Jim Carver / Mbed 2 deprecated K64F_eCompass_LCD

This is an example of a tilt compensated eCompass running on a K64F Freedom Platform using the on board FXOS8700 6 axis sensor and Freescale's eCompass software library in a linkable object library compiled for a FPU enabled Cortex M4. This version also used the LCD in an App Shield to display navigation data.

Dependencies:   C12832 FXOS8700Q eCompass_FPU_Lib mbed-rtos mbed

Fork of K64F_eCompass by Jim Carver

main.cpp@0:32e37c82ef4a, 2014-04-14 (annotated)

Committer:
JimCarver
Date:
Mon Apr 14 17:15:09 2014 +0000
Revision:
0:32e37c82ef4a
Child:
2:770f77c92bab
This is an example program that uses the on board FXOS8700 to implement a tilt compensated eCompass on the K64F Freedom platform

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 0:32e37c82ef4a 1 #include "mbed.h"
JimCarver 0:32e37c82ef4a 2 #include "FXOS8700Q.h"
JimCarver 0:32e37c82ef4a 3 #include "eCompass_Lib.h"
JimCarver 0:32e37c82ef4a 4 #include "rtos.h"
JimCarver 0:32e37c82ef4a 5
JimCarver 0:32e37c82ef4a 6
JimCarver 0:32e37c82ef4a 7
JimCarver 0:32e37c82ef4a 8 FXOS8700Q combo1( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
JimCarver 0:32e37c82ef4a 9 Serial pc(USBTX, USBRX);
JimCarver 0:32e37c82ef4a 10 DigitalOut gpo(D0);
JimCarver 0:32e37c82ef4a 11 DigitalOut led(LED_RED);
JimCarver 0:32e37c82ef4a 12 eCompass compass;
JimCarver 0:32e37c82ef4a 13
JimCarver 0:32e37c82ef4a 14 extern axis6_t axis6;
JimCarver 0:32e37c82ef4a 15 extern uint32_t seconds;
JimCarver 0:32e37c82ef4a 16 extern uint32_t compass_type; // optional, NED compass is default
JimCarver 0:32e37c82ef4a 17 extern int32_t tcount;
JimCarver 0:32e37c82ef4a 18 extern uint8_t cdebug;
JimCarver 0:32e37c82ef4a 19 int l = 0;
JimCarver 0:32e37c82ef4a 20
JimCarver 0:32e37c82ef4a 21
JimCarver 0:32e37c82ef4a 22 void hal_map( int16_t * acc, int16_t * mag)
JimCarver 0:32e37c82ef4a 23 {
JimCarver 0:32e37c82ef4a 24 int16_t t;
JimCarver 0:32e37c82ef4a 25 // swap and negate X & Y axis
JimCarver 0:32e37c82ef4a 26 t = acc[0];
JimCarver 0:32e37c82ef4a 27 acc[0] = acc[1] * -1;
JimCarver 0:32e37c82ef4a 28 acc[1] = t * -1;
JimCarver 0:32e37c82ef4a 29 // swap mag X & Y axis
JimCarver 0:32e37c82ef4a 30 t = mag[0];
JimCarver 0:32e37c82ef4a 31 mag[0] = mag[1];
JimCarver 0:32e37c82ef4a 32 mag[1] = t;
JimCarver 0:32e37c82ef4a 33 // negate mag Z axis
JimCarver 0:32e37c82ef4a 34 mag[2] *= -1;
JimCarver 0:32e37c82ef4a 35 }
JimCarver 0:32e37c82ef4a 36
JimCarver 0:32e37c82ef4a 37 //
JimCarver 0:32e37c82ef4a 38 // Print data values for debug
JimCarver 0:32e37c82ef4a 39 //
JimCarver 0:32e37c82ef4a 40 void debug_print(void)
JimCarver 0:32e37c82ef4a 41 {
JimCarver 0:32e37c82ef4a 42 // Some useful printf statements for debug
JimCarver 0:32e37c82ef4a 43 printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
JimCarver 0:32e37c82ef4a 44 printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f ", axis6.fGax, axis6.fGay, axis6.fGaz);
JimCarver 0:32e37c82ef4a 45 printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
JimCarver 0:32e37c82ef4a 46 printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3);
JimCarver 0:32e37c82ef4a 47 }
JimCarver 0:32e37c82ef4a 48
JimCarver 0:32e37c82ef4a 49
JimCarver 0:32e37c82ef4a 50 void compass_thread(void const *argument) {
JimCarver 0:32e37c82ef4a 51 static int16_t acc_raw[3], mag_raw[3];
JimCarver 0:32e37c82ef4a 52 // get raw data from the sensors
JimCarver 0:32e37c82ef4a 53 combo1.AccXYZraw( acc_raw);
JimCarver 0:32e37c82ef4a 54 combo1.MagXYZraw( mag_raw);
JimCarver 0:32e37c82ef4a 55 if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
JimCarver 0:32e37c82ef4a 56 if(l++ >= 50) { // take car of business once a second
JimCarver 0:32e37c82ef4a 57 seconds++;
JimCarver 0:32e37c82ef4a 58 debug_print();
JimCarver 0:32e37c82ef4a 59 compass.calibrate(); // re-calibrate the eCompass every second
JimCarver 0:32e37c82ef4a 60 l = 0;
JimCarver 0:32e37c82ef4a 61 led = !led;
JimCarver 0:32e37c82ef4a 62 }
JimCarver 0:32e37c82ef4a 63 tcount++;
JimCarver 0:32e37c82ef4a 64 }
JimCarver 0:32e37c82ef4a 65
JimCarver 0:32e37c82ef4a 66 int main() {
JimCarver 0:32e37c82ef4a 67
JimCarver 0:32e37c82ef4a 68 uint8_t d[2];
JimCarver 0:32e37c82ef4a 69 int16_t acc_raw[3], mag_raw[3];
JimCarver 0:32e37c82ef4a 70 d[0] = 0;
JimCarver 0:32e37c82ef4a 71 //cdebug = 1; // uncomment to disable compass
JimCarver 0:32e37c82ef4a 72 printf("\r\n\n\n\n\n\n\n");
JimCarver 0:32e37c82ef4a 73 combo1.enable();
JimCarver 0:32e37c82ef4a 74 combo1.readRegs( FXOS8700Q_STATUS, d, 1);
JimCarver 0:32e37c82ef4a 75 printf("Status= %X\r\n", d[0]);
JimCarver 0:32e37c82ef4a 76 combo1.readRegs( FXOS8700Q_WHOAMI, d, 1);
JimCarver 0:32e37c82ef4a 77 printf("Who AM I= %X\r\n", d[0]);
JimCarver 0:32e37c82ef4a 78 combo1.readRegs( FXOS8700Q_XYZ_DATA_CFG, d, 1);
JimCarver 0:32e37c82ef4a 79 printf("XYZ Cfg= %X\r\n", d[0]);
JimCarver 0:32e37c82ef4a 80 combo1.readRegs( FXOS8700Q_CTRL_REG1, d, 1);
JimCarver 0:32e37c82ef4a 81 printf("CTRL REG1= %X\r\n", d[0]);
JimCarver 0:32e37c82ef4a 82 combo1.readRegs( FXOS8700Q_M_CTRL_REG1, d, 1);
JimCarver 0:32e37c82ef4a 83 printf("MAG CTRL REG1= %X\r\n", d[0]);
JimCarver 0:32e37c82ef4a 84 combo1.readRegs( FXOS8700Q_M_CTRL_REG2, d, 1);
JimCarver 0:32e37c82ef4a 85 printf("Mag CTRL REG2= %X\r\n\r\n", d[0]);
JimCarver 0:32e37c82ef4a 86
JimCarver 0:32e37c82ef4a 87 combo1.AccXYZraw( acc_raw);
JimCarver 0:32e37c82ef4a 88 combo1.MagXYZraw( mag_raw);
JimCarver 0:32e37c82ef4a 89
JimCarver 0:32e37c82ef4a 90 RtosTimer compass_timer(compass_thread, osTimerPeriodic);
JimCarver 0:32e37c82ef4a 91 compass_timer.start(20); // Run the Compass every 20ms
JimCarver 0:32e37c82ef4a 92 Thread::wait(osWaitForever);
JimCarver 0:32e37c82ef4a 93 }