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
Diff: compass.cpp
- Revision:
- 0:77857a36b4ff
- Child:
- 2:bcd60a69583f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/compass.cpp Fri Mar 27 08:35:29 2015 +0000 @@ -0,0 +1,104 @@ +#include "mbed.h" +#include "FXOS8700Q.h" +#include "eCompass_Lib.h" +#include "rtos.h" +//#include "MotionSensorDtypes.h" + +FXOS8700Q_acc acc( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); +FXOS8700Q_mag mag( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); +//Serial pc(USBTX, USBRX); +DigitalOut gpo(D0); +//DigitalOut led(LED_RED); +eCompass compass; + +//void calibrate_thread(void const *argument); +//void print_thread(void const *argument); +int captureCompass(void const *argument); +int eCompass_init(void); + + +extern axis6_t axis6; +extern uint32_t seconds; +extern uint32_t compass_type; // optional, NED compass is default +extern int32_t tcount; +extern uint8_t cdebug; +int l = 0; +volatile int sflag = 0; + +MotionSensorDataCounts mag_raw; +MotionSensorDataCounts acc_raw; + +void hal_map( MotionSensorDataCounts * acc_raw, MotionSensorDataCounts * mag_raw) +{ +int16_t t; +// swap and negate X & Y axis +t = acc_raw->x; +acc_raw->x = acc_raw->y * -1; +acc_raw->y = t * -1; +// swap mag X & Y axis +t = mag_raw->x; +mag_raw->x = mag_raw->y; +mag_raw->y = t; +// negate mag Z axis +mag_raw->z *= -1; +} + +// +// Print data values for debug +// +void debug_print(void) +{ + // Some useful printf statements for debug + printf("roll=%d, pitch=%d, yaw=%d\r\n", axis6.roll, axis6.pitch, axis6.yaw); + printf("Acc: X= %2.3f Y= %2.3f Z= %2.3f \r\n", axis6.fGax, axis6.fGay, axis6.fGaz); + printf("Mag: X= %4.1f Y= %4.1f Z= %4.1f\r\n", axis6.fUTmx, axis6.fUTmy, axis6.fUTmz); + printf("Quaternion: Q0= %1.4f Q1= %1.4f Q2= %1.4f Q3= %1.4f\r\n", axis6.q0, axis6.q1, axis6.q2, axis6.q3); + + +} + + +int captureCompass(void const *argument) { + + // get raw data from the sensors + acc.getAxis( acc_raw); + mag.getAxis( mag_raw); + if(tcount) compass.run( acc_raw, mag_raw); // calculate the eCompass + debug_print(); + if(l++ >= 50) { // take car of business once a second + seconds++; + sflag = 1; + compass.calibrate(); + l = 0; + //led = !led; + } + tcount++; + return(0); +} + +/* +void calibrate_thread(void const *argument) { + while (true) { + // Signal flags that are reported as event are automatically cleared. + Thread::signal_wait(0x1); + compass.calibrate(); // re-calibrate the eCompass every second + } +} + + + +void print_thread(void const *argument) { + while (true) { + // Signal flags that are reported as event are automatically cleared. + Thread::signal_wait(0x1); + debug_print(); // re-calibrate the eCompass every second + } +} + */ + +int eCompass_init() { + + acc.enable(); + + return 0; +}