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Dependencies:   mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM

datatransfer.cpp@87:981895e1d4f2, 2022-01-07 (annotated)

Committer:
osaka
Date:
Fri Jan 07 09:49:19 2022 +0000
Revision:
87:981895e1d4f2
Parent:
86:6b8e797306b6
Child:
88:0fc5df2fddcb
GPS & mag fuse OK

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 73:be7a8b8188de 1 #include "global.hpp"
NaotoMorita 73:be7a8b8188de 2
NaotoMorita 73:be7a8b8188de 3 void send2center()
NaotoMorita 73:be7a8b8188de 4 {
NaotoMorita 73:be7a8b8188de 5 valuePack& vp = posValues;
osaka 84:028bd650e8bc 6 eskf.getGyroBias();
NaotoMorita 73:be7a8b8188de 7 //ekf.getAccBias(vp.accBias, vp.accBiasCov);
NaotoMorita 73:be7a8b8188de 8 vp.acc[0] = acc.x;
NaotoMorita 73:be7a8b8188de 9 vp.acc[1] = acc.y;
NaotoMorita 73:be7a8b8188de 10 vp.acc[2] = acc.z;
NaotoMorita 73:be7a8b8188de 11 vp.gyro[0] = gyro.x;
NaotoMorita 73:be7a8b8188de 12 vp.gyro[1] = gyro.y;
NaotoMorita 73:be7a8b8188de 13 vp.gyro[2] = gyro.z;
NaotoMorita 73:be7a8b8188de 14 vp.mag[0] = mag.x;
NaotoMorita 73:be7a8b8188de 15 vp.mag[1] = mag.y;
NaotoMorita 73:be7a8b8188de 16 vp.mag[2] = mag.z;
NaotoMorita 73:be7a8b8188de 17 vp.rpy[0] = rpy.x;
osaka 86:6b8e797306b6 18 vp.rpy[1] = rpy.y;
NaotoMorita 73:be7a8b8188de 19 vp.rpy[2] = rpy.z;
NaotoMorita 73:be7a8b8188de 20 vp.de = de;
NaotoMorita 73:be7a8b8188de 21 vp.deobj = deobj;
NaotoMorita 73:be7a8b8188de 22 for(int i = 0 ; i<5 ; i++){
NaotoMorita 73:be7a8b8188de 23 vp.rc[i] = rc[i];
NaotoMorita 73:be7a8b8188de 24 }
NaotoMorita 73:be7a8b8188de 25 tail.Send(tail_address[pos_tail], &(posValues));
osaka 84:028bd650e8bc 26 //ekf.updateCenteredGyroBiasCorrection(updateValues.gyroBias);
NaotoMorita 73:be7a8b8188de 27 //ekf.updateCenteredAccBiasCorrection(updateValues.accBias);
NaotoMorita 75:7fa924da9d32 28 //pc.printf("%f %f\n\r",rpy.x*180.0f/M_PI,updateValues.gyroBias[0]);
osaka 87:981895e1d4f2 29 //pc.printf("%f %f \r\n",rpy.x/M_PI*180.0f,rpy.y/M_PI*180.0f);
NaotoMorita 73:be7a8b8188de 30 }
NaotoMorita 73:be7a8b8188de 31
NaotoMorita 73:be7a8b8188de 32 // eeprom書き込み・読み込みに必要な関数
NaotoMorita 73:be7a8b8188de 33 void writeEEPROM(int address, unsigned int eeaddress, char *data, int size)
NaotoMorita 73:be7a8b8188de 34 {
NaotoMorita 73:be7a8b8188de 35 char i2cBuffer[size + 2];
NaotoMorita 73:be7a8b8188de 36 i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB
NaotoMorita 73:be7a8b8188de 37 i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB
NaotoMorita 73:be7a8b8188de 38
NaotoMorita 73:be7a8b8188de 39 for (int i = 0; i < size; i++) {
NaotoMorita 73:be7a8b8188de 40 i2cBuffer[i + 2] = data[i];
NaotoMorita 73:be7a8b8188de 41 }
NaotoMorita 73:be7a8b8188de 42
NaotoMorita 73:be7a8b8188de 43 int result = i2c.write(address, i2cBuffer, size + 2, false);
NaotoMorita 73:be7a8b8188de 44 //sleep_ms(500);
NaotoMorita 73:be7a8b8188de 45 }
NaotoMorita 73:be7a8b8188de 46
NaotoMorita 73:be7a8b8188de 47 // this function has no read limit
NaotoMorita 73:be7a8b8188de 48 void readEEPROM(int address, unsigned int eeaddress, char *data, int size)
NaotoMorita 73:be7a8b8188de 49 {
NaotoMorita 73:be7a8b8188de 50 char i2cBuffer[2];
NaotoMorita 73:be7a8b8188de 51 i2cBuffer[0] = (unsigned char)(eeaddress >> 8); // MSB
NaotoMorita 73:be7a8b8188de 52 i2cBuffer[1] = (unsigned char)(eeaddress & 0xFF); // LSB
NaotoMorita 73:be7a8b8188de 53
NaotoMorita 73:be7a8b8188de 54 // Reset eeprom pointer address
NaotoMorita 73:be7a8b8188de 55 int result = i2c.write(address, i2cBuffer, 2, false);
NaotoMorita 73:be7a8b8188de 56
NaotoMorita 73:be7a8b8188de 57 //sleep_ms(500);
NaotoMorita 73:be7a8b8188de 58
NaotoMorita 73:be7a8b8188de 59 // Read eeprom
NaotoMorita 73:be7a8b8188de 60 i2c.read(address, data, size);
NaotoMorita 73:be7a8b8188de 61 //sleep_ms(500);
NaotoMorita 73:be7a8b8188de 62 }