Sonya Ragothaman / Mbed 2 deprecated sensor_library_test

revisions to pressure and magnetometer

Dependencies:   HMC5883L IMU MPU6050 MS5803 MS5837 mbed-rtos mbed sensor

Fork of sensor_library_test by Andrew Olguin

main.cpp@4:60340d6eed1f, 2016-07-25 (annotated)

Committer:
srago001
Date:
Mon Jul 25 04:04:53 2016 +0000
Revision:
4:60340d6eed1f
Parent:
3:6ca88b9c44c1 
sonya's revisions to pressure

Who changed what in which revision?

UserRevisionLine numberNew contents of line
onehorse 0:65aa78c10981 1
aolgu003 3:6ca88b9c44c1 2 /*
aolgu003 3:6ca88b9c44c1 3 Connections information:
aolgu003 3:6ca88b9c44c1 4 MPU to stm32F401RE NUCLEO Connection information
aolgu003 3:6ca88b9c44c1 5 VCC -> 3.3V
aolgu003 3:6ca88b9c44c1 6 SCL -> D15
aolgu003 3:6ca88b9c44c1 7 SDA -> D14
aolgu003 3:6ca88b9c44c1 8 AD0 -> high
aolgu003 3:6ca88b9c44c1 9
aolgu003 3:6ca88b9c44c1 10 HMC5883L
aolgu003 3:6ca88b9c44c1 11 VCC -> 3.3V
aolgu003 3:6ca88b9c44c1 12 SCL -> D7
aolgu003 3:6ca88b9c44c1 13 SDA -> D5
aolgu003 3:6ca88b9c44c1 14
aolgu003 3:6ca88b9c44c1 15 MS5803
aolgu003 3:6ca88b9c44c1 16 VCC -> 3.3V
aolgu003 3:6ca88b9c44c1 17 SCL -> D7
aolgu003 3:6ca88b9c44c1 18 SDA -> D5
aolgu003 3:6ca88b9c44c1 19
aolgu003 3:6ca88b9c44c1 20 All grounds go to common ground
onehorse 0:65aa78c10981 21 */
onehorse 0:65aa78c10981 22
onehorse 1:cea9d83b8636 23 #include "mbed.h"
aolgu003 3:6ca88b9c44c1 24 #include "sensor.h"
onehorse 0:65aa78c10981 25
srago001 4:60340d6eed1f 26
aolgu003 3:6ca88b9c44c1 27 int main() {
srago001 4:60340d6eed1f 28 device.attach(&callback);
aolgu003 3:6ca88b9c44c1 29 sensor_init();
aolgu003 3:6ca88b9c44c1 30 while (1) {
aolgu003 3:6ca88b9c44c1 31 sensor_update();
aolgu003 3:6ca88b9c44c1 32 print_data();
aolgu003 3:6ca88b9c44c1 33 //sensor_msg();
aolgu003 3:6ca88b9c44c1 34 }
aolgu003 3:6ca88b9c44c1 35 }
onehorse 0:65aa78c10981 36
aolgu003 3:6ca88b9c44c1 37 /*#include "MPU6050.h"
aolgu003 3:6ca88b9c44c1 38 #include "MS5803.h"
aolgu003 3:6ca88b9c44c1 39 #include "MS5837.h"
aolgu003 3:6ca88b9c44c1 40 #include "IMU.h"
aolgu003 3:6ca88b9c44c1 41 #include "HMC5883L.h"
onehorse 1:cea9d83b8636 42
aolgu003 3:6ca88b9c44c1 43 MPU6050 mpu6050;
aolgu003 3:6ca88b9c44c1 44 DigitalOut led1(LED1);
aolgu003 3:6ca88b9c44c1 45 //MS5837 pressure_sensor_1 = MS5803(I2C_SDA, I2C_SCL);
aolgu003 3:6ca88b9c44c1 46 //MS5837 pressure_sensor_2 = MS5803(PB_4, PA_8);
onehorse 1:cea9d83b8636 47
aolgu003 3:6ca88b9c44c1 48 HMC5883L compass(PB_4, PA_8);
aolgu003 3:6ca88b9c44c1 49 MS5837 pressure_sensor_1 = MS5837(I2C_SDA, I2C_SCL, ms5837_addr_no_CS);
aolgu003 3:6ca88b9c44c1 50 MS5837 pressure_sensor_2 = MS5837(PB_4, PA_8, ms5837_addr_no_CS);
onehorse 1:cea9d83b8636 51
aolgu003 3:6ca88b9c44c1 52 //Serial pc(USBTX, USBRX);
aolgu003 3:6ca88b9c44c1 53
onehorse 1:cea9d83b8636 54 int main()
onehorse 1:cea9d83b8636 55 {
aolgu003 3:6ca88b9c44c1 56 //Test Compass
aolgu003 3:6ca88b9c44c1 57 //pc.printf("Compass mode: %b\n", compass.getMode());
aolgu003 3:6ca88b9c44c1 58 int16_t mag[3] = {0};
aolgu003 3:6ca88b9c44c1 59
aolgu003 3:6ca88b9c44c1 60 printf("Begining Initialization\n");
aolgu003 3:6ca88b9c44c1 61
aolgu003 3:6ca88b9c44c1 62 int error_cnt = 0;
onehorse 1:cea9d83b8636 63
aolgu003 3:6ca88b9c44c1 64 float depth;
aolgu003 3:6ca88b9c44c1 65 float pressure1, depth1;
aolgu003 3:6ca88b9c44c1 66 float pressure2, depth2;
onehorse 1:cea9d83b8636 67
aolgu003 3:6ca88b9c44c1 68 pressure_sensor_1.MS5837Init();
aolgu003 3:6ca88b9c44c1 69 pressure_sensor_2.MS5837Init();
aolgu003 3:6ca88b9c44c1 70 pc.printf("Initialized begining readings\n");
onehorse 0:65aa78c10981 71
aolgu003 3:6ca88b9c44c1 72 IMUinit(mpu6050);
onehorse 0:65aa78c10981 73
aolgu003 3:6ca88b9c44c1 74 while(1) {
aolgu003 3:6ca88b9c44c1 75 pressure_sensor_1.Barometer_MS5837();
aolgu003 3:6ca88b9c44c1 76 pressure_sensor_2.Barometer_MS5837();
aolgu003 3:6ca88b9c44c1 77 pressure1 = pressure_sensor_1.MS5837_Pressure();
aolgu003 3:6ca88b9c44c1 78 pressure2 = pressure_sensor_2.MS5837_Pressure();
aolgu003 3:6ca88b9c44c1 79
aolgu003 3:6ca88b9c44c1 80 //Do some error checking
aolgu003 3:6ca88b9c44c1 81 if ((pressure1 > 900 && pressure1 < 3000) && (pressure2 > 900 && pressure2 < 3000)) {
aolgu003 3:6ca88b9c44c1 82 depth1 = pressure_sensor_1.depth();
aolgu003 3:6ca88b9c44c1 83 depth2 = pressure_sensor_2.depth();
aolgu003 3:6ca88b9c44c1 84
aolgu003 3:6ca88b9c44c1 85 depth = (depth1 + depth2) / 2;
aolgu003 3:6ca88b9c44c1 86 error_cnt = 0;
aolgu003 3:6ca88b9c44c1 87 } else if (pressure2 > 900 && pressure2 < 3000) {
aolgu003 3:6ca88b9c44c1 88 depth = pressure_sensor_2.depth();
aolgu003 3:6ca88b9c44c1 89
aolgu003 3:6ca88b9c44c1 90 error_cnt = 0;
aolgu003 3:6ca88b9c44c1 91 } else if (pressure1 > 900 && pressure1 < 3000) {
aolgu003 3:6ca88b9c44c1 92 depth = pressure_sensor_1.depth();
aolgu003 3:6ca88b9c44c1 93 error_cnt = 0;
aolgu003 3:6ca88b9c44c1 94 } else {
aolgu003 3:6ca88b9c44c1 95 error_cnt++;
aolgu003 3:6ca88b9c44c1 96 if (error_cnt > 50) {
aolgu003 3:6ca88b9c44c1 97 //do something
aolgu003 3:6ca88b9c44c1 98 pc.printf("Pressure sensor error");
aolgu003 3:6ca88b9c44c1 99 }
aolgu003 3:6ca88b9c44c1 100 }
aolgu003 3:6ca88b9c44c1 101 pc.printf("Depth is: %f\n", depth);
aolgu003 3:6ca88b9c44c1 102
aolgu003 3:6ca88b9c44c1 103 //IMU Read
aolgu003 3:6ca88b9c44c1 104 IMUUpdate(mpu6050);
onehorse 0:65aa78c10981 105
aolgu003 3:6ca88b9c44c1 106 //Compass read
aolgu003 3:6ca88b9c44c1 107 compass.getXYZ(mag);
aolgu003 3:6ca88b9c44c1 108 pc.printf("Mag values: %d, %d, %d\n", mag[0], mag[1], mag[2]);
aolgu003 3:6ca88b9c44c1 109 pc.printf("Heading: %f\n",compass.getHeadingXYDeg());
aolgu003 3:6ca88b9c44c1 110
aolgu003 3:6ca88b9c44c1 111 led1 = !led1;
aolgu003 3:6ca88b9c44c1 112 //Thread::wait(500);
aolgu003 3:6ca88b9c44c1 113 }
aolgu003 3:6ca88b9c44c1 114 }*/