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Dependencies: BNO055_fusion RF24_fork mbed
config.h@0:5283bf22044b, 2017-01-16 (annotated)
- Committer:
- mrcrsch
- Date:
- Mon Jan 16 16:51:56 2017 +0000
- Revision:
- 0:5283bf22044b
- Child:
- 1:03c9c0e3fc70
init
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mrcrsch | 0:5283bf22044b | 1 | #ifndef CONFIG_H |
mrcrsch | 0:5283bf22044b | 2 | #define CONFIG_H |
mrcrsch | 0:5283bf22044b | 3 | |
mrcrsch | 0:5283bf22044b | 4 | #include "BNO055.h" |
mrcrsch | 0:5283bf22044b | 5 | |
mrcrsch | 0:5283bf22044b | 6 | //This header contains calibration data |
mrcrsch | 0:5283bf22044b | 7 | |
mrcrsch | 0:5283bf22044b | 8 | #define NodeID 2 |
mrcrsch | 0:5283bf22044b | 9 | |
mrcrsch | 0:5283bf22044b | 10 | #define NumOfTx 2 |
mrcrsch | 0:5283bf22044b | 11 | #define SendDelay 33 // Send Delay in ms |
mrcrsch | 0:5283bf22044b | 12 | #define calibration 0 // 0 -> normal 1-> mag cal 2->accel 3->gyro 4-> y,p,r 5-> refresh Rate |
mrcrsch | 0:5283bf22044b | 13 | |
mrcrsch | 0:5283bf22044b | 14 | //define MCU for bias and pinout |
mrcrsch | 0:5283bf22044b | 15 | #define F042 |
mrcrsch | 0:5283bf22044b | 16 | //#define L052 |
mrcrsch | 0:5283bf22044b | 17 | //#define F103 |
mrcrsch | 0:5283bf22044b | 18 | |
mrcrsch | 0:5283bf22044b | 19 | |
mrcrsch | 0:5283bf22044b | 20 | |
mrcrsch | 0:5283bf22044b | 21 | |
mrcrsch | 0:5283bf22044b | 22 | |
mrcrsch | 0:5283bf22044b | 23 | |
mrcrsch | 0:5283bf22044b | 24 | |
mrcrsch | 0:5283bf22044b | 25 | //Macro for pinout |
mrcrsch | 0:5283bf22044b | 26 | |
mrcrsch | 0:5283bf22044b | 27 | #ifdef F042 |
mrcrsch | 0:5283bf22044b | 28 | #define ledpin PA_10 |
mrcrsch | 0:5283bf22044b | 29 | |
mrcrsch | 0:5283bf22044b | 30 | #define nrf_CE PA_1 |
mrcrsch | 0:5283bf22044b | 31 | #define nrf_CSN PA_4 |
mrcrsch | 0:5283bf22044b | 32 | #define spi_SCK PA_5 |
mrcrsch | 0:5283bf22044b | 33 | #define spi_MOSI PA_7 |
mrcrsch | 0:5283bf22044b | 34 | #define spi_MISO PA_6 |
mrcrsch | 0:5283bf22044b | 35 | #define nrf_irq PA_1 //TODO |
mrcrsch | 0:5283bf22044b | 36 | |
mrcrsch | 0:5283bf22044b | 37 | #define i2c_sda PF_0 |
mrcrsch | 0:5283bf22044b | 38 | #define i2c_scl PF_1 |
mrcrsch | 0:5283bf22044b | 39 | |
mrcrsch | 0:5283bf22044b | 40 | #elif defined L052 |
mrcrsch | 0:5283bf22044b | 41 | |
mrcrsch | 0:5283bf22044b | 42 | |
mrcrsch | 0:5283bf22044b | 43 | #define ledpin PA_8 |
mrcrsch | 0:5283bf22044b | 44 | |
mrcrsch | 0:5283bf22044b | 45 | #define nrf_CE PB_4 |
mrcrsch | 0:5283bf22044b | 46 | #define nrf_CSN PB_3 |
mrcrsch | 0:5283bf22044b | 47 | #define spi_SCK PA_5 |
mrcrsch | 0:5283bf22044b | 48 | #define spi_MOSI PA_7 |
mrcrsch | 0:5283bf22044b | 49 | #define spi_MISO PA_6 |
mrcrsch | 0:5283bf22044b | 50 | #define nrf_irq PA_15 |
mrcrsch | 0:5283bf22044b | 51 | |
mrcrsch | 0:5283bf22044b | 52 | #define i2c_sda PB_7 |
mrcrsch | 0:5283bf22044b | 53 | #define i2c_scl PB_6 |
mrcrsch | 0:5283bf22044b | 54 | |
mrcrsch | 0:5283bf22044b | 55 | #elif defined F103 |
mrcrsch | 0:5283bf22044b | 56 | |
mrcrsch | 0:5283bf22044b | 57 | #define ledpin PA_10 |
mrcrsch | 0:5283bf22044b | 58 | |
mrcrsch | 0:5283bf22044b | 59 | #define nrf_CE PA_9 |
mrcrsch | 0:5283bf22044b | 60 | #define nrf_CSN PA_8 |
mrcrsch | 0:5283bf22044b | 61 | #define spi_SCK PB_13 |
mrcrsch | 0:5283bf22044b | 62 | #define spi_MOSI PB_15 |
mrcrsch | 0:5283bf22044b | 63 | #define spi_MISO PB_14 |
mrcrsch | 0:5283bf22044b | 64 | #define nrf_irq PA_12 |
mrcrsch | 0:5283bf22044b | 65 | |
mrcrsch | 0:5283bf22044b | 66 | #define i2c_sda PB_11 |
mrcrsch | 0:5283bf22044b | 67 | #define i2c_scl PB_10 |
mrcrsch | 0:5283bf22044b | 68 | |
mrcrsch | 0:5283bf22044b | 69 | #endif |
mrcrsch | 0:5283bf22044b | 70 | |
mrcrsch | 0:5283bf22044b | 71 | |
mrcrsch | 0:5283bf22044b | 72 | |
mrcrsch | 0:5283bf22044b | 73 | |
mrcrsch | 0:5283bf22044b | 74 | |
mrcrsch | 0:5283bf22044b | 75 | |
mrcrsch | 0:5283bf22044b | 76 | //Macro for Bias for MPU9250 |
mrcrsch | 0:5283bf22044b | 77 | |
mrcrsch | 0:5283bf22044b | 78 | #if NodeID == 0 //for calibration |
mrcrsch | 0:5283bf22044b | 79 | float magbias[3] = {0, 0, 0}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 80 | float magscale[3] = {1, 1, 1}; |
mrcrsch | 0:5283bf22044b | 81 | float gyroBias[3] = {0,0,0}, accelBias[3] = {0,0,0}; |
mrcrsch | 0:5283bf22044b | 82 | #elif NodeID == 01 |
mrcrsch | 0:5283bf22044b | 83 | float magbias[3] = {230.06, 200.52, -272.84}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 84 | float magscale[3] = {1.06, 1.013, 0.975}; |
mrcrsch | 0:5283bf22044b | 85 | float gyroBias[3] = {0.764127,-0.92574,0.693003}, accelBias[3] = {0.081106,0.00221,0.000569}; // Bias corrections for gyro and accelerometer |
mrcrsch | 0:5283bf22044b | 86 | #elif NodeID == 02 |
mrcrsch | 0:5283bf22044b | 87 | float magbias[3] = {139.309, 268.018, 45.38}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 88 | float magscale[3] = {1.05367, 0.99, 0.963824}; |
mrcrsch | 0:5283bf22044b | 89 | float gyroBias[3] = {2.868652,-3.94802,-16.9032}, accelBias[3] = {0.004451,-0.05648,0.034475}; |
mrcrsch | 0:5283bf22044b | 90 | #elif NodeID == 03 |
mrcrsch | 0:5283bf22044b | 91 | float magbias[3] = {-39.37,159.975,-156.101}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 92 | float magscale[3] = {1.01149, 1.0193, 0.970588}; |
mrcrsch | 0:5283bf22044b | 93 | float gyroBias[3] = {-1.767136968,-1.293883734,-0.089169659}, accelBias[3] = {-0.036429195, -0.062139254, -0.007011032}; |
mrcrsch | 0:5283bf22044b | 94 | #elif NodeID == 04 |
mrcrsch | 0:5283bf22044b | 95 | float magbias[3] = {204.2954, 82.6538, -33.0917}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 96 | float magscale[3] = {1.0079681, 1.020161, 0.973077}; |
mrcrsch | 0:5283bf22044b | 97 | float gyroBias[3] = {0.069701,0.426213,2.010493}, accelBias[3] = {-0.03679,-0.00328,-0.08524}; |
mrcrsch | 0:5283bf22044b | 98 | #elif NodeID == 05 |
mrcrsch | 0:5283bf22044b | 99 | float magbias[3] = {-66.19355, 193.05185, 61.052193}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 100 | float magscale[3] = {1.03841111, 0.989542111, 0.9742611}; |
mrcrsch | 0:5283bf22044b | 101 | float gyroBias[3] = {0.158259,1.049968,0.993654}, accelBias[3] = {-0.02721,0.03663,0.011271}; |
mrcrsch | 0:5283bf22044b | 102 | #elif NodeID == 06 |
mrcrsch | 0:5283bf22044b | 103 | float magbias[3] = {-51.4838, 145.285, -191.774}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 104 | float magscale[3] = {1.049227, 0.99328, 0.971354}; |
mrcrsch | 0:5283bf22044b | 105 | float gyroBias[3] = {-1.08982,0.222767,-0.49911}, accelBias[3] = {-0.01986,0.007156,-0.02797}; |
mrcrsch | 0:5283bf22044b | 106 | #elif NodeID == 07 |
mrcrsch | 0:5283bf22044b | 107 | float magbias[3] = {218.049286, 107.05262, -110.171631}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 108 | float magscale[3] = {1.042177, 0.966667, 1.030303}; |
mrcrsch | 0:5283bf22044b | 109 | float gyroBias[3] = {-2.127218,0.4099984,-0.700637}, accelBias[3] = {-0.0041746,-0.017296524,-0.070773}; |
mrcrsch | 0:5283bf22044b | 110 | #elif NodeID == 11 //racket |
mrcrsch | 0:5283bf22044b | 111 | float magbias[3] = {263.908875, 440.263977, -235.16362}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias |
mrcrsch | 0:5283bf22044b | 112 | float magscale[3] = {1.013227, 0.997396, 0.989664}; |
mrcrsch | 0:5283bf22044b | 113 | float gyroBias[3] = {-1.12645,0.154036,0.416789}, accelBias[3] = {-0.00275,0.030735,-0.13714}; |
mrcrsch | 0:5283bf22044b | 114 | #endif |
mrcrsch | 0:5283bf22044b | 115 | |
mrcrsch | 0:5283bf22044b | 116 | #endif |