Audren Cloitre
Same library as the one in "UM6LT" but this publication has a main file to show how to use the library.
Revision 0:c5fbc6927336, committed 2012-09-30
- Comitter:
- acloitre
- Date:
- Sun Sep 30 21:00:04 2012 +0000
- Commit message:
- Same library as the one published under the Name UM6LT but this one include s a main file to show how to use th elibrary.; Still not the best way to implement the code/make good use of this hardware but it works.; Set the IMU in silent mode (broadcast di...
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/UM6LT.lib Sun Sep 30 21:00:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/acloitre/code/UM6LT/#5651731cfb32
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Sep 30 21:00:04 2012 +0000
@@ -0,0 +1,140 @@
+#include "mbed.h"
+#include "UM6LT.h"
+
+Serial pc(USBTX, USBRX);
+UM6LT imu(p28, p27);
+
+int stdDelayMs = 2;
+
+int main() {
+
+ pc.baud(115200);
+ imu.baud(115200);
+
+ int broadcastRate = 22;
+ int baudrate = 115200;
+
+ int wantCov = 0;
+ int wantEulerAngles = 0;
+ int wantQuat = 0;
+ int wantProcMag = 0;
+ int wantProcAccel = 0;
+ int wantProcGyro = 0;
+ int wantRawMag = 0;
+ int wantRawAccel = 0;
+ int wantRawGyro = 0;
+
+ int dataToTransmit [9] = {wantCov, wantEulerAngles, wantQuat, wantProcMag, wantProcAccel, wantProcGyro, wantRawMag, wantRawAccel, wantRawGyro};
+ int broadcastEnabled = 0;
+
+ imu.setCommParams(broadcastRate, baudrate, dataToTransmit, broadcastEnabled);
+
+ int wantPPS = 0;
+ int wantQuatUpdate = 1;
+ int wantCal = 1;
+ int wantAccelUpdate = 1;
+ int wantMagUpdate = 1;
+
+ imu.setConfigParams(wantPPS, wantQuatUpdate, wantCal, wantAccelUpdate, wantMagUpdate);
+
+ if(imu.getStatus()){
+
+ int roll = 0;
+ int pitch = 0;
+ int yaw = 0;
+ int rollRate = 0;
+ int pitchRate = 0;
+ int yawRate = 0;
+ int accelX = 0 ;
+ int accelY = 0 ;
+ int accelZ = 0 ;
+ int magX = 0;
+ int magY = 0;
+ int magZ = 0;
+ int gyroBiasX = 0;
+ int gyroBiasY = 0;
+ int gyroBiasZ = 0;
+ int a = 0;
+ int b = 0;
+ int c = 0;
+ int d = 0;
+
+ int byteBuffer;
+
+ for(int i=0; i<5; i++){
+ if(imu.getAngles(roll, pitch, yaw)){
+ wait_ms(stdDelayMs);
+ printf("roll: %d pitch: %d yaw: %d\r\n", roll, pitch, yaw);
+ }
+ }
+
+ printf("\r\n\r\nAngles should be random but consistent\r\n\r\n");
+
+ if(imu.zeroGyros(gyroBiasX, gyroBiasY,gyroBiasZ)){
+ printf("Gyro Bias X: %d Gyro Bias Y: %d Gyro Bias Z: %d\r\n", gyroBiasX, gyroBiasY, gyroBiasZ);
+ }
+
+ if(imu.autoSetAccelRef() && imu.autoSetMagRef() && imu.resetEKF()){
+
+ printf("Press (1) for Euler Angles.\r\n");
+ printf("Press (2) for Accelerations.\r\n");
+ printf("Press (3) for Magnetic field.\r\n");
+ printf("Press (4) for Angle rates.\r\n");
+ printf("Press (5) for Quaternion.\r\n");
+ printf("Press (0) to stop.\r\n");
+
+ while(!pc.readable()){
+ wait_ms(stdDelayMs);
+ }
+ byteBuffer = pc.getc();
+
+ while(1){
+
+ if(pc.readable()){
+ byteBuffer = pc.getc();
+ }
+
+ switch(byteBuffer){
+ case '0':
+ wait_ms(stdDelayMs);
+ break;
+ case '1':
+ if(imu.getAngles(roll, pitch, yaw)){
+ wait_ms(stdDelayMs);
+ printf("roll: %d pitch: %d yaw: %d\r\n", roll, pitch, yaw);
+ }
+ break;
+ case '2':
+ if(imu.getAccel(accelX, accelY, accelZ)){
+ wait_ms(stdDelayMs);
+ printf("accelX: %d accelY: %d accelZ: %d\r\n", accelX, accelY, accelZ);
+ }
+ break;
+ case '3':
+ if(imu.getMag(magX, magY, magZ)){
+ wait_ms(stdDelayMs);
+ printf("magX: %d magY: %d magZ: %d\r\n", magX, magY, magZ);
+ }
+ break;
+ case '4':
+ if(imu.getAngleRates(rollRate, pitchRate, yawRate)){
+ wait_ms(stdDelayMs);
+ printf("rollRate: %d pitchRate: %d yawRate: %d\r\n", rollRate, pitchRate, yawRate);
+ }
+ break;
+ case '5':
+ if(imu.getQuaternion(a, b, c, d)){
+ wait_ms(stdDelayMs);
+ printf("a: %d b: %d c: %d d: %d\r\n", a, b, c, d);
+ }
+ break;
+ default:
+ printf("Wrong command. Enter '1', '2', '3', '4', '5' or '6'.\r\n");
+ byteBuffer = '0';
+ break;
+ }
+ }
+
+ }
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Sep 30 21:00:04 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/14f4805c468c \ No newline at end of file