Irving Hernandez / Mbed 2 deprecated Ragnarok_2ejes

Final, cambios pendientes

Dependencies:   MAG3110 MMA8451Q SLCD eCompass_Lib mbed-rtos mbed

Fork of KL46_eCompass_TiltCompensed_Acel-Mag by Irving Hernandez

main.cpp@5:5199647e821a, 2015-09-25 (annotated)

Committer:
IrvingHdez
Date:
Fri Sep 25 19:14:30 2015 +0000
Revision:
5:5199647e821a
Parent:
4:ba1dbfb683fb
Child:
6:93c9844af619
Ragnarok project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 0:4e1d43dc608f 1 #include "mbed.h"
JimCarver 2:e4ae1d748311 2 #include "eCompass_Lib.h"
JimCarver 0:4e1d43dc608f 3 #include "MAG3110.h"
JimCarver 0:4e1d43dc608f 4 #include "MMA8451Q.h"
JimCarver 0:4e1d43dc608f 5 #include "rtos.h"
JimCarver 0:4e1d43dc608f 6 #include "SLCD.h"
JimCarver 0:4e1d43dc608f 7
JimCarver 0:4e1d43dc608f 8 #define MMA8451_I2C_ADDRESS (0x1d<<1)
JimCarver 0:4e1d43dc608f 9
JimCarver 0:4e1d43dc608f 10
JimCarver 2:e4ae1d748311 11 eCompass compass;
JimCarver 0:4e1d43dc608f 12 MAG3110 mag( PTE25, PTE24);
JimCarver 0:4e1d43dc608f 13 MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
JimCarver 2:e4ae1d748311 14 DigitalOut red(LED_RED);
JimCarver 2:e4ae1d748311 15 DigitalOut green(LED_GREEN);
JimCarver 0:4e1d43dc608f 16 Serial pc(USBTX, USBRX);
JimCarver 0:4e1d43dc608f 17 SLCD slcd;
JimCarver 0:4e1d43dc608f 18
JimCarver 2:e4ae1d748311 19 extern axis6_t axis6;
JimCarver 2:e4ae1d748311 20 extern uint32_t seconds;
JimCarver 2:e4ae1d748311 21 extern uint32_t compass_type;
JimCarver 2:e4ae1d748311 22 extern int32_t tcount;
JimCarver 2:e4ae1d748311 23 extern uint8_t cdebug;
JimCarver 3:0770c275e6e8 24
JimCarver 3:0770c275e6e8 25 MotionSensorDataCounts mag_raw;
JimCarver 3:0770c275e6e8 26 MotionSensorDataCounts acc_raw;
JimCarver 3:0770c275e6e8 27
JimCarver 3:0770c275e6e8 28 Thread *(debugp);
JimCarver 3:0770c275e6e8 29 Thread *(calibrate);
JimCarver 3:0770c275e6e8 30 Thread *(lcdp);
JimCarver 3:0770c275e6e8 31
JimCarver 2:e4ae1d748311 32 //
JimCarver 2:e4ae1d748311 33 // Print data values for debug
JimCarver 2:e4ae1d748311 34 //
JimCarver 2:e4ae1d748311 35 void debug_print(void)
JimCarver 2:e4ae1d748311 36 {
JimCarver 4:ba1dbfb683fb 37 int h, m, s;
JimCarver 4:ba1dbfb683fb 38 h = seconds / 3600;
JimCarver 4:ba1dbfb683fb 39 m = (seconds % 3600) / 60;
JimCarver 4:ba1dbfb683fb 40 s = seconds % 60;
JimCarver 2:e4ae1d748311 41 // Some useful printf statements for debug
JimCarver 4:ba1dbfb683fb 42 printf("Runtime= %d:%02d:%02d\r\n", h, m, s);
JimCarver 2:e4ae1d748311 43 printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
JimCarver 2:e4ae1d748311 44 printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f ", axis6.fGax, axis6.fGay, axis6.fGaz);
JimCarver 2:e4ae1d748311 45 printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
JimCarver 4:ba1dbfb683fb 46 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);
JimCarver 2:e4ae1d748311 47 }
JimCarver 2:e4ae1d748311 48 // HAL Map for KL46 Freedom board MMA8451Q & MAG3110 sensors
JimCarver 2:e4ae1d748311 49 //
JimCarver 0:4e1d43dc608f 50 // This routing move and negates data as needed the
JimCarver 0:4e1d43dc608f 51 // properly align the sensor axis for our desired compass (NED)
JimCarver 2:e4ae1d748311 52 // For more information see Freescale appication note AN4696
JimCarver 0:4e1d43dc608f 53 //
JimCarver 3:0770c275e6e8 54 void hal_map( MotionSensorDataCounts * acc_data, MotionSensorDataCounts * mag_data)
JimCarver 0:4e1d43dc608f 55 {
JimCarver 0:4e1d43dc608f 56 int16_t t;
JimCarver 3:0770c275e6e8 57 // swap and negate accelerometer x & y
JimCarver 3:0770c275e6e8 58 t = acc_data->y;
JimCarver 3:0770c275e6e8 59 acc_data->y = acc_data->x * -1;
JimCarver 3:0770c275e6e8 60 acc_data->x = t * -1;
JimCarver 3:0770c275e6e8 61
JimCarver 0:4e1d43dc608f 62 // negate magnetometer y
JimCarver 3:0770c275e6e8 63 mag_data->y *= -1;
JimCarver 0:4e1d43dc608f 64
JimCarver 0:4e1d43dc608f 65 }
JimCarver 0:4e1d43dc608f 66
JimCarver 0:4e1d43dc608f 67 //
JimCarver 0:4e1d43dc608f 68 // This is the 50Hz thread where the magic happens
JimCarver 0:4e1d43dc608f 69 //
JimCarver 2:e4ae1d748311 70 int l = 0;
JimCarver 2:e4ae1d748311 71
JimCarver 0:4e1d43dc608f 72 void compass_thread(void const *argument) {
JimCarver 0:4e1d43dc608f 73 // get raw data from the sensors
JimCarver 3:0770c275e6e8 74 mag.getAxis(mag_raw);
JimCarver 3:0770c275e6e8 75 acc.getAxis(acc_raw);
JimCarver 2:e4ae1d748311 76 if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
JimCarver 3:0770c275e6e8 77 if(!(l % 10)) lcdp->signal_set(0x04);
JimCarver 0:4e1d43dc608f 78 if(l++ >= 50) { // take car of business once a second
JimCarver 0:4e1d43dc608f 79 seconds++;
JimCarver 3:0770c275e6e8 80 calibrate->signal_set(0x2);
JimCarver 3:0770c275e6e8 81 debugp->signal_set(0x01);
JimCarver 0:4e1d43dc608f 82 l = 0;
JimCarver 2:e4ae1d748311 83 green = !green;
JimCarver 0:4e1d43dc608f 84 }
JimCarver 0:4e1d43dc608f 85 tcount++;
JimCarver 0:4e1d43dc608f 86 }
JimCarver 3:0770c275e6e8 87
JimCarver 3:0770c275e6e8 88
JimCarver 3:0770c275e6e8 89 void calibrate_thread(void const *argument) {
JimCarver 3:0770c275e6e8 90 while(true) {
JimCarver 3:0770c275e6e8 91 Thread::signal_wait(0x2);
JimCarver 4:ba1dbfb683fb 92 red = 0;
JimCarver 3:0770c275e6e8 93 compass.calibrate();
JimCarver 4:ba1dbfb683fb 94 red = 1;
JimCarver 3:0770c275e6e8 95 }
JimCarver 3:0770c275e6e8 96 }
JimCarver 3:0770c275e6e8 97
JimCarver 3:0770c275e6e8 98
JimCarver 3:0770c275e6e8 99 void print_thread(void const *argument) {
JimCarver 3:0770c275e6e8 100 while (true) {
JimCarver 3:0770c275e6e8 101 // Signal flags that are reported as event are automatically cleared.
JimCarver 3:0770c275e6e8 102 Thread::signal_wait(0x1);
JimCarver 3:0770c275e6e8 103 debug_print();
JimCarver 3:0770c275e6e8 104 }
JimCarver 3:0770c275e6e8 105 }
JimCarver 3:0770c275e6e8 106
JimCarver 3:0770c275e6e8 107
JimCarver 3:0770c275e6e8 108 void lcd_thread(void const *argument) {
JimCarver 3:0770c275e6e8 109 while (true) {
JimCarver 3:0770c275e6e8 110 // Signal flags that are reported as event are automatically cleared.
JimCarver 3:0770c275e6e8 111 Thread::signal_wait(0x4);
IrvingHdez 5:5199647e821a 112 slcd.printf("%04d", axis6.roll); // print the heading (NED compass) to the LCD
JimCarver 3:0770c275e6e8 113 }
JimCarver 3:0770c275e6e8 114 }
JimCarver 3:0770c275e6e8 115
JimCarver 0:4e1d43dc608f 116 int main() {
JimCarver 3:0770c275e6e8 117
JimCarver 0:4e1d43dc608f 118 slcd.clear();
JimCarver 0:4e1d43dc608f 119 tcount = 0;
JimCarver 2:e4ae1d748311 120 red = 1;
JimCarver 2:e4ae1d748311 121 green = 1;
JimCarver 2:e4ae1d748311 122 //cdebug = 1; // Set to 1 to disable eCompass in order to observe raw mag data.
JimCarver 0:4e1d43dc608f 123 compass_type = NED_COMPASS;
JimCarver 0:4e1d43dc608f 124 seconds = 0;
JimCarver 3:0770c275e6e8 125 Thread t1(print_thread);
JimCarver 3:0770c275e6e8 126 Thread t2(calibrate_thread);
JimCarver 3:0770c275e6e8 127 Thread t3(lcd_thread);
JimCarver 3:0770c275e6e8 128 debugp = &t1;
JimCarver 3:0770c275e6e8 129 calibrate = &t2;
JimCarver 3:0770c275e6e8 130 lcdp = &t3;
JimCarver 3:0770c275e6e8 131 mag.enable();
JimCarver 3:0770c275e6e8 132 acc.enable();
JimCarver 4:ba1dbfb683fb 133 // Say hello to our sensors
JimCarver 3:0770c275e6e8 134 // Native KL46-FRDM sensors
JimCarver 3:0770c275e6e8 135 printf("\r\nMMA8451Q ID= %X\r\n", acc.whoAmI());
JimCarver 3:0770c275e6e8 136 printf("MAG3110 ID= %X\r\n", mag.whoAmI());
JimCarver 3:0770c275e6e8 137 mag.getAxis(mag_raw); // flush the magnetmeter
JimCarver 2:e4ae1d748311 138 RtosTimer compass_timer(compass_thread, osTimerPeriodic);
JimCarver 3:0770c275e6e8 139
JimCarver 3:0770c275e6e8 140 /*
JimCarver 3:0770c275e6e8 141 * Thread Priorities
JimCarver 3:0770c275e6e8 142 * Compass Thread, High Priority
JimCarver 3:0770c275e6e8 143 * Compass calibration, Above Normal
JimCarver 3:0770c275e6e8 144 * LED Update, Normal
JimCarver 3:0770c275e6e8 145 * printf to console, Below Normal
JimCarver 3:0770c275e6e8 146 * main(), Normal
JimCarver 3:0770c275e6e8 147 */
JimCarver 3:0770c275e6e8 148
JimCarver 3:0770c275e6e8 149 debugp->set_priority(osPriorityBelowNormal);
JimCarver 3:0770c275e6e8 150 lcdp->set_priority(osPriorityLow);
JimCarver 3:0770c275e6e8 151 calibrate->set_priority(osPriorityAboveNormal);
JimCarver 2:e4ae1d748311 152 compass_timer.start(20); // Run the Compass every 20ms
JimCarver 4:ba1dbfb683fb 153
JimCarver 2:e4ae1d748311 154 Thread::wait(osWaitForever);
JimCarver 0:4e1d43dc608f 155 }