Revision 5:295fe3425a73, committed 2020-04-24

Comitter:

skiley6

Date:

Fri Apr 24 15:24:30 2020 +0000

Parent:

4:8442a7d55f23

Child:

6:38cc8e010406

Commit message:

Added Temperature and made sure everything works. Temp is in Main thread;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPL3115A2.lib	Fri Apr 24 15:24:30 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sophtware/code/MPL3115A2/#7c7c1ea6fc33

--- a/main.cpp	Thu Apr 23 20:05:58 2020 +0000
+++ b/main.cpp	Fri Apr 24 15:24:30 2020 +0000
@@ -2,6 +2,7 @@
 #include "rtos.h"
 #include "Servo.h"
 #include "LSM9DS1.h"
+#include "MPL3115A2.h"
 #define PI 3.14159  // Used in IMU code
 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA (Used in IMU code) 
 
@@ -15,6 +16,9 @@
 RawSerial blue(p13,p14); // bluetooth 
 Serial pc(USBTX, USBRX); // tx, rx
 
+I2C i2c(p28, p27);       // sda, scl
+MPL3115A2 sensor(&i2c, &pc);
+
 //BusOut myled(LED1,LED2,LED3,LED4); //bluetooth debugging
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
@@ -24,13 +28,15 @@
 //THREADS
 Thread blueRXThread;
 Thread blueTXThread;
-Thread sensorThread;
+Thread IMUThread;
 Thread servoThread;
 
 // VARIABLE DECLARATIONS 
 volatile float YawRate;
 volatile float roll;
-volatile float midTemp;
+
+Temperature t;
+
 
 enum statetype {Off = 0, Testing, DRS_Active, Active_Yaw, Active_Roll};
 volatile statetype servoState = Off;
@@ -230,15 +236,19 @@
                 blue.printf("....................Mode: DRS ACTIVATED....................\n");
                 break;
             case Active_Yaw:
-                blue.printf("Mode: ACTIVE-YAW.......YawRate: %3.0f deg/s........\n", YawRate);
+                //blue.printf("Mode: ACTIVE-YAW....Yaw:%3.0f deg/s....", YawRate);
+                blue.printf("Mode: ACTIVE-YAW....Yaw:%3.0f deg/s....T:%sF\n", YawRate, t.print());
                 break;
             case Active_Roll:
-                blue.printf("Mode: ACTIVE-ROLL..........roll: %3.0f deg...............\n", roll);
+                //blue.printf("Mode: ACTIVE-ROLL....Roll: %3.0f deg....", roll);
+                blue.printf("Mode: ACTIVE-ROLL....Roll: %3.0f deg....T:%sF\n", roll, t.print());
                 break;
             default:
                 break;   
              
         } 
+        
+        //blue.printf("Temp: %sºF, Pressure: %sPa\r\n", t.print(),p.print()); 
         Thread::wait(200);
     }
 }
@@ -252,38 +262,26 @@
     return roll_t;
 }
 
+
 // IMU - read and display magnetometer, gyroscope, acceleration values
-void getSensorData()
+void getIMUData()
 {
+    
     while(1)
     {
         while(!IMU.gyroAvailable());
         IMU.readGyro();
         IMU.readAccel();
-        //IMU.readTemp();
+        
         YawRate = IMU.calcGyro(IMU.gz);
         roll = getRoll(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.az));
-        //midTemp = (25.0 + IMU.temperature/16.0) * (9/5) + 32;   //get into C then into F
+        
+        
+        //sensor.readTemperature(&t);
+        //sensor.readPressure(&p);
+    
         Thread::wait(50);
     }
-    
-    /*
-    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));
-                  
-    zAccel = IMU.calcAccel(IMU.az);//setting global variable for storage of z-Axis acceleration
-    yAccel = IMU.calcAccel(IMU.ay);
-    xAccel = IMU.calcAccel(IMU.ax);
-    */
 } 
 
 void setServos()
@@ -480,11 +478,24 @@
 
 int main() {
     
+    //init temp sensor
+    sensor.init();
+    // Offsets for Dacula, GA
+    sensor.setOffsetAltitude(83);
+    sensor.setOffsetTemperature(20);
+    sensor.setOffsetPressure(-32);
+    
+    sensor.setModeStandby();
+    sensor.setModeBarometer();
+    sensor.setModeActive();
+    
     // initialise IMU
     IMU.begin();
     if (!IMU.begin()) {
         pc.printf("Failed to communicate with LSM9DS1.\n");
     }
+
+    
     //IMU.calibrate(1);
     //IMU.calibrateMag(0);
     
@@ -492,10 +503,11 @@
     
     blueRXThread.start(blueRX);
     blueTXThread.start(blueTX);
-    sensorThread.start(getSensorData);
+    IMUThread.start(getIMUData);
     servoThread.start(setServos);
     
     while(1) {
-        
+        sensor.readTemperature(&t);
+        Thread::wait(1000);
     }
 }