Revision 0:9f0027e4c618, committed 2016-07-19
- Comitter:
- Soyoon
- Date:
- Tue Jul 19 15:47:17 2016 +0000
- Commit message:
- Robo Frien
Changed in this revision
diff -r 000000000000 -r 9f0027e4c618 Barometer.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Barometer.cpp Tue Jul 19 15:47:17 2016 +0000
@@ -0,0 +1,120 @@
+#include "mbed.h"
+#include "Barometer.h"
+
+#define WEATHER_Barometer 0xee
+#define xpow(x, y) ((long)1 << y)
+
+
+Barometer::Barometer (PinName p_sda, PinName p_scl, Barometer_oss p_oss) : i2c(p_sda, p_scl) {
+ init(p_oss);
+}
+
+Barometer::Barometer (I2C& p_i2c, Barometer_oss p_oss) : i2c(p_i2c) {
+ init(p_oss);
+}
+
+
+float Barometer::get_temperature() {
+ return temperature;
+}
+
+float Barometer::get_pressure() {
+ return pressure;
+}
+
+void Barometer::update () {
+ long t, p, ut, up, x1, x2, x3, b3, b5, b6;
+ unsigned long b4, b7;
+
+ twi_writechar(WEATHER_Barometer, 0xf4, 0x2e);
+ wait(0.01);
+ ut = twi_readshort(WEATHER_Barometer, 0xf6);
+
+ twi_writechar(WEATHER_Barometer, 0xf4, 0x34 | (oss << 6));
+ wait(0.05);
+ up = twi_readlong(WEATHER_Barometer, 0xf6) >> (8 - oss);
+
+ x1 = (ut - ac6) * ac5 / xpow(2, 15);
+ x2 = (long)mc * xpow(2, 11) / (x1 + md);
+ b5 = x1 + x2;
+ t = (b5 + 8) / xpow(2, 4);
+ temperature = (float)t / 10.0;
+
+ b6 = b5 - 4000;
+ x1 = (b2 * (b6 * b6 / xpow(2, 12))) / xpow(2, 11);
+ x2 = ac2 * b6 / xpow(2, 11);
+ x3 = x1 + x2;
+ b3 = ((((unsigned long)ac1 * 4 + x3) << oss) + 2) / 4;
+ x1 = ac3 * b6 / xpow(2, 13);
+ x2 = (b1 * (b6 * b6 / xpow(2, 12))) / xpow(2, 16);
+ x3 = ((x1 + x2) + 2) / xpow(2, 2);
+ b4 = ac4 * (unsigned long)(x3 + 32768) / xpow(2, 15);
+ b7 = ((unsigned long)up - b3) * (50000 >> oss);
+ if (b7 < (unsigned long)0x80000000) {
+ p = (b7 * 2) / b4;
+ } else {
+ p = (b7 / b4) * 2;
+ }
+ x1 = (p / xpow(2, 8)) * (p / xpow(2, 8));
+ x1 = (x1 * 3038) / xpow(2, 16);
+ x2 = (-7357 * p) / xpow(2, 16);
+ p = p + (x1 + x2 + 3791) / xpow(2, 4);
+ pressure = (float)p / 100.0;
+}
+
+void Barometer::init (Barometer_oss p_oss) {
+ ac1 = twi_readshort(WEATHER_Barometer, 0xaa);
+ ac2 = twi_readshort(WEATHER_Barometer, 0xac);
+ ac3 = twi_readshort(WEATHER_Barometer, 0xae);
+ ac4 = twi_readshort(WEATHER_Barometer, 0xb0);
+ ac5 = twi_readshort(WEATHER_Barometer, 0xb2);
+ ac6 = twi_readshort(WEATHER_Barometer, 0xb4);
+ b1 = twi_readshort(WEATHER_Barometer, 0xb6);
+ b2 = twi_readshort(WEATHER_Barometer, 0xb8);
+ mb = twi_readshort(WEATHER_Barometer, 0xba);
+ mc = twi_readshort(WEATHER_Barometer, 0xbc);
+ md = twi_readshort(WEATHER_Barometer, 0xbe);
+ oss = p_oss;
+}
+
+unsigned short Barometer::twi_readshort (int id, int addr) {
+ unsigned short i;
+
+ i2c.start();
+ i2c.write(id);
+ i2c.write(addr);
+
+ i2c.start();
+ i2c.write(id | 1);
+ i = i2c.read(1) << 8;
+ i |= i2c.read(0);
+ i2c.stop();
+
+ return i;
+}
+
+unsigned long Barometer::twi_readlong (int id, int addr) {
+ unsigned long i;
+
+ i2c.start();
+ i2c.write(id);
+ i2c.write(addr);
+
+ i2c.start();
+ i2c.write(id | 1);
+ i = i2c.read(1) << 16;
+ i |= i2c.read(1) << 8;
+ i |= i2c.read(0);
+ i2c.stop();
+
+ return i;
+}
+
+void Barometer::twi_writechar (int id, int addr, int dat) {
+
+ i2c.start();
+ i2c.write(id);
+ i2c.write(addr);
+ i2c.write(dat);
+ i2c.stop();
+}
\ No newline at end of file
diff -r 000000000000 -r 9f0027e4c618 Barometer.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Barometer.h Tue Jul 19 15:47:17 2016 +0000
@@ -0,0 +1,39 @@
+#ifndef Barometer_H
+#define Barometer_H
+#include "mbed.h"
+
+
+enum Barometer_oss {
+ Barometer_oss1 = 0, ///< ultra low power (1 time)
+ Barometer_oss2 = 1, ///< standard (2 times)
+ Barometer_oss4 = 2, ///< high resolution (4 times)
+ Barometer_oss8 = 3 ///< ultra high resolution (8 times)
+};
+
+
+class Barometer {
+public:
+ Barometer(PinName p_sda, PinName p_scl, Barometer_oss p_oss = Barometer_oss1);
+ Barometer(I2C& p_i2c, Barometer_oss p_oss = Barometer_oss1);
+
+ float get_temperature();
+ float get_pressure();
+ void update();
+
+protected:
+ void init(Barometer_oss);
+ unsigned short twi_readshort (int, int);
+ unsigned long twi_readlong (int, int);
+ void twi_writechar (int, int, int);
+
+ I2C i2c;
+ float temperature;
+ float pressure;
+
+private:
+
+ short ac1, ac2, ac3, b1, b2, mb, mc, md, oss;
+ unsigned short ac4, ac5, ac6;
+};
+
+#endif
\ No newline at end of file
diff -r 000000000000 -r 9f0027e4c618 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jul 19 15:47:17 2016 +0000
@@ -0,0 +1,38 @@
+#include "mbed.h"
+#include "LocalFileSystem.h"
+#include "Barometer.h"
+#include "math.h"
+
+Serial pc(USBTX, USBRX);
+Barometer barometer(p9, p10);
+Serial AHRS(p13, p14);
+
+LocalFileSystem local("local");
+int i=0;
+float p = 0.0f, t = 0.0f, alt = 0.0f;
+float roll,pitch,yaw,accx,accy,accz;
+
+int file_no=0;
+char filename[256];
+
+int main() {
+ AHRS.baud(9600);
+ sprintf(filename, "/local/out%d.txt", file_no); // Open "tem%d.txt" on the local file system for writing
+ FILE *fp;
+ fp = fopen(filename, "r");
+ while(fp){ ////File!!!
+ fclose(fp);
+ file_no ++;
+ sprintf(filename, "/local/out%d.txt", file_no); // Open "tem%d.txt" on the local file system for writing
+ fp = fopen(filename, "r");
+ pc.printf("File Yes !! \r\n");
+ }
+ fp = fopen(filename, "w");
+ for(i=0;i<=50;i++) {
+ while(AHRS.getc() != '\n')
+ AHRS.scanf("*%f,%f,%f,%f,%f,%f\n", &roll, &pitch, &yaw, &accx,&accy,&accz);
+ fprintf(fp, "roll:%f yaw:%f\r\n",roll, yaw);
+ pc.printf("%.2f,%.2f,%.2f,%f,%f,%f \r\n", roll, pitch, yaw,accx,accy, accz);
+ }
+ fclose(fp);
+}
\ No newline at end of file
diff -r 000000000000 -r 9f0027e4c618 mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Tue Jul 19 15:47:17 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34
\ No newline at end of file