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110 lines
2.3 KiB
110 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// |
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// Simple test for the AP_DCM library |
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// |
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#include <FastSerial.h> |
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#include <SPI.h> |
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#include <I2C.h> |
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#include <Arduino_Mega_ISR_Registry.h> |
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#include <AP_PeriodicProcess.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_ADC.h> |
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#include <AP_IMU.h> |
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#include <AP_DCM.h> |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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#include <AP_Compass.h> |
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// uncomment this for a APM2 board |
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// #define APM2_HARDWARE |
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FastSerialPort(Serial, 0); |
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Arduino_Mega_ISR_Registry isr_registry; |
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AP_TimerProcess scheduler; |
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AP_Compass_HMC5843 compass(AP_Var::k_key_none); |
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#ifdef APM2_HARDWARE |
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AP_InertialSensor_MPU6000 ins( 53 ); |
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# else |
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AP_ADC_ADS7844 adc; |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#endif // CONFIG_IMU_TYPE |
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static GPS *g_gps; |
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AP_IMU_INS imu( &ins, AP_Var::k_key_none ); |
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AP_DCM dcm(&imu, g_gps); |
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#ifdef APM2_HARDWARE |
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# define A_LED_PIN 27 |
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# define C_LED_PIN 25 |
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# define LED_ON LOW |
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# define LED_OFF HIGH |
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD |
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#else |
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# define A_LED_PIN 37 |
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# define C_LED_PIN 35 |
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# define LED_ON HIGH |
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# define LED_OFF LOW |
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD |
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#endif |
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static void flash_leds(bool on) |
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{ |
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digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON); |
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digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF); |
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} |
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void setup(void) |
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{ |
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Serial.begin(115200); |
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Serial.println("Starting up..."); |
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isr_registry.init(); |
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scheduler.init(&isr_registry); |
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I2c.begin(); |
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I2c.timeOut(5); |
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I2c.setSpeed(true); |
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SPI.begin(); |
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SPI.setClockDivider(SPI_CLOCK_DIV16); |
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imu.init(IMU::COLD_START, delay, flash_leds, &scheduler); |
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imu.init_accel(delay, flash_leds); |
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compass.set_orientation(MAG_ORIENTATION); |
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if (compass.init()) { |
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printf("Enabling compass\n"); |
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compass.null_offsets_enable(); |
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dcm.set_compass(&compass); |
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} |
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} |
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void loop(void) |
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{ |
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Vector3f accel; |
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Vector3f gyro; |
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static uint8_t counter; |
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delay(20); |
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dcm.update_DCM(); |
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if (counter++ == 10) { |
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counter = 0; |
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gyro = imu.get_gyro(); |
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accel = imu.get_accel(); |
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Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"), |
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(int)dcm.roll_sensor / 100, |
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(int)dcm.pitch_sensor / 100, |
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(uint16_t)dcm.yaw_sensor / 100, |
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gyro.x, gyro.y, gyro.z, |
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accel.x, accel.y, accel.z); |
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} |
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}
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