Revision 18:c8c09a3913ba, committed 2012-11-03
- Comitter:
- maetugr
- Date:
- Sat Nov 03 07:44:07 2012 +0000
- Parent:
- 17:e096e85f6c36
- Child:
- 19:40c252b4a792
- Commit message:
- mit allem in der I2C_Sensors klasse, zwischenspeichern, da nichts funktioniert
Changed in this revision
--- a/Sensors/Acc/ADXL345.cpp Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp Sat Nov 03 07:44:07 2012 +0000
@@ -31,8 +31,8 @@
// calculate the angles for roll and pitch (0,1)
float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2)); // calculate the absolute of the magnetic field vector
- angle[0] = -(RAD2DEG * acos((float)data[1] / R)-90); // roll - angle of magnetic field vector in x direction
- angle[1] = RAD2DEG * acos((float)data[0] / R)-90; // pitch - angle of magnetic field vector in y direction
+ angle[0] = -(RAD2DEG * acos((float)data[1] / R)-90); // roll - angle of magnetic field vector in x direction
+ angle[1] = RAD2DEG * acos((float)data[0] / R)-90; // pitch - angle of magnetic field vector in y direction
angle[2] = RAD2DEG * acos((float)data[2] / R); // angle from magnetic field vector in direction which it has
}
--- a/Sensors/Acc/ADXL345.h Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Acc/ADXL345.h Sat Nov 03 07:44:07 2012 +0000
@@ -72,8 +72,7 @@
{
public:
ADXL345(PinName sda, PinName scl); // constructor, uses I2C_Sensor
- void read(); // reads all axis to array
- int data[3]; // where the measured data is saved
+ virtual void read(); // read all axis from register to array data
float angle[3]; // where the calculated angles are stored
private:
--- a/Sensors/Alt/BMP085.cpp Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Alt/BMP085.cpp Sat Nov 03 07:44:07 2012 +0000
@@ -1,4 +1,3 @@
-#include "mbed.h"
#include "BMP085.h"
BMP085::BMP085(PinName sda, PinName scl) : I2C_Sensor(sda, scl, BMP085_I2C_ADDRESS)
@@ -6,4 +5,53 @@
// initialize BMP085 with settings
//writeRegister(0xf4, 0x2e); // TODO: was macht das + register in header!
-}
\ No newline at end of file
+}
+
+/*void BMP085::read()
+ {
+ long P, UTemp, UPressure, X1, X2, X3, B3, B5, B6;
+ unsigned long B4, B7;
+
+ // TODO: writeRegister(0xf4, 0x2e); ?!!!
+ twi_writechar(BMP085_ADRESS, 0xf4, 0x2e);
+ // Wait at least 4.5ms
+ wait(0.005);
+ UTemp = twi_readshort(BMP085_ADRESS, 0xf6);
+
+ X1 = ((UTemp - AC6) * AC5) >> 15;
+ X2 = (MC << 11) / (X1 + MD);
+ B5 = X1 + X2;
+ Temperature = (float)((B5 + 8) >> 4)/10.0;
+
+ twi_writechar(BMP085_ADRESS, 0xf4, 0x34 + (oss << 6));
+ // Wait at least 4.5ms
+ wait(0.005);
+ UPressure = twi_readlong(BMP085_ADRESS, 0xf6) >> (8 - oss);
+
+ B6 = B5 - 4000;
+ X1 = (B2 * (B6 * B6) >> 12) >> 11;
+ X2 = (AC2 * B6) >> 11;
+ X3 = X1 + X2;
+ B3 = ((AC1 * 4 + X3) << oss) >> 2;
+
+ X1 = (AC3 * B6) >> 13;
+ X2 = (B1 * (B6 * B6) >> 12) >> 16;
+ X3 = ((X1 + X2) + 2) >> 2;
+ B4 = AC4 * (X3 + 32768) >> 15;
+
+ B7 = (unsigned long)(UPressure - B3) * (50000 >> oss);
+
+ if (B7 < 0x80000000)
+ {
+ P = (2 * B7) / B4;
+ }
+ else
+ {
+ P = 2* (B7 / B4);
+ }
+ X1 = (P >> 8) * (P >> 8);
+ X1 = (X1 * 3038) >> 16;
+ X2 = (-7357 * P) >> 16;
+ P = P + ((X1 + X2 + 3791) >> 4);
+ Pressure = (float)P / 100.0;
+ }*/
\ No newline at end of file
--- a/Sensors/Alt/BMP085.h Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Alt/BMP085.h Sat Nov 03 07:44:07 2012 +0000
@@ -1,3 +1,5 @@
+// based on http://mbed.org/users/okini3939/code/BMP085/
+
#ifndef BMP085_H
#define BMP085_H
@@ -11,13 +13,11 @@
public:
BMP085(PinName sda, PinName scl);
- float data[3];
-
- void read();
+ //virtual void read();
void calibrate(int s);
- float get_angle();
+ float get_height();
private:
// raw data and function to measure it
--- a/Sensors/Comp/HMC5883.cpp Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Comp/HMC5883.cpp Sat Nov 03 07:44:07 2012 +0000
@@ -1,39 +1,16 @@
#include "HMC5883.h"
-HMC5883::HMC5883(PinName sda, PinName scl) : I2C_Sensor(sda, scl, HMC5883_I2C_ADDRESS), local("local")
+HMC5883::HMC5883(PinName sda, PinName scl) : I2C_Sensor(sda, scl, HMC5883_I2C_ADDRESS)
{
// load calibration values
- FILE *fp = fopen("/local/compass.txt", "r");
- for(int i = 0; i < 3; i++)
- fscanf(fp, "%f", &scale[i]);
- for(int i = 0; i < 3; i++)
- fscanf(fp, "%f", &offset[i]);
- fclose(fp);
-
- // initialize HMC5883 for scaling
- writeRegister(HMC5883_CONF_REG_A, 0x19); // 8 samples, 75Hz output, test mode for scaling!
- writeRegister(HMC5883_CONF_REG_B, 0x20); // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
- writeRegister(HMC5883_MODE_REG, 0x00); // continuous measurement-mode
+ loadCalibrationValues(scale, 3, "COMPASS_SCALE.txt");
+ loadCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
- /* (not important, just from data sheet)
- // Scaling with testmode
- for(int j = 0; j < 3; j++) // set all scales to 1 first so the measurement for scaling is not already scaled
- scale[j] = 1;
-
- int data50[3] = {0,0,0}; // to save the 50 measurements
- for(int i = 0; i < 50; i++) // measure 50 times the testmode value to get an average
- {
- read();
- for(int j = 0; j < 3; j++)
- data50[j] += data[j];
- }
- scale[0] = (1.16 * 1090)/(data50[0]/50.0); // value that it should be with selftest of 1.1 Gauss * 1090 LSB/Gauss / the value it is
- scale[1] = (1.16 * 1090)/(data50[1]/50.0);
- scale[2] = (1.08 * 1090)/(data50[2]/50.0);
- */
-
- // set normal mode
- writeRegister(HMC5883_CONF_REG_A, 0x78); // 8 samples, 75Hz output, normal mode
+ // initialize HMC5883
+ writeRegister(HMC5883_CONF_REG_A, 0x78); // 8 samples, 75Hz output, normal mode
+ //writeRegister(HMC5883_CONF_REG_A, 0x19); // 8 samples, 75Hz output, test mode! (should get constant values from measurement, see datasheet)
+ writeRegister(HMC5883_CONF_REG_B, 0x20); // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
+ writeRegister(HMC5883_MODE_REG, 0x00); // continuous measurement-mode
}
void HMC5883::read()
@@ -45,30 +22,28 @@
void HMC5883::calibrate(int s)
{
- Timer calibrate_timer;
+ int Min[3]; // values for achieved maximum and minimum amplitude in calibrating environment
+ int Max[3];
+
+ Timer calibrate_timer; // timer to know when calibration is finished
calibrate_timer.start();
- while(calibrate_timer.read() < s)
+ while(calibrate_timer.read() < s) // take measurements for s seconds
{
readraw();
for(int i = 0; i < 3; i++) {
- Min[i]= Min[i] < raw[i] ? Min[i] : raw[i];
+ Min[i]= Min[i] < raw[i] ? Min[i] : raw[i]; // after each measurement check if there's a new minimum or maximum
Max[i]= Max[i] > raw[i] ? Max[i] : raw[i];
-
- //Scale und Offset aus gesammelten Min Max Werten berechnen
- //Die neue Untere und obere Grenze bilden -1 und +1
- scale[i]= 2000 / (float)(Max[i]-Min[i]);
- offset[i]= 1000 - (float)(Max[i]) * scale[i];
}
}
- // save values
- FILE *fp = fopen("/local/compass.txt", "w");
- for(int i = 0; i < 3; i++)
- fprintf(fp, "%f\r\n", scale[i]);
- for(int i = 0; i < 3; i++)
- fprintf(fp, "%f\r\n", offset[i]);
- fclose(fp);
+ for(int i = 0; i < 3; i++) {
+ scale[i]= 2000 / (float)(Max[i]-Min[i]); // calculate scale and offset out of the measured maxima and minima
+ offset[i]= 1000 - (float)(Max[i]) * scale[i]; // the lower bound is -1000, the higher one 1000
+ }
+
+ saveCalibrationValues(scale, 3, "COMPASS_SCALE.txt"); // save new scale and offset values to flash
+ saveCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
}
void HMC5883::readraw()
@@ -89,10 +64,11 @@
float Heading;
Heading = RAD2DEG * atan2(data[0],data[1]);
- Heading += 1.367; //bei Ost-Deklination += DecAngle, bei West-Deklination -= DecAngle
- //Missweisung = Winkel zwischen geographischer und magnetischer Nordrichtung
- //Bern ca. 1.367 Grad Ost
- //http://www.swisstopo.admin.ch/internet/swisstopo/de/home/apps/calc/declination.html
+ Heading += 1.367; // correction of the angle between geographical and magnetical north direction, called declination
+ // if you need an east-declination += DecAngle, if you need west-declination -= DecAngle
+ // for me in Switzerland, Bern it's ca. 1.367 degree east
+ // see: http://magnetic-declination.com/
+ // for me: http://www.swisstopo.admin.ch/internet/swisstopo/de/home/apps/calc/declination.html
if(Heading < 0)
Heading += 360; // minimum 0 degree
--- a/Sensors/Comp/HMC5883.h Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Comp/HMC5883.h Sat Nov 03 07:44:07 2012 +0000
@@ -6,35 +6,27 @@
#include "mbed.h"
#include "I2C_Sensor.h"
+#define HMC5883_I2C_ADDRESS 0x1E
+
#define HMC5883_CONF_REG_A 0x00
#define HMC5883_CONF_REG_B 0x01
#define HMC5883_MODE_REG 0x02
#define HMC5883_DATA_OUT_X_MSB 0x03
-// I2C addresses
-#define HMC5883_I2C_ADDRESS 0x1E
-
class HMC5883 : public I2C_Sensor
{
public:
HMC5883(PinName sda, PinName scl);
- float data[3];
- void read();
+ virtual void read(); // read all axis from register to array data
void calibrate(int s);
float get_angle();
private:
- // raw data and function to get it
- int raw[3];
- void readraw();
+ void readraw(); // function to get raw data
- // calibration parameters and their saving
- int Min[3];
- int Max[3];
- float scale[3];
+ float scale[3]; // calibration parameters
float offset[3];
- LocalFileSystem local;
};
#endif
--- a/Sensors/Gyro/L3G4200D.h Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.h Sat Nov 03 07:44:07 2012 +0000
@@ -44,8 +44,7 @@
{
public:
L3G4200D(PinName sda, PinName scl); // constructor, uses I2C_Sensor class
- void read(); // read all axis to array
- float data[3]; // where the measured data is saved
+ virtual void read(); // read all axis from register to array data
int readTemp(); // read temperature from sensor
private:
--- a/Sensors/I2C_Sensor.h Wed Oct 31 16:53:01 2012 +0000
+++ b/Sensors/I2C_Sensor.h Sat Nov 03 07:44:07 2012 +0000
@@ -10,9 +10,9 @@
public:
I2C_Sensor(PinName sda, PinName scl, int8_t address);
- float data[3];
- void read();
- void calibrate();
+ float data[3]; // where the measured data is saved
+ virtual void read() = 0; // read all axis from register to array data
+ //TODO: virtual void calibrate() = 0; // calibrate the sensor and if desired write calibration values to a file
protected:
// Calibration value saving
@@ -26,7 +26,7 @@
// raw data and function to measure it
int raw[3];
- void readraw();
+ //virtual void readraw() = 0;
private:
I2C i2c; // I2C-Bus
--- a/main.cpp Wed Oct 31 16:53:01 2012 +0000
+++ b/main.cpp Sat Nov 03 07:44:07 2012 +0000
@@ -25,7 +25,7 @@
// initialisation of hardware (see includes for more info)
LED LEDs;
-PC pc(USBTX, USBRX, 57600);
+PC pc(USBTX, USBRX, 57600); // TODO: Testen ?!!! 115.200
L3G4200D Gyro(p28, p27);
ADXL345 Acc(p28, p27);
HMC5883 Comp(p28, p27);
Matthias Grob
