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@5:81bba9f0f92b, 2015-05-25 (annotated)
- Committer:
- whatnick
- Date:
- Mon May 25 02:51:01 2015 +0000
- Revision:
- 5:81bba9f0f92b
- Parent:
- 4:256505da4487
- Child:
- 7:37bd00805530
Consolidation of sensors
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 | 2:f1912528eeaf | 44 | SC16IS750_I2C serial_i2c(&i2c, SC16IS750_SA5); |
whatnick | 2:f1912528eeaf | 45 | |
whatnick | 5:81bba9f0f92b | 46 | //Use BMP085 Temperature,Pressure |
whatnick | 5:81bba9f0f92b | 47 | BMP085 bmp(i2c); |
whatnick | 5:81bba9f0f92b | 48 | |
whatnick | 1:9de6ac4b381d | 49 | SDFileSystem sd(P0_21, P0_22, P1_15, P1_19, "sd", P0_20, SDFileSystem::SWITCH_POS_NC); // the pinout on the mbed Cool Components workshop board |
onehorse | 0:39935bb3c1a1 | 50 | |
onehorse | 0:39935bb3c1a1 | 51 | float sum = 0; |
onehorse | 0:39935bb3c1a1 | 52 | uint32_t sumCount = 0, mcount = 0; |
whatnick | 5:81bba9f0f92b | 53 | char buffer[64]; |
whatnick | 1:9de6ac4b381d | 54 | |
whatnick | 1:9de6ac4b381d | 55 | MPU9150 MPU9150; |
onehorse | 0:39935bb3c1a1 | 56 | |
whatnick | 1:9de6ac4b381d | 57 | Timer t; |
whatnick | 1:9de6ac4b381d | 58 | |
whatnick | 1:9de6ac4b381d | 59 | Serial gps(P0_19,P0_18); |
onehorse | 0:39935bb3c1a1 | 60 | |
whatnick | 2:f1912528eeaf | 61 | //#define DEBUG |
onehorse | 0:39935bb3c1a1 | 62 | |
whatnick | 1:9de6ac4b381d | 63 | #ifdef DEBUG |
whatnick | 1:9de6ac4b381d | 64 | #include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial |
whatnick | 1:9de6ac4b381d | 65 | #define LOG(args...) pc.printf(args) |
whatnick | 1:9de6ac4b381d | 66 | USBSerial pc; |
whatnick | 1:9de6ac4b381d | 67 | #else |
whatnick | 1:9de6ac4b381d | 68 | #define LOG(args...) |
whatnick | 1:9de6ac4b381d | 69 | #endif |
onehorse | 0:39935bb3c1a1 | 70 | |
whatnick | 5:81bba9f0f92b | 71 | char checkSum(char* theseChars,int checkLen) { |
whatnick | 5:81bba9f0f92b | 72 | char check = 0; |
whatnick | 5:81bba9f0f92b | 73 | // iterate over the string, XOR each byte with the total sum: |
whatnick | 5:81bba9f0f92b | 74 | for (int c = 0; c < checkLen; c++) { |
whatnick | 5:81bba9f0f92b | 75 | check = char(check ^ theseChars[c]); |
whatnick | 5:81bba9f0f92b | 76 | } |
whatnick | 5:81bba9f0f92b | 77 | // return the result |
whatnick | 5:81bba9f0f92b | 78 | return check; |
whatnick | 5:81bba9f0f92b | 79 | } |
whatnick | 5:81bba9f0f92b | 80 | |
whatnick | 5:81bba9f0f92b | 81 | |
onehorse | 0:39935bb3c1a1 | 82 | int main() |
onehorse | 0:39935bb3c1a1 | 83 | { |
whatnick | 1:9de6ac4b381d | 84 | |
whatnick | 1:9de6ac4b381d | 85 | //Set up I2C |
whatnick | 1:9de6ac4b381d | 86 | i2c.frequency(400000); // use fast (400 kHz) I2C |
whatnick | 1:9de6ac4b381d | 87 | |
whatnick | 2:f1912528eeaf | 88 | //Set up GPS |
whatnick | 2:f1912528eeaf | 89 | Adafruit_GPS myGPS(&gps); |
whatnick | 2:f1912528eeaf | 90 | char c; //when read via Adafruit_GPS::read(), the class returns single character stored here |
whatnick | 1:9de6ac4b381d | 91 | |
whatnick | 2:f1912528eeaf | 92 | LOG("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock); |
onehorse | 0:39935bb3c1a1 | 93 | |
whatnick | 1:9de6ac4b381d | 94 | t.start(); |
whatnick | 1:9de6ac4b381d | 95 | |
whatnick | 2:f1912528eeaf | 96 | myGPS.begin(9600); |
whatnick | 5:81bba9f0f92b | 97 | //Turn off all sentences except GGA and RMC |
whatnick | 5:81bba9f0f92b | 98 | //For MTK GPS |
whatnick | 5:81bba9f0f92b | 99 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); |
whatnick | 5:81bba9f0f92b | 100 | |
whatnick | 5:81bba9f0f92b | 101 | //FOR UBLOX GPS |
whatnick | 5:81bba9f0f92b | 102 | myGPS.sendCommand(UBX_DISABLE_ZDA); |
whatnick | 5:81bba9f0f92b | 103 | myGPS.sendCommand(UBX_DISABLE_GLL); |
whatnick | 5:81bba9f0f92b | 104 | myGPS.sendCommand(UBX_DISABLE_VTG); |
whatnick | 5:81bba9f0f92b | 105 | myGPS.sendCommand(UBX_DISABLE_GSV); |
whatnick | 5:81bba9f0f92b | 106 | myGPS.sendCommand(UBX_DISABLE_GSA); |
whatnick | 5:81bba9f0f92b | 107 | |
whatnick | 4:256505da4487 | 108 | wait(1); |
whatnick | 5:81bba9f0f92b | 109 | //Set Serial I2C Baudrate |
whatnick | 2:f1912528eeaf | 110 | serial_i2c.baud(4800); |
whatnick | 5:81bba9f0f92b | 111 | wait(1); |
whatnick | 5:81bba9f0f92b | 112 | |
whatnick | 5:81bba9f0f92b | 113 | //Set output pins for trigggering camera |
whatnick | 5:81bba9f0f92b | 114 | serial_i2c.ioSetDirection(0x3); |
whatnick | 5:81bba9f0f92b | 115 | |
whatnick | 5:81bba9f0f92b | 116 | //Set BLE Baud rate |
whatnick | 5:81bba9f0f92b | 117 | //serial_i2c.printf("AT+BAUD6"); |
whatnick | 5:81bba9f0f92b | 118 | |
whatnick | 1:9de6ac4b381d | 119 | oled.fillDisplay(0xAA); |
whatnick | 1:9de6ac4b381d | 120 | oled.setDisplayOff(); |
onehorse | 0:39935bb3c1a1 | 121 | wait(1); |
whatnick | 1:9de6ac4b381d | 122 | oled.setDisplayOn(); |
whatnick | 1:9de6ac4b381d | 123 | |
whatnick | 1:9de6ac4b381d | 124 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 125 | oled.setDisplayInverse(); |
whatnick | 1:9de6ac4b381d | 126 | wait(0.5); |
whatnick | 1:9de6ac4b381d | 127 | oled.setDisplayNormal(); |
whatnick | 1:9de6ac4b381d | 128 | |
whatnick | 1:9de6ac4b381d | 129 | oled.writeBitmap((uint8_t*) mbed_logo); |
whatnick | 1:9de6ac4b381d | 130 | |
whatnick | 2:f1912528eeaf | 131 | LOG("OLED test done\r\n"); |
whatnick | 1:9de6ac4b381d | 132 | wait(10); |
whatnick | 1:9de6ac4b381d | 133 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 134 | |
whatnick | 2:f1912528eeaf | 135 | oled.writeString(0, 0, "##AeroAHRS##"); |
whatnick | 1:9de6ac4b381d | 136 | // Read the WHO_AM_I register, this is a good test of communication |
whatnick | 1:9de6ac4b381d | 137 | uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250 |
whatnick | 2:f1912528eeaf | 138 | LOG("I AM 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 139 | LOG("I SHOULD BE 0x68\n\r"); |
whatnick | 1:9de6ac4b381d | 140 | |
whatnick | 1:9de6ac4b381d | 141 | if (whoami == 0x68) { // WHO_AM_I should be 0x68 |
whatnick | 2:f1912528eeaf | 142 | LOG("MPU9150 WHO_AM_I is 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 143 | LOG("MPU9150 is online...\n\r"); |
whatnick | 1:9de6ac4b381d | 144 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 145 | //lcd.printString("MPU9150 is", 0, 0); |
whatnick | 1:9de6ac4b381d | 146 | //sprintf(buffer, "0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 147 | //lcd.printString(buffer, 0, 1); |
whatnick | 1:9de6ac4b381d | 148 | //lcd.printString("shoud be 0x68", 0, 2); |
whatnick | 1:9de6ac4b381d | 149 | wait(1); |
whatnick | 1:9de6ac4b381d | 150 | |
whatnick | 1:9de6ac4b381d | 151 | MPU9150.MPU9150SelfTest(SelfTest); |
whatnick | 2:f1912528eeaf | 152 | LOG("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]); |
whatnick | 2:f1912528eeaf | 153 | LOG("y-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[1]); |
whatnick | 2:f1912528eeaf | 154 | LOG("z-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[2]); |
whatnick | 2:f1912528eeaf | 155 | LOG("x-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[3]); |
whatnick | 2:f1912528eeaf | 156 | LOG("y-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[4]); |
whatnick | 2:f1912528eeaf | 157 | LOG("z-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[5]); |
whatnick | 1:9de6ac4b381d | 158 | wait(1); |
whatnick | 1:9de6ac4b381d | 159 | MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration |
whatnick | 1:9de6ac4b381d | 160 | MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
whatnick | 2:f1912528eeaf | 161 | LOG("x gyro bias = %f\n\r", gyroBias[0]); |
whatnick | 2:f1912528eeaf | 162 | LOG("y gyro bias = %f\n\r", gyroBias[1]); |
whatnick | 2:f1912528eeaf | 163 | LOG("z gyro bias = %f\n\r", gyroBias[2]); |
whatnick | 2:f1912528eeaf | 164 | LOG("x accel bias = %f\n\r", accelBias[0]); |
whatnick | 2:f1912528eeaf | 165 | LOG("y accel bias = %f\n\r", accelBias[1]); |
whatnick | 2:f1912528eeaf | 166 | LOG("z accel bias = %f\n\r", accelBias[2]); |
whatnick | 1:9de6ac4b381d | 167 | wait(1); |
whatnick | 1:9de6ac4b381d | 168 | MPU9150.initMPU9150(); |
whatnick | 2:f1912528eeaf | 169 | LOG("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
whatnick | 1:9de6ac4b381d | 170 | MPU9150.initAK8975A(magCalibration); |
whatnick | 2:f1912528eeaf | 171 | LOG("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
whatnick | 1:9de6ac4b381d | 172 | } else { |
whatnick | 2:f1912528eeaf | 173 | LOG("Could not connect to MPU9150: \n\r"); |
whatnick | 2:f1912528eeaf | 174 | LOG("%#x \n", whoami); |
whatnick | 1:9de6ac4b381d | 175 | |
whatnick | 1:9de6ac4b381d | 176 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 177 | //lcd.printString("MPU9150", 0, 0); |
whatnick | 1:9de6ac4b381d | 178 | //lcd.printString("no connection", 0, 1); |
whatnick | 1:9de6ac4b381d | 179 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 180 | //lcd.printString(buffer, 0, 2); |
whatnick | 1:9de6ac4b381d | 181 | |
whatnick | 1:9de6ac4b381d | 182 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:39935bb3c1a1 | 183 | } |
onehorse | 0:39935bb3c1a1 | 184 | |
onehorse | 0:39935bb3c1a1 | 185 | uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values |
onehorse | 0:39935bb3c1a1 | 186 | MPU9150.getAres(); // Get accelerometer sensitivity |
onehorse | 0:39935bb3c1a1 | 187 | MPU9150.getGres(); // Get gyro sensitivity |
onehorse | 0:39935bb3c1a1 | 188 | mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale |
onehorse | 0:39935bb3c1a1 | 189 | // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically |
onehorse | 0:39935bb3c1a1 | 190 | // like the gyro and accelerometer biases |
onehorse | 0:39935bb3c1a1 | 191 | magbias[0] = -5.; // User environmental x-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 192 | magbias[1] = -95.; // User environmental y-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 193 | magbias[2] = -260.; // User environmental z-axis correction in milliGauss |
whatnick | 1:9de6ac4b381d | 194 | |
whatnick | 2:f1912528eeaf | 195 | //Wait for GPS to acquire lock |
whatnick | 5:81bba9f0f92b | 196 | oled.writeString(2,0,"GPS Simul "); |
whatnick | 2:f1912528eeaf | 197 | while(!myGPS.fix) { |
whatnick | 2:f1912528eeaf | 198 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 199 | if (c) { |
whatnick | 2:f1912528eeaf | 200 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 2:f1912528eeaf | 201 | } |
whatnick | 2:f1912528eeaf | 202 | |
whatnick | 2:f1912528eeaf | 203 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 204 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 205 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 206 | continue; |
whatnick | 2:f1912528eeaf | 207 | } |
whatnick | 2:f1912528eeaf | 208 | } |
whatnick | 5:81bba9f0f92b | 209 | /* |
whatnick | 5:81bba9f0f92b | 210 | Now = t.read_us(); |
whatnick | 5:81bba9f0f92b | 211 | deltat = (float)((Now - lastUpdate)/1000000.0f); |
whatnick | 5:81bba9f0f92b | 212 | |
whatnick | 5:81bba9f0f92b | 213 | bool up = false; |
whatnick | 5:81bba9f0f92b | 214 | if(deltat > 0.5f) |
whatnick | 5:81bba9f0f92b | 215 | { |
whatnick | 5:81bba9f0f92b | 216 | bmp.update(); |
whatnick | 5:81bba9f0f92b | 217 | float temp = bmp.get_temperature(); |
whatnick | 5:81bba9f0f92b | 218 | float pres = bmp.get_pressure(); |
whatnick | 5:81bba9f0f92b | 219 | float baroAlt = (float)44330 * (1 - pow((float)(pres/SEA_PRES), 0.190295f)); |
whatnick | 5:81bba9f0f92b | 220 | |
whatnick | 5:81bba9f0f92b | 221 | sprintf(buffer,"ALT:%5.2f",baroAlt); |
whatnick | 5:81bba9f0f92b | 222 | oled.writeString(4,0,buffer); |
whatnick | 5:81bba9f0f92b | 223 | sprintf(buffer,"TMP:%5.2f",temp); |
whatnick | 5:81bba9f0f92b | 224 | oled.writeString(5,0,buffer); |
whatnick | 5:81bba9f0f92b | 225 | sprintf(buffer,"PRS:%5.2f",pres); |
whatnick | 5:81bba9f0f92b | 226 | oled.writeString(6,0,buffer); |
whatnick | 5:81bba9f0f92b | 227 | |
whatnick | 5:81bba9f0f92b | 228 | serial_i2c.printf("$GPRMC,000002.000,A,3456.9076,S,13831.2800,E,0.00,65.44,240215,,,D*49\r\n"); |
whatnick | 5:81bba9f0f92b | 229 | serial_i2c.printf("$PTNTHPR,105.0,N,-21.4,N,0.9,N,A*79\r\n"); |
whatnick | 5:81bba9f0f92b | 230 | wait(0.1); |
whatnick | 5:81bba9f0f92b | 231 | //serial_i2c.printf("$GPVTG,65.44,T,,M,0.00,N,0.00,K,D*0B"); |
whatnick | 5:81bba9f0f92b | 232 | sprintf(buffer+1,"GPGGA,000002.000,3456.9076,S,13831.2800,E,2,07,0.94,%5.2f,M,-0.5,M,,",baroAlt); |
whatnick | 5:81bba9f0f92b | 233 | int checkS = checkSum(buffer+1,strlen(buffer+1)); |
whatnick | 5:81bba9f0f92b | 234 | buffer[0] = '$'; |
whatnick | 5:81bba9f0f92b | 235 | serial_i2c.printf(buffer); |
whatnick | 5:81bba9f0f92b | 236 | serial_i2c.printf("*%02X\r\n",checkS); |
whatnick | 5:81bba9f0f92b | 237 | wait(0.1); |
whatnick | 5:81bba9f0f92b | 238 | serial_i2c.printf("$GPGSA,A,3,13,15,24,06,12,02,28,,,,,,1.32,0.94,0.92*09\r\n"); |
whatnick | 5:81bba9f0f92b | 239 | serial_i2c.printf("$GPGLL,3456.9076,S,13831.2800,E,000002.000,A,D*4D\r\n"); |
whatnick | 5:81bba9f0f92b | 240 | serial_i2c.printf("$NKGCS,WGS 84*11\r\n"); |
whatnick | 5:81bba9f0f92b | 241 | |
whatnick | 5:81bba9f0f92b | 242 | if(up) |
whatnick | 5:81bba9f0f92b | 243 | { |
whatnick | 5:81bba9f0f92b | 244 | serial_i2c.ioSetState(0x0); |
whatnick | 5:81bba9f0f92b | 245 | up = false; |
whatnick | 5:81bba9f0f92b | 246 | } |
whatnick | 5:81bba9f0f92b | 247 | else |
whatnick | 5:81bba9f0f92b | 248 | { |
whatnick | 5:81bba9f0f92b | 249 | serial_i2c.ioSetState(0x3); |
whatnick | 5:81bba9f0f92b | 250 | up = true; |
whatnick | 5:81bba9f0f92b | 251 | } |
whatnick | 5:81bba9f0f92b | 252 | lastUpdate = Now; |
whatnick | 5:81bba9f0f92b | 253 | } |
whatnick | 5:81bba9f0f92b | 254 | */ |
whatnick | 2:f1912528eeaf | 255 | } |
whatnick | 2:f1912528eeaf | 256 | |
whatnick | 1:9de6ac4b381d | 257 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 258 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 259 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 260 | FILE *fp = fopen(buffer, "w"); |
whatnick | 1:9de6ac4b381d | 261 | if(fp == NULL) { |
whatnick | 1:9de6ac4b381d | 262 | LOG("Could not open file for write\n"); |
whatnick | 1:9de6ac4b381d | 263 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 264 | } else { |
whatnick | 2:f1912528eeaf | 265 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 1:9de6ac4b381d | 266 | } |
onehorse | 0:39935bb3c1a1 | 267 | |
whatnick | 1:9de6ac4b381d | 268 | while(1) { |
whatnick | 5:81bba9f0f92b | 269 | c = myGPS.read(); //queries the GPS |
whatnick | 5:81bba9f0f92b | 270 | if (c) { |
whatnick | 5:81bba9f0f92b | 271 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 5:81bba9f0f92b | 272 | //serial_i2c.putc(c); |
whatnick | 5:81bba9f0f92b | 273 | //serial_i2c.printf("$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 | 274 | //$GPGGA,160202.00,3452.14414,S,13836.63059,E,1,04,2.60,45.4,M,-3.4,M,,*6B |
whatnick | 5:81bba9f0f92b | 275 | //serial_i2c.printf("$GPRMC,154850.00,A,3452.12190,S,13836.65170,E,0.510,,110215,,,A*63\r\n"); |
whatnick | 5:81bba9f0f92b | 276 | //$GPRMC,160203.00,A,3452.14414,S,13836.63079,E,0.332,,110215,,,A*6F |
whatnick | 5:81bba9f0f92b | 277 | } |
whatnick | 5:81bba9f0f92b | 278 | |
whatnick | 1:9de6ac4b381d | 279 | // If intPin goes high, all data registers have new data |
whatnick | 1:9de6ac4b381d | 280 | if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
whatnick | 1:9de6ac4b381d | 281 | |
whatnick | 1:9de6ac4b381d | 282 | MPU9150.readAccelData(accelCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 283 | // Now we'll calculate the accleration value into actual g's |
whatnick | 1:9de6ac4b381d | 284 | ax = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 285 | ay = (float)accelCount[1]*aRes; // - accelBias[1]; |
whatnick | 1:9de6ac4b381d | 286 | az = (float)accelCount[2]*aRes; // - accelBias[2]; |
onehorse | 0:39935bb3c1a1 | 287 | |
whatnick | 1:9de6ac4b381d | 288 | MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 289 | // Calculate the gyro value into actual degrees per second |
whatnick | 1:9de6ac4b381d | 290 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 291 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
whatnick | 1:9de6ac4b381d | 292 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
whatnick | 1:9de6ac4b381d | 293 | |
whatnick | 1:9de6ac4b381d | 294 | mcount++; |
whatnick | 1:9de6ac4b381d | 295 | if (mcount > 200/MagRate) { // this is a poor man's way of setting the magnetometer read rate (see below) |
whatnick | 1:9de6ac4b381d | 296 | MPU9150.readMagData(magCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 297 | // Calculate the magnetometer values in milliGauss |
whatnick | 1:9de6ac4b381d | 298 | // Include factory calibration per data sheet and user environmental corrections |
whatnick | 1:9de6ac4b381d | 299 | mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 300 | my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; |
whatnick | 1:9de6ac4b381d | 301 | mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; |
whatnick | 1:9de6ac4b381d | 302 | mcount = 0; |
whatnick | 1:9de6ac4b381d | 303 | } |
whatnick | 1:9de6ac4b381d | 304 | } |
whatnick | 1:9de6ac4b381d | 305 | |
whatnick | 2:f1912528eeaf | 306 | //Handle GPS data |
whatnick | 2:f1912528eeaf | 307 | { |
whatnick | 2:f1912528eeaf | 308 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 309 | if (c) { |
whatnick | 2:f1912528eeaf | 310 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 5:81bba9f0f92b | 311 | //serial_i2c.putc(c); |
whatnick | 2:f1912528eeaf | 312 | } |
whatnick | 2:f1912528eeaf | 313 | |
whatnick | 2:f1912528eeaf | 314 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 315 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 316 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 317 | continue; |
whatnick | 2:f1912528eeaf | 318 | } |
whatnick | 5:81bba9f0f92b | 319 | |
whatnick | 2:f1912528eeaf | 320 | else |
whatnick | 2:f1912528eeaf | 321 | { |
whatnick | 2:f1912528eeaf | 322 | serial_i2c.printf(myGPS.lastNMEA()); |
whatnick | 5:81bba9f0f92b | 323 | serial_i2c.printf("\n\r"); |
whatnick | 5:81bba9f0f92b | 324 | if(myGPS.fix && fp!=NULL) { |
whatnick | 5:81bba9f0f92b | 325 | fprintf(fp,myGPS.lastNMEA()); |
whatnick | 5:81bba9f0f92b | 326 | fprintf(fp,"\r\n"); |
whatnick | 5:81bba9f0f92b | 327 | } |
whatnick | 2:f1912528eeaf | 328 | } |
whatnick | 5:81bba9f0f92b | 329 | |
whatnick | 2:f1912528eeaf | 330 | } |
whatnick | 2:f1912528eeaf | 331 | } |
whatnick | 2:f1912528eeaf | 332 | |
whatnick | 1:9de6ac4b381d | 333 | Now = t.read_us(); |
whatnick | 1:9de6ac4b381d | 334 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
whatnick | 1:9de6ac4b381d | 335 | lastUpdate = Now; |
whatnick | 1:9de6ac4b381d | 336 | |
whatnick | 1:9de6ac4b381d | 337 | sum += deltat; |
whatnick | 1:9de6ac4b381d | 338 | sumCount++; |
whatnick | 1:9de6ac4b381d | 339 | |
onehorse | 0:39935bb3c1a1 | 340 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
onehorse | 0:39935bb3c1a1 | 341 | // beta = 0.04; // decrease filter gain after stabilized |
onehorse | 0:39935bb3c1a1 | 342 | // zeta = 0.015; // increasey bias drift gain after stabilized |
whatnick | 1:9de6ac4b381d | 343 | // } |
whatnick | 1:9de6ac4b381d | 344 | |
whatnick | 1:9de6ac4b381d | 345 | // Pass gyro rate as rad/s |
whatnick | 1:9de6ac4b381d | 346 | MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 347 | // MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 348 | |
whatnick | 1:9de6ac4b381d | 349 | // Serial print and/or display at 0.5 s rate independent of data rates |
whatnick | 1:9de6ac4b381d | 350 | delt_t = t.read_ms() - count; |
whatnick | 1:9de6ac4b381d | 351 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
whatnick | 1:9de6ac4b381d | 352 | |
whatnick | 2:f1912528eeaf | 353 | LOG("ax = %f", 1000*ax); |
whatnick | 2:f1912528eeaf | 354 | LOG(" ay = %f", 1000*ay); |
whatnick | 2:f1912528eeaf | 355 | LOG(" az = %f mg\n\r", 1000*az); |
onehorse | 0:39935bb3c1a1 | 356 | |
whatnick | 2:f1912528eeaf | 357 | LOG("gx = %f", gx); |
whatnick | 2:f1912528eeaf | 358 | LOG(" gy = %f", gy); |
whatnick | 2:f1912528eeaf | 359 | LOG(" gz = %f deg/s\n\r", gz); |
whatnick | 1:9de6ac4b381d | 360 | |
whatnick | 2:f1912528eeaf | 361 | LOG("gx = %f", mx); |
whatnick | 2:f1912528eeaf | 362 | LOG(" gy = %f", my); |
whatnick | 2:f1912528eeaf | 363 | LOG(" gz = %f mG\n\r", mz); |
onehorse | 0:39935bb3c1a1 | 364 | |
whatnick | 1:9de6ac4b381d | 365 | tempCount = MPU9150.readTempData(); // Read the adc values |
whatnick | 1:9de6ac4b381d | 366 | temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade |
whatnick | 2:f1912528eeaf | 367 | LOG(" temperature = %f C\n\r", temperature); |
onehorse | 0:39935bb3c1a1 | 368 | |
whatnick | 2:f1912528eeaf | 369 | LOG("q0 = %f\n\r", q[0]); |
whatnick | 2:f1912528eeaf | 370 | LOG("q1 = %f\n\r", q[1]); |
whatnick | 2:f1912528eeaf | 371 | LOG("q2 = %f\n\r", q[2]); |
whatnick | 2:f1912528eeaf | 372 | LOG("q3 = %f\n\r", q[3]); |
whatnick | 2:f1912528eeaf | 373 | |
whatnick | 1:9de6ac4b381d | 374 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
whatnick | 1:9de6ac4b381d | 375 | // In this coordinate system, the positive z-axis is down toward Earth. |
whatnick | 1:9de6ac4b381d | 376 | // 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 | 377 | // 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 | 378 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
whatnick | 1:9de6ac4b381d | 379 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
whatnick | 1:9de6ac4b381d | 380 | // 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 | 381 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
whatnick | 1:9de6ac4b381d | 382 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
whatnick | 1:9de6ac4b381d | 383 | 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 | 384 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
whatnick | 1:9de6ac4b381d | 385 | 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 | 386 | pitch *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 387 | yaw *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 388 | yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
whatnick | 1:9de6ac4b381d | 389 | roll *= 180.0f / PI; |
onehorse | 0:39935bb3c1a1 | 390 | |
whatnick | 1:9de6ac4b381d | 391 | |
whatnick | 5:81bba9f0f92b | 392 | LOG("Yaw, Pitch, Roll: %f %f %f\r\n", yaw, pitch, roll); |
whatnick | 5:81bba9f0f92b | 393 | LOG("average rate = %f\r\n", (float) sumCount/sum); |
whatnick | 2:f1912528eeaf | 394 | |
whatnick | 2:f1912528eeaf | 395 | sprintf(buffer, "YPR:%3.0f %3.0f %3.0f", yaw, pitch, roll); |
whatnick | 1:9de6ac4b381d | 396 | oled.writeString(1,0,buffer); |
whatnick | 5:81bba9f0f92b | 397 | sprintf(buffer+1,"PTNTHPR,%3.1f,N,%3.1f,N,%3.1f,N,A",yaw,pitch,roll); |
whatnick | 5:81bba9f0f92b | 398 | int checkS = checkSum(buffer+1,strlen(buffer+1)); |
whatnick | 5:81bba9f0f92b | 399 | buffer[0] = '$'; |
whatnick | 5:81bba9f0f92b | 400 | serial_i2c.printf(buffer); |
whatnick | 5:81bba9f0f92b | 401 | serial_i2c.printf("*%02X\r\n",checkS); |
whatnick | 2:f1912528eeaf | 402 | if(fp != NULL) { |
whatnick | 5:81bba9f0f92b | 403 | fprintf(fp,"%s%02X\r\n",buffer,checkS); |
whatnick | 2:f1912528eeaf | 404 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 405 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 406 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 407 | fp=NULL; |
whatnick | 2:f1912528eeaf | 408 | } |
whatnick | 2:f1912528eeaf | 409 | } |
whatnick | 2:f1912528eeaf | 410 | |
whatnick | 2:f1912528eeaf | 411 | LOG("Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 412 | LOG("Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 413 | LOG("Fix: %d\n", (int) myGPS.fix); |
whatnick | 2:f1912528eeaf | 414 | LOG("Quality: %d\n", (int) myGPS.fixquality); |
whatnick | 2:f1912528eeaf | 415 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 416 | LOG("Location: %5.2f%c, %5.2f%c\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon); |
whatnick | 2:f1912528eeaf | 417 | LOG("Speed: %5.2f knots\n", myGPS.speed); |
whatnick | 2:f1912528eeaf | 418 | LOG("Angle: %5.2f\n", myGPS.angle); |
whatnick | 2:f1912528eeaf | 419 | LOG("Altitude: %5.2f\n", myGPS.altitude); |
whatnick | 2:f1912528eeaf | 420 | LOG("Satellites: %d\n", myGPS.satellites); |
whatnick | 2:f1912528eeaf | 421 | } |
whatnick | 2:f1912528eeaf | 422 | |
whatnick | 2:f1912528eeaf | 423 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 424 | sprintf(buffer,"LAT:%5.5f%c",myGPS.latitude,myGPS.lat); |
whatnick | 2:f1912528eeaf | 425 | oled.writeString(2,0,buffer); |
whatnick | 2:f1912528eeaf | 426 | sprintf(buffer,"LON:%5.5f%c",myGPS.longitude,myGPS.lon); |
whatnick | 2:f1912528eeaf | 427 | oled.writeString(3,0,buffer); |
whatnick | 2:f1912528eeaf | 428 | sprintf(buffer,"ALT:%5.2f",myGPS.altitude); |
whatnick | 2:f1912528eeaf | 429 | oled.writeString(4,0,buffer); |
whatnick | 2:f1912528eeaf | 430 | } else { |
whatnick | 2:f1912528eeaf | 431 | oled.writeString(2,0," "); |
whatnick | 2:f1912528eeaf | 432 | oled.writeString(2,0,"GPS Lost "); |
whatnick | 2:f1912528eeaf | 433 | oled.writeString(3,0," "); |
whatnick | 2:f1912528eeaf | 434 | oled.writeString(4,0," "); |
whatnick | 2:f1912528eeaf | 435 | } |
whatnick | 2:f1912528eeaf | 436 | sprintf(buffer,"Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 437 | oled.writeString(5,0,buffer); |
whatnick | 2:f1912528eeaf | 438 | sprintf(buffer,"Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 439 | oled.writeString(6,0,buffer); |
whatnick | 2:f1912528eeaf | 440 | |
whatnick | 2:f1912528eeaf | 441 | if(fp != NULL) { |
whatnick | 2:f1912528eeaf | 442 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 443 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 444 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 445 | fp=NULL; |
whatnick | 2:f1912528eeaf | 446 | } |
whatnick | 2:f1912528eeaf | 447 | } |
whatnick | 2:f1912528eeaf | 448 | |
whatnick | 2:f1912528eeaf | 449 | //if FP is null at the end of the loop attempt to open new log with fix |
whatnick | 2:f1912528eeaf | 450 | if(fp==NULL && myGPS.fix) { |
whatnick | 2:f1912528eeaf | 451 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 452 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 453 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 454 | FILE *fp = fopen(buffer, "w"); |
whatnick | 2:f1912528eeaf | 455 | if(fp == NULL) { |
whatnick | 2:f1912528eeaf | 456 | LOG("Could not open file for write\n"); |
whatnick | 2:f1912528eeaf | 457 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 458 | } else { |
whatnick | 2:f1912528eeaf | 459 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 2:f1912528eeaf | 460 | } |
whatnick | 2:f1912528eeaf | 461 | } |
whatnick | 1:9de6ac4b381d | 462 | |
whatnick | 1:9de6ac4b381d | 463 | myled= !myled; |
whatnick | 1:9de6ac4b381d | 464 | count = t.read_ms(); |
onehorse | 0:39935bb3c1a1 | 465 | |
whatnick | 1:9de6ac4b381d | 466 | if(count > 1<<21) { |
whatnick | 1:9de6ac4b381d | 467 | t.start(); // start the timer over again if ~30 minutes has passed |
whatnick | 1:9de6ac4b381d | 468 | count = 0; |
whatnick | 1:9de6ac4b381d | 469 | deltat= 0; |
whatnick | 1:9de6ac4b381d | 470 | lastUpdate = t.read_us(); |
whatnick | 1:9de6ac4b381d | 471 | } |
whatnick | 1:9de6ac4b381d | 472 | sum = 0; |
whatnick | 1:9de6ac4b381d | 473 | sumCount = 0; |
whatnick | 5:81bba9f0f92b | 474 | |
whatnick | 1:9de6ac4b381d | 475 | } |
onehorse | 0:39935bb3c1a1 | 476 | } |
whatnick | 5:81bba9f0f92b | 477 | } |
whatnick | 1:9de6ac4b381d | 478 |