This is lab2 of 4180 dealing with the extra parts kit.
Dependencies: mbed LSM9DS1_Library_cal
Jesses_Lab2/Jesses_Main.cpp@8:ac38b8f1190d, 2016-02-15 (annotated)
- Committer:
- jbaker66
- Date:
- Mon Feb 15 15:40:30 2016 +0000
- Revision:
- 8:ac38b8f1190d
- Parent:
- 7:ef9f3c067efd
Added IMU code to be tested [JB]
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jesse Baker |
2:4401fc907d45 | 1 | // <- remove this if you want to code this and comment Georges |
Jesse Baker |
2:4401fc907d45 | 2 | #include "mbed.h" |
jbaker66 | 8:ac38b8f1190d | 3 | #include "LSM9DS1.h" |
jbaker66 | 8:ac38b8f1190d | 4 | #define PI 3.14159 |
jbaker66 | 4:1443e98048a6 | 5 | // -------------------------------------------------------------------------------- |
Jesse Baker |
2:4401fc907d45 | 6 | |
jbaker66 | 4:1443e98048a6 | 7 | //// AnalogOut sine wave complete |
jbaker66 | 4:1443e98048a6 | 8 | //AnalogOut aout(p18); |
jbaker66 | 4:1443e98048a6 | 9 | // |
jbaker66 | 4:1443e98048a6 | 10 | //int main(){ |
jbaker66 | 4:1443e98048a6 | 11 | // const double pi = 3.141592653589793238462; |
jbaker66 | 4:1443e98048a6 | 12 | // const double amplitude = 1; |
jbaker66 | 4:1443e98048a6 | 13 | // const double offset = 65535/2; |
jbaker66 | 4:1443e98048a6 | 14 | // double rads = 0.0; |
jbaker66 | 4:1443e98048a6 | 15 | // uint16_t sample = 0; |
Jesse Baker |
5:d3dfaed9fd93 | 16 | // |
jbaker66 | 4:1443e98048a6 | 17 | // while(1){ |
jbaker66 | 4:1443e98048a6 | 18 | // // sinewave output |
jbaker66 | 4:1443e98048a6 | 19 | // for (int i = 0; i < 360; i++) { |
jbaker66 | 4:1443e98048a6 | 20 | // rads = (pi * i) / 180.0f; |
jbaker66 | 4:1443e98048a6 | 21 | // sample = (uint16_t)(amplitude * (offset * (cos(rads + pi))) + offset); |
jbaker66 | 4:1443e98048a6 | 22 | // aout.write_u16(sample); |
jbaker66 | 4:1443e98048a6 | 23 | // } |
jbaker66 | 4:1443e98048a6 | 24 | // } |
jbaker66 | 4:1443e98048a6 | 25 | //} |
jbaker66 | 4:1443e98048a6 | 26 | // -------------------------------------------------------------------------------- |
jbaker66 | 3:8e9172f7d119 | 27 | |
jbaker66 | 7:ef9f3c067efd | 28 | //// Sharp IR sensor complete |
jbaker66 | 7:ef9f3c067efd | 29 | // |
jbaker66 | 7:ef9f3c067efd | 30 | //Serial pc(USBTX, USBRX); |
jbaker66 | 7:ef9f3c067efd | 31 | // |
jbaker66 | 7:ef9f3c067efd | 32 | //AnalogIn sensor(p15); |
jbaker66 | 7:ef9f3c067efd | 33 | //DigitalOut led1(LED1); |
jbaker66 | 7:ef9f3c067efd | 34 | //DigitalOut led2(LED2); |
jbaker66 | 7:ef9f3c067efd | 35 | //DigitalOut led3(LED3); |
jbaker66 | 7:ef9f3c067efd | 36 | //DigitalOut led4(LED4); |
jbaker66 | 7:ef9f3c067efd | 37 | // |
jbaker66 | 7:ef9f3c067efd | 38 | //int main(){ |
jbaker66 | 7:ef9f3c067efd | 39 | // while(1){ |
jbaker66 | 7:ef9f3c067efd | 40 | // |
jbaker66 | 7:ef9f3c067efd | 41 | // if(sensor > 0.61){ |
jbaker66 | 7:ef9f3c067efd | 42 | // led1 = 1; |
jbaker66 | 7:ef9f3c067efd | 43 | // led2 = 1; |
jbaker66 | 7:ef9f3c067efd | 44 | // led3 = 1; |
jbaker66 | 7:ef9f3c067efd | 45 | // led4 = 1; |
jbaker66 | 7:ef9f3c067efd | 46 | // } |
jbaker66 | 7:ef9f3c067efd | 47 | // else if(sensor > 0.46){ |
jbaker66 | 7:ef9f3c067efd | 48 | // led1 = 1; |
jbaker66 | 7:ef9f3c067efd | 49 | // led2 = 1; |
jbaker66 | 7:ef9f3c067efd | 50 | // led3 = 1; |
jbaker66 | 7:ef9f3c067efd | 51 | // led4 = 0; |
jbaker66 | 7:ef9f3c067efd | 52 | // } |
jbaker66 | 7:ef9f3c067efd | 53 | // else if(sensor > 0.30){ |
jbaker66 | 7:ef9f3c067efd | 54 | // led1 = 1; |
jbaker66 | 7:ef9f3c067efd | 55 | // led2 = 1; |
jbaker66 | 7:ef9f3c067efd | 56 | // led3 = 0; |
jbaker66 | 7:ef9f3c067efd | 57 | // led4 = 0; |
jbaker66 | 7:ef9f3c067efd | 58 | // } |
jbaker66 | 7:ef9f3c067efd | 59 | // else if(sensor > 0.15){ |
jbaker66 | 7:ef9f3c067efd | 60 | // led1 = 1; |
jbaker66 | 7:ef9f3c067efd | 61 | // led2 = 0; |
jbaker66 | 7:ef9f3c067efd | 62 | // led3 = 0; |
jbaker66 | 7:ef9f3c067efd | 63 | // led4 = 0; |
jbaker66 | 7:ef9f3c067efd | 64 | // } |
jbaker66 | 7:ef9f3c067efd | 65 | // else{ |
jbaker66 | 7:ef9f3c067efd | 66 | // led1 = 0; |
jbaker66 | 7:ef9f3c067efd | 67 | // led2 = 0; |
jbaker66 | 7:ef9f3c067efd | 68 | // led3 = 0; |
jbaker66 | 7:ef9f3c067efd | 69 | // led4 = 0; |
jbaker66 | 7:ef9f3c067efd | 70 | // } |
jbaker66 | 7:ef9f3c067efd | 71 | // |
jbaker66 | 7:ef9f3c067efd | 72 | //// pc.printf("%f\n", sensor.read()); |
jbaker66 | 7:ef9f3c067efd | 73 | //// wait(.5); |
jbaker66 | 7:ef9f3c067efd | 74 | // } |
jbaker66 | 7:ef9f3c067efd | 75 | //} |
jbaker66 | 7:ef9f3c067efd | 76 | // -------------------------------------------------------------------------------- |
Jesse Baker |
5:d3dfaed9fd93 | 77 | |
jbaker66 | 8:ac38b8f1190d | 78 | // I2C Bus and USB Virtual Com Port |
jbaker66 | 8:ac38b8f1190d | 79 | |
jbaker66 | 8:ac38b8f1190d | 80 | // Earth's magnetic field varies by location. Add or subtract |
jbaker66 | 8:ac38b8f1190d | 81 | // a declination to get a more accurate heading. Calculate |
jbaker66 | 8:ac38b8f1190d | 82 | // your's here: |
jbaker66 | 8:ac38b8f1190d | 83 | // http://www.ngdc.noaa.gov/geomag-web/#declination |
jbaker66 | 8:ac38b8f1190d | 84 | #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA. |
jbaker66 | 8:ac38b8f1190d | 85 | |
jbaker66 | 8:ac38b8f1190d | 86 | DigitalOut myled(LED1); |
jbaker66 | 8:ac38b8f1190d | 87 | Serial pc(USBTX, USBRX); |
jbaker66 | 8:ac38b8f1190d | 88 | // Calculate pitch, roll, and heading. |
jbaker66 | 8:ac38b8f1190d | 89 | // Pitch/roll calculations taken from this app note: |
jbaker66 | 8:ac38b8f1190d | 90 | // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1 |
jbaker66 | 8:ac38b8f1190d | 91 | // Heading calculations taken from this app note: |
jbaker66 | 8:ac38b8f1190d | 92 | // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf |
jbaker66 | 8:ac38b8f1190d | 93 | void printAttitude(float ax, float ay, float az, float mx, float my, float mz) |
jbaker66 | 8:ac38b8f1190d | 94 | { |
jbaker66 | 8:ac38b8f1190d | 95 | float roll = atan2(ay, az); |
jbaker66 | 8:ac38b8f1190d | 96 | float pitch = atan2(-ax, sqrt(ay * ay + az * az)); |
jbaker66 | 8:ac38b8f1190d | 97 | // touchy trig stuff to use arctan to get compass heading (scale is 0..360) |
jbaker66 | 8:ac38b8f1190d | 98 | mx = -mx; |
jbaker66 | 8:ac38b8f1190d | 99 | float heading; |
jbaker66 | 8:ac38b8f1190d | 100 | if (my == 0.0) |
jbaker66 | 8:ac38b8f1190d | 101 | heading = (mx < 0.0) ? 180.0 : 0.0; |
jbaker66 | 8:ac38b8f1190d | 102 | else |
jbaker66 | 8:ac38b8f1190d | 103 | heading = atan2(mx, my)*360.0/(2.0*PI); |
jbaker66 | 8:ac38b8f1190d | 104 | //pc.printf("heading atan=%f \n\r",heading); |
jbaker66 | 8:ac38b8f1190d | 105 | heading -= DECLINATION; //correct for geo location |
jbaker66 | 8:ac38b8f1190d | 106 | if(heading>180.0) heading = heading - 360.0; |
jbaker66 | 8:ac38b8f1190d | 107 | else if(heading<-180.0) heading = 360.0 + heading; |
jbaker66 | 8:ac38b8f1190d | 108 | else if(heading<0.0) heading = 360.0 + heading; |
jbaker66 | 8:ac38b8f1190d | 109 | |
jbaker66 | 8:ac38b8f1190d | 110 | |
jbaker66 | 8:ac38b8f1190d | 111 | // Convert everything from radians to degrees: |
jbaker66 | 8:ac38b8f1190d | 112 | //heading *= 180.0 / PI; |
jbaker66 | 8:ac38b8f1190d | 113 | pitch *= 180.0 / PI; |
jbaker66 | 8:ac38b8f1190d | 114 | roll *= 180.0 / PI; |
jbaker66 | 8:ac38b8f1190d | 115 | |
jbaker66 | 8:ac38b8f1190d | 116 | pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll); |
jbaker66 | 8:ac38b8f1190d | 117 | pc.printf("Magnetic Heading: %f degress\n\r",heading); |
jbaker66 | 8:ac38b8f1190d | 118 | } |
jbaker66 | 8:ac38b8f1190d | 119 | |
jbaker66 | 8:ac38b8f1190d | 120 | |
jbaker66 | 8:ac38b8f1190d | 121 | |
jbaker66 | 8:ac38b8f1190d | 122 | |
jbaker66 | 8:ac38b8f1190d | 123 | int main() |
jbaker66 | 8:ac38b8f1190d | 124 | { |
jbaker66 | 8:ac38b8f1190d | 125 | //LSM9DS1 lol(p9, p10, 0x6B, 0x1E); |
jbaker66 | 8:ac38b8f1190d | 126 | LSM9DS1 IMU(p9, p10, 0xD6, 0x3C); |
jbaker66 | 8:ac38b8f1190d | 127 | IMU.begin(); |
jbaker66 | 8:ac38b8f1190d | 128 | if (!IMU.begin()) { |
jbaker66 | 8:ac38b8f1190d | 129 | pc.printf("Failed to communicate with LSM9DS1.\n"); |
jbaker66 | 8:ac38b8f1190d | 130 | } |
jbaker66 | 8:ac38b8f1190d | 131 | IMU.calibrate(1); |
jbaker66 | 8:ac38b8f1190d | 132 | IMU.calibrateMag(0); |
jbaker66 | 8:ac38b8f1190d | 133 | while(1) { |
jbaker66 | 8:ac38b8f1190d | 134 | while(!IMU.tempAvailable()); |
jbaker66 | 8:ac38b8f1190d | 135 | IMU.readTemp(); |
jbaker66 | 8:ac38b8f1190d | 136 | while(!IMU.magAvailable(X_AXIS)); |
jbaker66 | 8:ac38b8f1190d | 137 | IMU.readMag(); |
jbaker66 | 8:ac38b8f1190d | 138 | while(!IMU.accelAvailable()); |
jbaker66 | 8:ac38b8f1190d | 139 | IMU.readAccel(); |
jbaker66 | 8:ac38b8f1190d | 140 | while(!IMU.gyroAvailable()); |
jbaker66 | 8:ac38b8f1190d | 141 | IMU.readGyro(); |
jbaker66 | 8:ac38b8f1190d | 142 | pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0); |
jbaker66 | 8:ac38b8f1190d | 143 | pc.printf(" X axis Y axis Z axis\n\r"); |
jbaker66 | 8:ac38b8f1190d | 144 | pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz)); |
jbaker66 | 8:ac38b8f1190d | 145 | pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az)); |
jbaker66 | 8:ac38b8f1190d | 146 | pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jbaker66 | 8:ac38b8f1190d | 147 | printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx), |
jbaker66 | 8:ac38b8f1190d | 148 | IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz)); |
jbaker66 | 8:ac38b8f1190d | 149 | myled = 1; |
jbaker66 | 8:ac38b8f1190d | 150 | wait(0.5); |
jbaker66 | 8:ac38b8f1190d | 151 | myled = 0; |
jbaker66 | 8:ac38b8f1190d | 152 | wait(0.5); |
jbaker66 | 8:ac38b8f1190d | 153 | } |
jbaker66 | 8:ac38b8f1190d | 154 | } |