Jun1x / Mbed OS KL46_eCompass

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 (Updated to mbed-os 5.x using eventqueues)

Dependencies:   MAG3110 MMA8451Q SLCD eCompass_Lib

Fork of KL46_eCompass by Jim Carver

main.cpp@5:7b95c2f8e76e, 2018-02-04 (annotated)

Committer:
jun1x
Date:
Sun Feb 04 13:54:44 2018 +0000
Revision:
5:7b95c2f8e76e
Parent:
4:ba1dbfb683fb
Child:
6:95bced85b8e5
Update to mbed-os 5.x

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JimCarver 0:4e1d43dc608f 1 #include "mbed.h"
JimCarver 2:e4ae1d748311 2 #include "eCompass_Lib.h"
JimCarver 0:4e1d43dc608f 3 #include "MAG3110.h"
JimCarver 0:4e1d43dc608f 4 #include "MMA8451Q.h"
JimCarver 0:4e1d43dc608f 5 #include "SLCD.h"
JimCarver 0:4e1d43dc608f 6
JimCarver 0:4e1d43dc608f 7 #define MMA8451_I2C_ADDRESS (0x1d<<1)
JimCarver 0:4e1d43dc608f 8
JimCarver 0:4e1d43dc608f 9
JimCarver 2:e4ae1d748311 10 eCompass compass;
JimCarver 0:4e1d43dc608f 11 MAG3110 mag( PTE25, PTE24);
JimCarver 0:4e1d43dc608f 12 MMA8451Q acc( PTE25, PTE24, MMA8451_I2C_ADDRESS);
JimCarver 2:e4ae1d748311 13 DigitalOut red(LED_RED);
JimCarver 2:e4ae1d748311 14 DigitalOut green(LED_GREEN);
JimCarver 0:4e1d43dc608f 15 Serial pc(USBTX, USBRX);
JimCarver 0:4e1d43dc608f 16 SLCD slcd;
JimCarver 0:4e1d43dc608f 17
JimCarver 2:e4ae1d748311 18 extern axis6_t axis6;
JimCarver 2:e4ae1d748311 19 extern uint32_t seconds;
JimCarver 2:e4ae1d748311 20 extern uint32_t compass_type;
JimCarver 2:e4ae1d748311 21 extern int32_t tcount;
JimCarver 2:e4ae1d748311 22 extern uint8_t cdebug;
JimCarver 3:0770c275e6e8 23
JimCarver 3:0770c275e6e8 24
JimCarver 3:0770c275e6e8 25 MotionSensorDataCounts mag_raw;
JimCarver 3:0770c275e6e8 26 MotionSensorDataCounts acc_raw;
JimCarver 3:0770c275e6e8 27
JimCarver 3:0770c275e6e8 28
JimCarver 3:0770c275e6e8 29 Thread *(debugp);
JimCarver 3:0770c275e6e8 30 Thread *(calibrate);
JimCarver 3:0770c275e6e8 31 Thread *(lcdp);
JimCarver 3:0770c275e6e8 32
JimCarver 2:e4ae1d748311 33 //
JimCarver 2:e4ae1d748311 34 // Print data values for debug
JimCarver 2:e4ae1d748311 35 //
JimCarver 2:e4ae1d748311 36 void debug_print(void)
JimCarver 2:e4ae1d748311 37 {
JimCarver 4:ba1dbfb683fb 38 int h, m, s;
JimCarver 4:ba1dbfb683fb 39 h = seconds / 3600;
JimCarver 4:ba1dbfb683fb 40 m = (seconds % 3600) / 60;
JimCarver 4:ba1dbfb683fb 41 s = seconds % 60;
JimCarver 2:e4ae1d748311 42 // Some useful printf statements for debug
JimCarver 4:ba1dbfb683fb 43 printf("Runtime= %d:%02d:%02d\r\n", h, m, s);
JimCarver 2:e4ae1d748311 44 printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
JimCarver 2:e4ae1d748311 45 printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f ", axis6.fGax, axis6.fGay, axis6.fGaz);
JimCarver 2:e4ae1d748311 46 printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
JimCarver 4:ba1dbfb683fb 47 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);
JimCarver 2:e4ae1d748311 48 }
JimCarver 2:e4ae1d748311 49 // HAL Map for KL46 Freedom board MMA8451Q & MAG3110 sensors
JimCarver 2:e4ae1d748311 50 //
JimCarver 0:4e1d43dc608f 51 // This routing move and negates data as needed the
JimCarver 0:4e1d43dc608f 52 // properly align the sensor axis for our desired compass (NED)
JimCarver 2:e4ae1d748311 53 // For more information see Freescale appication note AN4696
JimCarver 0:4e1d43dc608f 54 //
JimCarver 3:0770c275e6e8 55 void hal_map( MotionSensorDataCounts * acc_data, MotionSensorDataCounts * mag_data)
JimCarver 0:4e1d43dc608f 56 {
JimCarver 0:4e1d43dc608f 57 int16_t t;
JimCarver 3:0770c275e6e8 58 // swap and negate accelerometer x & y
JimCarver 3:0770c275e6e8 59 t = acc_data->y;
JimCarver 3:0770c275e6e8 60 acc_data->y = acc_data->x * -1;
JimCarver 3:0770c275e6e8 61 acc_data->x = t * -1;
JimCarver 3:0770c275e6e8 62
JimCarver 0:4e1d43dc608f 63 // negate magnetometer y
JimCarver 3:0770c275e6e8 64 mag_data->y *= -1;
JimCarver 0:4e1d43dc608f 65
JimCarver 0:4e1d43dc608f 66 }
JimCarver 0:4e1d43dc608f 67
JimCarver 0:4e1d43dc608f 68 //
JimCarver 0:4e1d43dc608f 69 // This is the 50Hz thread where the magic happens
JimCarver 0:4e1d43dc608f 70 //
JimCarver 2:e4ae1d748311 71 int l = 0;
JimCarver 2:e4ae1d748311 72
JimCarver 0:4e1d43dc608f 73 void compass_thread(void const *argument) {
JimCarver 0:4e1d43dc608f 74 // get raw data from the sensors
JimCarver 3:0770c275e6e8 75 mag.getAxis(mag_raw);
JimCarver 3:0770c275e6e8 76 acc.getAxis(acc_raw);
JimCarver 2:e4ae1d748311 77 if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
JimCarver 3:0770c275e6e8 78 if(!(l % 10)) lcdp->signal_set(0x04);
JimCarver 0:4e1d43dc608f 79 if(l++ >= 50) { // take car of business once a second
JimCarver 0:4e1d43dc608f 80 seconds++;
JimCarver 3:0770c275e6e8 81 calibrate->signal_set(0x2);
JimCarver 3:0770c275e6e8 82 debugp->signal_set(0x01);
JimCarver 0:4e1d43dc608f 83 l = 0;
JimCarver 2:e4ae1d748311 84 green = !green;
JimCarver 0:4e1d43dc608f 85 }
JimCarver 0:4e1d43dc608f 86 tcount++;
JimCarver 0:4e1d43dc608f 87 }
JimCarver 3:0770c275e6e8 88
JimCarver 3:0770c275e6e8 89
JimCarver 3:0770c275e6e8 90 void calibrate_thread(void const *argument) {
JimCarver 3:0770c275e6e8 91 while(true) {
JimCarver 3:0770c275e6e8 92 Thread::signal_wait(0x2);
JimCarver 4:ba1dbfb683fb 93 red = 0;
JimCarver 3:0770c275e6e8 94 compass.calibrate();
JimCarver 4:ba1dbfb683fb 95 red = 1;
JimCarver 3:0770c275e6e8 96 }
JimCarver 3:0770c275e6e8 97 }
JimCarver 3:0770c275e6e8 98
JimCarver 3:0770c275e6e8 99
JimCarver 3:0770c275e6e8 100 void print_thread(void const *argument) {
JimCarver 3:0770c275e6e8 101 while (true) {
JimCarver 3:0770c275e6e8 102 // Signal flags that are reported as event are automatically cleared.
JimCarver 3:0770c275e6e8 103 Thread::signal_wait(0x1);
JimCarver 3:0770c275e6e8 104 debug_print();
JimCarver 3:0770c275e6e8 105 }
JimCarver 3:0770c275e6e8 106 }
JimCarver 3:0770c275e6e8 107
JimCarver 3:0770c275e6e8 108
JimCarver 3:0770c275e6e8 109 void lcd_thread(void const *argument) {
JimCarver 3:0770c275e6e8 110 while (true) {
JimCarver 3:0770c275e6e8 111 // Signal flags that are reported as event are automatically cleared.
JimCarver 3:0770c275e6e8 112 Thread::signal_wait(0x4);
JimCarver 3:0770c275e6e8 113 slcd.printf("%04d", axis6.yaw); // print the heading (NED compass) to the LCD
JimCarver 3:0770c275e6e8 114 }
JimCarver 3:0770c275e6e8 115 }
JimCarver 3:0770c275e6e8 116
JimCarver 0:4e1d43dc608f 117 int main() {
JimCarver 3:0770c275e6e8 118
JimCarver 0:4e1d43dc608f 119 slcd.clear();
JimCarver 0:4e1d43dc608f 120 tcount = 0;
JimCarver 2:e4ae1d748311 121 red = 1;
JimCarver 2:e4ae1d748311 122 green = 1;
JimCarver 2:e4ae1d748311 123 //cdebug = 1; // Set to 1 to disable eCompass in order to observe raw mag data.
JimCarver 0:4e1d43dc608f 124 compass_type = NED_COMPASS;
JimCarver 0:4e1d43dc608f 125 seconds = 0;
JimCarver 3:0770c275e6e8 126 Thread t1(print_thread);
JimCarver 3:0770c275e6e8 127 Thread t2(calibrate_thread);
JimCarver 3:0770c275e6e8 128 Thread t3(lcd_thread);
JimCarver 3:0770c275e6e8 129 debugp = &t1;
JimCarver 3:0770c275e6e8 130 calibrate = &t2;
JimCarver 3:0770c275e6e8 131 lcdp = &t3;
JimCarver 3:0770c275e6e8 132 mag.enable();
JimCarver 3:0770c275e6e8 133 acc.enable();
JimCarver 4:ba1dbfb683fb 134 // Say hello to our sensors
JimCarver 3:0770c275e6e8 135 // Native KL46-FRDM sensors
JimCarver 3:0770c275e6e8 136 printf("\r\nMMA8451Q ID= %X\r\n", acc.whoAmI());
JimCarver 3:0770c275e6e8 137 printf("MAG3110 ID= %X\r\n", mag.whoAmI());
JimCarver 3:0770c275e6e8 138 mag.getAxis(mag_raw); // flush the magnetmeter
JimCarver 2:e4ae1d748311 139 RtosTimer compass_timer(compass_thread, osTimerPeriodic);
JimCarver 3:0770c275e6e8 140
JimCarver 3:0770c275e6e8 141 /*
JimCarver 3:0770c275e6e8 142 * Thread Priorities
JimCarver 3:0770c275e6e8 143 * Compass Thread, High Priority
JimCarver 3:0770c275e6e8 144 * Compass calibration, Above Normal
JimCarver 3:0770c275e6e8 145 * LED Update, Normal
JimCarver 3:0770c275e6e8 146 * printf to console, Below Normal
JimCarver 3:0770c275e6e8 147 * main(), Normal
JimCarver 3:0770c275e6e8 148 */
JimCarver 3:0770c275e6e8 149
JimCarver 3:0770c275e6e8 150 debugp->set_priority(osPriorityBelowNormal);
JimCarver 3:0770c275e6e8 151 lcdp->set_priority(osPriorityLow);
JimCarver 3:0770c275e6e8 152 calibrate->set_priority(osPriorityAboveNormal);
JimCarver 2:e4ae1d748311 153 compass_timer.start(20); // Run the Compass every 20ms
JimCarver 4:ba1dbfb683fb 154
JimCarver 2:e4ae1d748311 155 Thread::wait(osWaitForever);
JimCarver 0:4e1d43dc608f 156 }