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@3:c9267f465464, 2014-12-28 (annotated)
- Committer:
- whatnick
- Date:
- Sun Dec 28 13:42:23 2014 +0000
- Revision:
- 3:c9267f465464
- Parent:
- 2:f1912528eeaf
- Child:
- 4:256505da4487
Change Baud rate.
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" |
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 | 3:c9267f465464 | 82 | //Set BLE baudrate |
whatnick | 3:c9267f465464 | 83 | serial_i2c.baud(9600); |
whatnick | 3:c9267f465464 | 84 | serial_i2c.printf("AT+BAUD6"); |
whatnick | 3:c9267f465464 | 85 | wait(1)h |
whatnick | 2:f1912528eeaf | 86 | serial_i2c.baud(4800); |
whatnick | 1:9de6ac4b381d | 87 | oled.fillDisplay(0xAA); |
whatnick | 1:9de6ac4b381d | 88 | oled.setDisplayOff(); |
onehorse | 0:39935bb3c1a1 | 89 | wait(1); |
whatnick | 1:9de6ac4b381d | 90 | oled.setDisplayOn(); |
whatnick | 1:9de6ac4b381d | 91 | |
whatnick | 1:9de6ac4b381d | 92 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 93 | oled.setDisplayInverse(); |
whatnick | 1:9de6ac4b381d | 94 | wait(0.5); |
whatnick | 1:9de6ac4b381d | 95 | oled.setDisplayNormal(); |
whatnick | 1:9de6ac4b381d | 96 | |
whatnick | 1:9de6ac4b381d | 97 | oled.writeBitmap((uint8_t*) mbed_logo); |
whatnick | 1:9de6ac4b381d | 98 | |
whatnick | 2:f1912528eeaf | 99 | LOG("OLED test done\r\n"); |
whatnick | 1:9de6ac4b381d | 100 | wait(10); |
whatnick | 1:9de6ac4b381d | 101 | oled.clearDisplay(); |
whatnick | 1:9de6ac4b381d | 102 | |
whatnick | 2:f1912528eeaf | 103 | oled.writeString(0, 0, "##AeroAHRS##"); |
whatnick | 1:9de6ac4b381d | 104 | // Read the WHO_AM_I register, this is a good test of communication |
whatnick | 1:9de6ac4b381d | 105 | uint8_t whoami = MPU9150.readByte(MPU9150_ADDRESS, WHO_AM_I_MPU9150); // Read WHO_AM_I register for MPU-9250 |
whatnick | 2:f1912528eeaf | 106 | LOG("I AM 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 107 | LOG("I SHOULD BE 0x68\n\r"); |
whatnick | 1:9de6ac4b381d | 108 | |
whatnick | 1:9de6ac4b381d | 109 | if (whoami == 0x68) { // WHO_AM_I should be 0x68 |
whatnick | 2:f1912528eeaf | 110 | LOG("MPU9150 WHO_AM_I is 0x%x\n\r", whoami); |
whatnick | 2:f1912528eeaf | 111 | LOG("MPU9150 is online...\n\r"); |
whatnick | 1:9de6ac4b381d | 112 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 113 | //lcd.printString("MPU9150 is", 0, 0); |
whatnick | 1:9de6ac4b381d | 114 | //sprintf(buffer, "0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 115 | //lcd.printString(buffer, 0, 1); |
whatnick | 1:9de6ac4b381d | 116 | //lcd.printString("shoud be 0x68", 0, 2); |
whatnick | 1:9de6ac4b381d | 117 | wait(1); |
whatnick | 1:9de6ac4b381d | 118 | |
whatnick | 1:9de6ac4b381d | 119 | MPU9150.MPU9150SelfTest(SelfTest); |
whatnick | 2:f1912528eeaf | 120 | LOG("x-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[0]); |
whatnick | 2:f1912528eeaf | 121 | LOG("y-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[1]); |
whatnick | 2:f1912528eeaf | 122 | LOG("z-axis self test: acceleration trim within %f % of factory value\n\r", SelfTest[2]); |
whatnick | 2:f1912528eeaf | 123 | LOG("x-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[3]); |
whatnick | 2:f1912528eeaf | 124 | LOG("y-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[4]); |
whatnick | 2:f1912528eeaf | 125 | LOG("z-axis self test: gyration trim within %f % of factory value\n\r", SelfTest[5]); |
whatnick | 1:9de6ac4b381d | 126 | wait(1); |
whatnick | 1:9de6ac4b381d | 127 | MPU9150.resetMPU9150(); // Reset registers to default in preparation for device calibration |
whatnick | 1:9de6ac4b381d | 128 | MPU9150.calibrateMPU9150(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
whatnick | 2:f1912528eeaf | 129 | LOG("x gyro bias = %f\n\r", gyroBias[0]); |
whatnick | 2:f1912528eeaf | 130 | LOG("y gyro bias = %f\n\r", gyroBias[1]); |
whatnick | 2:f1912528eeaf | 131 | LOG("z gyro bias = %f\n\r", gyroBias[2]); |
whatnick | 2:f1912528eeaf | 132 | LOG("x accel bias = %f\n\r", accelBias[0]); |
whatnick | 2:f1912528eeaf | 133 | LOG("y accel bias = %f\n\r", accelBias[1]); |
whatnick | 2:f1912528eeaf | 134 | LOG("z accel bias = %f\n\r", accelBias[2]); |
whatnick | 1:9de6ac4b381d | 135 | wait(1); |
whatnick | 1:9de6ac4b381d | 136 | MPU9150.initMPU9150(); |
whatnick | 2:f1912528eeaf | 137 | LOG("MPU9150 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
whatnick | 1:9de6ac4b381d | 138 | MPU9150.initAK8975A(magCalibration); |
whatnick | 2:f1912528eeaf | 139 | LOG("AK8975 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer |
whatnick | 1:9de6ac4b381d | 140 | } else { |
whatnick | 2:f1912528eeaf | 141 | LOG("Could not connect to MPU9150: \n\r"); |
whatnick | 2:f1912528eeaf | 142 | LOG("%#x \n", whoami); |
whatnick | 1:9de6ac4b381d | 143 | |
whatnick | 1:9de6ac4b381d | 144 | //lcd.clear(); |
whatnick | 1:9de6ac4b381d | 145 | //lcd.printString("MPU9150", 0, 0); |
whatnick | 1:9de6ac4b381d | 146 | //lcd.printString("no connection", 0, 1); |
whatnick | 1:9de6ac4b381d | 147 | sprintf(buffer, "WHO_AM_I 0x%x", whoami); |
whatnick | 1:9de6ac4b381d | 148 | //lcd.printString(buffer, 0, 2); |
whatnick | 1:9de6ac4b381d | 149 | |
whatnick | 1:9de6ac4b381d | 150 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:39935bb3c1a1 | 151 | } |
onehorse | 0:39935bb3c1a1 | 152 | |
onehorse | 0:39935bb3c1a1 | 153 | uint8_t MagRate = 10; // set magnetometer read rate in Hz; 10 to 100 (max) Hz are reasonable values |
onehorse | 0:39935bb3c1a1 | 154 | MPU9150.getAres(); // Get accelerometer sensitivity |
onehorse | 0:39935bb3c1a1 | 155 | MPU9150.getGres(); // Get gyro sensitivity |
onehorse | 0:39935bb3c1a1 | 156 | mRes = 10.*1229./4096.; // Conversion from 1229 microTesla full scale (4096) to 12.29 Gauss full scale |
onehorse | 0:39935bb3c1a1 | 157 | // So far, magnetometer bias is calculated and subtracted here manually, should construct an algorithm to do it automatically |
onehorse | 0:39935bb3c1a1 | 158 | // like the gyro and accelerometer biases |
onehorse | 0:39935bb3c1a1 | 159 | magbias[0] = -5.; // User environmental x-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 160 | magbias[1] = -95.; // User environmental y-axis correction in milliGauss |
onehorse | 0:39935bb3c1a1 | 161 | magbias[2] = -260.; // User environmental z-axis correction in milliGauss |
whatnick | 1:9de6ac4b381d | 162 | |
whatnick | 2:f1912528eeaf | 163 | //Wait for GPS to acquire lock |
whatnick | 2:f1912528eeaf | 164 | oled.writeString(2,0,"GPS Init "); |
whatnick | 2:f1912528eeaf | 165 | while(!myGPS.fix) { |
whatnick | 2:f1912528eeaf | 166 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 167 | if (c) { |
whatnick | 2:f1912528eeaf | 168 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 2:f1912528eeaf | 169 | } |
whatnick | 2:f1912528eeaf | 170 | |
whatnick | 2:f1912528eeaf | 171 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 172 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 173 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 174 | continue; |
whatnick | 2:f1912528eeaf | 175 | } |
whatnick | 2:f1912528eeaf | 176 | } |
whatnick | 2:f1912528eeaf | 177 | } |
whatnick | 2:f1912528eeaf | 178 | |
whatnick | 1:9de6ac4b381d | 179 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 180 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 181 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 182 | FILE *fp = fopen(buffer, "w"); |
whatnick | 1:9de6ac4b381d | 183 | if(fp == NULL) { |
whatnick | 1:9de6ac4b381d | 184 | LOG("Could not open file for write\n"); |
whatnick | 1:9de6ac4b381d | 185 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 186 | } else { |
whatnick | 2:f1912528eeaf | 187 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 1:9de6ac4b381d | 188 | } |
onehorse | 0:39935bb3c1a1 | 189 | |
whatnick | 1:9de6ac4b381d | 190 | while(1) { |
whatnick | 1:9de6ac4b381d | 191 | |
whatnick | 1:9de6ac4b381d | 192 | // If intPin goes high, all data registers have new data |
whatnick | 1:9de6ac4b381d | 193 | if(MPU9150.readByte(MPU9150_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt |
whatnick | 1:9de6ac4b381d | 194 | |
whatnick | 1:9de6ac4b381d | 195 | MPU9150.readAccelData(accelCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 196 | // Now we'll calculate the accleration value into actual g's |
whatnick | 1:9de6ac4b381d | 197 | ax = (float)accelCount[0]*aRes; // - accelBias[0]; // get actual g value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 198 | ay = (float)accelCount[1]*aRes; // - accelBias[1]; |
whatnick | 1:9de6ac4b381d | 199 | az = (float)accelCount[2]*aRes; // - accelBias[2]; |
onehorse | 0:39935bb3c1a1 | 200 | |
whatnick | 1:9de6ac4b381d | 201 | MPU9150.readGyroData(gyroCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 202 | // Calculate the gyro value into actual degrees per second |
whatnick | 1:9de6ac4b381d | 203 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 204 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
whatnick | 1:9de6ac4b381d | 205 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
whatnick | 1:9de6ac4b381d | 206 | |
whatnick | 1:9de6ac4b381d | 207 | mcount++; |
whatnick | 1:9de6ac4b381d | 208 | if (mcount > 200/MagRate) { // this is a poor man's way of setting the magnetometer read rate (see below) |
whatnick | 1:9de6ac4b381d | 209 | MPU9150.readMagData(magCount); // Read the x/y/z adc values |
whatnick | 1:9de6ac4b381d | 210 | // Calculate the magnetometer values in milliGauss |
whatnick | 1:9de6ac4b381d | 211 | // Include factory calibration per data sheet and user environmental corrections |
whatnick | 1:9de6ac4b381d | 212 | mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set |
whatnick | 1:9de6ac4b381d | 213 | my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1]; |
whatnick | 1:9de6ac4b381d | 214 | mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2]; |
whatnick | 1:9de6ac4b381d | 215 | mcount = 0; |
whatnick | 1:9de6ac4b381d | 216 | } |
whatnick | 1:9de6ac4b381d | 217 | } |
whatnick | 1:9de6ac4b381d | 218 | |
whatnick | 2:f1912528eeaf | 219 | //Handle GPS data |
whatnick | 2:f1912528eeaf | 220 | { |
whatnick | 2:f1912528eeaf | 221 | c = myGPS.read(); //queries the GPS |
whatnick | 2:f1912528eeaf | 222 | if (c) { |
whatnick | 2:f1912528eeaf | 223 | LOG("%c", c); //this line will echo the GPS data if not paused |
whatnick | 2:f1912528eeaf | 224 | } |
whatnick | 2:f1912528eeaf | 225 | |
whatnick | 2:f1912528eeaf | 226 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
whatnick | 2:f1912528eeaf | 227 | if ( myGPS.newNMEAreceived() ) { |
whatnick | 2:f1912528eeaf | 228 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
whatnick | 2:f1912528eeaf | 229 | continue; |
whatnick | 2:f1912528eeaf | 230 | } |
whatnick | 2:f1912528eeaf | 231 | else |
whatnick | 2:f1912528eeaf | 232 | { |
whatnick | 2:f1912528eeaf | 233 | serial_i2c.printf(myGPS.lastNMEA()); |
whatnick | 2:f1912528eeaf | 234 | } |
whatnick | 2:f1912528eeaf | 235 | } |
whatnick | 2:f1912528eeaf | 236 | } |
whatnick | 2:f1912528eeaf | 237 | |
whatnick | 1:9de6ac4b381d | 238 | Now = t.read_us(); |
whatnick | 1:9de6ac4b381d | 239 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
whatnick | 1:9de6ac4b381d | 240 | lastUpdate = Now; |
whatnick | 1:9de6ac4b381d | 241 | |
whatnick | 1:9de6ac4b381d | 242 | sum += deltat; |
whatnick | 1:9de6ac4b381d | 243 | sumCount++; |
whatnick | 1:9de6ac4b381d | 244 | |
onehorse | 0:39935bb3c1a1 | 245 | // if(lastUpdate - firstUpdate > 10000000.0f) { |
onehorse | 0:39935bb3c1a1 | 246 | // beta = 0.04; // decrease filter gain after stabilized |
onehorse | 0:39935bb3c1a1 | 247 | // zeta = 0.015; // increasey bias drift gain after stabilized |
whatnick | 1:9de6ac4b381d | 248 | // } |
whatnick | 1:9de6ac4b381d | 249 | |
whatnick | 1:9de6ac4b381d | 250 | // Pass gyro rate as rad/s |
whatnick | 1:9de6ac4b381d | 251 | MPU9150.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 252 | // MPU9150.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz); |
whatnick | 1:9de6ac4b381d | 253 | |
whatnick | 1:9de6ac4b381d | 254 | // Serial print and/or display at 0.5 s rate independent of data rates |
whatnick | 1:9de6ac4b381d | 255 | delt_t = t.read_ms() - count; |
whatnick | 1:9de6ac4b381d | 256 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
whatnick | 1:9de6ac4b381d | 257 | |
whatnick | 2:f1912528eeaf | 258 | LOG("ax = %f", 1000*ax); |
whatnick | 2:f1912528eeaf | 259 | LOG(" ay = %f", 1000*ay); |
whatnick | 2:f1912528eeaf | 260 | LOG(" az = %f mg\n\r", 1000*az); |
onehorse | 0:39935bb3c1a1 | 261 | |
whatnick | 2:f1912528eeaf | 262 | LOG("gx = %f", gx); |
whatnick | 2:f1912528eeaf | 263 | LOG(" gy = %f", gy); |
whatnick | 2:f1912528eeaf | 264 | LOG(" gz = %f deg/s\n\r", gz); |
whatnick | 1:9de6ac4b381d | 265 | |
whatnick | 2:f1912528eeaf | 266 | LOG("gx = %f", mx); |
whatnick | 2:f1912528eeaf | 267 | LOG(" gy = %f", my); |
whatnick | 2:f1912528eeaf | 268 | LOG(" gz = %f mG\n\r", mz); |
onehorse | 0:39935bb3c1a1 | 269 | |
whatnick | 1:9de6ac4b381d | 270 | tempCount = MPU9150.readTempData(); // Read the adc values |
whatnick | 1:9de6ac4b381d | 271 | temperature = ((float) tempCount) / 340.0f + 36.53f; // Temperature in degrees Centigrade |
whatnick | 2:f1912528eeaf | 272 | LOG(" temperature = %f C\n\r", temperature); |
onehorse | 0:39935bb3c1a1 | 273 | |
whatnick | 2:f1912528eeaf | 274 | LOG("q0 = %f\n\r", q[0]); |
whatnick | 2:f1912528eeaf | 275 | LOG("q1 = %f\n\r", q[1]); |
whatnick | 2:f1912528eeaf | 276 | LOG("q2 = %f\n\r", q[2]); |
whatnick | 2:f1912528eeaf | 277 | LOG("q3 = %f\n\r", q[3]); |
whatnick | 2:f1912528eeaf | 278 | |
whatnick | 1:9de6ac4b381d | 279 | // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. |
whatnick | 1:9de6ac4b381d | 280 | // In this coordinate system, the positive z-axis is down toward Earth. |
whatnick | 1:9de6ac4b381d | 281 | // 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 | 282 | // 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 | 283 | // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. |
whatnick | 1:9de6ac4b381d | 284 | // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. |
whatnick | 1:9de6ac4b381d | 285 | // 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 | 286 | // applied in the correct order which for this configuration is yaw, pitch, and then roll. |
whatnick | 1:9de6ac4b381d | 287 | // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. |
whatnick | 1:9de6ac4b381d | 288 | 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 | 289 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
whatnick | 1:9de6ac4b381d | 290 | 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 | 291 | pitch *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 292 | yaw *= 180.0f / PI; |
whatnick | 1:9de6ac4b381d | 293 | yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04 |
whatnick | 1:9de6ac4b381d | 294 | roll *= 180.0f / PI; |
onehorse | 0:39935bb3c1a1 | 295 | |
whatnick | 1:9de6ac4b381d | 296 | |
whatnick | 2:f1912528eeaf | 297 | LOG("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
whatnick | 2:f1912528eeaf | 298 | LOG("average rate = %f\n\r", (float) sumCount/sum); |
whatnick | 2:f1912528eeaf | 299 | |
whatnick | 2:f1912528eeaf | 300 | sprintf(buffer, "YPR:%3.0f %3.0f %3.0f", yaw, pitch, roll); |
whatnick | 1:9de6ac4b381d | 301 | oled.writeString(1,0,buffer); |
whatnick | 2:f1912528eeaf | 302 | if(fp != NULL) { |
whatnick | 2:f1912528eeaf | 303 | fprintf(fp,"YPR: %f %f %f\n", yaw, pitch, roll); |
whatnick | 2:f1912528eeaf | 304 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 305 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 306 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 307 | fp=NULL; |
whatnick | 2:f1912528eeaf | 308 | } |
whatnick | 2:f1912528eeaf | 309 | } |
whatnick | 2:f1912528eeaf | 310 | |
whatnick | 2:f1912528eeaf | 311 | LOG("Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 312 | LOG("Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 313 | LOG("Fix: %d\n", (int) myGPS.fix); |
whatnick | 2:f1912528eeaf | 314 | LOG("Quality: %d\n", (int) myGPS.fixquality); |
whatnick | 2:f1912528eeaf | 315 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 316 | LOG("Location: %5.2f%c, %5.2f%c\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon); |
whatnick | 2:f1912528eeaf | 317 | LOG("Speed: %5.2f knots\n", myGPS.speed); |
whatnick | 2:f1912528eeaf | 318 | LOG("Angle: %5.2f\n", myGPS.angle); |
whatnick | 2:f1912528eeaf | 319 | LOG("Altitude: %5.2f\n", myGPS.altitude); |
whatnick | 2:f1912528eeaf | 320 | LOG("Satellites: %d\n", myGPS.satellites); |
whatnick | 2:f1912528eeaf | 321 | } |
whatnick | 2:f1912528eeaf | 322 | |
whatnick | 2:f1912528eeaf | 323 | if (myGPS.fix) { |
whatnick | 2:f1912528eeaf | 324 | sprintf(buffer,"LAT:%5.5f%c",myGPS.latitude,myGPS.lat); |
whatnick | 2:f1912528eeaf | 325 | oled.writeString(2,0,buffer); |
whatnick | 2:f1912528eeaf | 326 | sprintf(buffer,"LON:%5.5f%c",myGPS.longitude,myGPS.lon); |
whatnick | 2:f1912528eeaf | 327 | oled.writeString(3,0,buffer); |
whatnick | 2:f1912528eeaf | 328 | sprintf(buffer,"ALT:%5.2f",myGPS.altitude); |
whatnick | 2:f1912528eeaf | 329 | oled.writeString(4,0,buffer); |
whatnick | 2:f1912528eeaf | 330 | } else { |
whatnick | 2:f1912528eeaf | 331 | oled.writeString(2,0," "); |
whatnick | 2:f1912528eeaf | 332 | oled.writeString(2,0,"GPS Lost "); |
whatnick | 2:f1912528eeaf | 333 | oled.writeString(3,0," "); |
whatnick | 2:f1912528eeaf | 334 | oled.writeString(4,0," "); |
whatnick | 2:f1912528eeaf | 335 | } |
whatnick | 2:f1912528eeaf | 336 | sprintf(buffer,"Time: %d:%d:%d.%u\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds); |
whatnick | 2:f1912528eeaf | 337 | oled.writeString(5,0,buffer); |
whatnick | 2:f1912528eeaf | 338 | sprintf(buffer,"Date: %d/%d/20%d\n", myGPS.day, myGPS.month, myGPS.year); |
whatnick | 2:f1912528eeaf | 339 | oled.writeString(6,0,buffer); |
whatnick | 2:f1912528eeaf | 340 | |
whatnick | 2:f1912528eeaf | 341 | if(myGPS.fix && fp!=NULL) { |
whatnick | 2:f1912528eeaf | 342 | 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 | 343 | } |
whatnick | 2:f1912528eeaf | 344 | |
whatnick | 2:f1912528eeaf | 345 | if(fp != NULL) { |
whatnick | 2:f1912528eeaf | 346 | 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 | 347 | if(fflush(fp)==EOF) { |
whatnick | 2:f1912528eeaf | 348 | //SD card removed close file pointer |
whatnick | 2:f1912528eeaf | 349 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 350 | fp=NULL; |
whatnick | 2:f1912528eeaf | 351 | } |
whatnick | 2:f1912528eeaf | 352 | } |
whatnick | 2:f1912528eeaf | 353 | |
whatnick | 2:f1912528eeaf | 354 | //if FP is null at the end of the loop attempt to open new log with fix |
whatnick | 2:f1912528eeaf | 355 | if(fp==NULL && myGPS.fix) { |
whatnick | 2:f1912528eeaf | 356 | mkdir("/sd/logdir", 0777); |
whatnick | 2:f1912528eeaf | 357 | sprintf(buffer,"/sd/logdir/%d%d20%d_%d%d%d.txt",myGPS.day, myGPS.month, myGPS.year, |
whatnick | 2:f1912528eeaf | 358 | myGPS.hour, myGPS.minute, myGPS.seconds); |
whatnick | 2:f1912528eeaf | 359 | FILE *fp = fopen(buffer, "w"); |
whatnick | 2:f1912528eeaf | 360 | if(fp == NULL) { |
whatnick | 2:f1912528eeaf | 361 | LOG("Could not open file for write\n"); |
whatnick | 2:f1912528eeaf | 362 | oled.writeString(7,0,"SD Fail"); |
whatnick | 2:f1912528eeaf | 363 | } else { |
whatnick | 2:f1912528eeaf | 364 | oled.writeString(7,0,"SD OKAY"); |
whatnick | 2:f1912528eeaf | 365 | } |
whatnick | 2:f1912528eeaf | 366 | } |
whatnick | 1:9de6ac4b381d | 367 | |
whatnick | 1:9de6ac4b381d | 368 | myled= !myled; |
whatnick | 1:9de6ac4b381d | 369 | count = t.read_ms(); |
onehorse | 0:39935bb3c1a1 | 370 | |
whatnick | 1:9de6ac4b381d | 371 | if(count > 1<<21) { |
whatnick | 1:9de6ac4b381d | 372 | t.start(); // start the timer over again if ~30 minutes has passed |
whatnick | 1:9de6ac4b381d | 373 | count = 0; |
whatnick | 1:9de6ac4b381d | 374 | deltat= 0; |
whatnick | 1:9de6ac4b381d | 375 | lastUpdate = t.read_us(); |
whatnick | 1:9de6ac4b381d | 376 | } |
whatnick | 1:9de6ac4b381d | 377 | sum = 0; |
whatnick | 1:9de6ac4b381d | 378 | sumCount = 0; |
whatnick | 1:9de6ac4b381d | 379 | } |
onehorse | 0:39935bb3c1a1 | 380 | } |
whatnick | 1:9de6ac4b381d | 381 | |
whatnick | 1:9de6ac4b381d | 382 | } |