Marcell Rausch / Mbed 2 deprecated F042_BNO055_toNRF24

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Dependencies:   BNO055_fusion RF24_fork mbed

Fork of F042_BNO055_toNRF24 by BME SmartLab

config.h@0:5283bf22044b, 2017-01-16 (annotated)

Committer:
mrcrsch
Date:
Mon Jan 16 16:51:56 2017 +0000
Revision:
0:5283bf22044b
Child:
1:03c9c0e3fc70
init

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mrcrsch 0:5283bf22044b 1 #ifndef CONFIG_H
mrcrsch 0:5283bf22044b 2 #define CONFIG_H
mrcrsch 0:5283bf22044b 3
mrcrsch 0:5283bf22044b 4 #include "BNO055.h"
mrcrsch 0:5283bf22044b 5
mrcrsch 0:5283bf22044b 6 //This header contains calibration data
mrcrsch 0:5283bf22044b 7
mrcrsch 0:5283bf22044b 8 #define NodeID 2
mrcrsch 0:5283bf22044b 9
mrcrsch 0:5283bf22044b 10 #define NumOfTx 2
mrcrsch 0:5283bf22044b 11 #define SendDelay 33 // Send Delay in ms
mrcrsch 0:5283bf22044b 12 #define calibration 0 // 0 -> normal 1-> mag cal 2->accel 3->gyro 4-> y,p,r 5-> refresh Rate
mrcrsch 0:5283bf22044b 13
mrcrsch 0:5283bf22044b 14 //define MCU for bias and pinout
mrcrsch 0:5283bf22044b 15 #define F042
mrcrsch 0:5283bf22044b 16 //#define L052
mrcrsch 0:5283bf22044b 17 //#define F103
mrcrsch 0:5283bf22044b 18
mrcrsch 0:5283bf22044b 19
mrcrsch 0:5283bf22044b 20
mrcrsch 0:5283bf22044b 21
mrcrsch 0:5283bf22044b 22
mrcrsch 0:5283bf22044b 23
mrcrsch 0:5283bf22044b 24
mrcrsch 0:5283bf22044b 25 //Macro for pinout
mrcrsch 0:5283bf22044b 26
mrcrsch 0:5283bf22044b 27 #ifdef F042
mrcrsch 0:5283bf22044b 28 #define ledpin PA_10
mrcrsch 0:5283bf22044b 29
mrcrsch 0:5283bf22044b 30 #define nrf_CE PA_1
mrcrsch 0:5283bf22044b 31 #define nrf_CSN PA_4
mrcrsch 0:5283bf22044b 32 #define spi_SCK PA_5
mrcrsch 0:5283bf22044b 33 #define spi_MOSI PA_7
mrcrsch 0:5283bf22044b 34 #define spi_MISO PA_6
mrcrsch 0:5283bf22044b 35 #define nrf_irq PA_1 //TODO
mrcrsch 0:5283bf22044b 36
mrcrsch 0:5283bf22044b 37 #define i2c_sda PF_0
mrcrsch 0:5283bf22044b 38 #define i2c_scl PF_1
mrcrsch 0:5283bf22044b 39
mrcrsch 0:5283bf22044b 40 #elif defined L052
mrcrsch 0:5283bf22044b 41
mrcrsch 0:5283bf22044b 42
mrcrsch 0:5283bf22044b 43 #define ledpin PA_8
mrcrsch 0:5283bf22044b 44
mrcrsch 0:5283bf22044b 45 #define nrf_CE PB_4
mrcrsch 0:5283bf22044b 46 #define nrf_CSN PB_3
mrcrsch 0:5283bf22044b 47 #define spi_SCK PA_5
mrcrsch 0:5283bf22044b 48 #define spi_MOSI PA_7
mrcrsch 0:5283bf22044b 49 #define spi_MISO PA_6
mrcrsch 0:5283bf22044b 50 #define nrf_irq PA_15
mrcrsch 0:5283bf22044b 51
mrcrsch 0:5283bf22044b 52 #define i2c_sda PB_7
mrcrsch 0:5283bf22044b 53 #define i2c_scl PB_6
mrcrsch 0:5283bf22044b 54
mrcrsch 0:5283bf22044b 55 #elif defined F103
mrcrsch 0:5283bf22044b 56
mrcrsch 0:5283bf22044b 57 #define ledpin PA_10
mrcrsch 0:5283bf22044b 58
mrcrsch 0:5283bf22044b 59 #define nrf_CE PA_9
mrcrsch 0:5283bf22044b 60 #define nrf_CSN PA_8
mrcrsch 0:5283bf22044b 61 #define spi_SCK PB_13
mrcrsch 0:5283bf22044b 62 #define spi_MOSI PB_15
mrcrsch 0:5283bf22044b 63 #define spi_MISO PB_14
mrcrsch 0:5283bf22044b 64 #define nrf_irq PA_12
mrcrsch 0:5283bf22044b 65
mrcrsch 0:5283bf22044b 66 #define i2c_sda PB_11
mrcrsch 0:5283bf22044b 67 #define i2c_scl PB_10
mrcrsch 0:5283bf22044b 68
mrcrsch 0:5283bf22044b 69 #endif
mrcrsch 0:5283bf22044b 70
mrcrsch 0:5283bf22044b 71
mrcrsch 0:5283bf22044b 72
mrcrsch 0:5283bf22044b 73
mrcrsch 0:5283bf22044b 74
mrcrsch 0:5283bf22044b 75
mrcrsch 0:5283bf22044b 76 //Macro for Bias for MPU9250
mrcrsch 0:5283bf22044b 77
mrcrsch 0:5283bf22044b 78 #if NodeID == 0 //for calibration
mrcrsch 0:5283bf22044b 79 float magbias[3] = {0, 0, 0}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 80 float magscale[3] = {1, 1, 1};
mrcrsch 0:5283bf22044b 81 float gyroBias[3] = {0,0,0}, accelBias[3] = {0,0,0};
mrcrsch 0:5283bf22044b 82 #elif NodeID == 01
mrcrsch 0:5283bf22044b 83 float magbias[3] = {230.06, 200.52, -272.84}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 84 float magscale[3] = {1.06, 1.013, 0.975};
mrcrsch 0:5283bf22044b 85 float gyroBias[3] = {0.764127,-0.92574,0.693003}, accelBias[3] = {0.081106,0.00221,0.000569}; // Bias corrections for gyro and accelerometer
mrcrsch 0:5283bf22044b 86 #elif NodeID == 02
mrcrsch 0:5283bf22044b 87 float magbias[3] = {139.309, 268.018, 45.38}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 88 float magscale[3] = {1.05367, 0.99, 0.963824};
mrcrsch 0:5283bf22044b 89 float gyroBias[3] = {2.868652,-3.94802,-16.9032}, accelBias[3] = {0.004451,-0.05648,0.034475};
mrcrsch 0:5283bf22044b 90 #elif NodeID == 03
mrcrsch 0:5283bf22044b 91 float magbias[3] = {-39.37,159.975,-156.101}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 92 float magscale[3] = {1.01149, 1.0193, 0.970588};
mrcrsch 0:5283bf22044b 93 float gyroBias[3] = {-1.767136968,-1.293883734,-0.089169659}, accelBias[3] = {-0.036429195, -0.062139254, -0.007011032};
mrcrsch 0:5283bf22044b 94 #elif NodeID == 04
mrcrsch 0:5283bf22044b 95 float magbias[3] = {204.2954, 82.6538, -33.0917}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 96 float magscale[3] = {1.0079681, 1.020161, 0.973077};
mrcrsch 0:5283bf22044b 97 float gyroBias[3] = {0.069701,0.426213,2.010493}, accelBias[3] = {-0.03679,-0.00328,-0.08524};
mrcrsch 0:5283bf22044b 98 #elif NodeID == 05
mrcrsch 0:5283bf22044b 99 float magbias[3] = {-66.19355, 193.05185, 61.052193}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 100 float magscale[3] = {1.03841111, 0.989542111, 0.9742611};
mrcrsch 0:5283bf22044b 101 float gyroBias[3] = {0.158259,1.049968,0.993654}, accelBias[3] = {-0.02721,0.03663,0.011271};
mrcrsch 0:5283bf22044b 102 #elif NodeID == 06
mrcrsch 0:5283bf22044b 103 float magbias[3] = {-51.4838, 145.285, -191.774}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 104 float magscale[3] = {1.049227, 0.99328, 0.971354};
mrcrsch 0:5283bf22044b 105 float gyroBias[3] = {-1.08982,0.222767,-0.49911}, accelBias[3] = {-0.01986,0.007156,-0.02797};
mrcrsch 0:5283bf22044b 106 #elif NodeID == 07
mrcrsch 0:5283bf22044b 107 float magbias[3] = {218.049286, 107.05262, -110.171631}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 108 float magscale[3] = {1.042177, 0.966667, 1.030303};
mrcrsch 0:5283bf22044b 109 float gyroBias[3] = {-2.127218,0.4099984,-0.700637}, accelBias[3] = {-0.0041746,-0.017296524,-0.070773};
mrcrsch 0:5283bf22044b 110 #elif NodeID == 11 //racket
mrcrsch 0:5283bf22044b 111 float magbias[3] = {263.908875, 440.263977, -235.16362}, magCalibration[3] = {0,0,0}; // Factory mag calibration and mag bias
mrcrsch 0:5283bf22044b 112 float magscale[3] = {1.013227, 0.997396, 0.989664};
mrcrsch 0:5283bf22044b 113 float gyroBias[3] = {-1.12645,0.154036,0.416789}, accelBias[3] = {-0.00275,0.030735,-0.13714};
mrcrsch 0:5283bf22044b 114 #endif
mrcrsch 0:5283bf22044b 115
mrcrsch 0:5283bf22044b 116 #endif