Robert Linn-Moran / Mbed 2 deprecated GPS_6Axis_DataLogger_SD_UDP

K64F based data logger for GPS (ublox MAX M8Q) & 6 Axis Sensor (FXOS8700Q) - Outputs to SD + UDP - Uses FRDM K64F + ublox "Cellular and positioning shield" (3G version)

Dependencies:   MAX_M8Q_Capture EthernetInterface FXOS8700Q SDFileSystem eCompass_FPU_Lib mbed-rtos mbed

compass.cpp@0:77857a36b4ff, 2015-03-27 (annotated)

Committer:
rlinnmoran
Date:
Fri Mar 27 08:35:29 2015 +0000
Revision:
0:77857a36b4ff
Child:
2:bcd60a69583f
Initial version.; ; Working:; - Capture GPS ; - Capture 6 Axis; - Write to CVS on SD (crude); ; Issues:; - Update freq slow (5s); - No UDP; - Improve SD functions; - Clean MetaData class code + docs; - No status led, start/stop button; - Param for printf's

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rlinnmoran 0:77857a36b4ff 1 #include "mbed.h"
rlinnmoran 0:77857a36b4ff 2 #include "FXOS8700Q.h"
rlinnmoran 0:77857a36b4ff 3 #include "eCompass_Lib.h"
rlinnmoran 0:77857a36b4ff 4 #include "rtos.h"
rlinnmoran 0:77857a36b4ff 5 //#include "MotionSensorDtypes.h"
rlinnmoran 0:77857a36b4ff 6
rlinnmoran 0:77857a36b4ff 7 FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
rlinnmoran 0:77857a36b4ff 8 FXOS8700Q_mag mag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1);
rlinnmoran 0:77857a36b4ff 9 //Serial pc(USBTX, USBRX);
rlinnmoran 0:77857a36b4ff 10 DigitalOut gpo(D0);
rlinnmoran 0:77857a36b4ff 11 //DigitalOut led(LED_RED);
rlinnmoran 0:77857a36b4ff 12 eCompass compass;
rlinnmoran 0:77857a36b4ff 13
rlinnmoran 0:77857a36b4ff 14 //void calibrate_thread(void const *argument);
rlinnmoran 0:77857a36b4ff 15 //void print_thread(void const *argument);
rlinnmoran 0:77857a36b4ff 16 int captureCompass(void const *argument);
rlinnmoran 0:77857a36b4ff 17 int eCompass_init(void);
rlinnmoran 0:77857a36b4ff 18
rlinnmoran 0:77857a36b4ff 19
rlinnmoran 0:77857a36b4ff 20 extern axis6_t axis6;
rlinnmoran 0:77857a36b4ff 21 extern uint32_t seconds;
rlinnmoran 0:77857a36b4ff 22 extern uint32_t compass_type; // optional, NED compass is default
rlinnmoran 0:77857a36b4ff 23 extern int32_t tcount;
rlinnmoran 0:77857a36b4ff 24 extern uint8_t cdebug;
rlinnmoran 0:77857a36b4ff 25 int l = 0;
rlinnmoran 0:77857a36b4ff 26 volatile int sflag = 0;
rlinnmoran 0:77857a36b4ff 27
rlinnmoran 0:77857a36b4ff 28 MotionSensorDataCounts mag_raw;
rlinnmoran 0:77857a36b4ff 29 MotionSensorDataCounts acc_raw;
rlinnmoran 0:77857a36b4ff 30
rlinnmoran 0:77857a36b4ff 31 void hal_map( MotionSensorDataCounts * acc_raw, MotionSensorDataCounts * mag_raw)
rlinnmoran 0:77857a36b4ff 32 {
rlinnmoran 0:77857a36b4ff 33 int16_t t;
rlinnmoran 0:77857a36b4ff 34 // swap and negate X & Y axis
rlinnmoran 0:77857a36b4ff 35 t = acc_raw->x;
rlinnmoran 0:77857a36b4ff 36 acc_raw->x = acc_raw->y * -1;
rlinnmoran 0:77857a36b4ff 37 acc_raw->y = t * -1;
rlinnmoran 0:77857a36b4ff 38 // swap mag X & Y axis
rlinnmoran 0:77857a36b4ff 39 t = mag_raw->x;
rlinnmoran 0:77857a36b4ff 40 mag_raw->x = mag_raw->y;
rlinnmoran 0:77857a36b4ff 41 mag_raw->y = t;
rlinnmoran 0:77857a36b4ff 42 // negate mag Z axis
rlinnmoran 0:77857a36b4ff 43 mag_raw->z *= -1;
rlinnmoran 0:77857a36b4ff 44 }
rlinnmoran 0:77857a36b4ff 45
rlinnmoran 0:77857a36b4ff 46 //
rlinnmoran 0:77857a36b4ff 47 // Print data values for debug
rlinnmoran 0:77857a36b4ff 48 //
rlinnmoran 0:77857a36b4ff 49 void debug_print(void)
rlinnmoran 0:77857a36b4ff 50 {
rlinnmoran 0:77857a36b4ff 51 // Some useful printf statements for debug
rlinnmoran 0:77857a36b4ff 52 printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw);
rlinnmoran 0:77857a36b4ff 53 printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f \r\n", axis6.fGax, axis6.fGay, axis6.fGaz);
rlinnmoran 0:77857a36b4ff 54 printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz);
rlinnmoran 0:77857a36b4ff 55 printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3);
rlinnmoran 0:77857a36b4ff 56
rlinnmoran 0:77857a36b4ff 57
rlinnmoran 0:77857a36b4ff 58 }
rlinnmoran 0:77857a36b4ff 59
rlinnmoran 0:77857a36b4ff 60
rlinnmoran 0:77857a36b4ff 61 int captureCompass(void const *argument) {
rlinnmoran 0:77857a36b4ff 62
rlinnmoran 0:77857a36b4ff 63 // get raw data from the sensors
rlinnmoran 0:77857a36b4ff 64 acc.getAxis( acc_raw);
rlinnmoran 0:77857a36b4ff 65 mag.getAxis( mag_raw);
rlinnmoran 0:77857a36b4ff 66 if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass
rlinnmoran 0:77857a36b4ff 67 debug_print();
rlinnmoran 0:77857a36b4ff 68 if(l++ >= 50) { // take car of business once a second
rlinnmoran 0:77857a36b4ff 69 seconds++;
rlinnmoran 0:77857a36b4ff 70 sflag = 1;
rlinnmoran 0:77857a36b4ff 71 compass.calibrate();
rlinnmoran 0:77857a36b4ff 72 l = 0;
rlinnmoran 0:77857a36b4ff 73 //led = !led;
rlinnmoran 0:77857a36b4ff 74 }
rlinnmoran 0:77857a36b4ff 75 tcount++;
rlinnmoran 0:77857a36b4ff 76 return(0);
rlinnmoran 0:77857a36b4ff 77 }
rlinnmoran 0:77857a36b4ff 78
rlinnmoran 0:77857a36b4ff 79 /*
rlinnmoran 0:77857a36b4ff 80 void calibrate_thread(void const *argument) {
rlinnmoran 0:77857a36b4ff 81 while (true) {
rlinnmoran 0:77857a36b4ff 82 // Signal flags that are reported as event are automatically cleared.
rlinnmoran 0:77857a36b4ff 83 Thread::signal_wait(0x1);
rlinnmoran 0:77857a36b4ff 84 compass.calibrate(); // re-calibrate the eCompass every second
rlinnmoran 0:77857a36b4ff 85 }
rlinnmoran 0:77857a36b4ff 86 }
rlinnmoran 0:77857a36b4ff 87
rlinnmoran 0:77857a36b4ff 88
rlinnmoran 0:77857a36b4ff 89
rlinnmoran 0:77857a36b4ff 90 void print_thread(void const *argument) {
rlinnmoran 0:77857a36b4ff 91 while (true) {
rlinnmoran 0:77857a36b4ff 92 // Signal flags that are reported as event are automatically cleared.
rlinnmoran 0:77857a36b4ff 93 Thread::signal_wait(0x1);
rlinnmoran 0:77857a36b4ff 94 debug_print(); // re-calibrate the eCompass every second
rlinnmoran 0:77857a36b4ff 95 }
rlinnmoran 0:77857a36b4ff 96 }
rlinnmoran 0:77857a36b4ff 97 */
rlinnmoran 0:77857a36b4ff 98
rlinnmoran 0:77857a36b4ff 99 int eCompass_init() {
rlinnmoran 0:77857a36b4ff 100
rlinnmoran 0:77857a36b4ff 101 acc.enable();
rlinnmoran 0:77857a36b4ff 102
rlinnmoran 0:77857a36b4ff 103 return 0;
rlinnmoran 0:77857a36b4ff 104 }