main.cpp

00001 #include "mbed.h"
00002 #include "eCompass_Lib.h"
00003 #include "MAG3110.h"
00004 #include "MMA8451Q.h"
00005 #include "rtos.h"
00006 #include "SLCD.h"
00007 
00008 #define MMA8451_I2C_ADDRESS (0x1d<<1)
00009 
00010 
00011 eCompass compass;
00012 MAG3110  mag( PTE25, PTE24);
00013 MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
00014 DigitalOut red(LED_RED);
00015 DigitalOut green(LED_GREEN);
00016 Serial pc(USBTX, USBRX);
00017 SLCD slcd;
00018 
00019 extern axis6_t axis6;
00020 extern uint32_t seconds;
00021 extern uint32_t compass_type;
00022 extern int32_t tcount;
00023 extern uint8_t cdebug; 
00024 
00025 MotionSensorDataCounts mag_raw;
00026 MotionSensorDataCounts acc_raw;
00027 
00028 Thread *(debugp);
00029 Thread *(calibrate);
00030 Thread *(lcdp);
00031 
00032 //
00033 // Print data values for debug
00034 //
00035 void debug_print(void)
00036 {
00037     int h, m, s;
00038     h = seconds / 3600;
00039     m = (seconds % 3600) / 60;
00040     s = seconds % 60;
00041     // Some useful printf statements for debug
00042     printf("Runtime= %d:%02d:%02d\r\n", h, m, s);
00043     printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
00044     printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f    ", axis6.fGax, axis6.fGay, axis6.fGaz);
00045     printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
00046     printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); 
00047 }
00048 // HAL Map for KL46 Freedom board MMA8451Q & MAG3110 sensors
00049 //
00050 // This routing move and negates data as needed the
00051 // properly align the sensor axis for our desired compass (NED)
00052 // For more information see Freescale appication note AN4696
00053 //
00054 void hal_map( MotionSensorDataCounts * acc_data, MotionSensorDataCounts * mag_data)
00055 {
00056     int16_t t;
00057     // swap and negate accelerometer x & y
00058     t = acc_data->y;
00059     acc_data->y = acc_data->x * -1;
00060     acc_data->x = t * -1;
00061 
00062     // negate magnetometer y
00063     mag_data->y *= -1;
00064     
00065 }
00066 
00067 //
00068 // This is the 50Hz thread where the magic happens
00069 //
00070 int  l = 0;
00071 
00072 void compass_thread(void const *argument) {
00073         // get raw data from the sensors
00074         mag.getAxis(mag_raw);
00075         acc.getAxis(acc_raw);
00076         if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
00077         if(!(l % 10)) lcdp->signal_set(0x04);
00078         if(l++ >= 50) { // take car of business once a second
00079             seconds++;
00080             calibrate->signal_set(0x2);
00081             debugp->signal_set(0x01);
00082             l = 0;
00083             green = !green;
00084             }
00085         tcount++;
00086 }
00087 
00088 
00089 void calibrate_thread(void const *argument) {
00090     while(true) {
00091         Thread::signal_wait(0x2); 
00092         red = 0;
00093         compass.calibrate();
00094         red = 1;
00095         }
00096 }
00097 
00098  
00099 void print_thread(void const *argument) {
00100     while (true) {
00101         // Signal flags that are reported as event are automatically cleared.
00102         Thread::signal_wait(0x1);    
00103         debug_print();
00104     }
00105 }
00106 
00107 
00108 void lcd_thread(void const *argument) {
00109     while (true) {
00110         // Signal flags that are reported as event are automatically cleared.
00111         Thread::signal_wait(0x4);  
00112         slcd.printf("%04d", axis6.roll); // print the heading (NED compass) to the LCD
00113     }
00114 }
00115                                  
00116 int main() {
00117 
00118     slcd.clear();
00119     tcount = 0;
00120     red = 1;
00121     green = 1;
00122     //cdebug = 1; // Set to 1 to disable eCompass in order to observe raw mag data.
00123     compass_type = NED_COMPASS;
00124     seconds = 0;
00125     Thread t1(print_thread);  
00126     Thread t2(calibrate_thread);
00127     Thread t3(lcd_thread);
00128     debugp = &t1;
00129     calibrate = &t2;
00130     lcdp = &t3;  
00131     mag.enable();
00132     acc.enable();
00133     // Say hello to our sensors
00134     // Native KL46-FRDM sensors
00135     printf("\r\nMMA8451Q ID= %X\r\n", acc.whoAmI());
00136     printf("MAG3110 ID= %X\r\n", mag.whoAmI());
00137     mag.getAxis(mag_raw); // flush the magnetmeter
00138     RtosTimer compass_timer(compass_thread, osTimerPeriodic);
00139     
00140     /*
00141      * Thread Priorities
00142      * Compass Thread,      High Priority
00143      * Compass calibration, Above Normal
00144      * LED Update,          Normal
00145      * printf to console,   Below Normal
00146      * main(),              Normal
00147      */
00148 
00149     debugp->set_priority(osPriorityBelowNormal);
00150     lcdp->set_priority(osPriorityLow);
00151     calibrate->set_priority(osPriorityAboveNormal);
00152     compass_timer.start(20); // Run the Compass every 20ms
00153     
00154     Thread::wait(osWaitForever);   
00155 }