Revision 0:f4e9301d548b, committed 2012-05-30

Comitter:

caroe

Date:

Wed May 30 10:51:50 2012 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r f4e9301d548b BMA180.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BMA180.lib	Wed May 30 10:51:50 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/caroe/code/BMA180/#6904212fb1d1

diff -r 000000000000 -r f4e9301d548b HMC5883.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HMC5883.lib	Wed May 30 10:51:50 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/caroe/code/HMC5883/#a5e06bb74915

diff -r 000000000000 -r f4e9301d548b ITG3200.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ITG3200.lib	Wed May 30 10:51:50 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/caroe/code/ITG3200/#a3a0caa8e802

diff -r 000000000000 -r f4e9301d548b main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 30 10:51:50 2012 +0000
@@ -0,0 +1,90 @@
+#include "mbed.h"
+#include "HMC5883.h"
+#include "BMA180.h"
+#include "ITG3200.h"
+Serial pc(USBTX, USBRX);
+
+DigitalOut l1(LED1);
+I2C I2CBus(p28, p27);
+Timer GlobalTime;
+
+#define PI             3.1415926535897932384626433832795
+HMC5883 Mag(I2CBus, GlobalTime);
+BMA180 Acc(I2CBus, GlobalTime);
+ITG3200 Gyro(I2CBus, GlobalTime);
+
+int HMC5883_getAngle(float x, float y)
+{
+float heading = atan2((float)y,(float)x); 
+// Your mrad result / 1000.00 (to turn it into radians).
+  float declinationAngle = 21.18  / 1000.0;
+  // If you have an EAST declination, use += declinationAngle, if you have a WEST declination, use -= declinationAngle
+  heading += declinationAngle;  
+if(heading < 0)  heading += 2*PI;// Correct for when signs are reversed.
+if(heading > 2*PI)   heading -= 2*PI; // Check for wrap due to addition of declination.
+return(heading * 180/PI); // Convert radians to degrees for readability.
+}
+
+
+int main() 
+{
+    pc.baud(115200);
+  
+    I2CBus.frequency(400000);
+    GlobalTime.start();
+//***
+    Acc.Init();
+    wait_ms(500);
+      //0.5 Sekunden kalibrieren
+    //1 g sind ca -2870 auf der 3. Achse
+    short Raw1g[3]= {0, 0, 0}; // -2870
+    Acc.Calibrate(500, Raw1g);
+//***   
+    Gyro.Init();
+    wait_ms(500);
+    
+    //0.5 Sekunden kalibrieren
+    Gyro.Calibrate(500);
+//***  
+    
+    Mag.Init();
+    #if 1
+        Mag.AutoCalibration= 1;                     //In Echtzeit kalibrieren
+    #else
+        short MagRawMin[3]= {-400, -400, -400};     //Gespeicherte Werte
+        short MagRawMax[3]= {400, 400, 400};
+        Mag.Calibrate(MagRawMin, MagRawMax);
+    #endif
+    
+    while(1)
+    {
+        Mag.Update();
+        
+        l1= Mag.MeasurementError;
+        Acc.Update();
+        Gyro.Update();
+        
+        pc.printf("Gyro:%.3f %.3f %.3f   ",
+            (Gyro.Rate[0]),
+            (Gyro.Rate[1]),
+            (Gyro.Rate[2]));     
+        
+        
+        pc.printf("BMA180:%.3f %.3f %.3f  ",
+            (Acc.Acc[0]),
+            (Acc.Acc[1]),
+            (Acc.Acc[2]));
+        
+     
+
+       // pc.printf("Min: %i %i %i Max: %i %i %i Scale: %.3f %.3f %.3f Offset: %.3i %.3i %.3i Mag: %.3f %.3f %.3f\r\n",
+        /*    Mag.RawMin[0], Mag.RawMin[1], Mag.RawMin[2],
+            Mag.RawMax[0], Mag.RawMax[1], Mag.RawMax[2],
+            Mag.Scale[0] , Mag.Scale[1] , Mag.Scale[2],
+            Mag.Offset[0], Mag.Offset[1], Mag.Offset[2],
+            Mag.Mag[0]   , Mag.Mag[1]   , Mag.Mag[2]);*/
+         printf("grader = %i \n",HMC5883_getAngle(Mag.Mag[0],Mag.Mag[1]));
+        
+        wait_ms(20);
+    }
+}

diff -r 000000000000 -r f4e9301d548b mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed May 30 10:51:50 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479