This program is designed to run on a set of Xadow M0 modules to create a Hotshoe IMU which outputs GPS and Orientation data to Nikon cameras, as well as triggering the camera at set intervals.
Dependencies: MBed_Adafruit-GPS-Library SC16IS750 SDFileSystem SSD1308_128x64_I2C USBDevice mbed BMP085
Fork of MPU9150AHRS by
main.cpp@7:37bd00805530, 2015-07-16 (annotated)
- Committer:
- whatnick
- Date:
- Thu Jul 16 07:38:13 2015 +0000
- Revision:
- 7:37bd00805530
- Parent:
- 5:81bba9f0f92b
- Child:
- 9:b7062c55d36c
Switched to SPI UART
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
onehorse | 0:39935bb3c1a1 | 1 | /* MPU9150 Basic Example Code |
onehorse | 0:39935bb3c1a1 | 2 | by: Kris Winer |
onehorse | 0:39935bb3c1a1 | 3 | date: April 1, 2014 |
whatnick | 1:9de6ac4b381d | 4 | license: Beerware - Use this code however you'd like. If you |
onehorse | 0:39935bb3c1a1 | 5 | find it useful you can buy me a beer some time. |
whatnick | 1:9de6ac4b381d | 6 | |
whatnick | 1:9de6ac4b381d | 7 | Demonstrate basic MPU-9150 functionality including parameterizing the register addresses, initializing the sensor, |
whatnick | 1:9de6ac4b381d | 8 | getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to |
whatnick | 1:9de6ac4b381d | 9 | allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and |
onehorse | 0:39935bb3c1a1 | 10 | Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1. |
whatnick | 1:9de6ac4b381d | 11 | |
onehorse | 0:39935bb3c1a1 | 12 | SDA and SCL should have external pull-up resistors (to 3.3V). |
onehorse | 0:39935bb3c1a1 | 13 | 10k resistors are on the EMSENSR-9250 breakout board. |
whatnick | 1:9de6ac4b381d | 14 | |
onehorse | 0:39935bb3c1a1 | 15 | Hardware setup: |
onehorse | 0:39935bb3c1a1 | 16 | MPU9150 Breakout --------- Arduino |
onehorse | 0:39935bb3c1a1 | 17 | VDD ---------------------- 3.3V |
onehorse | 0:39935bb3c1a1 | 18 | VDDI --------------------- 3.3V |
onehorse | 0:39935bb3c1a1 | 19 | SDA ----------------------- A4 |
onehorse | 0:39935bb3c1a1 | 20 | SCL ----------------------- A5 |
onehorse | 0:39935bb3c1a1 | 21 | GND ---------------------- GND |
whatnick | 1:9de6ac4b381d | 22 | |
whatnick | 1:9de6ac4b381d | 23 | Note: The MPU9150 is an I2C sensor and uses the Arduino Wire library. |
onehorse | 0:39935bb3c1a1 | 24 | Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1. |
onehorse | 0:39935bb3c1a1 | 25 | We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file. |
onehorse | 0:39935bb3c1a1 | 26 | We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file. |
onehorse | 0:39935bb3c1a1 | 27 | */ |
whatnick | 1:9de6ac4b381d | 28 | |
whatnick | 1:9de6ac4b381d | 29 | //#include "ST_F401_84MHZ.h" |
onehorse | 0:39935bb3c1a1 | 30 | //F401_init84 myinit(0); |
onehorse | 0:39935bb3c1a1 | 31 | #include "mbed.h" |
whatnick | 1:9de6ac4b381d | 32 | #include "mbed_logo.h" |
onehorse | 0:39935bb3c1a1 | 33 | #include "MPU9150.h" |
whatnick | 1:9de6ac4b381d | 34 | #include "SSD1308.h" |
whatnick | 1:9de6ac4b381d | 35 | #include "SDFileSystem.h" |
whatnick | 2:f1912528eeaf | 36 | #include "MBed_Adafruit_GPS.h" |
whatnick | 2:f1912528eeaf | 37 | #include "SC16IS750.h" |
whatnick | 5:81bba9f0f92b | 38 | #include "BMP085.h" |
onehorse | 0:39935bb3c1a1 | 39 | |
whatnick | 1:9de6ac4b381d | 40 | //Use Xadow OLED for display |
whatnick | 1:9de6ac4b381d | 41 | SSD1308 oled = SSD1308(i2c, SSD1308_SA0); |
whatnick | 1:9de6ac4b381d | 42 | |
whatnick | 2:f1912528eeaf | 43 | //Use Serial expander for extra UART |
whatnick | 7:37bd00805530 | 44 | SPI spi(P0_9,P0_8,P0_10); //MOSI, MISO, SCK |
whatnick | 7:37bd00805530 | 45 | DigitalOut CS(P0_15); //CS |
whatnick | 7:37bd00805530 | 46 | SC16IS752_SPI serial_spi_nikon(&spi,P0_15,NC,SC16IS750::Channel_B); |
whatnick | 7:37bd00805530 | 47 | SC16IS752_SPI serial_spi_ble(&spi,P0_15,NC,SC16IS750::Channel_A); |
whatnick | 2:f1912528eeaf | 48 | |
whatnick | 5:81bba9f0f92b | 49 | //Use BMP085 Temperature,Pressure |
whatnick | 5:81bba9f0f92b | 50 | BMP085 bmp(i2c); |
whatnick | 5:81bba9f0f92b | 51 | |
whatnick | 7:37bd00805530 | 52 | SDFileSystem sd(P0_21, P0_22, P1_15, P1_19, "sd", P0_20, SDFileSystem::SWITCH_POS_NC); // Pin-out on Xadow SD board attached to 1st SPI |
onehorse | 0:39935bb3c1a1 | 53 | |
onehorse | 0:39935bb3c1a1 | 54 | float sum = 0; |
onehorse | 0:39935bb3c1a1 | 55 | uint32_t sumCount = 0, mcount = 0; |
whatnick | 5:81bba9f0f92b | 56 | char buffer[64]; |
whatnick | 1:9de6ac4b381d | 57 | |
whatnick | 1:9de6ac4b381d | 58 | MPU9150 MPU9150; |
onehorse | 0:39935bb3c1a1 | 59 | |
whatnick | 1:9de6ac4b381d | 60 | Timer t; |
whatnick | 1:9de6ac4b381d | 61 | |
whatnick | 1:9de6ac4b381d | 62 | Serial gps(P0_19,P0_18); |
onehorse | 0:39935bb3c1a1 | 63 | |
whatnick | 2:f1912528eeaf | 64 | //#define DEBUG |
onehorse | 0:39935bb3c1a1 | 65 | |
whatnick | 1:9de6ac4b381d | 66 | #ifdef DEBUG |
whatnick | 1:9de6ac4b381d | 67 | #include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial |
whatnick | 1:9de6ac4b381d | 68 | #define LOG(args...) pc.printf(args) |
whatnick | 1:9de6ac4b381d | 69 | USBSerial pc; |
whatnick | 1:9de6ac4b381d | 70 | #else |
whatnick | 1:9de6ac4b381d | 71 | #define LOG(args...) |
whatnick | 1:9de6ac4b381d | 72 | #endif |
onehorse | 0:39935bb3c1a1 | 73 | |
whatnick | 5:81bba9f0f92b | 74 | char checkSum(char* theseChars,int checkLen) { |
whatnick | 5:81bba9f0f92b | 75 | char check = 0; |
whatnick | 5:81bba9f0f92b | 76 | // iterate over the string, XOR each byte with the total sum: |
whatnick | 5:81bba9f0f92b | 77 | for (int c = 0; c < checkLen; c++) { |
whatnick | 5:81bba9f0f92b | 78 | check = char(check ^ theseChars[c]); |
whatnick | 5:81bba9f0f92b | 79 | } |
whatnick | 5:81bba9f0f92b | 80 | // return the result |
whatnick | 5:81bba9f0f92b | 81 | return check; |
whatnick | 5:81bba9f0f92b | 82 | } |
whatnick | 5:81bba9f0f92b | 83 | |
whatnick | 5:81bba9f0f92b | 84 | |
onehorse | 0:39935bb3c1a1 | 85 | int main() |
onehorse | 0:39935bb3c1a1 | 86 | { |
whatnick | 1:9de6ac4b381d | 87 | |
whatnick | 1:9de6ac4b381d | 88 | //Set up I2C |
whatnick | 1:9de6ac4b381d | 89 | i2c.frequency(400000); // use fast (400 kHz) I2C |
whatnick | 7:37bd00805530 | 90 | |
whatnick | 7:37bd00805530 | 91 | //Set up SPI |
whatnick | 7:37bd00805530 | 92 | spi.format(8, 0);; |
whatnick | 7:37bd00805530 | 93 | // spi.frequency(100000); |
whatnick | 7:37bd00805530 | 94 | // spi.frequency(500000); |
whatnick | 7:37bd00805530 | 95 | spi.frequency(1000000); |
whatnick | 1:9de6ac4b381d | 96 | |
whatnick | 2:f1912528eeaf | 97 | //Set up GPS |
whatnick | 2:f1912528eeaf | 98 | Adafruit_GPS myGPS(&gps); |
whatnick | 2:f1912528eeaf | 99 | char c; //when read via Adafruit_GPS::read(), the class returns single character stored here |
whatnick | 1:9de6ac4b381d | 100 | |
whatnick | 2:f1912528eeaf | 101 | LOG("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
onehorse | 0:39935bb3c1a1 | 102 | |
whatnick | 1:9de6ac4b381d | 103 | t.start(); |
whatnick | 1:9de6ac4b381d | 104 | |
whatnick | 2:f1912528eeaf | 105 | myGPS.begin(9600); |
whatnick | 5:81bba9f0f92b | 106 | //Turn off all sentences except GGA and RMC |
whatnick | 5:81bba9f0f92b | 107 | //For MTK GPS |
whatnick | 5:81bba9f0f92b | 108 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 5:81bba9f0f92b | 109 | |
whatnick | 5:81bba9f0f92b | 110 | //FOR UBLOX GPS |
whatnick | 5:81bba9f0f92b | 111 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 5:81bba9f0f92b | 112 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 5:81bba9f0f92b | 113 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 5:81bba9f0f92b | 114 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 5:81bba9f0f92b | 115 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 5:81bba9f0f92b | 116 | |
whatnick | 4:256505da4487 | 117 | wait(1); |
whatnick | 7:37bd00805530 | 118 | //Set Serial I2C Baudrate for Nikon |
whatnick | 7:37bd00805530 | 119 | serial_spi_nikon.baud(4800); |
whatnick | 7:37bd00805530 | 120 | wait(1); |
whatnick | 7:37bd00805530 | 121 | |
whatnick | 7:37bd00805530 | 122 | //Set Serial SPI Baudrate for BLE |
whatnick | 7:37bd00805530 | 123 | serial_spi_ble.baud(2400); |
whatnick | 5:81bba9f0f92b | 124 | wait(1); |
whatnick | 5:81bba9f0f92b | 125 | |
whatnick | 7:37bd00805530 | 126 | //Set BLE Baud rate |
whatnick | 7:37bd00805530 | 127 | //serial_spi_ble.printf("AT+BAUD2"); |
whatnick | 7:37bd00805530 | 128 | //wait(1); |
whatnick | 7:37bd00805530 | 129 | //serial_spi_ble.baud(19200); |
whatnick | 7:37bd00805530 | 130 | //wait(1); |
whatnick | 7:37bd00805530 | 131 | |
whatnick | 5:81bba9f0f92b | 132 | //Set output pins for trigggering camera |
whatnick | 7:37bd00805530 | 133 | serial_spi_nikon.ioSetDirection(0xFF); // All outputs |
whatnick | 7:37bd00805530 | 134 | serial_spi_nikon.ioSetState(0xFF); // All On |
whatnick | 5:81bba9f0f92b | 135 | |
whatnick | 7:37bd00805530 | 136 | |
whatnick | 5:81bba9f0f92b | 137 | |
whatnick | 1:9de6ac4b381d | 138 | oled.fillDisplay(0xAA); |
whatnick | 1:9de6ac4b381d | 139 | oled.setDisplayOff(); |
onehorse | 0:39935bb3c1a1 | 140 | wait(1); |
whatnick | 1:9de6ac4b381d | 141 | oled.setDisplayOn(); |
whatnick | 1:9de6ac4b381d | 142 | |
whatnick | 1:9de6ac4b381d | 143 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 144 | oled.setDisplayInverse(); |
whatnick | 1:9de6ac4b381d | 145 | wait(0.5); |
whatnick | 1:9de6ac4b381d | 146 | oled.setDisplayNormal(); |
whatnick | 1:9de6ac4b381d | 147 | |
whatnick | 1:9de6ac4b381d | 148 | oled.writeBitmap((uint8_t*) mbed_logo); |
whatnick | 1:9de6ac4b381d | 149 | |
whatnick | 2:f1912528eeaf | 150 | LOG("OLED test done\r\n"); |
whatnick | 1:9de6ac4b381d | 151 | wait(10); |
whatnick | 1:9de6ac4b381d | 152 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 153 | |
whatnick | 2:f1912528eeaf | 154 | oled.writeString(0, 0, "##AeroAHRS##"); |
whatnick | 1:9de6ac4b381d | 155 | // Read the WHO_AM_I register, this is a good test of communication |
whatnick | 1:9de6ac4b381d | 156 | uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250 |
whatnick | 2:f1912528eeaf | 157 | LOG("I AM 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 158 | LOG("I SHOULD BE 0x68\n\r"); |
whatnick | 1:9de6ac4b381d | 159 | |
whatnick | 1:9de6ac4b381d | 160 | if (whoami == 0x68) { // WHO_AM_I should be 0x68 |
whatnick | 2:f1912528eeaf | 161 | LOG("MPU9150 WHO_AM_I is 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 162 | LOG("MPU9150 is online...\n\r"); |
whatnick | 1:9de6ac4b381d | 163 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 164 | //lcd.printString("MPU9150 is", 0, 0); |
whatnick | 1:9de6ac4b381d | 165 | //sprintf(buffer, "0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 166 | //lcd.printString(buffer, 0, 1); |
whatnick | 1:9de6ac4b381d | 167 | //lcd.printString("shoud be 0x68", 0, 2); |
whatnick | 1:9de6ac4b381d | 168 | wait(1); |
whatnick | 1:9de6ac4b381d | 169 | |
whatnick | 1:9de6ac4b381d | 170 | MPU9150.MPU9150SelfTest(SelfTest); |
whatnick | 2:f1912528eeaf | 171 | LOG("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]); |
whatnick | 2:f1912528eeaf | 172 | LOG("y-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[1]); |
whatnick | 2:f1912528eeaf | 173 | LOG("z-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[2]); |
whatnick | 2:f1912528eeaf | 174 | LOG("x-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[3]); |
whatnick | 2:f1912528eeaf | 175 | LOG("y-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[4]); |
whatnick | 2:f1912528eeaf | 176 | LOG("z-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[5]); |
whatnick | 1:9de6ac4b381d | 177 | wait(1); |
whatnick | 1:9de6ac4b381d | 178 | MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration |
whatnick | 1:9de6ac4b381d | 179 | MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
whatnick | 2:f1912528eeaf | 180 | LOG("x gyro bias = %f\n\r", gyroBias[0]); |
whatnick | 2:f1912528eeaf | 181 | LOG("y gyro bias = %f\n\r", gyroBias[1]); |
whatnick | 2:f1912528eeaf | 182 | LOG("z gyro bias = %f\n\r", gyroBias[2]); |
whatnick | 2:f1912528eeaf | 183 | LOG("x accel bias = %f\n\r", accelBias[0]); |
whatnick | 2:f1912528eeaf | 184 | LOG("y accel bias = %f\n\r", accelBias[1]); |
whatnick | 2:f1912528eeaf | 185 | LOG("z accel bias = %f\n\r", accelBias[2]); |
whatnick | 1:9de6ac4b381d | 186 | wait(1); |
whatnick | 1:9de6ac4b381d | 187 | MPU9150.initMPU9150(); |
whatnick | 2:f1912528eeaf | 188 | LOG("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
whatnick | 1:9de6ac4b381d | 189 | MPU9150.initAK8975A(magCalibration); |
whatnick | 2:f1912528eeaf | 190 | LOG("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
whatnick | 1:9de6ac4b381d | 191 | } else { |
whatnick | 2:f1912528eeaf | 192 | LOG("Could not connect to MPU9150: \n\r"); |
whatnick | 2:f1912528eeaf | 193 | LOG("%#x \n", whoami); |
whatnick | 1:9de6ac4b381d | 194 | |
whatnick | 1:9de6ac4b381d | 195 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 196 | //lcd.printString("MPU9150", 0, 0); |
whatnick | 1:9de6ac4b381d | 197 | //lcd.printString("no connection", 0, 1); |
whatnick | 1:9de6ac4b381d | 198 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 199 | //lcd.printString(buffer, 0, 2); |
whatnick | 1:9de6ac4b381d | 200 | |
whatnick | 1:9de6ac4b381d | 201 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:39935bb3c1a1 | 202 | } |
onehorse | 0:39935bb3c1a1 | 203 | |
onehorse | 0:39935bb3c1a1 | 204 | uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values |
onehorse | 0:39935bb3c1a1 | 205 | MPU9150.getAres(); // Get accelerometer sensitivity |
onehorse | 0:39935bb3c1a1 | 206 | MPU9150.getGres(); // Get gyro sensitivity |
onehorse | 0:39935bb3c1a1 | 207 | mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale |
onehorse | 0:39935bb3c1a1 | 208 | // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically |
onehorse | 0:39935bb3c1a1 | 209 | // like the gyro and accelerometer biases |
onehorse | 0:39935bb3c1a1 | 210 | magbias[0] = -5.; // User environmental x-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 211 | magbias[1] = -95.; // User environmental y-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 212 | magbias[2] = -260.; // User environmental z-axis correction in milliGauss |
whatnick | 1:9de6ac4b381d | 213 | |
whatnick | 2:f1912528eeaf | 214 | //Wait for GPS to acquire lock |
whatnick | 5:81bba9f0f92b | 215 | oled.writeString(2,0,"GPS Simul "); |
whatnick | 2:f1912528eeaf | 216 | while(!myGPS.fix) { |
whatnick | 2:f1912528eeaf | 217 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 218 | if (c) { |
whatnick | 2:f1912528eeaf | 219 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 2:f1912528eeaf | 220 | } |
whatnick | 2:f1912528eeaf | 221 | |
whatnick | 2:f1912528eeaf | 222 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 223 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 224 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 225 | continue; |
whatnick | 2:f1912528eeaf | 226 | } |
whatnick | 2:f1912528eeaf | 227 | } |
whatnick | 5:81bba9f0f92b | 228 | /* |
whatnick | 5:81bba9f0f92b | 229 | Now = t.read_us(); |
whatnick | 5:81bba9f0f92b | 230 | deltat = (float)((Now - lastUpdate)/1000000.0f); |
whatnick | 5:81bba9f0f92b | 231 | |
whatnick | 5:81bba9f0f92b | 232 | bool up = false; |
whatnick | 5:81bba9f0f92b | 233 | if(deltat > 0.5f) |
whatnick | 5:81bba9f0f92b | 234 | { |
whatnick | 5:81bba9f0f92b | 235 | bmp.update(); |
whatnick | 5:81bba9f0f92b | 236 | float temp = bmp.get_temperature(); |
whatnick | 5:81bba9f0f92b | 237 | float pres = bmp.get_pressure(); |
whatnick | 5:81bba9f0f92b | 238 | float baroAlt = (float)44330 * (1 - pow((float)(pres/SEA_PRES), 0.190295f)); |
whatnick | 5:81bba9f0f92b | 239 | |
whatnick | 5:81bba9f0f92b | 240 | sprintf(buffer,"ALT:%5.2f",baroAlt); |
whatnick | 5:81bba9f0f92b | 241 | oled.writeString(4,0,buffer); |
whatnick | 5:81bba9f0f92b | 242 | sprintf(buffer,"TMP:%5.2f",temp); |
whatnick | 5:81bba9f0f92b | 243 | oled.writeString(5,0,buffer); |
whatnick | 5:81bba9f0f92b | 244 | sprintf(buffer,"PRS:%5.2f",pres); |
whatnick | 5:81bba9f0f92b | 245 | oled.writeString(6,0,buffer); |
whatnick | 5:81bba9f0f92b | 246 | |
whatnick | 7:37bd00805530 | 247 | serial_spi_nikon.printf("$GPRMC,000002.000,A,3456.9076,S,13831.2800,E,0.00,65.44,240215,,,D*49\r\n"); |
whatnick | 7:37bd00805530 | 248 | serial_spi_nikon.printf("$PTNTHPR,105.0,N,-21.4,N,0.9,N,A*79\r\n"); |
whatnick | 5:81bba9f0f92b | 249 | wait(0.1); |
whatnick | 7:37bd00805530 | 250 | //serial_spi_nikon.printf("$GPVTG,65.44,T,,M,0.00,N,0.00,K,D*0B"); |
whatnick | 5:81bba9f0f92b | 251 | sprintf(buffer+1,"GPGGA,000002.000,3456.9076,S,13831.2800,E,2,07,0.94,%5.2f,M,-0.5,M,,",baroAlt); |
whatnick | 5:81bba9f0f92b | 252 | int checkS = checkSum(buffer+1,strlen(buffer+1)); |
whatnick | 5:81bba9f0f92b | 253 | buffer[0] = '$'; |
whatnick | 7:37bd00805530 | 254 | serial_spi_nikon.printf(buffer); |
whatnick | 7:37bd00805530 | 255 | serial_spi_nikon.printf("*%02X\r\n",checkS); |
whatnick | 5:81bba9f0f92b | 256 | wait(0.1); |
whatnick | 7:37bd00805530 | 257 | serial_spi_nikon.printf("$GPGSA,A,3,13,15,24,06,12,02,28,,,,,,1.32,0.94,0.92*09\r\n"); |
whatnick | 7:37bd00805530 | 258 | serial_spi_nikon.printf("$GPGLL,3456.9076,S,13831.2800,E,000002.000,A,D*4D\r\n"); |
whatnick | 7:37bd00805530 | 259 | serial_spi_nikon.printf("$NKGCS,WGS 84*11\r\n"); |
whatnick | 5:81bba9f0f92b | 260 | |
whatnick | 5:81bba9f0f92b | 261 | if(up) |
whatnick | 5:81bba9f0f92b | 262 | { |
whatnick | 7:37bd00805530 | 263 | serial_spi_nikon.ioSetState(0x0); |
whatnick | 5:81bba9f0f92b | 264 | up = false; |
whatnick | 5:81bba9f0f92b | 265 | } |
whatnick | 5:81bba9f0f92b | 266 | else |
whatnick | 5:81bba9f0f92b | 267 | { |
whatnick | 7:37bd00805530 | 268 | serial_spi_nikon.ioSetState(0x3); |
whatnick | 5:81bba9f0f92b | 269 | up = true; |
whatnick | 5:81bba9f0f92b | 270 | } |
whatnick | 5:81bba9f0f92b | 271 | lastUpdate = Now; |
whatnick | 5:81bba9f0f92b | 272 | } |
whatnick | 5:81bba9f0f92b | 273 | */ |
whatnick | 2:f1912528eeaf | 274 | } |
whatnick | 2:f1912528eeaf | 275 | |
whatnick | 1:9de6ac4b381d | 276 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 277 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 278 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 279 | FILE *fp = fopen(buffer, "w"); |
whatnick | 1:9de6ac4b381d | 280 | if(fp == NULL) { |
whatnick | 1:9de6ac4b381d | 281 | LOG("Could not open file for write\n"); |
whatnick | 1:9de6ac4b381d | 282 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 283 | } else { |
whatnick | 2:f1912528eeaf | 284 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 1:9de6ac4b381d | 285 | } |
onehorse | 0:39935bb3c1a1 | 286 | |
whatnick | 1:9de6ac4b381d | 287 | while(1) { |
whatnick | 5:81bba9f0f92b | 288 | c = myGPS.read(); //queries the GPS |
whatnick | 5:81bba9f0f92b | 289 | if (c) { |
whatnick | 5:81bba9f0f92b | 290 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 7:37bd00805530 | 291 | //serial_spi_nikon.putc(c); |
whatnick | 7:37bd00805530 | 292 | //serial_spi_nikon.printf("$GPGGA,154850.00,3452.12190,S,13836.65170,E,1,04,1.64,123.5,M,0.0,M,,*7F\r\n"); |
whatnick | 5:81bba9f0f92b | 293 | //$GPGGA,160202.00,3452.14414,S,13836.63059,E,1,04,2.60,45.4,M,-3.4,M,,*6B |
whatnick | 7:37bd00805530 | 294 | //serial_spi_nikon.printf("$GPRMC,154850.00,A,3452.12190,S,13836.65170,E,0.510,,110215,,,A*63\r\n"); |
whatnick | 5:81bba9f0f92b | 295 | //$GPRMC,160203.00,A,3452.14414,S,13836.63079,E,0.332,,110215,,,A*6F |
whatnick | 5:81bba9f0f92b | 296 | } |
whatnick | 5:81bba9f0f92b | 297 | |
whatnick | 1:9de6ac4b381d | 298 | // If intPin goes high, all data registers have new data |
whatnick | 1:9de6ac4b381d | 299 | if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
whatnick | 1:9de6ac4b381d | 300 | |
whatnick | 1:9de6ac4b381d | 301 | MPU9150.readAccelData(accelCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 302 | // Now we'll calculate the accleration value into actual g's |
whatnick | 1:9de6ac4b381d | 303 | ax = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 304 | ay = (float)accelCount[1]*aRes; // - accelBias[1]; |
whatnick | 1:9de6ac4b381d | 305 | az = (float)accelCount[2]*aRes; // - accelBias[2]; |
onehorse | 0:39935bb3c1a1 | 306 | |
whatnick | 1:9de6ac4b381d | 307 | MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 308 | // Calculate the gyro value into actual degrees per second |
whatnick | 1:9de6ac4b381d | 309 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 310 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
whatnick | 1:9de6ac4b381d | 311 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
whatnick | 1:9de6ac4b381d | 312 | |
whatnick | 1:9de6ac4b381d | 313 | mcount++; |
whatnick | 1:9de6ac4b381d | 314 | if (mcount > 200/MagRate) { // this is a poor man's way of setting the magnetometer read rate (see below) |
whatnick | 1:9de6ac4b381d | 315 | MPU9150.readMagData(magCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 316 | // Calculate the magnetometer values in milliGauss |
whatnick | 1:9de6ac4b381d | 317 | // Include factory calibration per data sheet and user environmental corrections |
whatnick | 1:9de6ac4b381d | 318 | mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 319 | my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; |
whatnick | 1:9de6ac4b381d | 320 | mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; |
whatnick | 1:9de6ac4b381d | 321 | mcount = 0; |
whatnick | 1:9de6ac4b381d | 322 | } |
whatnick | 1:9de6ac4b381d | 323 | } |
whatnick | 1:9de6ac4b381d | 324 | |
whatnick | 2:f1912528eeaf | 325 | //Handle GPS data |
whatnick | 2:f1912528eeaf | 326 | { |
whatnick | 2:f1912528eeaf | 327 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 328 | if (c) { |
whatnick | 2:f1912528eeaf | 329 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 7:37bd00805530 | 330 | //serial_spi_nikon.putc(c); |
whatnick | 2:f1912528eeaf | 331 | } |
whatnick | 2:f1912528eeaf | 332 | |
whatnick | 2:f1912528eeaf | 333 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 334 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 335 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 336 | continue; |
whatnick | 2:f1912528eeaf | 337 | } |
whatnick | 5:81bba9f0f92b | 338 | |
whatnick | 2:f1912528eeaf | 339 | else |
whatnick | 2:f1912528eeaf | 340 | { |
whatnick | 7:37bd00805530 | 341 | serial_spi_nikon.printf(myGPS.lastNMEA()); |
whatnick | 7:37bd00805530 | 342 | serial_spi_nikon.printf("\n\r"); |
whatnick | 7:37bd00805530 | 343 | |
whatnick | 7:37bd00805530 | 344 | serial_spi_ble.printf(myGPS.lastNMEA()); |
whatnick | 7:37bd00805530 | 345 | serial_spi_ble.printf("\n\r"); |
whatnick | 7:37bd00805530 | 346 | |
whatnick | 5:81bba9f0f92b | 347 | if(myGPS.fix && fp!=NULL) { |
whatnick | 5:81bba9f0f92b | 348 | fprintf(fp,myGPS.lastNMEA()); |
whatnick | 5:81bba9f0f92b | 349 | fprintf(fp,"\r\n"); |
whatnick | 5:81bba9f0f92b | 350 | } |
whatnick | 2:f1912528eeaf | 351 | } |
whatnick | 5:81bba9f0f92b | 352 | |
whatnick | 2:f1912528eeaf | 353 | } |
whatnick | 2:f1912528eeaf | 354 | } |
whatnick | 2:f1912528eeaf | 355 | |
whatnick | 1:9de6ac4b381d | 356 | Now = t.read_us(); |
whatnick | 1:9de6ac4b381d | 357 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
whatnick | 1:9de6ac4b381d | 358 | lastUpdate = Now; |
whatnick | 1:9de6ac4b381d | 359 | |
whatnick | 1:9de6ac4b381d | 360 | sum += deltat; |
whatnick | 1:9de6ac4b381d | 361 | sumCount++; |
whatnick | 1:9de6ac4b381d | 362 | |
onehorse | 0:39935bb3c1a1 | 363 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
onehorse | 0:39935bb3c1a1 | 364 | // beta = 0.04; // decrease filter gain after stabilized |
onehorse | 0:39935bb3c1a1 | 365 | // zeta = 0.015; // increasey bias drift gain after stabilized |
whatnick | 1:9de6ac4b381d | 366 | // } |
whatnick | 1:9de6ac4b381d | 367 | |
whatnick | 1:9de6ac4b381d | 368 | // Pass gyro rate as rad/s |
whatnick | 1:9de6ac4b381d | 369 | MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 370 | // MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 371 | |
whatnick | 1:9de6ac4b381d | 372 | // Serial print and/or display at 0.5 s rate independent of data rates |
whatnick | 1:9de6ac4b381d | 373 | delt_t = t.read_ms() - count; |
whatnick | 1:9de6ac4b381d | 374 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
whatnick | 1:9de6ac4b381d | 375 | |
whatnick | 2:f1912528eeaf | 376 | LOG("ax = %f", 1000*ax); |
whatnick | 2:f1912528eeaf | 377 | LOG(" ay = %f", 1000*ay); |
whatnick | 2:f1912528eeaf | 378 | LOG(" az = %f mg\n\r", 1000*az); |
onehorse | 0:39935bb3c1a1 | 379 | |
whatnick | 2:f1912528eeaf | 380 | LOG("gx = %f", gx); |
whatnick | 2:f1912528eeaf | 381 | LOG(" gy = %f", gy); |
whatnick | 2:f1912528eeaf | 382 | LOG(" gz = %f deg/s\n\r", gz); |
whatnick | 1:9de6ac4b381d | 383 | |
whatnick | 2:f1912528eeaf | 384 | LOG("gx = %f", mx); |
whatnick | 2:f1912528eeaf | 385 | LOG(" gy = %f", my); |
whatnick | 2:f1912528eeaf | 386 | LOG(" gz = %f mG\n\r", mz); |
onehorse | 0:39935bb3c1a1 | 387 | |
whatnick | 1:9de6ac4b381d | 388 | tempCount = MPU9150.readTempData(); // Read the adc values |
whatnick | 1:9de6ac4b381d | 389 | temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade |
whatnick | 2:f1912528eeaf | 390 | LOG(" temperature = %f C\n\r", temperature); |
onehorse | 0:39935bb3c1a1 | 391 | |
whatnick | 2:f1912528eeaf | 392 | LOG("q0 = %f\n\r", q[0]); |
whatnick | 2:f1912528eeaf | 393 | LOG("q1 = %f\n\r", q[1]); |
whatnick | 2:f1912528eeaf | 394 | LOG("q2 = %f\n\r", q[2]); |
whatnick | 2:f1912528eeaf | 395 | LOG("q3 = %f\n\r", q[3]); |
whatnick | 2:f1912528eeaf | 396 | |
whatnick | 1:9de6ac4b381d | 397 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
whatnick | 1:9de6ac4b381d | 398 | // In this coordinate system, the positive z-axis is down toward Earth. |
whatnick | 1:9de6ac4b381d | 399 | // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise. |
whatnick | 1:9de6ac4b381d | 400 | // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. |
whatnick | 1:9de6ac4b381d | 401 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
whatnick | 1:9de6ac4b381d | 402 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
whatnick | 1:9de6ac4b381d | 403 | // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be |
whatnick | 1:9de6ac4b381d | 404 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
whatnick | 1:9de6ac4b381d | 405 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
whatnick | 1:9de6ac4b381d | 406 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
whatnick | 1:9de6ac4b381d | 407 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
whatnick | 1:9de6ac4b381d | 408 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
whatnick | 1:9de6ac4b381d | 409 | pitch *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 410 | yaw *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 411 | yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
whatnick | 1:9de6ac4b381d | 412 | roll *= 180.0f / PI; |
onehorse | 0:39935bb3c1a1 | 413 | |
whatnick | 1:9de6ac4b381d | 414 | |
whatnick | 5:81bba9f0f92b | 415 | LOG("Yaw, Pitch, Roll: %f %f %f\r\n", yaw, pitch, roll); |
whatnick | 5:81bba9f0f92b | 416 | LOG("average rate = %f\r\n", (float) sumCount/sum); |
whatnick | 2:f1912528eeaf | 417 | |
whatnick | 2:f1912528eeaf | 418 | sprintf(buffer, "YPR:%3.0f %3.0f %3.0f", yaw, pitch, roll); |
whatnick | 1:9de6ac4b381d | 419 | oled.writeString(1,0,buffer); |
whatnick | 5:81bba9f0f92b | 420 | sprintf(buffer+1,"PTNTHPR,%3.1f,N,%3.1f,N,%3.1f,N,A",yaw,pitch,roll); |
whatnick | 5:81bba9f0f92b | 421 | int checkS = checkSum(buffer+1,strlen(buffer+1)); |
whatnick | 5:81bba9f0f92b | 422 | buffer[0] = '$'; |
whatnick | 7:37bd00805530 | 423 | serial_spi_nikon.printf(buffer); |
whatnick | 7:37bd00805530 | 424 | serial_spi_nikon.printf("*%02X\r\n",checkS); |
whatnick | 7:37bd00805530 | 425 | |
whatnick | 7:37bd00805530 | 426 | serial_spi_ble.printf(buffer); |
whatnick | 7:37bd00805530 | 427 | serial_spi_ble.printf("*%02X\r\n",checkS); |
whatnick | 7:37bd00805530 | 428 | |
whatnick | 2:f1912528eeaf | 429 | if(fp != NULL) { |
whatnick | 5:81bba9f0f92b | 430 | fprintf(fp,"%s%02X\r\n",buffer,checkS); |
whatnick | 2:f1912528eeaf | 431 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 432 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 433 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 434 | fp=NULL; |
whatnick | 2:f1912528eeaf | 435 | } |
whatnick | 2:f1912528eeaf | 436 | } |
whatnick | 2:f1912528eeaf | 437 | |
whatnick | 2:f1912528eeaf | 438 | LOG("Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 439 | LOG("Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 440 | LOG("Fix: %d\n", (int) myGPS.fix); |
whatnick | 2:f1912528eeaf | 441 | LOG("Quality: %d\n", (int) myGPS.fixquality); |
whatnick | 2:f1912528eeaf | 442 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 443 | LOG("Location: %5.2f%c, %5.2f%c\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon); |
whatnick | 2:f1912528eeaf | 444 | LOG("Speed: %5.2f knots\n", myGPS.speed); |
whatnick | 2:f1912528eeaf | 445 | LOG("Angle: %5.2f\n", myGPS.angle); |
whatnick | 2:f1912528eeaf | 446 | LOG("Altitude: %5.2f\n", myGPS.altitude); |
whatnick | 2:f1912528eeaf | 447 | LOG("Satellites: %d\n", myGPS.satellites); |
whatnick | 2:f1912528eeaf | 448 | } |
whatnick | 2:f1912528eeaf | 449 | |
whatnick | 2:f1912528eeaf | 450 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 451 | sprintf(buffer,"LAT:%5.5f%c",myGPS.latitude,myGPS.lat); |
whatnick | 2:f1912528eeaf | 452 | oled.writeString(2,0,buffer); |
whatnick | 2:f1912528eeaf | 453 | sprintf(buffer,"LON:%5.5f%c",myGPS.longitude,myGPS.lon); |
whatnick | 2:f1912528eeaf | 454 | oled.writeString(3,0,buffer); |
whatnick | 2:f1912528eeaf | 455 | sprintf(buffer,"ALT:%5.2f",myGPS.altitude); |
whatnick | 2:f1912528eeaf | 456 | oled.writeString(4,0,buffer); |
whatnick | 2:f1912528eeaf | 457 | } else { |
whatnick | 2:f1912528eeaf | 458 | oled.writeString(2,0," "); |
whatnick | 2:f1912528eeaf | 459 | oled.writeString(2,0,"GPS Lost "); |
whatnick | 2:f1912528eeaf | 460 | oled.writeString(3,0," "); |
whatnick | 2:f1912528eeaf | 461 | oled.writeString(4,0," "); |
whatnick | 2:f1912528eeaf | 462 | } |
whatnick | 2:f1912528eeaf | 463 | sprintf(buffer,"Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 464 | oled.writeString(5,0,buffer); |
whatnick | 2:f1912528eeaf | 465 | sprintf(buffer,"Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 466 | oled.writeString(6,0,buffer); |
whatnick | 2:f1912528eeaf | 467 | |
whatnick | 2:f1912528eeaf | 468 | if(fp != NULL) { |
whatnick | 2:f1912528eeaf | 469 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 470 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 471 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 472 | fp=NULL; |
whatnick | 2:f1912528eeaf | 473 | } |
whatnick | 2:f1912528eeaf | 474 | } |
whatnick | 2:f1912528eeaf | 475 | |
whatnick | 2:f1912528eeaf | 476 | //if FP is null at the end of the loop attempt to open new log with fix |
whatnick | 2:f1912528eeaf | 477 | if(fp==NULL && myGPS.fix) { |
whatnick | 2:f1912528eeaf | 478 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 479 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 480 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 481 | FILE *fp = fopen(buffer, "w"); |
whatnick | 2:f1912528eeaf | 482 | if(fp == NULL) { |
whatnick | 2:f1912528eeaf | 483 | LOG("Could not open file for write\n"); |
whatnick | 2:f1912528eeaf | 484 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 485 | } else { |
whatnick | 2:f1912528eeaf | 486 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 2:f1912528eeaf | 487 | } |
whatnick | 2:f1912528eeaf | 488 | } |
whatnick | 1:9de6ac4b381d | 489 | |
whatnick | 1:9de6ac4b381d | 490 | myled= !myled; |
whatnick | 1:9de6ac4b381d | 491 | count = t.read_ms(); |
onehorse | 0:39935bb3c1a1 | 492 | |
whatnick | 1:9de6ac4b381d | 493 | if(count > 1<<21) { |
whatnick | 1:9de6ac4b381d | 494 | t.start(); // start the timer over again if ~30 minutes has passed |
whatnick | 1:9de6ac4b381d | 495 | count = 0; |
whatnick | 1:9de6ac4b381d | 496 | deltat= 0; |
whatnick | 1:9de6ac4b381d | 497 | lastUpdate = t.read_us(); |
whatnick | 1:9de6ac4b381d | 498 | } |
whatnick | 1:9de6ac4b381d | 499 | sum = 0; |
whatnick | 1:9de6ac4b381d | 500 | sumCount = 0; |
whatnick | 5:81bba9f0f92b | 501 | |
whatnick | 1:9de6ac4b381d | 502 | } |
onehorse | 0:39935bb3c1a1 | 503 | } |
whatnick | 5:81bba9f0f92b | 504 | } |
whatnick | 1:9de6ac4b381d | 505 |