Revision 0:0d79a3b05b2c, committed 2019-03-21

Comitter:

mlochridge22

Date:

Thu Mar 21 17:51:23 2019 +0000

Commit message:

finished rough draft

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.cpp	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,109 @@
+/* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.cpp 
+*/
+
+#include "BNO055.h"
+#include "mbed.h"
+
+#define REG_ADDR_OPR_MODE   0x3D //adresses for registers which are needed for this code
+#define REG_ADDR_UNIT_SEL   0x3B //address of unit selection
+
+BNO055::BNO055(I2C i2c, int addr) : _i2c(i2c) { // for user friendly sensor-address setup and view 
+    _addr = addr;
+}
+
+char BNO055::checkID(){//will check if compiler is talking to imu
+    char buff[1];
+    buff[0] = 0x00;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    return buff[0];
+}
+
+void BNO055::setMode(int modeCode){//sets up the registers
+    char buff[2];
+    char code;
+
+    buff[0] = REG_ADDR_OPR_MODE;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    code = buff[0];
+
+    if(modeCode == BNO055_MODE_NDOF){
+        code = code & 0xF0;
+        code = code | 0x0C;
+    }
+    buff[0] = REG_ADDR_OPR_MODE;
+    buff[1] = code;
+    _i2c.write(_addr, buff, 2);
+    wait_ms(7);
+
+}
+
+int BNO055::setAngleUnits(int unitsCode){//will set whether it displays information in degrees or radians
+    _units = unitsCode;
+    char buff[3];
+    char code;
+    buff[0] = REG_ADDR_UNIT_SEL;
+    _i2c.write(_addr, buff, 1);
+    _i2c.read(_addr, buff, 1);
+    code = buff[0];
+
+    if(unitsCode == BNO055_ANGLE_UNITS_DEGREE){//depending on which unit you want to use the right registers and bits will be selected
+        code = code & (0xFF - 0x02 - 0x04);
+    } else if(unitsCode == BNO055_ANGLE_UNITS_RADIAN){
+        code = code & (0xFF - 0x02 - 0x04);
+        code = code | 0x04;
+        code = code | 0x02;
+    }
+    buff[0] = REG_ADDR_UNIT_SEL;
+    buff[1] = code;
+    _i2c.write(_addr, buff, 2);
+    return unitsCode;//returns int for main to be able to manipulate
+}
+
+
+
+float BNO055::readHeading(){//calls register address for heading of imu
+    char buff[2];
+    int16_t rawHeading;
+    buff[0] = 0x1A;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff, 2);
+    rawHeading = (buff[1]<<8) | buff[0];
+    float euler;
+    switch (_units) {//uses class int to determine which case to return - depended on what programmer enters in main
+        case BNO055_ANGLE_UNITS_DEGREE: euler = rawHeading/16.0; break;   //1 deg = 16LSB  from data sheet
+        case BNO055_ANGLE_UNITS_RADIAN: euler = rawHeading/900.0; break;  //1 rad = 900LSB  
+    }
+    return euler;
+    }//rest of the function follow this same structure
+
+float BNO055::readRoll(){//calls register for roll of imu
+    char buff[2];
+    int16_t rawRoll;
+    buff[0] = 0x1C;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff , 2);
+    rawRoll = (buff[1]<< 8) | buff[0];
+    float euler;
+    switch(_units){
+        case BNO055_ANGLE_UNITS_DEGREE: euler = rawRoll/16.0; break;     
+        case BNO055_ANGLE_UNITS_RADIAN: euler = rawRoll/900.0; break;   
+    }
+    return euler;
+}
+
+float BNO055::readPitch(){
+    char buff[2];
+    int16_t rawPitch;
+    buff[0] = 0x1E;
+    _i2c.write(_addr, buff, 1, true);
+    _i2c.read(_addr, buff, 2);
+    rawPitch = (buff[1]<< 8) | buff[0];
+    float euler;
+    switch(_units){
+        case BNO055_ANGLE_UNITS_DEGREE: euler = -rawPitch/16.0; break;     
+        case BNO055_ANGLE_UNITS_RADIAN: euler = -rawPitch/900.0; break;  
+    }
+    return euler;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BNO055.h	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,30 @@
+/* Embedded Systems Final Project: 9-Axis Absolute Orientation imu (BNO055) ndof.h
+*/ 
+
+#ifndef BNO055_H
+#define BNO055_H
+
+#include "mbed.h"
+
+#define BNO055_MODE_NDOF   0 //used to call the 9 axis orientation of imu
+
+#define BNO055_ANGLE_UNITS_DEGREE  0  
+#define BNO055_ANGLE_UNITS_RADIAN  1
+
+
+class BNO055 {//class for imu
+    public: 
+        BNO055(I2C i2c, int addr);//constructor
+        float readHeading(void);//class methods
+        float readRoll(void);
+        float readPitch(void);
+        char checkID(void); //Check for proper communication with sensor
+        void setMode(int modeCode); //Set program to NDOF forge mode
+        int setAngleUnits(int unitsCode); //Select Euler Angles as units
+    private:
+        I2C _i2c;
+        int _addr; 
+        int _units;
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ExtendedTimer.lib	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Whitworth-EN173-Resources/code/ExtendedTimer/#7a6067de3bff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Whitworth-EN173-Resources/code/SDFileSystem/#ee903cb278a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,94 @@
+#include "mbed.h"
+#include "BNO055.h"
+#include "ExtendedTimer.h"
+#include "SDFileSystem.h"
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+I2C i2c(p28,p27);
+BNO055 imu(i2c, 0x28 << 1);//calls class of imu, moves bytes for address
+
+InterruptIn pulseIn1(p21);
+InterruptIn pulseIn2(p22);
+
+ExtendedTimer t;
+Ticker fileTime;
+Ticker readTime;
+
+SDFileSystem fs(p5, p6, p7, p8, "fs");
+
+int coincCounts;
+bool timeToRead;
+bool timeToSave;
+bool print;
+
+void interrupt() {
+    if (!pulseIn1 && !pulseIn2) {
+        coincCounts++;
+    }
+}
+void triggerCollection() {
+    timeToRead = true;  // flag to collect data
+    led3 = 1;
+}
+void triggerSave() {
+    timeToSave = true;      // flag to save data
+    led4 = 1;
+}
+
+int main() {
+    coincCounts = 0;
+    led1 = 0;
+    led2 = 0;
+    led3 = 0;
+    led4 = 0;
+    bool mountFailure = fs.mount();
+    if (mountFailure != 0) {
+        pc.printf("Failed to mount the SD card.\r\n");
+        led1 = 1;
+        return -1;  // ends program with error status
+    }
+    FILE* fp = fopen("/fs/log.txt","a");
+    if (fp == NULL) {
+        pc.printf("Failed to open the file.\r\n");
+        fs.unmount();
+        led1 = 1;
+        return -1;
+    }
+    fprintf(fp,"------------------\r\n");
+    fprintf(fp,"Time\tFace\tRoll\tPitch\tCoincidence\r\n");
+    fileTime.attach(&triggerSave,300);
+    readTime.attach(&triggerCollection,59);
+    if(imu.checkID() == 0xA0){//calling imu making sure compiler is communicating with it
+        imu.setMode(BNO055_MODE_NDOF);
+        imu.setAngleUnits(BNO055_ANGLE_UNITS_DEGREE);//allows programmer to change between using degrees or radians
+    }
+    pulseIn1.fall(&interrupt);
+    pulseIn2.fall(&interrupt);
+    led2 = 1;
+    t.start();
+    while(t <= 12000){
+        if (timeToRead == true) {
+            fprintf(fp, "%5.3f \t %.2f \t %.2f \t %.2f  \t %d \r\n", t.read()/60, imu.readHeading(), imu.readRoll(), imu.readPitch(), coincCounts); 
+            pc.printf("Reading...\r\n");
+            timeToRead = false;
+            coincCounts = 0;
+            led3 = 0;
+        }
+        if (timeToSave == true) {
+            fclose(fp);
+            fp = fopen("/fs/log.txt","a");
+            pc.printf("Saved!\r\n");
+            timeToSave = false;
+            led4 = 0;
+        }
+    } 
+    fclose(fp);     //close file
+    fs.unmount();   //unmount SD
+    pc.printf("Safe to remove SD");
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Mar 21 17:51:23 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file