGNET_ADDRESS, IMU_MAGNET_CRB_REG_M, IMU_MAGNET_SCALE);
+    imu_sendone(IMU_MAGNET_ADDRESS, IMU_MAGNET_MR_REG_M, IMU_MAGNET_MR_REG_CONT);
+
+    if (imu_recv(IMU_GYRO_ADDRESS, IMU_GYRO_WHO_AM_I, result, 1))
+        printf("Who am I? %x\n", result[0]);
+
+    if (imu_recv(IMU_MAGNET_ADDRESS, IMU_MAGNET_WHO_AM_I_M, result, 1))
+        printf("Who am I? %x\n", result[0]);
+
+    if (imu_recv(IMU_MAGNET_ADDRESS, IMU_MAGNET_IRA_REG_M, result, 1))
+        printf("Identification A? %x\n", result[0]);
+
+    if (imu_recv(IMU_MAGNET_ADDRESS, IMU_MAGNET_IRB_REG_M, result, 1))
+        printf("Identification B? %x\n", result[0]);
+
+    if (imu_recv(IMU_MAGNET_ADDRESS, IMU_MAGNET_IRC_REG_M, result, 1))
+        printf("Identification C? %x\n", result[0]);
+
+    /* Initialise the recorded magnetometer limits. */
+
+    mag_calibrate();
+
+    while (1)
+    {
+        imu_read_vector_xzy(IMU_MAGNET_ADDRESS, IMU_MAGNET_OUT_X_H_M, &value, convertBE12L);
+        normalise(&value, &fieldmin, &fieldmax, &value);
+
+        xymag = sqrt(pow(value.x, 2) + pow(value.y, 2));
+        yzmag = sqrt(pow(value.y, 2) + pow(value.z, 2));
+        xzmag = sqrt(pow(value.x, 2) + pow(value.z, 2));
+
+        if (xymag > xymagmax)
+        {
+            xymagmax = xymag;
+            xymax.x = value.x; xymax.y = value.y;
+        }
+
+        if (yzmag > yzmagmax)
+        {
+            yzmagmax = yzmag;
+            yzmax.y = value.y; yzmax.z = value.z;
+        }
+
+        if (xzmag > xzmagmax)
+        {
+            xzmagmax = xzmag;
+            xzmax.x = value.x; xzmax.z = value.z;
+        }
+
+        printf("V: % 6.4f, % 6.4f, % 6.4f  "
+               "XY: % 6.4f  "
+               "YZ: % 6.4f  "
+               "XZ: % 6.4f\n",
+               value.x, value.y, value.z,
+               xymag, yzmag, xzmag
+               );
+
+        usleep(IMU_MAGNET_UPDATE_PERIOD);
+    }
+
+    /* This should be unreachable. */
+
+    ubb_close(0);
+    return 0;
+}