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https://bitbucket.org/librepilot/librepilot.git
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771a56ca9d
- Created a pluggable COM layer - Converted COM + USART init into static initializers rather than typedefs - Generalized the USB HID COM API to match the USART API. - Changed USART and COM layers to be data driven rather than #ifdef'ing/switching on the specifics of each port git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@760 ebee16cc-31ac-478f-84a7-5cbb03baadba
105 lines
2.9 KiB
C
105 lines
2.9 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Main AHRS functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* OpenPilot Includes */
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#include "ahrs.h"
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/* Global Variables */
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/* Local Variables */
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/* Function Prototypes */
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/**
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* AHRS Main function
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*/
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int main()
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{
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/* Brings up System using CMSIS functions, enables the LEDs. */
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PIOS_SYS_Init();
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/* Delay system */
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PIOS_DELAY_Init();
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/* Communication system */
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PIOS_COM_Init();
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/* ADC system */
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PIOS_ADC_Init();
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/* Magnetic sensor system */
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PIOS_I2C_Init();
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PIOS_HMC5843_Init();
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/* Setup the Accelerometer FS (Full-Scale) GPIO */
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PIOS_GPIO_Enable(0);
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SET_ACCEL_2G;
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/* Configure the HMC5843 Sensor */
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PIOS_HMC5843_ConfigTypeDef HMC5843_InitStructure;
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HMC5843_InitStructure.M_ODR = PIOS_HMC5843_ODR_10;
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HMC5843_InitStructure.Meas_Conf = PIOS_HMC5843_MEASCONF_NORMAL;
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HMC5843_InitStructure.Gain = PIOS_HMC5843_GAIN_2;
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HMC5843_InitStructure.Mode = PIOS_HMC5843_MODE_CONTINUOS;
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PIOS_HMC5843_Config(&HMC5843_InitStructure);
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uint8_t id[4] = {0};
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int16_t data[3] = {0};
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int32_t heading = 0;
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/* SPI link to master */
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PIOS_SPI_Init();
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// Main loop
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for(;;) {
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// Alive signal
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PIOS_LED_Toggle(LED1);
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// Get 3 ID bytes
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PIOS_HMC5843_ReadID(id);
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// Get magnetic readings
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PIOS_HMC5843_ReadMag(data);
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// Calculate the heading
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heading = atan2((double)(data[0]), (double)(-1 * data[1])) * (180 / M_PI);
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if(heading < 0) heading += 360;
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// Output Heading data to
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "HMC5843 Chip ID: %s Heading: %d Raw Mag Values: X=%d Y=%d Z=%d ", id, heading, data[0], data[1], data[2]);
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// Test ADC
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PIOS_COM_SendFormattedString(PIOS_COM_AUX, "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));
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// Delay until next reading
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PIOS_DELAY_WaitmS(500);
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}
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return 0;
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}
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