d
Dependencies: General C12832 FatFileSystemCpp mbed
Fork of MPU9150AHRS by
main.cpp@1:4523d7cda75e, 2016-06-17 (annotated)
- Committer:
- Kekehoho
- Date:
- Fri Jun 17 20:35:28 2016 +0000
- Revision:
- 1:4523d7cda75e
- Parent:
- 0:39935bb3c1a1
2nd try
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
onehorse | 0:39935bb3c1a1 | 1 | /* MPU9150 Basic Example Code |
onehorse | 0:39935bb3c1a1 | 2 | by: Kris Winer |
onehorse | 0:39935bb3c1a1 | 3 | date: April 1, 2014 |
onehorse | 0:39935bb3c1a1 | 4 | license: Beerware - Use this code however you'd like. If you |
onehorse | 0:39935bb3c1a1 | 5 | find it useful you can buy me a beer some time. |
onehorse | 0:39935bb3c1a1 | 6 | |
onehorse | 0:39935bb3c1a1 | 7 | Demonstrate basic MPU-9150 functionality including parameterizing the register addresses, initializing the sensor, |
onehorse | 0:39935bb3c1a1 | 8 | getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to |
onehorse | 0:39935bb3c1a1 | 9 | allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and |
onehorse | 0:39935bb3c1a1 | 10 | Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1. |
onehorse | 0:39935bb3c1a1 | 11 | |
onehorse | 0:39935bb3c1a1 | 12 | SDA and SCL should have external pull-up resistors (to 3.3V). |
onehorse | 0:39935bb3c1a1 | 13 | 10k resistors are on the EMSENSR-9250 breakout board. |
onehorse | 0:39935bb3c1a1 | 14 | |
onehorse | 0:39935bb3c1a1 | 15 | Hardware setup: |
onehorse | 0:39935bb3c1a1 | 16 | MPU9150 Breakout --------- Arduino |
onehorse | 0:39935bb3c1a1 | 17 | VDD ---------------------- 3.3V |
onehorse | 0:39935bb3c1a1 | 18 | VDDI --------------------- 3.3V |
onehorse | 0:39935bb3c1a1 | 19 | SDA ----------------------- A4 |
onehorse | 0:39935bb3c1a1 | 20 | SCL ----------------------- A5 |
onehorse | 0:39935bb3c1a1 | 21 | GND ---------------------- GND |
onehorse | 0:39935bb3c1a1 | 22 | |
onehorse | 0:39935bb3c1a1 | 23 | Note: The MPU9150 is an I2C sensor and uses the Arduino Wire library. |
onehorse | 0:39935bb3c1a1 | 24 | Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1. |
onehorse | 0:39935bb3c1a1 | 25 | We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file. |
onehorse | 0:39935bb3c1a1 | 26 | We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file. |
onehorse | 0:39935bb3c1a1 | 27 | */ |
Kekehoho | 1:4523d7cda75e | 28 | |
onehorse | 0:39935bb3c1a1 | 29 | #include "mbed.h" |
onehorse | 0:39935bb3c1a1 | 30 | #include "MPU9150.h" |
Kekehoho | 1:4523d7cda75e | 31 | #include "C12832.h" |
Kekehoho | 1:4523d7cda75e | 32 | #include "MSCFileSystem.h" |
Kekehoho | 1:4523d7cda75e | 33 | #include "BMP180.h" |
Kekehoho | 1:4523d7cda75e | 34 | #include "DW1000.h" |
Kekehoho | 1:4523d7cda75e | 35 | #include "MM2WayRanging.h" |
Kekehoho | 1:4523d7cda75e | 36 | #include "stdlib.h" |
onehorse | 0:39935bb3c1a1 | 37 | |
Kekehoho | 1:4523d7cda75e | 38 | #define LAST(k, n) ((k)&((1<<(n))-1)) |
Kekehoho | 1:4523d7cda75e | 39 | #define MID(k,m,n) LAST((k)>>(m),((n)-(m))) |
Kekehoho | 1:4523d7cda75e | 40 | #define myprintf pc.printf |
onehorse | 0:39935bb3c1a1 | 41 | |
onehorse | 0:39935bb3c1a1 | 42 | float sum = 0; |
onehorse | 0:39935bb3c1a1 | 43 | uint32_t sumCount = 0, mcount = 0; |
onehorse | 0:39935bb3c1a1 | 44 | char buffer[14]; |
onehorse | 0:39935bb3c1a1 | 45 | |
Kekehoho | 1:4523d7cda75e | 46 | //IMU |
Kekehoho | 1:4523d7cda75e | 47 | MPU9150 MPU9150; |
Kekehoho | 1:4523d7cda75e | 48 | |
Kekehoho | 1:4523d7cda75e | 49 | //BARO |
Kekehoho | 1:4523d7cda75e | 50 | BMP180 bmp180(p28, p27); // sda, scl |
Kekehoho | 1:4523d7cda75e | 51 | |
Kekehoho | 1:4523d7cda75e | 52 | // DWM1000 |
Kekehoho | 1:4523d7cda75e | 53 | DW1000 dw(p5, p6, p7, p11, p17); // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ) |
Kekehoho | 1:4523d7cda75e | 54 | MM2WayRanging node(dw); // Ranging algorithm |
Kekehoho | 1:4523d7cda75e | 55 | |
Kekehoho | 1:4523d7cda75e | 56 | //USB |
Kekehoho | 1:4523d7cda75e | 57 | MSCFileSystem fs("fs"); |
Kekehoho | 1:4523d7cda75e | 58 | |
Kekehoho | 1:4523d7cda75e | 59 | //Timer |
Kekehoho | 1:4523d7cda75e | 60 | Timer t, timer; |
onehorse | 0:39935bb3c1a1 | 61 | |
Kekehoho | 1:4523d7cda75e | 62 | // Application System |
Kekehoho | 1:4523d7cda75e | 63 | Serial pc(USBTX, USBRX); // tx, rx |
Kekehoho | 1:4523d7cda75e | 64 | |
Kekehoho | 1:4523d7cda75e | 65 | // joystick |
Kekehoho | 1:4523d7cda75e | 66 | BusIn joystick(p15,p12,p13,p16); |
onehorse | 0:39935bb3c1a1 | 67 | |
Kekehoho | 1:4523d7cda75e | 68 | // LCD display |
Kekehoho | 1:4523d7cda75e | 69 | //C12832 lcd(p5, p7, p6, p8, p11); |
Kekehoho | 1:4523d7cda75e | 70 | |
Kekehoho | 1:4523d7cda75e | 71 | // joystick |
Kekehoho | 1:4523d7cda75e | 72 | DigitalIn fire(p14); |
onehorse | 0:39935bb3c1a1 | 73 | |
onehorse | 0:39935bb3c1a1 | 74 | int main() |
onehorse | 0:39935bb3c1a1 | 75 | { |
onehorse | 0:39935bb3c1a1 | 76 | pc.baud(9600); |
onehorse | 0:39935bb3c1a1 | 77 | |
onehorse | 0:39935bb3c1a1 | 78 | //Set up I2C |
onehorse | 0:39935bb3c1a1 | 79 | i2c.frequency(400000); // use fast (400 kHz) I2C |
onehorse | 0:39935bb3c1a1 | 80 | |
Kekehoho | 1:4523d7cda75e | 81 | //lcd.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
onehorse | 0:39935bb3c1a1 | 82 | |
onehorse | 0:39935bb3c1a1 | 83 | t.start(); |
onehorse | 0:39935bb3c1a1 | 84 | |
Kekehoho | 1:4523d7cda75e | 85 | // Connection Test of the DecaWave Ranging Measurement Unit |
Kekehoho | 1:4523d7cda75e | 86 | |
Kekehoho | 1:4523d7cda75e | 87 | dw.setEUI(0xFAEDCD01FAEDCD01); // basic methods called to check if we have a working SPI connection |
Kekehoho | 1:4523d7cda75e | 88 | if (!(dw.getEUI() == 0xFAEDCD01FAEDCD01 && dw.getDeviceID() == 0xDECA0130)) |
Kekehoho | 1:4523d7cda75e | 89 | { myprintf("DWM1000 Identification error:\n DeviceID = %d\n EUI = %d", dw.getDeviceID(), dw.getEUI()); |
Kekehoho | 1:4523d7cda75e | 90 | while(1);} |
Kekehoho | 1:4523d7cda75e | 91 | else |
Kekehoho | 1:4523d7cda75e | 92 | {myprintf("DWM100 Connection established\n\r");} |
onehorse | 0:39935bb3c1a1 | 93 | |
Kekehoho | 1:4523d7cda75e | 94 | // Anchor or Beacon? |
Kekehoho | 1:4523d7cda75e | 95 | myprintf("Set the Chip as an Anchor: Up\n\r Set the Chip as a Beacon: Down\n\r"); |
Kekehoho | 1:4523d7cda75e | 96 | while (joystick.read() != 1 && joystick.read() != 2){wait(0.001);} |
Kekehoho | 1:4523d7cda75e | 97 | |
Kekehoho | 1:4523d7cda75e | 98 | if (joystick.read() == 1) { |
Kekehoho | 1:4523d7cda75e | 99 | node.isAnchor = true; |
Kekehoho | 1:4523d7cda75e | 100 | node.address = 2; |
Kekehoho | 1:4523d7cda75e | 101 | myprintf("This node is Anchor node %d \r\n", node.address); |
Kekehoho | 1:4523d7cda75e | 102 | while(1); |
Kekehoho | 1:4523d7cda75e | 103 | } else { |
Kekehoho | 1:4523d7cda75e | 104 | node.isAnchor = false; |
Kekehoho | 1:4523d7cda75e | 105 | node.address = 0; |
Kekehoho | 1:4523d7cda75e | 106 | myprintf("This node is a Beacon.\n\r "); |
Kekehoho | 1:4523d7cda75e | 107 | } |
Kekehoho | 1:4523d7cda75e | 108 | |
onehorse | 0:39935bb3c1a1 | 109 | // Read the WHO_AM_I register, this is a good test of communication |
onehorse | 0:39935bb3c1a1 | 110 | uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250 |
onehorse | 0:39935bb3c1a1 | 111 | |
onehorse | 0:39935bb3c1a1 | 112 | if (whoami == 0x68) // WHO_AM_I should be 0x68 |
Kekehoho | 1:4523d7cda75e | 113 | { |
Kekehoho | 1:4523d7cda75e | 114 | myprintf("IMU Connection established, Initialization...\n\r"); |
Kekehoho | 1:4523d7cda75e | 115 | MPU9150.MPU9150SelfTest(SelfTest); // Accelerometer and gyroscope self test; check calibration wrt factory settings |
Kekehoho | 1:4523d7cda75e | 116 | //lcd.printf("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]); |
onehorse | 0:39935bb3c1a1 | 117 | |
onehorse | 0:39935bb3c1a1 | 118 | MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration |
onehorse | 0:39935bb3c1a1 | 119 | MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
Kekehoho | 1:4523d7cda75e | 120 | //pc.printf("x gyro bias = %f\n\r", gyroBias[0]); |
Kekehoho | 1:4523d7cda75e | 121 | |
onehorse | 0:39935bb3c1a1 | 122 | MPU9150.initMPU9150(); |
Kekehoho | 1:4523d7cda75e | 123 | myprintf("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
onehorse | 0:39935bb3c1a1 | 124 | MPU9150.initAK8975A(magCalibration); |
Kekehoho | 1:4523d7cda75e | 125 | myprintf("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
onehorse | 0:39935bb3c1a1 | 126 | } |
onehorse | 0:39935bb3c1a1 | 127 | else |
onehorse | 0:39935bb3c1a1 | 128 | { |
Kekehoho | 1:4523d7cda75e | 129 | myprintf("Could not connect to MPU9150: \n\r"); |
Kekehoho | 1:4523d7cda75e | 130 | myprintf("%#x \n", whoami); |
onehorse | 0:39935bb3c1a1 | 131 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:39935bb3c1a1 | 132 | } |
onehorse | 0:39935bb3c1a1 | 133 | |
Kekehoho | 1:4523d7cda75e | 134 | bmp180.Initialize(64, BMP180_OSS_ULTRA_LOW_POWER); // 64m altitude compensation and low power oversampling |
Kekehoho | 1:4523d7cda75e | 135 | |
onehorse | 0:39935bb3c1a1 | 136 | uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values |
onehorse | 0:39935bb3c1a1 | 137 | MPU9150.getAres(); // Get accelerometer sensitivity |
onehorse | 0:39935bb3c1a1 | 138 | MPU9150.getGres(); // Get gyro sensitivity |
Kekehoho | 1:4523d7cda75e | 139 | mRes = 10.*1229./4096.; // Conversion from binary to microtesla and from 1229 microTesla full scale (4096) to 12.29 Gauss full scale |
onehorse | 0:39935bb3c1a1 | 140 | // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically |
onehorse | 0:39935bb3c1a1 | 141 | // like the gyro and accelerometer biases |
onehorse | 0:39935bb3c1a1 | 142 | magbias[0] = -5.; // User environmental x-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 143 | magbias[1] = -95.; // User environmental y-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 144 | magbias[2] = -260.; // User environmental z-axis correction in milliGauss |
Kekehoho | 1:4523d7cda75e | 145 | FILE *fic= fopen("/fs/test.txt","w"); |
Kekehoho | 1:4523d7cda75e | 146 | int button = 0; |
Kekehoho | 1:4523d7cda75e | 147 | float Start; |
Kekehoho | 1:4523d7cda75e | 148 | float pressure, temperature; |
Kekehoho | 1:4523d7cda75e | 149 | float Distance[3] = {7,8,9}; |
Kekehoho | 1:4523d7cda75e | 150 | int Points = 0; |
Kekehoho | 1:4523d7cda75e | 151 | while(joystick.read() != 4) { |
Kekehoho | 1:4523d7cda75e | 152 | // Get Ranging measurements |
Kekehoho | 1:4523d7cda75e | 153 | (Distance[0], Distance[1], Distance[2]) = node.rangeAndDisplayAll(); |
onehorse | 0:39935bb3c1a1 | 154 | |
onehorse | 0:39935bb3c1a1 | 155 | // If intPin goes high, all data registers have new data |
onehorse | 0:39935bb3c1a1 | 156 | if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
onehorse | 0:39935bb3c1a1 | 157 | |
onehorse | 0:39935bb3c1a1 | 158 | MPU9150.readAccelData(accelCount); // Read the x/y/z adc values |
onehorse | 0:39935bb3c1a1 | 159 | // Now we'll calculate the accleration value into actual g's |
Kekehoho | 1:4523d7cda75e | 160 | ax = (float)accelCount[0]*aRes; - accelBias[0]; // get actual g value, this depends on scale being set |
Kekehoho | 1:4523d7cda75e | 161 | ay = (float)accelCount[1]*aRes; - accelBias[1]; |
Kekehoho | 1:4523d7cda75e | 162 | az = (float)accelCount[2]*aRes; - accelBias[2]; |
onehorse | 0:39935bb3c1a1 | 163 | |
onehorse | 0:39935bb3c1a1 | 164 | MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values |
onehorse | 0:39935bb3c1a1 | 165 | // Calculate the gyro value into actual degrees per second |
onehorse | 0:39935bb3c1a1 | 166 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
onehorse | 0:39935bb3c1a1 | 167 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
onehorse | 0:39935bb3c1a1 | 168 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
onehorse | 0:39935bb3c1a1 | 169 | |
onehorse | 0:39935bb3c1a1 | 170 | mcount++; |
onehorse | 0:39935bb3c1a1 | 171 | if (mcount > 200/MagRate) { // this is a poor man's way of setting the magnetometer read rate (see below) |
onehorse | 0:39935bb3c1a1 | 172 | MPU9150.readMagData(magCount); // Read the x/y/z adc values |
onehorse | 0:39935bb3c1a1 | 173 | // Calculate the magnetometer values in milliGauss |
onehorse | 0:39935bb3c1a1 | 174 | // Include factory calibration per data sheet and user environmental corrections |
onehorse | 0:39935bb3c1a1 | 175 | mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set |
onehorse | 0:39935bb3c1a1 | 176 | my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; |
onehorse | 0:39935bb3c1a1 | 177 | mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; |
onehorse | 0:39935bb3c1a1 | 178 | mcount = 0; |
onehorse | 0:39935bb3c1a1 | 179 | } |
onehorse | 0:39935bb3c1a1 | 180 | } |
Kekehoho | 1:4523d7cda75e | 181 | |
onehorse | 0:39935bb3c1a1 | 182 | |
Kekehoho | 1:4523d7cda75e | 183 | //Now = t.read_us(); |
Kekehoho | 1:4523d7cda75e | 184 | //deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
Kekehoho | 1:4523d7cda75e | 185 | //lastUpdate = Now; |
onehorse | 0:39935bb3c1a1 | 186 | |
Kekehoho | 1:4523d7cda75e | 187 | //sum += deltat; |
Kekehoho | 1:4523d7cda75e | 188 | //sumCount++; |
onehorse | 0:39935bb3c1a1 | 189 | |
onehorse | 0:39935bb3c1a1 | 190 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
onehorse | 0:39935bb3c1a1 | 191 | // beta = 0.04; // decrease filter gain after stabilized |
onehorse | 0:39935bb3c1a1 | 192 | // zeta = 0.015; // increasey bias drift gain after stabilized |
onehorse | 0:39935bb3c1a1 | 193 | // } |
onehorse | 0:39935bb3c1a1 | 194 | |
onehorse | 0:39935bb3c1a1 | 195 | // Pass gyro rate as rad/s |
onehorse | 0:39935bb3c1a1 | 196 | // MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
Kekehoho | 1:4523d7cda75e | 197 | //MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
onehorse | 0:39935bb3c1a1 | 198 | |
onehorse | 0:39935bb3c1a1 | 199 | // Serial print and/or display at 0.5 s rate independent of data rates |
Kekehoho | 1:4523d7cda75e | 200 | |
Kekehoho | 1:4523d7cda75e | 201 | //myprintf("\r\n CIR= %u, %016llX", MID(dw.getCIR_PWR(),48,64), dw.getCIR_PWR()); |
Kekehoho | 1:4523d7cda75e | 202 | //myprintf("\r\n RXPACC = %u, %X", MID(dw.getRXPACC(), 20,32), dw.getRXPACC()); |
onehorse | 0:39935bb3c1a1 | 203 | |
onehorse | 0:39935bb3c1a1 | 204 | |
Kekehoho | 1:4523d7cda75e | 205 | //while(1); |
onehorse | 0:39935bb3c1a1 | 206 | |
Kekehoho | 1:4523d7cda75e | 207 | delt_t = t.read_ms() - count; |
Kekehoho | 1:4523d7cda75e | 208 | timer.start(); |
Kekehoho | 1:4523d7cda75e | 209 | while (fire) |
Kekehoho | 1:4523d7cda75e | 210 | { Start = timer.read(); |
Kekehoho | 1:4523d7cda75e | 211 | myprintf("#"); |
Kekehoho | 1:4523d7cda75e | 212 | fprintf(fic, "#\n"); |
Kekehoho | 1:4523d7cda75e | 213 | wait(0.3);} |
Kekehoho | 1:4523d7cda75e | 214 | |
Kekehoho | 1:4523d7cda75e | 215 | if (Start>0.1) |
Kekehoho | 1:4523d7cda75e | 216 | { button = !button; |
Kekehoho | 1:4523d7cda75e | 217 | Points = 0;} |
Kekehoho | 1:4523d7cda75e | 218 | |
Kekehoho | 1:4523d7cda75e | 219 | if (fic != NULL && button && Points < 501) |
Kekehoho | 1:4523d7cda75e | 220 | { |
Kekehoho | 1:4523d7cda75e | 221 | //fprintf(fic, "%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f\n", t.read(),1000*ax, 1000*ay, 1000*az, gx, gy, gz, mx, my, mz, pressure, temperature, Distance); |
Kekehoho | 1:4523d7cda75e | 222 | myprintf("%d", Points); |
Kekehoho | 1:4523d7cda75e | 223 | fprintf(fic, "%.2f %.2f %.2f %u %u\n", Distance[0], Distance[1], Distance[2], MID(dw.getRXPACC(), 20,32), MID(dw.getCIR_PWR(),48,64)); |
Kekehoho | 1:4523d7cda75e | 224 | myprintf(" Distance 2 = %.2f Distance 3 = %.2f Distance 4 = %.2f %u %u\n\r", node.distances[2], node.distances[3], node.distances[4], MID(dw.getRXPACC(), 20,32), MID(dw.getCIR_PWR(),48,64)); |
Kekehoho | 1:4523d7cda75e | 225 | Start = 0; |
Kekehoho | 1:4523d7cda75e | 226 | wait(0.0005); |
Kekehoho | 1:4523d7cda75e | 227 | Points ++;} |
Kekehoho | 1:4523d7cda75e | 228 | else |
Kekehoho | 1:4523d7cda75e | 229 | //{if (fic != NULL && button) |
Kekehoho | 1:4523d7cda75e | 230 | //{fprintf(fic, "%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;%.2f;No data;No data\n",t.read(),1000*ax, 1000*ay, 1000*az, gx, gy, gz, mx, my, mz); |
Kekehoho | 1:4523d7cda75e | 231 | // Start = 0;} |
Kekehoho | 1:4523d7cda75e | 232 | // else { |
Kekehoho | 1:4523d7cda75e | 233 | { |
Kekehoho | 1:4523d7cda75e | 234 | myprintf("."); |
Kekehoho | 1:4523d7cda75e | 235 | Start = 0;} |
Kekehoho | 1:4523d7cda75e | 236 | |
Kekehoho | 1:4523d7cda75e | 237 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
Kekehoho | 1:4523d7cda75e | 238 | |
Kekehoho | 1:4523d7cda75e | 239 | |
Kekehoho | 1:4523d7cda75e | 240 | |
Kekehoho | 1:4523d7cda75e | 241 | //lcd.locate(0,0); |
Kekehoho | 1:4523d7cda75e | 242 | //lcd.printf("ax = %.3f", 1000*ax); |
Kekehoho | 1:4523d7cda75e | 243 | //myprintf(" ay = %f", 1000*ay); |
Kekehoho | 1:4523d7cda75e | 244 | //pc.printf(" az = %f mg\n\r", 1000*az); |
Kekehoho | 1:4523d7cda75e | 245 | //lcd.locate(0,9); |
Kekehoho | 1:4523d7cda75e | 246 | //lcd.printf("gx = %f", gx); |
Kekehoho | 1:4523d7cda75e | 247 | // myprintf(" gy = %f", gy); |
Kekehoho | 1:4523d7cda75e | 248 | //pc.printf(" gz = %f deg/s\n\r", gz); |
Kekehoho | 1:4523d7cda75e | 249 | //lcd.locate(0,18); |
Kekehoho | 1:4523d7cda75e | 250 | //lcd.printf("gx = %f", mx); |
Kekehoho | 1:4523d7cda75e | 251 | //myprintf(" gy = %f", my); |
Kekehoho | 1:4523d7cda75e | 252 | //pc.printf(" gz = %f mG\n\r", mz); |
onehorse | 0:39935bb3c1a1 | 253 | |
onehorse | 0:39935bb3c1a1 | 254 | tempCount = MPU9150.readTempData(); // Read the adc values |
onehorse | 0:39935bb3c1a1 | 255 | temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade |
Kekehoho | 1:4523d7cda75e | 256 | //myprintf(" temperature = %f C", temperature); |
Kekehoho | 1:4523d7cda75e | 257 | //myprintf("Ranging = %f\n\r ", Distance); |
onehorse | 0:39935bb3c1a1 | 258 | |
Kekehoho | 1:4523d7cda75e | 259 | //pc.printf("q0 = %f\n\r", q[0]); |
Kekehoho | 1:4523d7cda75e | 260 | //pc.printf("q1 = %f\n\r", q[1]); |
Kekehoho | 1:4523d7cda75e | 261 | //pc.printf("q2 = %f\n\r", q[2]); |
Kekehoho | 1:4523d7cda75e | 262 | //pc.printf("q3 = %f\n\r", q[3]); |
onehorse | 0:39935bb3c1a1 | 263 | |
onehorse | 0:39935bb3c1a1 | 264 | /* lcd.clear(); |
onehorse | 0:39935bb3c1a1 | 265 | lcd.printString("MPU9150", 0, 0); |
onehorse | 0:39935bb3c1a1 | 266 | lcd.printString("x y z", 0, 1); |
onehorse | 0:39935bb3c1a1 | 267 | sprintf(buffer, "%d %d %d mg", (int)(1000.0f*ax), (int)(1000.0f*ay), (int)(1000.0f*az)); |
onehorse | 0:39935bb3c1a1 | 268 | lcd.printString(buffer, 0, 2); |
onehorse | 0:39935bb3c1a1 | 269 | sprintf(buffer, "%d %d %d deg/s", (int)gx, (int)gy, (int)gz); |
onehorse | 0:39935bb3c1a1 | 270 | lcd.printString(buffer, 0, 3); |
onehorse | 0:39935bb3c1a1 | 271 | sprintf(buffer, "%d %d %d mG", (int)mx, (int)my, (int)mz); |
onehorse | 0:39935bb3c1a1 | 272 | lcd.printString(buffer, 0, 4); |
onehorse | 0:39935bb3c1a1 | 273 | */ |
onehorse | 0:39935bb3c1a1 | 274 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
onehorse | 0:39935bb3c1a1 | 275 | // In this coordinate system, the positive z-axis is down toward Earth. |
onehorse | 0:39935bb3c1a1 | 276 | // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. |
onehorse | 0:39935bb3c1a1 | 277 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
onehorse | 0:39935bb3c1a1 | 278 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
onehorse | 0:39935bb3c1a1 | 279 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
onehorse | 0:39935bb3c1a1 | 280 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
onehorse | 0:39935bb3c1a1 | 281 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
onehorse | 0:39935bb3c1a1 | 282 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
Kekehoho | 1:4523d7cda75e | 283 | //yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
Kekehoho | 1:4523d7cda75e | 284 | //pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
Kekehoho | 1:4523d7cda75e | 285 | //roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
Kekehoho | 1:4523d7cda75e | 286 | //pitch *= 180.0f / PI; |
Kekehoho | 1:4523d7cda75e | 287 | //yaw *= 180.0f / PI; |
Kekehoho | 1:4523d7cda75e | 288 | //yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
Kekehoho | 1:4523d7cda75e | 289 | //roll *= 180.0f / PI; |
onehorse | 0:39935bb3c1a1 | 290 | |
Kekehoho | 1:4523d7cda75e | 291 | //pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
Kekehoho | 1:4523d7cda75e | 292 | //pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
onehorse | 0:39935bb3c1a1 | 293 | // sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll); |
onehorse | 0:39935bb3c1a1 | 294 | // lcd.printString(buffer, 0, 4); |
onehorse | 0:39935bb3c1a1 | 295 | // sprintf(buffer, "rate = %f", (float) sumCount/sum); |
onehorse | 0:39935bb3c1a1 | 296 | // lcd.printString(buffer, 0, 5); |
onehorse | 0:39935bb3c1a1 | 297 | |
onehorse | 0:39935bb3c1a1 | 298 | myled= !myled; |
onehorse | 0:39935bb3c1a1 | 299 | count = t.read_ms(); |
onehorse | 0:39935bb3c1a1 | 300 | |
onehorse | 0:39935bb3c1a1 | 301 | if(count > 1<<21) { |
onehorse | 0:39935bb3c1a1 | 302 | t.start(); // start the timer over again if ~30 minutes has passed |
onehorse | 0:39935bb3c1a1 | 303 | count = 0; |
onehorse | 0:39935bb3c1a1 | 304 | deltat= 0; |
onehorse | 0:39935bb3c1a1 | 305 | lastUpdate = t.read_us(); |
Kekehoho | 1:4523d7cda75e | 306 | } |
Kekehoho | 1:4523d7cda75e | 307 | //sum = 0; |
Kekehoho | 1:4523d7cda75e | 308 | //sumCount = 0; * |
onehorse | 0:39935bb3c1a1 | 309 | } |
onehorse | 0:39935bb3c1a1 | 310 | } |
Kekehoho | 1:4523d7cda75e | 311 | fclose(fic); |
onehorse | 0:39935bb3c1a1 | 312 | |
onehorse | 0:39935bb3c1a1 | 313 | } |