Wesley Schon / Mbed 2 deprecated ECE4180Lab2_bubble

Mbed electronic "bubble level." Uses LSB9DS1 9-degrees-of-freedom IMU to determine orientation and prints bubble display to LCD screen.

Dependencies:   4DGL-uLCD-SE LSM9DS1_Library_cal mbed

main.cpp@0:8079f51a9835, 2016-02-13 (annotated)

Committer:
wschon
Date:
Sat Feb 13 18:47:31 2016 +0000
Revision:
0:8079f51a9835
bubble level;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wschon 0:8079f51a9835 1 #include "mbed.h"
wschon 0:8079f51a9835 2 #include "LSM9DS1.h"
wschon 0:8079f51a9835 3 #include "uLCD_4DGL.h"
wschon 0:8079f51a9835 4 #define PI 3.14159
wschon 0:8079f51a9835 5 // Earth's magnetic field varies by location. Add or subtract
wschon 0:8079f51a9835 6 // a declination to get a more accurate heading. Calculate
wschon 0:8079f51a9835 7 // your's here:
wschon 0:8079f51a9835 8 // http://www.ngdc.noaa.gov/geomag-web/#declination
wschon 0:8079f51a9835 9 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
wschon 0:8079f51a9835 10
wschon 0:8079f51a9835 11 DigitalOut myled(LED1);
wschon 0:8079f51a9835 12 Serial pc(USBTX, USBRX);
wschon 0:8079f51a9835 13 float accel_x, accel_y, accel_z;
wschon 0:8079f51a9835 14 int outer_radius = 9;
wschon 0:8079f51a9835 15 int radius = 3;
wschon 0:8079f51a9835 16 uLCD_4DGL uLCD(p9,p10,p11); // serial tx, serial rx, reset pin;
wschon 0:8079f51a9835 17 int x,y;
wschon 0:8079f51a9835 18
wschon 0:8079f51a9835 19 // Calculate pitch, roll, and heading.
wschon 0:8079f51a9835 20 // Pitch/roll calculations taken from this app note:
wschon 0:8079f51a9835 21 // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
wschon 0:8079f51a9835 22 // Heading calculations taken from this app note:
wschon 0:8079f51a9835 23 // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
wschon 0:8079f51a9835 24 void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
wschon 0:8079f51a9835 25 {
wschon 0:8079f51a9835 26 float roll = atan2(ay, az);
wschon 0:8079f51a9835 27 float pitch = atan2(-ax, sqrt(ay * ay + az * az));
wschon 0:8079f51a9835 28 // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
wschon 0:8079f51a9835 29 mx = -mx;
wschon 0:8079f51a9835 30 float heading;
wschon 0:8079f51a9835 31 if (my == 0.0)
wschon 0:8079f51a9835 32 heading = (mx < 0.0) ? 180.0 : 0.0;
wschon 0:8079f51a9835 33 else
wschon 0:8079f51a9835 34 heading = atan2(mx, my)*360.0/(2.0*PI);
wschon 0:8079f51a9835 35 //pc.printf("heading atan=%f \n\r",heading);
wschon 0:8079f51a9835 36 heading -= DECLINATION; //correct for geo location
wschon 0:8079f51a9835 37 if(heading>180.0) heading = heading - 360.0;
wschon 0:8079f51a9835 38 else if(heading<-180.0) heading = 360.0 + heading;
wschon 0:8079f51a9835 39 else if(heading<0.0) heading = 360.0 + heading;
wschon 0:8079f51a9835 40
wschon 0:8079f51a9835 41
wschon 0:8079f51a9835 42 // Convert everything from radians to degrees:
wschon 0:8079f51a9835 43 //heading *= 180.0 / PI;
wschon 0:8079f51a9835 44 pitch *= 180.0 / PI;
wschon 0:8079f51a9835 45 roll *= 180.0 / PI;
wschon 0:8079f51a9835 46
wschon 0:8079f51a9835 47 pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll);
wschon 0:8079f51a9835 48 pc.printf("Magnetic Heading: %f degress\n\r",heading);
wschon 0:8079f51a9835 49 }
wschon 0:8079f51a9835 50
wschon 0:8079f51a9835 51
wschon 0:8079f51a9835 52
wschon 0:8079f51a9835 53
wschon 0:8079f51a9835 54 int main()
wschon 0:8079f51a9835 55 {
wschon 0:8079f51a9835 56 // basic printf demo = 16 by 18 characters on screen
wschon 0:8079f51a9835 57
wschon 0:8079f51a9835 58 //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
wschon 0:8079f51a9835 59 LSM9DS1 IMU(p28, p27, 0xD6, 0x3C);
wschon 0:8079f51a9835 60 IMU.begin();
wschon 0:8079f51a9835 61 if (!IMU.begin()) {
wschon 0:8079f51a9835 62 pc.printf("Failed to communicate with LSM9DS1.\n");
wschon 0:8079f51a9835 63 }
wschon 0:8079f51a9835 64 IMU.calibrate(1);
wschon 0:8079f51a9835 65 IMU.calibrateMag(0);
wschon 0:8079f51a9835 66 while(1) {
wschon 0:8079f51a9835 67 while(!IMU.tempAvailable());
wschon 0:8079f51a9835 68 IMU.readTemp();
wschon 0:8079f51a9835 69 while(!IMU.magAvailable(X_AXIS));
wschon 0:8079f51a9835 70 IMU.readMag();
wschon 0:8079f51a9835 71 while(!IMU.accelAvailable());
wschon 0:8079f51a9835 72 IMU.readAccel();
wschon 0:8079f51a9835 73 while(!IMU.gyroAvailable());
wschon 0:8079f51a9835 74 IMU.readGyro();
wschon 0:8079f51a9835 75 pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
wschon 0:8079f51a9835 76 pc.printf(" X axis Y axis Z axis\n\r");
wschon 0:8079f51a9835 77 pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
wschon 0:8079f51a9835 78 pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
wschon 0:8079f51a9835 79 pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
wschon 0:8079f51a9835 80 printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
wschon 0:8079f51a9835 81 IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
wschon 0:8079f51a9835 82 myled = 1;
wschon 0:8079f51a9835 83 wait(2.5);
wschon 0:8079f51a9835 84 myled = 0;
wschon 0:8079f51a9835 85 wait(0.5);
wschon 0:8079f51a9835 86
wschon 0:8079f51a9835 87 while(1) {
wschon 0:8079f51a9835 88 while(!IMU.accelAvailable());
wschon 0:8079f51a9835 89 IMU.readAccel();
wschon 0:8079f51a9835 90 accel_x = IMU.calcAccel(IMU.ax);
wschon 0:8079f51a9835 91 accel_y = IMU.calcAccel(IMU.ay);
wschon 0:8079f51a9835 92 accel_z = IMU.calcAccel(IMU.az);
wschon 0:8079f51a9835 93 pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
wschon 0:8079f51a9835 94 //draw ball
wschon 0:8079f51a9835 95 x = 64 + 64*accel_x;
wschon 0:8079f51a9835 96 y = 64 + 64*accel_y;
wschon 0:8079f51a9835 97 uLCD.circle(64, 64, outer_radius, RED);
wschon 0:8079f51a9835 98 uLCD.filled_circle(x,y, radius, BLUE);
wschon 0:8079f51a9835 99 //bounce off edge walls and slow down a bit?
wschon 0:8079f51a9835 100 // if ((x<=radius+1) || (x>=126-radius)) vx = -.90*vx;
wschon 0:8079f51a9835 101 // if ((y<=radius+1) || (y>=126-radius)) vy = -.90*vy;
wschon 0:8079f51a9835 102 //erase old ball location
wschon 0:8079f51a9835 103 // uLCD.filled_circle(x, y, radius, BLACK);
wschon 0:8079f51a9835 104 //move ball
wschon 0:8079f51a9835 105 // fx=fx+vx;
wschon 0:8079f51a9835 106 // fy=fy+vy;
wschon 0:8079f51a9835 107 // x=(int)fx;
wschon 0:8079f51a9835 108 // y=(int)fy;
wschon 0:8079f51a9835 109 wait(0.1);
wschon 0:8079f51a9835 110 uLCD.filled_circle(x,y, radius, BLACK);
wschon 0:8079f51a9835 111
wschon 0:8079f51a9835 112 }
wschon 0:8079f51a9835 113 }
wschon 0:8079f51a9835 114 }
wschon 0:8079f51a9835 115