Pakorn Vongseela / Mbed 2 deprecated B18_MP3_PLAYER

MP3 PLAYER

Dependencies:   DebouncedInterrupt SDFileSystem SPI_TFT_ILI9341 ST_401_84MHZ TFT_fonts VS1053 mbed

Fork of MP3333 by FRA221_B18

main.cpp@2:c4b198e96ded, 2015-12-08 (annotated)

Committer:
PKnevermind
Date:
Tue Dec 08 19:52:20 2015 +0000
Revision:
2:c4b198e96ded
Parent:
1:28ecafb2b832
Child:
3:c58fe0902900
....

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PKnevermind 0:f7d37719bcfc 1 #include "mbed.h"
PKnevermind 0:f7d37719bcfc 2 #include "player.h"
PKnevermind 2:c4b198e96ded 3 #include "DebouncedInterrupt.h"
PKnevermind 2:c4b198e96ded 4 //#include "MPU9250.h"
PKnevermind 2:c4b198e96ded 5 #include "SPI_TFT_ILI9341.h"
PKnevermind 2:c4b198e96ded 6 #include "stdio.h"
PKnevermind 2:c4b198e96ded 7 #include "string"
PKnevermind 2:c4b198e96ded 8 #include "Arial12x12.h"
PKnevermind 2:c4b198e96ded 9 #include "Arial24x23.h"
PKnevermind 2:c4b198e96ded 10 #include "Arial28x28.h"
PKnevermind 2:c4b198e96ded 11 #include "font_big.h"
PKnevermind 0:f7d37719bcfc 12
PKnevermind 2:c4b198e96ded 13 DigitalIn Mode(A5);
PKnevermind 0:f7d37719bcfc 14
PKnevermind 0:f7d37719bcfc 15 extern char list[20][50]; //song list
PKnevermind 0:f7d37719bcfc 16 extern unsigned char vlume; //vlume
PKnevermind 0:f7d37719bcfc 17 extern unsigned char vlumeflag; //set vlume flag
PKnevermind 0:f7d37719bcfc 18 extern char index; //song play index
PKnevermind 0:f7d37719bcfc 19 extern char index_MAX; //how many song in all
PKnevermind 0:f7d37719bcfc 20 extern playerStatetype playerState;
PKnevermind 0:f7d37719bcfc 21
PKnevermind 2:c4b198e96ded 22 Serial pc(SERIAL_TX, SERIAL_RX);
PKnevermind 2:c4b198e96ded 23 Player player;
PKnevermind 2:c4b198e96ded 24
PKnevermind 2:c4b198e96ded 25 DebouncedInterrupt KEY_PS(D3);
PKnevermind 2:c4b198e96ded 26 InterruptIn KEY_Next(D4);
PKnevermind 2:c4b198e96ded 27 extern unsigned char p1[];
PKnevermind 2:c4b198e96ded 28 extern unsigned char p2[];
PKnevermind 2:c4b198e96ded 29 extern unsigned char p3[];
PKnevermind 2:c4b198e96ded 30 int mark=10,list_nowplay=0;
PKnevermind 2:c4b198e96ded 31 SPI_TFT_ILI9341 TFT(PA_7,PA_6,PA_5,PA_13,PA_14,PA_15,"TFT"); // mosi, miso, sclk, cs, reset, dc
PKnevermind 0:f7d37719bcfc 32
PKnevermind 2:c4b198e96ded 33 float sum = 0;
PKnevermind 2:c4b198e96ded 34 uint32_t sumCount = 0;
PKnevermind 2:c4b198e96ded 35 char buffer[14];
PKnevermind 2:c4b198e96ded 36 uint8_t dato_leido[2];
PKnevermind 2:c4b198e96ded 37 uint8_t whoami;
PKnevermind 2:c4b198e96ded 38 void riseFlip()
PKnevermind 2:c4b198e96ded 39 {
PKnevermind 2:c4b198e96ded 40 if(playerState == PS_PAUSE)playerState = PS_PLAY;
PKnevermind 2:c4b198e96ded 41 else playerState = PS_PAUSE;
PKnevermind 2:c4b198e96ded 42 //a=!a;
PKnevermind 0:f7d37719bcfc 43 }
PKnevermind 0:f7d37719bcfc 44
PKnevermind 2:c4b198e96ded 45 void letplay()
PKnevermind 0:f7d37719bcfc 46 {
PKnevermind 2:c4b198e96ded 47 TFT.cls();
PKnevermind 2:c4b198e96ded 48 TFT.foreground(White);
PKnevermind 2:c4b198e96ded 49 TFT.background(Black);
PKnevermind 2:c4b198e96ded 50 TFT.cls();
PKnevermind 2:c4b198e96ded 51 TFT.set_orientation(1);
PKnevermind 2:c4b198e96ded 52 TFT.Bitmap(60,1,200,173,p1);
PKnevermind 0:f7d37719bcfc 53 }
PKnevermind 0:f7d37719bcfc 54
PKnevermind 2:c4b198e96ded 55 void angry()
PKnevermind 0:f7d37719bcfc 56 {
PKnevermind 2:c4b198e96ded 57 TFT.cls();
PKnevermind 2:c4b198e96ded 58 TFT.foreground(White);
PKnevermind 2:c4b198e96ded 59 TFT.background(Black);
PKnevermind 2:c4b198e96ded 60 TFT.cls();
PKnevermind 2:c4b198e96ded 61 TFT.set_orientation(1);
PKnevermind 2:c4b198e96ded 62 TFT.Bitmap(60,1,200,173,p2);
PKnevermind 2:c4b198e96ded 63 }
PKnevermind 2:c4b198e96ded 64
PKnevermind 2:c4b198e96ded 65 void cry()
PKnevermind 2:c4b198e96ded 66 {
PKnevermind 2:c4b198e96ded 67 TFT.cls();
PKnevermind 2:c4b198e96ded 68 TFT.foreground(White);
PKnevermind 2:c4b198e96ded 69 TFT.background(Black);
PKnevermind 2:c4b198e96ded 70 TFT.cls();
PKnevermind 2:c4b198e96ded 71 TFT.set_orientation(1);
PKnevermind 2:c4b198e96ded 72 TFT.Bitmap(60,1,200,173,p3);
PKnevermind 0:f7d37719bcfc 73 }
PKnevermind 0:f7d37719bcfc 74
PKnevermind 2:c4b198e96ded 75 void print_list()
PKnevermind 0:f7d37719bcfc 76 {
PKnevermind 2:c4b198e96ded 77 int i=0,j=0;
PKnevermind 2:c4b198e96ded 78 TFT.claim(stdout);
PKnevermind 2:c4b198e96ded 79 TFT.cls();
PKnevermind 2:c4b198e96ded 80 TFT.foreground(White);
PKnevermind 2:c4b198e96ded 81 TFT.background(Black);
PKnevermind 2:c4b198e96ded 82 TFT.cls();
PKnevermind 0:f7d37719bcfc 83
PKnevermind 2:c4b198e96ded 84 TFT.set_orientation(3);
PKnevermind 2:c4b198e96ded 85 TFT.set_font((unsigned char*) Arial28x28);
PKnevermind 2:c4b198e96ded 86 TFT.locate(150,120);
PKnevermind 2:c4b198e96ded 87 TFT.printf("Manual Mode:");
PKnevermind 2:c4b198e96ded 88 TFT.cls();
PKnevermind 2:c4b198e96ded 89 TFT.set_orientation(3);
PKnevermind 2:c4b198e96ded 90 TFT.set_font((unsigned char*) Arial12x12);
PKnevermind 2:c4b198e96ded 91 //list[5]='\0';
PKnevermind 2:c4b198e96ded 92 do {
PKnevermind 2:c4b198e96ded 93 TFT.locate(5,j);
PKnevermind 2:c4b198e96ded 94 TFT.printf("%2d . %s\r\n", i,list[i]);
PKnevermind 2:c4b198e96ded 95 i++;
PKnevermind 2:c4b198e96ded 96 j=j+23;
PKnevermind 2:c4b198e96ded 97 } while(i<5);
PKnevermind 0:f7d37719bcfc 98
PKnevermind 0:f7d37719bcfc 99 }
PKnevermind 0:f7d37719bcfc 100
PKnevermind 2:c4b198e96ded 101 void Next()
PKnevermind 2:c4b198e96ded 102 {
PKnevermind 2:c4b198e96ded 103 playerState = PS_STOP;
PKnevermind 2:c4b198e96ded 104 }
PKnevermind 2:c4b198e96ded 105
PKnevermind 2:c4b198e96ded 106 int main()
PKnevermind 2:c4b198e96ded 107 {
PKnevermind 2:c4b198e96ded 108
PKnevermind 2:c4b198e96ded 109 KEY_PS.attach(&riseFlip ,IRQ_RISE ,100);
PKnevermind 2:c4b198e96ded 110 KEY_Next.fall(&Next);
PKnevermind 2:c4b198e96ded 111 if(Mode.read() == 0) {
PKnevermind 2:c4b198e96ded 112
PKnevermind 2:c4b198e96ded 113 player.begin();
PKnevermind 2:c4b198e96ded 114 print_list();
PKnevermind 2:c4b198e96ded 115 while(1) {
PKnevermind 2:c4b198e96ded 116 player.playFile(list[index]);
PKnevermind 2:c4b198e96ded 117 }
PKnevermind 2:c4b198e96ded 118 }
PKnevermind 2:c4b198e96ded 119 }
PKnevermind 2:c4b198e96ded 120
PKnevermind 2:c4b198e96ded 121 /*//___ Set up I2C: use fast (400 kHz) I2C ___
PKnevermind 2:c4b198e96ded 122 i2c.frequency(400000);
PKnevermind 2:c4b198e96ded 123
PKnevermind 2:c4b198e96ded 124 pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
PKnevermind 2:c4b198e96ded 125
PKnevermind 2:c4b198e96ded 126 t.start(); // Timer ON
PKnevermind 2:c4b198e96ded 127
PKnevermind 2:c4b198e96ded 128 // Read the WHO_AM_I register, this is a good test of communication
PKnevermind 2:c4b198e96ded 129 whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
PKnevermind 2:c4b198e96ded 130
PKnevermind 2:c4b198e96ded 131 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
PKnevermind 2:c4b198e96ded 132 if (I2Cstate != 0) // error on I2C
PKnevermind 2:c4b198e96ded 133 pc.printf("I2C failure while reading WHO_AM_I register");
PKnevermind 2:c4b198e96ded 134
PKnevermind 2:c4b198e96ded 135 if (whoami == 0x71) // WHO_AM_I should always be 0x71
PKnevermind 2:c4b198e96ded 136 {
PKnevermind 2:c4b198e96ded 137 pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
PKnevermind 2:c4b198e96ded 138 pc.printf("MPU9250 is online...\n\r");
PKnevermind 2:c4b198e96ded 139 sprintf(buffer, "0x%x", whoami);
PKnevermind 2:c4b198e96ded 140 wait(1);
PKnevermind 2:c4b198e96ded 141
PKnevermind 2:c4b198e96ded 142 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
PKnevermind 2:c4b198e96ded 143
PKnevermind 2:c4b198e96ded 144 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
PKnevermind 2:c4b198e96ded 145 pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
PKnevermind 2:c4b198e96ded 146 pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
PKnevermind 2:c4b198e96ded 147 pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
PKnevermind 2:c4b198e96ded 148 pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
PKnevermind 2:c4b198e96ded 149 pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
PKnevermind 2:c4b198e96ded 150 pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
PKnevermind 2:c4b198e96ded 151
PKnevermind 2:c4b198e96ded 152 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers
PKnevermind 2:c4b198e96ded 153 pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
PKnevermind 2:c4b198e96ded 154 pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
PKnevermind 2:c4b198e96ded 155 pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
PKnevermind 2:c4b198e96ded 156 pc.printf("x accel bias = %f\n\r", accelBias[0]);
PKnevermind 2:c4b198e96ded 157 pc.printf("y accel bias = %f\n\r", accelBias[1]);
PKnevermind 2:c4b198e96ded 158 pc.printf("z accel bias = %f\n\r", accelBias[2]);
PKnevermind 2:c4b198e96ded 159 wait(2);
PKnevermind 2:c4b198e96ded 160
PKnevermind 2:c4b198e96ded 161 // Initialize device for active mode read of acclerometer, gyroscope, and temperature
PKnevermind 2:c4b198e96ded 162 mpu9250.initMPU9250();
PKnevermind 2:c4b198e96ded 163 pc.printf("MPU9250 initialized for active data mode....\n\r");
PKnevermind 2:c4b198e96ded 164
PKnevermind 2:c4b198e96ded 165 // Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
PKnevermind 2:c4b198e96ded 166 mpu9250.initAK8963(magCalibration);
PKnevermind 2:c4b198e96ded 167 pc.printf("AK8963 initialized for active data mode....\n\r");
PKnevermind 2:c4b198e96ded 168 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
PKnevermind 2:c4b198e96ded 169 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
PKnevermind 2:c4b198e96ded 170 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
PKnevermind 2:c4b198e96ded 171 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
PKnevermind 2:c4b198e96ded 172 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
PKnevermind 2:c4b198e96ded 173 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
PKnevermind 2:c4b198e96ded 174 wait(1);
PKnevermind 2:c4b198e96ded 175 }
PKnevermind 2:c4b198e96ded 176
PKnevermind 2:c4b198e96ded 177 else // Connection failure
PKnevermind 2:c4b198e96ded 178 {
PKnevermind 2:c4b198e96ded 179 pc.printf("Could not connect to MPU9250: \n\r");
PKnevermind 2:c4b198e96ded 180 pc.printf("%#x \n", whoami);
PKnevermind 2:c4b198e96ded 181 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
PKnevermind 2:c4b198e96ded 182 while(1) ; // Loop forever if communication doesn't happen
PKnevermind 2:c4b198e96ded 183 }
PKnevermind 2:c4b198e96ded 184
PKnevermind 2:c4b198e96ded 185 mpu9250.getAres(); // Get accelerometer sensitivity
PKnevermind 2:c4b198e96ded 186 mpu9250.getGres(); // Get gyro sensitivity
PKnevermind 2:c4b198e96ded 187 mpu9250.getMres(); // Get magnetometer sensitivity
PKnevermind 2:c4b198e96ded 188 pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
PKnevermind 2:c4b198e96ded 189 pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
PKnevermind 2:c4b198e96ded 190 pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
PKnevermind 2:c4b198e96ded 191 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
PKnevermind 2:c4b198e96ded 192 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
PKnevermind 2:c4b198e96ded 193 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
PKnevermind 2:c4b198e96ded 194
PKnevermind 2:c4b198e96ded 195 while(1) {
PKnevermind 2:c4b198e96ded 196
PKnevermind 2:c4b198e96ded 197 // If intPin goes high, all data registers have new data
PKnevermind 2:c4b198e96ded 198 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
PKnevermind 2:c4b198e96ded 199
PKnevermind 2:c4b198e96ded 200 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
PKnevermind 2:c4b198e96ded 201 // Now we'll calculate the accleration value into actual g's
PKnevermind 2:c4b198e96ded 202 if (I2Cstate != 0) //error on I2C
PKnevermind 2:c4b198e96ded 203 pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
PKnevermind 2:c4b198e96ded 204 else{ // I2C read or write ok
PKnevermind 2:c4b198e96ded 205 I2Cstate = 1;
PKnevermind 2:c4b198e96ded 206 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
PKnevermind 2:c4b198e96ded 207 ay = (float)accelCount[1]*aRes - accelBias[1];
PKnevermind 2:c4b198e96ded 208 az = (float)accelCount[2]*aRes - accelBias[2];
PKnevermind 2:c4b198e96ded 209 }
PKnevermind 2:c4b198e96ded 210
PKnevermind 2:c4b198e96ded 211 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
PKnevermind 2:c4b198e96ded 212 // Calculate the gyro value into actual degrees per second
PKnevermind 2:c4b198e96ded 213 if (I2Cstate != 0) //error on I2C
PKnevermind 2:c4b198e96ded 214 pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
PKnevermind 2:c4b198e96ded 215 else{ // I2C read or write ok
PKnevermind 2:c4b198e96ded 216 I2Cstate = 1;
PKnevermind 2:c4b198e96ded 217 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
PKnevermind 2:c4b198e96ded 218 gy = (float)gyroCount[1]*gRes - gyroBias[1];
PKnevermind 2:c4b198e96ded 219 gz = (float)gyroCount[2]*gRes - gyroBias[2];
PKnevermind 2:c4b198e96ded 220 }
PKnevermind 2:c4b198e96ded 221
PKnevermind 2:c4b198e96ded 222 mpu9250.readMagData(magCount); // Read the x/y/z adc values
PKnevermind 2:c4b198e96ded 223 // Calculate the magnetometer values in milliGauss
PKnevermind 2:c4b198e96ded 224 // Include factory calibration per data sheet and user environmental corrections
PKnevermind 2:c4b198e96ded 225 if (I2Cstate != 0) //error on I2C
PKnevermind 2:c4b198e96ded 226 pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
PKnevermind 2:c4b198e96ded 227 else{ // I2C read or write ok
PKnevermind 2:c4b198e96ded 228 I2Cstate = 1;
PKnevermind 2:c4b198e96ded 229 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
PKnevermind 2:c4b198e96ded 230 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
PKnevermind 2:c4b198e96ded 231 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
PKnevermind 2:c4b198e96ded 232 }
PKnevermind 2:c4b198e96ded 233
PKnevermind 2:c4b198e96ded 234 mpu9250.getCompassOrientation(orientation);
PKnevermind 2:c4b198e96ded 235 }
PKnevermind 2:c4b198e96ded 236
PKnevermind 2:c4b198e96ded 237 Now = t.read_us();
PKnevermind 2:c4b198e96ded 238 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
PKnevermind 2:c4b198e96ded 239 lastUpdate = Now;
PKnevermind 2:c4b198e96ded 240 sum += deltat;
PKnevermind 2:c4b198e96ded 241 sumCount++;
PKnevermind 2:c4b198e96ded 242
PKnevermind 2:c4b198e96ded 243 // Pass gyro rate as rad/s
PKnevermind 2:c4b198e96ded 244 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
PKnevermind 2:c4b198e96ded 245 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
PKnevermind 2:c4b198e96ded 246
PKnevermind 2:c4b198e96ded 247
PKnevermind 2:c4b198e96ded 248 // Serial print and/or display at 1.5 s rate independent of data rates
PKnevermind 2:c4b198e96ded 249 delt_t = t.read_ms() - count;
PKnevermind 2:c4b198e96ded 250 if (delt_t > 1500) { // update LCD once per half-second independent of read rate
PKnevermind 2:c4b198e96ded 251 pc.printf("ax = %f", 1000*ax);
PKnevermind 2:c4b198e96ded 252 pc.printf(" ay = %f", 1000*ay);
PKnevermind 2:c4b198e96ded 253 pc.printf(" az = %f mg\n\r", 1000*az);
PKnevermind 2:c4b198e96ded 254 pc.printf("gx = %f", gx);
PKnevermind 2:c4b198e96ded 255 pc.printf(" gy = %f", gy);
PKnevermind 2:c4b198e96ded 256 pc.printf(" gz = %f deg/s\n\r", gz);
PKnevermind 2:c4b198e96ded 257 pc.printf("mx = %f", mx);
PKnevermind 2:c4b198e96ded 258 pc.printf(" my = %f", my);
PKnevermind 2:c4b198e96ded 259 pc.printf(" mz = %f mG\n\r", mz);
PKnevermind 2:c4b198e96ded 260
PKnevermind 2:c4b198e96ded 261
PKnevermind 2:c4b198e96ded 262 tempCount = mpu9250.readTempData(); // Read the adc values
PKnevermind 2:c4b198e96ded 263 if (I2Cstate != 0) //error on I2C
PKnevermind 2:c4b198e96ded 264 pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
PKnevermind 2:c4b198e96ded 265 else{ // I2C read or write ok
PKnevermind 2:c4b198e96ded 266 I2Cstate = 1;
PKnevermind 2:c4b198e96ded 267 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
PKnevermind 2:c4b198e96ded 268 pc.printf(" temperature = %f C\n\r", temperature);
PKnevermind 2:c4b198e96ded 269 }
PKnevermind 2:c4b198e96ded 270 pc.printf("q0 = %f\n\r", q[0]);
PKnevermind 2:c4b198e96ded 271 pc.printf("q1 = %f\n\r", q[1]);
PKnevermind 2:c4b198e96ded 272 pc.printf("q2 = %f\n\r", q[2]);
PKnevermind 2:c4b198e96ded 273 pc.printf("q3 = %f\n\r", q[3]);
PKnevermind 2:c4b198e96ded 274
PKnevermind 2:c4b198e96ded 275 pc.printf("Compass orientation: %f\n", orientation[0]);
PKnevermind 2:c4b198e96ded 276
PKnevermind 2:c4b198e96ded 277
PKnevermind 2:c4b198e96ded 278
PKnevermind 2:c4b198e96ded 279
PKnevermind 2:c4b198e96ded 280 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
PKnevermind 2:c4b198e96ded 281 // In this coordinate system, the positive z-axis is down toward Earth.
PKnevermind 2:c4b198e96ded 282 // 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.
PKnevermind 2:c4b198e96ded 283 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
PKnevermind 2:c4b198e96ded 284 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
PKnevermind 2:c4b198e96ded 285 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
PKnevermind 2:c4b198e96ded 286 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
PKnevermind 2:c4b198e96ded 287 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
PKnevermind 2:c4b198e96ded 288 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
PKnevermind 2:c4b198e96ded 289
PKnevermind 2:c4b198e96ded 290 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]);
PKnevermind 2:c4b198e96ded 291 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
PKnevermind 2:c4b198e96ded 292 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]);
PKnevermind 2:c4b198e96ded 293 pitch *= 180.0f / PI;
PKnevermind 2:c4b198e96ded 294 yaw *= 180.0f / PI;
PKnevermind 2:c4b198e96ded 295 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
PKnevermind 2:c4b198e96ded 296 roll *= 180.0f / PI;
PKnevermind 2:c4b198e96ded 297
PKnevermind 2:c4b198e96ded 298 /*
PKnevermind 2:c4b198e96ded 299 pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
PKnevermind 2:c4b198e96ded 300 pc.printf("average rate = %f\n\r", (float) sumCount/sum);
PKnevermind 2:c4b198e96ded 301 */
PKnevermind 2:c4b198e96ded 302
PKnevermind 2:c4b198e96ded 303
PKnevermind 2:c4b198e96ded 304 /*myled= !myled;
PKnevermind 2:c4b198e96ded 305 count = t.read_ms();
PKnevermind 2:c4b198e96ded 306
PKnevermind 2:c4b198e96ded 307 if(count > 1<<21) {
PKnevermind 2:c4b198e96ded 308 t.start(); // start the timer over again if ~30 minutes has passed
PKnevermind 2:c4b198e96ded 309 count = 0;
PKnevermind 2:c4b198e96ded 310 deltat= 0;
PKnevermind 2:c4b198e96ded 311 lastUpdate = t.read_us();
PKnevermind 2:c4b198e96ded 312 }
PKnevermind 2:c4b198e96ded 313 sum = 0;
PKnevermind 2:c4b198e96ded 314 sumCount = 0;
PKnevermind 2:c4b198e96ded 315 }
PKnevermind 2:c4b198e96ded 316 }*/