Tisham Dhar / Mbed 2 deprecated Xadow_MPU9150AHRS

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 Kris Winer

/media/uploads/whatnick/20151022_004759.jpg

main.cpp@2:f1912528eeaf, 2014-12-26 (annotated)

Committer:
whatnick
Date:
Fri Dec 26 01:02:21 2014 +0000
Revision:
2:f1912528eeaf
Parent:
1:9de6ac4b381d
Child:
3:c9267f465464
Added support for serial_i2c for sending data at 4800 baud to camera

Who changed what in which revision?

UserRevisionLine numberNew 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"
onehorse 0:39935bb3c1a1 38
whatnick 1:9de6ac4b381d 39 //Use Xadow OLED for display
whatnick 1:9de6ac4b381d 40 SSD1308 oled = SSD1308(i2c, SSD1308_SA0);
whatnick 1:9de6ac4b381d 41
whatnick 2:f1912528eeaf 42 //Use Serial expander for extra UART
whatnick 2:f1912528eeaf 43 SC16IS750_I2C serial_i2c(&i2c, SC16IS750_SA5);
whatnick 2:f1912528eeaf 44
whatnick 1:9de6ac4b381d 45 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 46
onehorse 0:39935bb3c1a1 47 float sum = 0;
onehorse 0:39935bb3c1a1 48 uint32_t sumCount = 0, mcount = 0;
whatnick 1:9de6ac4b381d 49 char buffer[32];
whatnick 1:9de6ac4b381d 50
whatnick 1:9de6ac4b381d 51 MPU9150 MPU9150;
onehorse 0:39935bb3c1a1 52
whatnick 1:9de6ac4b381d 53 Timer t;
whatnick 1:9de6ac4b381d 54
whatnick 1:9de6ac4b381d 55 Serial gps(P0_19,P0_18);
onehorse 0:39935bb3c1a1 56
whatnick 2:f1912528eeaf 57 //#define DEBUG
onehorse 0:39935bb3c1a1 58
whatnick 1:9de6ac4b381d 59 #ifdef DEBUG
whatnick 1:9de6ac4b381d 60 #include "USBSerial.h" // To use USB virtual serial, a driver is needed, check http://mbed.org/handbook/USBSerial
whatnick 1:9de6ac4b381d 61 #define LOG(args...) pc.printf(args)
whatnick 1:9de6ac4b381d 62 USBSerial pc;
whatnick 1:9de6ac4b381d 63 #else
whatnick 1:9de6ac4b381d 64 #define LOG(args...)
whatnick 1:9de6ac4b381d 65 #endif
onehorse 0:39935bb3c1a1 66
onehorse 0:39935bb3c1a1 67 int main()
onehorse 0:39935bb3c1a1 68 {
whatnick 1:9de6ac4b381d 69
whatnick 1:9de6ac4b381d 70 //Set up I2C
whatnick 1:9de6ac4b381d 71 i2c.frequency(400000); // use fast (400 kHz) I2C
whatnick 1:9de6ac4b381d 72
whatnick 2:f1912528eeaf 73 //Set up GPS
whatnick 2:f1912528eeaf 74 Adafruit_GPS myGPS(&gps);
whatnick 2:f1912528eeaf 75 char c; //when read via Adafruit_GPS::read(), the class returns single character stored here
whatnick 1:9de6ac4b381d 76
whatnick 2:f1912528eeaf 77 LOG("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
onehorse 0:39935bb3c1a1 78
whatnick 1:9de6ac4b381d 79 t.start();
whatnick 1:9de6ac4b381d 80
whatnick 2:f1912528eeaf 81 myGPS.begin(9600);
whatnick 2:f1912528eeaf 82 serial_i2c.baud(4800);
whatnick 1:9de6ac4b381d 83 oled.fillDisplay(0xAA);
whatnick 1:9de6ac4b381d 84 oled.setDisplayOff();
onehorse 0:39935bb3c1a1 85 wait(1);
whatnick 1:9de6ac4b381d 86 oled.setDisplayOn();
whatnick 1:9de6ac4b381d 87
whatnick 1:9de6ac4b381d 88 oled.clearDisplay();
whatnick 1:9de6ac4b381d 89 oled.setDisplayInverse();
whatnick 1:9de6ac4b381d 90 wait(0.5);
whatnick 1:9de6ac4b381d 91 oled.setDisplayNormal();
whatnick 1:9de6ac4b381d 92
whatnick 1:9de6ac4b381d 93 oled.writeBitmap((uint8_t*) mbed_logo);
whatnick 1:9de6ac4b381d 94
whatnick 2:f1912528eeaf 95 LOG("OLED test done\r\n");
whatnick 1:9de6ac4b381d 96 wait(10);
whatnick 1:9de6ac4b381d 97 oled.clearDisplay();
whatnick 1:9de6ac4b381d 98
whatnick 2:f1912528eeaf 99 oled.writeString(0, 0, "##AeroAHRS##");
whatnick 1:9de6ac4b381d 100 // Read the WHO_AM_I register, this is a good test of communication
whatnick 1:9de6ac4b381d 101 uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250
whatnick 2:f1912528eeaf 102 LOG("I AM 0x%x\n\r", whoami);
whatnick 2:f1912528eeaf 103 LOG("I SHOULD BE 0x68\n\r");
whatnick 1:9de6ac4b381d 104
whatnick 1:9de6ac4b381d 105 if (whoami == 0x68) { // WHO_AM_I should be 0x68
whatnick 2:f1912528eeaf 106 LOG("MPU9150 WHO_AM_I is 0x%x\n\r", whoami);
whatnick 2:f1912528eeaf 107 LOG("MPU9150 is online...\n\r");
whatnick 1:9de6ac4b381d 108 //lcd.clear();
whatnick 1:9de6ac4b381d 109 //lcd.printString("MPU9150 is", 0, 0);
whatnick 1:9de6ac4b381d 110 //sprintf(buffer, "0x%x", whoami);
whatnick 1:9de6ac4b381d 111 //lcd.printString(buffer, 0, 1);
whatnick 1:9de6ac4b381d 112 //lcd.printString("shoud be 0x68", 0, 2);
whatnick 1:9de6ac4b381d 113 wait(1);
whatnick 1:9de6ac4b381d 114
whatnick 1:9de6ac4b381d 115 MPU9150.MPU9150SelfTest(SelfTest);
whatnick 2:f1912528eeaf 116 LOG("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]);
whatnick 2:f1912528eeaf 117 LOG("y-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[1]);
whatnick 2:f1912528eeaf 118 LOG("z-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[2]);
whatnick 2:f1912528eeaf 119 LOG("x-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[3]);
whatnick 2:f1912528eeaf 120 LOG("y-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[4]);
whatnick 2:f1912528eeaf 121 LOG("z-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[5]);
whatnick 1:9de6ac4b381d 122 wait(1);
whatnick 1:9de6ac4b381d 123 MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration
whatnick 1:9de6ac4b381d 124 MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
whatnick 2:f1912528eeaf 125 LOG("x gyro bias = %f\n\r", gyroBias[0]);
whatnick 2:f1912528eeaf 126 LOG("y gyro bias = %f\n\r", gyroBias[1]);
whatnick 2:f1912528eeaf 127 LOG("z gyro bias = %f\n\r", gyroBias[2]);
whatnick 2:f1912528eeaf 128 LOG("x accel bias = %f\n\r", accelBias[0]);
whatnick 2:f1912528eeaf 129 LOG("y accel bias = %f\n\r", accelBias[1]);
whatnick 2:f1912528eeaf 130 LOG("z accel bias = %f\n\r", accelBias[2]);
whatnick 1:9de6ac4b381d 131 wait(1);
whatnick 1:9de6ac4b381d 132 MPU9150.initMPU9150();
whatnick 2:f1912528eeaf 133 LOG("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
whatnick 1:9de6ac4b381d 134 MPU9150.initAK8975A(magCalibration);
whatnick 2:f1912528eeaf 135 LOG("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
whatnick 1:9de6ac4b381d 136 } else {
whatnick 2:f1912528eeaf 137 LOG("Could not connect to MPU9150: \n\r");
whatnick 2:f1912528eeaf 138 LOG("%#x \n", whoami);
whatnick 1:9de6ac4b381d 139
whatnick 1:9de6ac4b381d 140 //lcd.clear();
whatnick 1:9de6ac4b381d 141 //lcd.printString("MPU9150", 0, 0);
whatnick 1:9de6ac4b381d 142 //lcd.printString("no connection", 0, 1);
whatnick 1:9de6ac4b381d 143 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
whatnick 1:9de6ac4b381d 144 //lcd.printString(buffer, 0, 2);
whatnick 1:9de6ac4b381d 145
whatnick 1:9de6ac4b381d 146 while(1) ; // Loop forever if communication doesn't happen
onehorse 0:39935bb3c1a1 147 }
onehorse 0:39935bb3c1a1 148
onehorse 0:39935bb3c1a1 149 uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values
onehorse 0:39935bb3c1a1 150 MPU9150.getAres(); // Get accelerometer sensitivity
onehorse 0:39935bb3c1a1 151 MPU9150.getGres(); // Get gyro sensitivity
onehorse 0:39935bb3c1a1 152 mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale
onehorse 0:39935bb3c1a1 153 // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically
onehorse 0:39935bb3c1a1 154 // like the gyro and accelerometer biases
onehorse 0:39935bb3c1a1 155 magbias[0] = -5.; // User environmental x-axis correction in milliGauss
onehorse 0:39935bb3c1a1 156 magbias[1] = -95.; // User environmental y-axis correction in milliGauss
onehorse 0:39935bb3c1a1 157 magbias[2] = -260.; // User environmental z-axis correction in milliGauss
whatnick 1:9de6ac4b381d 158
whatnick 2:f1912528eeaf 159 //Wait for GPS to acquire lock
whatnick 2:f1912528eeaf 160 oled.writeString(2,0,"GPS Init ");
whatnick 2:f1912528eeaf 161 while(!myGPS.fix) {
whatnick 2:f1912528eeaf 162 c = myGPS.read(); //queries the GPS
whatnick 2:f1912528eeaf 163 if (c) {
whatnick 2:f1912528eeaf 164 LOG("%c", c); //this line will echo the GPS data if not paused
whatnick 2:f1912528eeaf 165 }
whatnick 2:f1912528eeaf 166
whatnick 2:f1912528eeaf 167 //check if we recieved a new message from GPS, if so, attempt to parse it,
whatnick 2:f1912528eeaf 168 if ( myGPS.newNMEAreceived() ) {
whatnick 2:f1912528eeaf 169 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
whatnick 2:f1912528eeaf 170 continue;
whatnick 2:f1912528eeaf 171 }
whatnick 2:f1912528eeaf 172 }
whatnick 2:f1912528eeaf 173 }
whatnick 2:f1912528eeaf 174
whatnick 1:9de6ac4b381d 175 mkdir("/sd/logdir", 0777);
whatnick 2:f1912528eeaf 176 sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year,
whatnick 2:f1912528eeaf 177 myGPS.hour, myGPS.minute, myGPS.seconds);
whatnick 2:f1912528eeaf 178 FILE *fp = fopen(buffer, "w");
whatnick 1:9de6ac4b381d 179 if(fp == NULL) {
whatnick 1:9de6ac4b381d 180 LOG("Could not open file for write\n");
whatnick 1:9de6ac4b381d 181 oled.writeString(7,0,"SD Fail");
whatnick 2:f1912528eeaf 182 } else {
whatnick 2:f1912528eeaf 183 oled.writeString(7,0,"SD OKAY");
whatnick 1:9de6ac4b381d 184 }
onehorse 0:39935bb3c1a1 185
whatnick 1:9de6ac4b381d 186 while(1) {
whatnick 1:9de6ac4b381d 187
whatnick 1:9de6ac4b381d 188 // If intPin goes high, all data registers have new data
whatnick 1:9de6ac4b381d 189 if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
whatnick 1:9de6ac4b381d 190
whatnick 1:9de6ac4b381d 191 MPU9150.readAccelData(accelCount); // Read the x/y/z adc values
whatnick 1:9de6ac4b381d 192 // Now we'll calculate the accleration value into actual g's
whatnick 1:9de6ac4b381d 193 ax = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set
whatnick 1:9de6ac4b381d 194 ay = (float)accelCount[1]*aRes; // - accelBias[1];
whatnick 1:9de6ac4b381d 195 az = (float)accelCount[2]*aRes; // - accelBias[2];
onehorse 0:39935bb3c1a1 196
whatnick 1:9de6ac4b381d 197 MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values
whatnick 1:9de6ac4b381d 198 // Calculate the gyro value into actual degrees per second
whatnick 1:9de6ac4b381d 199 gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set
whatnick 1:9de6ac4b381d 200 gy = (float)gyroCount[1]*gRes; // - gyroBias[1];
whatnick 1:9de6ac4b381d 201 gz = (float)gyroCount[2]*gRes; // - gyroBias[2];
whatnick 1:9de6ac4b381d 202
whatnick 1:9de6ac4b381d 203 mcount++;
whatnick 1:9de6ac4b381d 204 if (mcount > 200/MagRate) { // this is a poor man's way of setting the magnetometer read rate (see below)
whatnick 1:9de6ac4b381d 205 MPU9150.readMagData(magCount); // Read the x/y/z adc values
whatnick 1:9de6ac4b381d 206 // Calculate the magnetometer values in milliGauss
whatnick 1:9de6ac4b381d 207 // Include factory calibration per data sheet and user environmental corrections
whatnick 1:9de6ac4b381d 208 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
whatnick 1:9de6ac4b381d 209 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
whatnick 1:9de6ac4b381d 210 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
whatnick 1:9de6ac4b381d 211 mcount = 0;
whatnick 1:9de6ac4b381d 212 }
whatnick 1:9de6ac4b381d 213 }
whatnick 1:9de6ac4b381d 214
whatnick 2:f1912528eeaf 215 //Handle GPS data
whatnick 2:f1912528eeaf 216 {
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 else
whatnick 2:f1912528eeaf 228 {
whatnick 2:f1912528eeaf 229 serial_i2c.printf(myGPS.lastNMEA());
whatnick 2:f1912528eeaf 230 }
whatnick 2:f1912528eeaf 231 }
whatnick 2:f1912528eeaf 232 }
whatnick 2:f1912528eeaf 233
whatnick 1:9de6ac4b381d 234 Now = t.read_us();
whatnick 1:9de6ac4b381d 235 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
whatnick 1:9de6ac4b381d 236 lastUpdate = Now;
whatnick 1:9de6ac4b381d 237
whatnick 1:9de6ac4b381d 238 sum += deltat;
whatnick 1:9de6ac4b381d 239 sumCount++;
whatnick 1:9de6ac4b381d 240
onehorse 0:39935bb3c1a1 241 // if(lastUpdate - firstUpdate > 10000000.0f) {
onehorse 0:39935bb3c1a1 242 // beta = 0.04; // decrease filter gain after stabilized
onehorse 0:39935bb3c1a1 243 // zeta = 0.015; // increasey bias drift gain after stabilized
whatnick 1:9de6ac4b381d 244 // }
whatnick 1:9de6ac4b381d 245
whatnick 1:9de6ac4b381d 246 // Pass gyro rate as rad/s
whatnick 1:9de6ac4b381d 247 MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
whatnick 1:9de6ac4b381d 248 // MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
whatnick 1:9de6ac4b381d 249
whatnick 1:9de6ac4b381d 250 // Serial print and/or display at 0.5 s rate independent of data rates
whatnick 1:9de6ac4b381d 251 delt_t = t.read_ms() - count;
whatnick 1:9de6ac4b381d 252 if (delt_t > 500) { // update LCD once per half-second independent of read rate
whatnick 1:9de6ac4b381d 253
whatnick 2:f1912528eeaf 254 LOG("ax = %f", 1000*ax);
whatnick 2:f1912528eeaf 255 LOG(" ay = %f", 1000*ay);
whatnick 2:f1912528eeaf 256 LOG(" az = %f mg\n\r", 1000*az);
onehorse 0:39935bb3c1a1 257
whatnick 2:f1912528eeaf 258 LOG("gx = %f", gx);
whatnick 2:f1912528eeaf 259 LOG(" gy = %f", gy);
whatnick 2:f1912528eeaf 260 LOG(" gz = %f deg/s\n\r", gz);
whatnick 1:9de6ac4b381d 261
whatnick 2:f1912528eeaf 262 LOG("gx = %f", mx);
whatnick 2:f1912528eeaf 263 LOG(" gy = %f", my);
whatnick 2:f1912528eeaf 264 LOG(" gz = %f mG\n\r", mz);
onehorse 0:39935bb3c1a1 265
whatnick 1:9de6ac4b381d 266 tempCount = MPU9150.readTempData(); // Read the adc values
whatnick 1:9de6ac4b381d 267 temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade
whatnick 2:f1912528eeaf 268 LOG(" temperature = %f C\n\r", temperature);
onehorse 0:39935bb3c1a1 269
whatnick 2:f1912528eeaf 270 LOG("q0 = %f\n\r", q[0]);
whatnick 2:f1912528eeaf 271 LOG("q1 = %f\n\r", q[1]);
whatnick 2:f1912528eeaf 272 LOG("q2 = %f\n\r", q[2]);
whatnick 2:f1912528eeaf 273 LOG("q3 = %f\n\r", q[3]);
whatnick 2:f1912528eeaf 274
whatnick 1:9de6ac4b381d 275 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
whatnick 1:9de6ac4b381d 276 // In this coordinate system, the positive z-axis is down toward Earth.
whatnick 1:9de6ac4b381d 277 // 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 278 // 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 279 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
whatnick 1:9de6ac4b381d 280 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
whatnick 1:9de6ac4b381d 281 // 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 282 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
whatnick 1:9de6ac4b381d 283 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
whatnick 1:9de6ac4b381d 284 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 285 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
whatnick 1:9de6ac4b381d 286 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 287 pitch *= 180.0f / PI;
whatnick 1:9de6ac4b381d 288 yaw *= 180.0f / PI;
whatnick 1:9de6ac4b381d 289 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
whatnick 1:9de6ac4b381d 290 roll *= 180.0f / PI;
onehorse 0:39935bb3c1a1 291
whatnick 1:9de6ac4b381d 292
whatnick 2:f1912528eeaf 293 LOG("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
whatnick 2:f1912528eeaf 294 LOG("average rate = %f\n\r", (float) sumCount/sum);
whatnick 2:f1912528eeaf 295
whatnick 2:f1912528eeaf 296 sprintf(buffer, "YPR:%3.0f %3.0f %3.0f", yaw, pitch, roll);
whatnick 1:9de6ac4b381d 297 oled.writeString(1,0,buffer);
whatnick 2:f1912528eeaf 298 if(fp != NULL) {
whatnick 2:f1912528eeaf 299 fprintf(fp,"YPR: %f %f %f\n", yaw, pitch, roll);
whatnick 2:f1912528eeaf 300 if(fflush(fp)==EOF) {
whatnick 2:f1912528eeaf 301 //SD card removed close file pointer
whatnick 2:f1912528eeaf 302 oled.writeString(7,0,"SD Fail");
whatnick 2:f1912528eeaf 303 fp=NULL;
whatnick 2:f1912528eeaf 304 }
whatnick 2:f1912528eeaf 305 }
whatnick 2:f1912528eeaf 306
whatnick 2:f1912528eeaf 307 LOG("Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
whatnick 2:f1912528eeaf 308 LOG("Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year);
whatnick 2:f1912528eeaf 309 LOG("Fix: %d\n", (int) myGPS.fix);
whatnick 2:f1912528eeaf 310 LOG("Quality: %d\n", (int) myGPS.fixquality);
whatnick 2:f1912528eeaf 311 if (myGPS.fix) {
whatnick 2:f1912528eeaf 312 LOG("Location: %5.2f%c, %5.2f%c\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
whatnick 2:f1912528eeaf 313 LOG("Speed: %5.2f knots\n", myGPS.speed);
whatnick 2:f1912528eeaf 314 LOG("Angle: %5.2f\n", myGPS.angle);
whatnick 2:f1912528eeaf 315 LOG("Altitude: %5.2f\n", myGPS.altitude);
whatnick 2:f1912528eeaf 316 LOG("Satellites: %d\n", myGPS.satellites);
whatnick 2:f1912528eeaf 317 }
whatnick 2:f1912528eeaf 318
whatnick 2:f1912528eeaf 319 if (myGPS.fix) {
whatnick 2:f1912528eeaf 320 sprintf(buffer,"LAT:%5.5f%c",myGPS.latitude,myGPS.lat);
whatnick 2:f1912528eeaf 321 oled.writeString(2,0,buffer);
whatnick 2:f1912528eeaf 322 sprintf(buffer,"LON:%5.5f%c",myGPS.longitude,myGPS.lon);
whatnick 2:f1912528eeaf 323 oled.writeString(3,0,buffer);
whatnick 2:f1912528eeaf 324 sprintf(buffer,"ALT:%5.2f",myGPS.altitude);
whatnick 2:f1912528eeaf 325 oled.writeString(4,0,buffer);
whatnick 2:f1912528eeaf 326 } else {
whatnick 2:f1912528eeaf 327 oled.writeString(2,0," ");
whatnick 2:f1912528eeaf 328 oled.writeString(2,0,"GPS Lost ");
whatnick 2:f1912528eeaf 329 oled.writeString(3,0," ");
whatnick 2:f1912528eeaf 330 oled.writeString(4,0," ");
whatnick 2:f1912528eeaf 331 }
whatnick 2:f1912528eeaf 332 sprintf(buffer,"Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
whatnick 2:f1912528eeaf 333 oled.writeString(5,0,buffer);
whatnick 2:f1912528eeaf 334 sprintf(buffer,"Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year);
whatnick 2:f1912528eeaf 335 oled.writeString(6,0,buffer);
whatnick 2:f1912528eeaf 336
whatnick 2:f1912528eeaf 337 if(myGPS.fix && fp!=NULL) {
whatnick 2:f1912528eeaf 338 fprintf(fp,"LLA: %5.6f%c, %5.6f%c, %5.2f\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon,myGPS.altitude);
whatnick 2:f1912528eeaf 339 }
whatnick 2:f1912528eeaf 340
whatnick 2:f1912528eeaf 341 if(fp != NULL) {
whatnick 2:f1912528eeaf 342 fprintf(fp,"DT: %d/%d/20%d %d:%d:%d.%u\n", myGPS.day, myGPS.month, myGPS.year, myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
whatnick 2:f1912528eeaf 343 if(fflush(fp)==EOF) {
whatnick 2:f1912528eeaf 344 //SD card removed close file pointer
whatnick 2:f1912528eeaf 345 oled.writeString(7,0,"SD Fail");
whatnick 2:f1912528eeaf 346 fp=NULL;
whatnick 2:f1912528eeaf 347 }
whatnick 2:f1912528eeaf 348 }
whatnick 2:f1912528eeaf 349
whatnick 2:f1912528eeaf 350 //if FP is null at the end of the loop attempt to open new log with fix
whatnick 2:f1912528eeaf 351 if(fp==NULL && myGPS.fix) {
whatnick 2:f1912528eeaf 352 mkdir("/sd/logdir", 0777);
whatnick 2:f1912528eeaf 353 sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year,
whatnick 2:f1912528eeaf 354 myGPS.hour, myGPS.minute, myGPS.seconds);
whatnick 2:f1912528eeaf 355 FILE *fp = fopen(buffer, "w");
whatnick 2:f1912528eeaf 356 if(fp == NULL) {
whatnick 2:f1912528eeaf 357 LOG("Could not open file for write\n");
whatnick 2:f1912528eeaf 358 oled.writeString(7,0,"SD Fail");
whatnick 2:f1912528eeaf 359 } else {
whatnick 2:f1912528eeaf 360 oled.writeString(7,0,"SD OKAY");
whatnick 2:f1912528eeaf 361 }
whatnick 2:f1912528eeaf 362 }
whatnick 1:9de6ac4b381d 363
whatnick 1:9de6ac4b381d 364 myled= !myled;
whatnick 1:9de6ac4b381d 365 count = t.read_ms();
onehorse 0:39935bb3c1a1 366
whatnick 1:9de6ac4b381d 367 if(count > 1<<21) {
whatnick 1:9de6ac4b381d 368 t.start(); // start the timer over again if ~30 minutes has passed
whatnick 1:9de6ac4b381d 369 count = 0;
whatnick 1:9de6ac4b381d 370 deltat= 0;
whatnick 1:9de6ac4b381d 371 lastUpdate = t.read_us();
whatnick 1:9de6ac4b381d 372 }
whatnick 1:9de6ac4b381d 373 sum = 0;
whatnick 1:9de6ac4b381d 374 sumCount = 0;
whatnick 1:9de6ac4b381d 375 }
onehorse 0:39935bb3c1a1 376 }
whatnick 1:9de6ac4b381d 377
whatnick 1:9de6ac4b381d 378 }