Same library as the one in "UM6LT" but this publication has a main file to show how to use the library.

Dependencies:   UM6LT mbed

Files at this revision

API Documentation at this revision

Comitter:
acloitre
Date:
Sun Sep 30 21:00:04 2012 +0000
Commit message:
Same library as the one published under the Name UM6LT but this one include s a main file to show how to use th elibrary.; Still not the best way to implement the code/make good use of this hardware but it works.; Set the IMU in silent mode (broadcast di...

Changed in this revision

UM6LT.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r c5fbc6927336 UM6LT.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UM6LT.lib	Sun Sep 30 21:00:04 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/acloitre/code/UM6LT/#5651731cfb32
diff -r 000000000000 -r c5fbc6927336 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 30 21:00:04 2012 +0000
@@ -0,0 +1,140 @@
+#include "mbed.h"
+#include "UM6LT.h"
+
+Serial pc(USBTX, USBRX);
+UM6LT imu(p28, p27);
+
+int stdDelayMs = 2;
+
+int main() {
+    
+    pc.baud(115200);
+    imu.baud(115200);
+
+    int broadcastRate = 22;
+    int baudrate = 115200;
+    
+    int wantCov = 0;
+    int wantEulerAngles = 0;
+    int wantQuat = 0;
+    int wantProcMag = 0;
+    int wantProcAccel = 0;
+    int wantProcGyro = 0;
+    int wantRawMag = 0;
+    int wantRawAccel = 0;
+    int wantRawGyro = 0;
+        
+    int dataToTransmit [9] = {wantCov, wantEulerAngles, wantQuat, wantProcMag, wantProcAccel, wantProcGyro, wantRawMag, wantRawAccel, wantRawGyro};
+    int broadcastEnabled = 0;
+    
+    imu.setCommParams(broadcastRate, baudrate, dataToTransmit, broadcastEnabled);
+    
+    int wantPPS = 0;
+    int wantQuatUpdate = 1;
+    int wantCal = 1;
+    int wantAccelUpdate = 1;
+    int wantMagUpdate = 1;
+    
+    imu.setConfigParams(wantPPS, wantQuatUpdate, wantCal, wantAccelUpdate, wantMagUpdate);
+    
+    if(imu.getStatus()){
+        
+        int roll = 0;
+        int pitch = 0;
+        int yaw = 0;
+        int rollRate = 0;
+        int pitchRate = 0;
+        int yawRate = 0;
+        int accelX = 0 ;
+        int accelY = 0 ;
+        int accelZ = 0 ;
+        int magX = 0;
+        int magY = 0;
+        int magZ = 0;
+        int gyroBiasX = 0;
+        int gyroBiasY = 0;
+        int gyroBiasZ = 0;
+        int a = 0;
+        int b = 0;
+        int c = 0;
+        int d = 0;
+        
+        int byteBuffer;
+        
+        for(int i=0; i<5; i++){
+            if(imu.getAngles(roll, pitch, yaw)){
+                wait_ms(stdDelayMs);
+                printf("roll: %d   pitch: %d   yaw: %d\r\n", roll, pitch, yaw);
+            }
+        }
+        
+        printf("\r\n\r\nAngles should be random but consistent\r\n\r\n");
+        
+        if(imu.zeroGyros(gyroBiasX, gyroBiasY,gyroBiasZ)){
+            printf("Gyro Bias X: %d  Gyro Bias Y: %d  Gyro Bias Z: %d\r\n", gyroBiasX, gyroBiasY, gyroBiasZ); 
+        }
+        
+        if(imu.autoSetAccelRef() && imu.autoSetMagRef() && imu.resetEKF()){
+        
+            printf("Press (1) for Euler Angles.\r\n");
+            printf("Press (2) for Accelerations.\r\n");
+            printf("Press (3) for Magnetic field.\r\n");
+            printf("Press (4) for Angle rates.\r\n");
+            printf("Press (5) for Quaternion.\r\n");
+            printf("Press (0) to stop.\r\n");
+            
+            while(!pc.readable()){
+                wait_ms(stdDelayMs);
+            }            
+            byteBuffer = pc.getc();
+        
+            while(1){
+            
+                if(pc.readable()){                    
+                    byteBuffer = pc.getc();
+                }
+                
+                switch(byteBuffer){
+                    case '0':
+                        wait_ms(stdDelayMs);
+                        break;
+                    case '1':
+                        if(imu.getAngles(roll, pitch, yaw)){
+                            wait_ms(stdDelayMs);
+                            printf("roll: %d   pitch: %d   yaw: %d\r\n", roll, pitch, yaw);
+                        }
+                        break;
+                    case '2':
+                        if(imu.getAccel(accelX, accelY, accelZ)){
+                            wait_ms(stdDelayMs);
+                            printf("accelX: %d   accelY: %d   accelZ: %d\r\n", accelX, accelY, accelZ);
+                        }
+                        break;
+                    case '3':
+                        if(imu.getMag(magX, magY, magZ)){
+                            wait_ms(stdDelayMs);
+                            printf("magX: %d   magY: %d   magZ: %d\r\n", magX, magY, magZ);
+                        }
+                        break;
+                    case '4':
+                        if(imu.getAngleRates(rollRate, pitchRate, yawRate)){
+                            wait_ms(stdDelayMs);
+                            printf("rollRate: %d   pitchRate: %d   yawRate: %d\r\n", rollRate, pitchRate, yawRate);
+                        }
+                        break;
+                    case '5':
+                        if(imu.getQuaternion(a, b, c, d)){
+                            wait_ms(stdDelayMs);
+                            printf("a: %d  b: %d  c: %d  d: %d\r\n", a, b, c, d);
+                        }
+                        break;
+                    default:
+                        printf("Wrong command. Enter '1', '2', '3', '4', '5' or '6'.\r\n");
+                        byteBuffer = '0';
+                        break;
+                }
+            }
+            
+        }    
+    }    
+}
diff -r 000000000000 -r c5fbc6927336 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Sep 30 21:00:04 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/14f4805c468c
\ No newline at end of file