Luke Petre / Mbed 2 deprecated RazorAHRS

Port of http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs to an mbed, tested with a 9DOF Sensor Stick, SEN-10724

Dependencies:   mbed

Output.cpp@2:5aa75c3d8cc3, 2011-12-28 (annotated)

Committer:
lpetre
Date:
Wed Dec 28 18:09:14 2011 +0000
Revision:
2:5aa75c3d8cc3
Parent:
1:e27c4c0b71d8 

        

        
Who changed what in which revision?

        

            
                
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/* This file is part of the Razor AHRS Firmware */





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#include "Razor_AHRS.h"





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void WriteBytes(Serial& s, char* b, int count)





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{





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    for ( int i = 0; i < count; ++i )





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        s.putc(b[i]);





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}





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// Output angles: yaw, pitch, roll





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void IMU::output_angles()





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{





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  if (output_mode == OUTPUT__MODE_ANGLES_BINARY)





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  {





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    float ypr[3];  





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    ypr[0] = TO_DEG(yaw);





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    ypr[1] = TO_DEG(pitch);





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    ypr[2] = TO_DEG(roll);





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    WriteBytes(pc, (char*)ypr, 12); // No new-line





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  }





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  else if (output_mode == OUTPUT__MODE_ANGLES_TEXT)





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  {





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      pc.printf("#YPR=%f,%f,%f" NEW_LINE,TO_DEG(yaw),TO_DEG(pitch),TO_DEG(roll));





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  }





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}





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void IMU::output_calibration(int calibration_sensor)





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{





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  if (calibration_sensor == 0)  // Accelerometer





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  {





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    // Output MIN/MAX values





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    pc.printf("accel x,y,z (min/max) = ");





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    for (int i = 0; i < 3; i++) {





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      if (accel[i] < accel_min[i]) accel_min[i] = accel[i];





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      if (accel[i] > accel_max[i]) accel_max[i] = accel[i];





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      pc.printf("%+5i/%+5i%s", accel_min[i], accel_max[i], (i < 2 ? "  " : "                    "));





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    }





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    pc.printf("%c" ,13,10);





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  }





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  else if (calibration_sensor == 1)  // Magnetometer





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  {





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    // Output MIN/MAX values





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    pc.printf("magn x,y,z (min/max) = ");





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    for (int i = 0; i < 3; i++) {





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      if (magnetom[i] < magnetom_min[i]) magnetom_min[i] = magnetom[i];





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      if (magnetom[i] > magnetom_max[i]) magnetom_max[i] = magnetom[i];





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      pc.printf("%+4i/%+4i%s", magnetom_min[i], magnetom_max[i], (i < 2 ? "  " :  "                    "));





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    }





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    pc.printf("%c" ,13,10);





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  }





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  else if (calibration_sensor == 2)  // Gyroscope





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  {





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    // Average gyro values





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    for (int i = 0; i < 3; i++)





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      gyro_average[i] += gyro[i];





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    gyro_num_samples++;





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    // Output current and averaged gyroscope values





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    pc.printf("gyro x,y,z (current/average) = ");





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    for (int i = 0; i < 3; i++) {





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      pc.printf("%+5i/%+5i%s",gyro[i], (int16_t)(gyro_average[i] / gyro_num_samples), (i < 2 ? "  " : "                    "));





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    }





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    pc.printf("%c" ,13,10);





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  }





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}





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void IMU::output_sensors()





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{





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  pc.printf("#ACC=%+5i %+5i %+5i ", accel[0],    accel[1],    accel[2]);





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  pc.printf("#MAG=%+4i %+4i %+4i ", magnetom[0], magnetom[1], magnetom[2]);





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  pc.printf("#GYR=%+5i %+5i %+5i",  gyro[0],     gyro[1],     gyro[2]);





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  pc.printf("%c" ,13,10);





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}