mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
5991a93739
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@625 ebee16cc-31ac-478f-84a7-5cbb03baadba
102 lines
2.9 KiB
C
102 lines
2.9 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file ahrs.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Main AHRS functions
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
|
|
/* OpenPilot Includes */
|
|
#include "ahrs.h"
|
|
|
|
/* Global Variables */
|
|
|
|
/* Local Variables */
|
|
|
|
/* Function Prototypes */
|
|
|
|
|
|
/**
|
|
* AHRS Main function
|
|
*/
|
|
int main()
|
|
{
|
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
|
PIOS_SYS_Init();
|
|
|
|
/* Delay system */
|
|
PIOS_DELAY_Init();
|
|
|
|
/* Communication system */
|
|
PIOS_COM_Init();
|
|
|
|
/* ADC system */
|
|
PIOS_ADC_Init();
|
|
|
|
/* Magnetic sensor system */
|
|
PIOS_I2C_Init();
|
|
PIOS_HMC5843_Init();
|
|
|
|
/* Setup the Accelerometer FS (Full-Scale) GPIO */
|
|
PIOS_GPIO_Enable(0);
|
|
SET_ACCEL_2G;
|
|
|
|
/* Configure the HMC5843 Sensor */
|
|
PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
|
|
HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
|
|
HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
|
|
HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
|
|
HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOS;
|
|
PIOS_HMC5843_Config(&HMC5843_InitStructure);
|
|
|
|
uint8_t id[3] = {0};
|
|
int16_t data[3] = {0};
|
|
int32_t heading = 0;
|
|
|
|
// Main loop
|
|
for(;;) {
|
|
// Alive signal
|
|
PIOS_LED_Toggle(LED1);
|
|
|
|
// Get 3 ID bytes
|
|
PIOS_HMC5843_ReadID(id);
|
|
|
|
// Get magnetic readings
|
|
PIOS_HMC5843_ReadMag(data);
|
|
|
|
// Calculate the heading
|
|
heading = atan2((double)(data[0]), (double)(-1 * data[1])) * (180 / M_PI);
|
|
if(heading < 0) heading += 360;
|
|
|
|
// Output Heading data to
|
|
PIOS_COM_SendFormattedString(COM_USART1, "HMC5843 Chip ID: %s\rHeading: %d\rRaw Mag Values: X=%d Y=%d Y=%d\r", id, heading, data[0], data[1], data[2]);
|
|
|
|
// Test ADC
|
|
PIOS_COM_SendFormattedString(COM_USART1, "ADC Values: %d,%d,%d,%d,%d,%d\r\n", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3), PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5));
|
|
|
|
// Delay until next reading
|
|
PIOS_DELAY_WaitmS(500);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|