Active Aerodynamics and Drag Reduction System
Source code for Active Aerodynamics and Drag Reduction System
Dependencies: mbed Servo mbed-rtos LSM9DS1_Library_cal MPL3115A2
Revision 0:04fef978a0ab, committed 2020-04-13
- Comitter:
- cheryldocherty
- Date:
- Mon Apr 13 14:04:34 2020 +0000
- Child:
- 1:8e8aac99a366
- Commit message:
- libraries and functions only
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Library_cal.lib Mon Apr 13 14:04:34 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/cheryldocherty/code/LSM9DS1_Library_cal/#77083eb00ab0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Mon Apr 13 14:04:34 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Apr 13 14:04:34 2020 +0000
@@ -0,0 +1,106 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "Servo.h"
+#include "LSM9DS1.h"
+#define PI 3.14159 // Used in IMU code
+#define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA (Used in IMU code)
+
+
+// OBJECTS
+Servo servoFrontLeft(p21);
+Servo servoFrontRight(p22);
+Servo servoBackLeft(p23);
+Servo servoBackRight(p24);
+LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
+Serial blue(p28,p27); // bluetooth
+//BusOut myled(LED1,LED2,LED3,LED4); //bluetooth debugging
+Thread thread1;
+Serial pc(USBTX, USBRX); // Debugging
+
+
+// VARIABLE DECLARATIONS
+volatile char bluetoothRead = 0;
+
+
+// FUNCTION DECLARATIONS
+void bluetooth_recv()
+{
+ bluetoothRead = blue.getc();
+ /*if (blue.getc()=='!') {
+ if (blue.getc()=='B') { //button data
+ bluetoothRead = blue.getc(); //button number
+ if ((bluetoothRead>='1')&&(bluetoothRead<='4')) //is a number button 1..4
+ myled[bluetoothRead-'1']=blue.getc()-'0'; //turn on/off that num LED
+ }
+ } */
+}
+
+// IMU - caluclate pitch and roll
+void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
+{
+ float roll = atan2(ay, az);
+ float pitch = atan2(-ax, sqrt(ay * ay + az * az));
+ // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
+ mx = -mx;
+ float heading;
+ if (my == 0.0)
+ heading = (mx < 0.0) ? 180.0 : 0.0;
+ else
+ heading = atan2(mx, my)*360.0/(2.0*PI);
+ //pc.printf("heading atan=%f \n\r",heading);
+ heading -= DECLINATION; //correct for geo location
+ if(heading>180.0) heading = heading - 360.0;
+ else if(heading<-180.0) heading = 360.0 + heading;
+ else if(heading<0.0) heading = 360.0 + heading;
+ // Convert everything from radians to degrees:
+ //heading *= 180.0 / PI;
+ pitch *= 180.0 / PI;
+ roll *= 180.0 / PI;
+ pc.printf("Pitch: %f, Roll: %f degress\n\r",pitch,roll);
+ pc.printf("Magnetic Heading: %f degress\n\r",heading);
+}
+
+// IMU - read and display magnetometer, gyroscope, acceleration values
+void getIMUData()
+{
+ while(!IMU.magAvailable(X_AXIS));
+ IMU.readMag();
+ while(!IMU.accelAvailable());
+ IMU.readAccel();
+ while(!IMU.gyroAvailable());
+ IMU.readGyro();
+ pc.printf(" X axis Y axis Z axis\n\r");
+ pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
+ pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
+ pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+ printAttitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
+ IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
+}
+
+
+// THREADS
+void thread1Name() {
+ while (true) {
+ // things
+ Thread::wait(100);
+ }
+}
+
+
+int main() {
+ // initialise IMU
+ IMU.begin();
+ if (!IMU.begin()) {
+ pc.printf("Failed to communicate with LSM9DS1.\n");
+ }
+ IMU.calibrate(1);
+ IMU.calibrateMag(0);
+
+ // Start threads
+ thread1.start(thread1Name);
+
+ while(1) {
+ // things
+ Thread::wait(1000);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Apr 13 14:04:34 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed-rtos/#5713cbbdb706
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Apr 13 14:04:34 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file