Jim Carver / Mbed 2 deprecated KL46_eCompass Featured

This program uses the MMA8451 & MAG3110 on a KL-46 freedom board to implement a tilt compensated eCompass with the heading displayed on the LCD. This program uses the mbed RTOS to manage the hard real time requirements of the eCompass algorithm

Dependencies:   MAG3110 MMA8451Q SLCD eCompass_Lib mbed-rtos mbed

Files at this revision

API Documentation at this revision

Revision 4:ba1dbfb683fb, committed 2014-05-18

Comitter:
JimCarver
Date:
Sun May 18 15:59:34 2014 +0000
Parent:
3:0770c275e6e8
Commit message:
Fine tuned

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 0770c275e6e8 -r ba1dbfb683fb main.cpp
--- a/main.cpp	Fri May 16 18:23:32 2014 +0000
+++ b/main.cpp	Sun May 18 15:59:34 2014 +0000
@@ -36,11 +36,16 @@
 //
 void debug_print(void)
 {
+    int h, m, s;
+    h = seconds / 3600;
+    m = (seconds % 3600) / 60;
+    s = seconds % 60;
     // Some useful printf statements for debug
+    printf("Runtime= %d:%02d:%02d\r\n", h, m, s);
     printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
     printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f    ", axis6.fGax, axis6.fGay, axis6.fGaz);
     printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
-    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); 
+    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); 
 }
 // HAL Map for KL46 Freedom board MMA8451Q & MAG3110 sensors
 //
@@ -86,7 +91,9 @@
 void calibrate_thread(void const *argument) {
     while(true) {
         Thread::signal_wait(0x2); 
+        red = 0;
         compass.calibrate();
+        red = 1;
         }
 }
 
@@ -125,9 +132,7 @@
     lcdp = &t3;  
     mag.enable();
     acc.enable();
-    // make sure our sensors are talking to us
-    // Only available when multi-sensor shield is installed
-    //printf("\r\nFXOS8700 ID= %X\r\n", combo0.getWhoAmI()); 
+    // Say hello to our sensors
     // Native KL46-FRDM sensors
     printf("\r\nMMA8451Q ID= %X\r\n", acc.whoAmI());
     printf("MAG3110 ID= %X\r\n", mag.whoAmI());
@@ -146,7 +151,7 @@
     debugp->set_priority(osPriorityBelowNormal);
     lcdp->set_priority(osPriorityLow);
     calibrate->set_priority(osPriorityAboveNormal);
-
     compass_timer.start(20); // Run the Compass every 20ms
+    
     Thread::wait(osWaitForever);   
 }