| /branches/V0.82b-Arthur-P/DebugUtils/.bzr/README |
|---|
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| This is a Bazaar control directory. |
| Do not change any files in this directory. |
| See http://bazaar.canonical.com/ for more information about Bazaar. |
| /branches/V0.82b-Arthur-P/DebugUtils/.bzr/branch/branch.conf |
|---|
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| push_location = sftp://varesano@varesano.net/~/repository/DebugUtils/ |
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| +Bazaar repository format 2a (needs bzr 1.16 or later) |
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| /branches/V0.82b-Arthur-P/DebugUtils/DebugUtils.h |
|---|
| 0,0 → 1,49 |
| /* |
| DebugUtils.h - Simple debugging utilities. |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| Ideas taken from: |
| http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1271517197 |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #ifndef DEBUGUTILS_H |
| #define DEBUGUTILS_H |
| #ifdef DEBUG_V |
| #include <WProgram.h> |
| #define DEBUG_PRINT(str) \ |
| Serial.print(millis()); \ |
| Serial.print(": "); \ |
| Serial.print(__PRETTY_FUNCTION__); \ |
| Serial.print(' '); \ |
| Serial.print(__FILE__); \ |
| Serial.print(':'); \ |
| Serial.print(__LINE__); \ |
| Serial.print(' '); \ |
| Serial.println(str); |
| #endif |
| #ifdef DEBUG |
| #define DEBUG_PRINT(str) \ |
| Serial.println(str); |
| #endif |
| #ifndef DEBUG_PRINT |
| #define DEBUG_PRINT(str) |
| #endif |
| #endif //DEBUGUTILS_H |
| /branches/V0.82b-Arthur-P/FreeIMU/CommunicationUtils.cpp |
|---|
| 0,0 → 1,25 |
| #include "WProgram.h" |
| #include "CommunicationUtils.h" |
| void serialPrintFloatArr(float * arr, int length) { |
| for(int i=0; i<length; i++) { |
| serialFloatPrint(arr[i]); |
| Serial.print(","); |
| } |
| } |
| void serialFloatPrint(float f) { |
| byte * b = (byte *) &f; |
| for(int i=0; i<4; i++) { |
| byte b1 = (b[i] >> 4) & 0x0f; |
| byte b2 = (b[i] & 0x0f); |
| char c1 = (b1 < 10) ? ('0' + b1) : 'A' + b1 - 10; |
| char c2 = (b2 < 10) ? ('0' + b2) : 'A' + b2 - 10; |
| Serial.print(c1); |
| Serial.print(c2); |
| } |
| } |
| /branches/V0.82b-Arthur-P/FreeIMU/CommunicationUtils.h |
|---|
| 0,0 → 1,7 |
| #ifndef CommunitationUtils_h |
| #define CommunitationUtils_h |
| void serialPrintFloatArr(float * arr, int length); |
| void serialFloatPrint(float f); |
| #endif // CommunitationUtils_h |
| /branches/V0.82b-Arthur-P/FreeIMU/FreeIMU.cpp |
|---|
| 0,0 → 1,327 |
| /* |
| FreeIMU.cpp - A libre and easy to use orientation sensing library for Arduino |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #include <inttypes.h> |
| //#define DEBUG |
| #include "WProgram.h" |
| #include "FreeIMU.h" |
| // #include "WireUtils.h" |
| #include "DebugUtils.h" |
| //---------------------------------------------------------------------------------------------------- |
| // Definitions |
| #define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer |
| #define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases |
| //#define halfT 0.02f // half the sample period |
| FreeIMU::FreeIMU() { |
| #if FREEIMU_VER <= 3 |
| acc = ADXL345(); |
| #else |
| acc = BMA180(); |
| #endif |
| gyro = ITG3200(); |
| magn = HMC58X3(); |
| // initialize quaternion |
| q0 = 1.0; |
| q1 = 0.0; |
| q2 = 0.0; |
| q3 = 0.0; |
| exInt = 0.0; |
| eyInt = 0.0; |
| ezInt = 0.0; |
| lastUpdate = 0; |
| now = 0; |
| } |
| void FreeIMU::init() { |
| init(FIMU_ACC_ADDR, FIMU_ITG3200_DEF_ADDR, false); |
| } |
| void FreeIMU::init(bool fastmode) { |
| init(FIMU_ACC_ADDR, FIMU_ITG3200_DEF_ADDR, fastmode); |
| } |
| void FreeIMU::init(int acc_addr, int gyro_addr, bool fastmode) { |
| delay(5); |
| // disable internal pullups of the ATMEGA which Wire enable by default |
| #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) |
| // deactivate internal pull-ups for twi |
| // as per note from atmega8 manual pg167 |
| cbi(PORTC, 4); |
| cbi(PORTC, 5); |
| #else |
| // deactivate internal pull-ups for twi |
| // as per note from atmega128 manual pg204 |
| cbi(PORTD, 0); |
| cbi(PORTD, 1); |
| #endif |
| if(fastmode) { // switch to 400KHz I2C - eheheh |
| TWBR = ((16000000L / 400000L) - 16) / 2; // see twi_init in Wire/utility/twi.c |
| // TODO: make the above usable also for 8MHz arduinos.. |
| } |
| #if FREEIMU_VER <= 3 |
| // init ADXL345 |
| acc.init(acc_addr); |
| #else |
| // init BMA180 |
| acc.setAddress(acc_addr); |
| acc.SoftReset(); |
| acc.enableWrite(); |
| acc.SetFilter(acc.F10HZ); |
| acc.setGSensitivty(acc.G15); |
| acc.SetSMPSkip(); |
| acc.SetISRMode(); |
| acc.disableWrite(); |
| #endif |
| // init ITG3200 |
| gyro.init(gyro_addr); |
| // calibrate the ITG3200 |
| gyro.zeroCalibrate(64,5); |
| // init HMC5843 |
| magn.init(false); // Don't set mode yet, we'll do that later on. |
| // Calibrate HMC using self test, not recommended to change the gain after calibration. |
| magn.calibrate(1); // Use gain 1=default, valid 0-7, 7 not recommended. |
| // Single mode conversion was used in calibration, now set continuous mode |
| magn.setMode(0); |
| delay(10); |
| magn.setDOR(B110); |
| } |
| void FreeIMU::getRawValues(int * raw_values) { |
| acc.readAccel(&raw_values[0], &raw_values[1], &raw_values[2]); |
| gyro.readGyroRaw(&raw_values[3], &raw_values[4], &raw_values[5]); |
| magn.getValues(&raw_values[6], &raw_values[7], &raw_values[8]); |
| } |
| void FreeIMU::getValues(float * values) { |
| int accval[3]; |
| acc.readAccel(&accval[0], &accval[1], &accval[2]); |
| values[0] = ((float) accval[0]); |
| values[1] = ((float) accval[1]); |
| values[2] = ((float) accval[2]); |
| gyro.readGyro(&values[3]); |
| magn.getValues(&values[6]); |
| } |
| //===================================================================================================== |
| // AHRS.c |
| // S.O.H. Madgwick |
| // 25th August 2010 |
| //===================================================================================================== |
| // Description: |
| // |
| // Quaternion implementation of the 'DCM filter' [Mayhony et al]. Incorporates the magnetic distortion |
| // compensation algorithms from my filter [Madgwick] which eliminates the need for a reference |
| // direction of flux (bx bz) to be predefined and limits the effect of magnetic distortions to yaw |
| // axis only. |
| // |
| // User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'. |
| // |
| // Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated |
| // orientation. See my report for an overview of the use of quaternions in this application. |
| // |
| // User must call 'AHRSupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz'), |
| // accelerometer ('ax', 'ay', 'ay') and magnetometer ('mx', 'my', 'mz') data. Gyroscope units are |
| // radians/second, accelerometer and magnetometer units are irrelevant as the vector is normalised. |
| // |
| //===================================================================================================== |
| void FreeIMU::AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) { |
| float norm; |
| float hx, hy, hz, bx, bz; |
| float vx, vy, vz, wx, wy, wz; |
| float ex, ey, ez; |
| // auxiliary variables to reduce number of repeated operations |
| float q0q0 = q0*q0; |
| float q0q1 = q0*q1; |
| float q0q2 = q0*q2; |
| float q0q3 = q0*q3; |
| float q1q1 = q1*q1; |
| float q1q2 = q1*q2; |
| float q1q3 = q1*q3; |
| float q2q2 = q2*q2; |
| float q2q3 = q2*q3; |
| float q3q3 = q3*q3; |
| // normalise the measurements |
| now = millis(); |
| halfT = (now - lastUpdate) / 2000.0; |
| lastUpdate = now; |
| norm = sqrt(ax*ax + ay*ay + az*az); |
| ax = ax / norm; |
| ay = ay / norm; |
| az = az / norm; |
| /* |
| norm = invSqrt(ax*ax + ay*ay + az*az); |
| ax = ax * norm; |
| ay = ay * norm; |
| az = az * norm; |
| */ |
| norm = sqrt(mx*mx + my*my + mz*mz); |
| mx = mx / norm; |
| my = my / norm; |
| mz = mz / norm; |
| /* |
| norm = invSqrt(mx*mx + my*my + mz*mz); |
| mx = mx * norm; |
| my = my * norm; |
| mz = mz * norm; |
| */ |
| // compute reference direction of flux |
| hx = 2*mx*(0.5 - q2q2 - q3q3) + 2*my*(q1q2 - q0q3) + 2*mz*(q1q3 + q0q2); |
| hy = 2*mx*(q1q2 + q0q3) + 2*my*(0.5 - q1q1 - q3q3) + 2*mz*(q2q3 - q0q1); |
| hz = 2*mx*(q1q3 - q0q2) + 2*my*(q2q3 + q0q1) + 2*mz*(0.5 - q1q1 - q2q2); |
| bx = sqrt((hx*hx) + (hy*hy)); |
| bz = hz; |
| // estimated direction of gravity and flux (v and w) |
| vx = 2*(q1q3 - q0q2); |
| vy = 2*(q0q1 + q2q3); |
| vz = q0q0 - q1q1 - q2q2 + q3q3; |
| wx = 2*bx*(0.5 - q2q2 - q3q3) + 2*bz*(q1q3 - q0q2); |
| wy = 2*bx*(q1q2 - q0q3) + 2*bz*(q0q1 + q2q3); |
| wz = 2*bx*(q0q2 + q1q3) + 2*bz*(0.5 - q1q1 - q2q2); |
| // error is sum of cross product between reference direction of fields and direction measured by sensors |
| ex = (ay*vz - az*vy) + (my*wz - mz*wy); |
| ey = (az*vx - ax*vz) + (mz*wx - mx*wz); |
| ez = (ax*vy - ay*vx) + (mx*wy - my*wx); |
| // integral error scaled integral gain |
| exInt = exInt + ex*Ki; |
| eyInt = eyInt + ey*Ki; |
| ezInt = ezInt + ez*Ki; |
| // adjusted gyroscope measurements |
| gx = gx + Kp*ex + exInt; |
| gy = gy + Kp*ey + eyInt; |
| gz = gz + Kp*ez + ezInt; |
| // integrate quaternion rate and normalise |
| iq0 = (-q1*gx - q2*gy - q3*gz)*halfT; |
| iq1 = (q0*gx + q2*gz - q3*gy)*halfT; |
| iq2 = (q0*gy - q1*gz + q3*gx)*halfT; |
| iq3 = (q0*gz + q1*gy - q2*gx)*halfT; |
| q0 += iq0; |
| q1 += iq1; |
| q2 += iq2; |
| q3 += iq3; |
| // normalise quaternion |
| norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); |
| q0 = q0 / norm; |
| q1 = q1 / norm; |
| q2 = q2 / norm; |
| q3 = q3 / norm; |
| /* |
| norm = invSqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); |
| q0 = q0 * norm; |
| q1 = q1 * norm; |
| q2 = q2 * norm; |
| q3 = q3 * norm; |
| */ |
| } |
| void FreeIMU::getQ(float * q) { |
| float val[9]; |
| getValues(val); |
| DEBUG_PRINT(val[3] * M_PI/180); |
| DEBUG_PRINT(val[4] * M_PI/180); |
| DEBUG_PRINT(val[5] * M_PI/180); |
| DEBUG_PRINT(val[0]); |
| DEBUG_PRINT(val[1]); |
| DEBUG_PRINT(val[2]); |
| DEBUG_PRINT(val[6]); |
| DEBUG_PRINT(val[7]); |
| DEBUG_PRINT(val[8]); |
| // gyro values are expressed in deg/sec, the * M_PI/180 will convert it to radians/sec |
| AHRSupdate(val[3] * M_PI/180, val[4] * M_PI/180, val[5] * M_PI/180, val[0], val[1], val[2], val[6], val[7], val[8]); |
| q[0] = q0; |
| q[1] = q1; |
| q[2] = q2; |
| q[3] = q3; |
| } |
| // Returns the Euler angles in radians defined with the Aerospace sequence. |
| // See Sebastian O.H. Madwick report |
| // "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation |
| void FreeIMU::getEuler(float * angles) { |
| float q[4]; // quaternion |
| getQ(q); |
| angles[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1) * 180/M_PI; // psi |
| angles[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]) * 180/M_PI; // theta |
| angles[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1) * 180/M_PI; // phi |
| } |
| void FreeIMU::getYawPitchRoll(float * ypr) { |
| float q[4]; // quaternion |
| float gx, gy, gz; // estimated gravity direction |
| getQ(q); |
| gx = 2 * (q[1]*q[3] - q[0]*q[2]); |
| gy = 2 * (q[0]*q[1] + q[2]*q[3]); |
| gz = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]; |
| ypr[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1) * 180/M_PI; |
| ypr[1] = atan(gx / sqrt(gy*gy + gz*gz)) * 180/M_PI; |
| ypr[2] = atan(gy / sqrt(gx*gx + gz*gz)) * 180/M_PI; |
| } |
| float invSqrt(float number) { |
| volatile long i; |
| volatile float x, y; |
| volatile const float f = 1.5F; |
| x = number * 0.5F; |
| y = number; |
| i = * ( long * ) &y; |
| i = 0x5f375a86 - ( i >> 1 ); |
| y = * ( float * ) &i; |
| y = y * ( f - ( x * y * y ) ); |
| return y; |
| } |
| /branches/V0.82b-Arthur-P/FreeIMU/FreeIMU.h |
|---|
| 0,0 → 1,103 |
| /* |
| FreeIMU.h - A libre and easy to use orientation sensing library for Arduino |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| // Uncomment the appropriated version of FreeIMU you are using |
| // #define FREEIMU_VER 1 // For FreeIMU v0.1 |
| // #define FREEIMU_VER 2 // For FreeIMU v0.2 |
| //#define FREEIMU_VER 3 // For FreeIMU v0.3 and v0.3.1 |
| #define FREEIMU_VER 4 // For FreeIMU v0.3.5 |
| // #define FREEIMU_VER 5 // For FreeIMU v0.3.5_MS |
| // #define FREEIMU_VER 6 // For FreeIMU v0.3.5_BMP |
| #include <Wire.h> |
| #include "WProgram.h" |
| #if FREEIMU_VER <= 3 |
| #include <ADXL345.h> |
| // default I2C 7-bit addresses of the sensors |
| #define FIMU_ACC_ADDR ADXL345_ADDR_ALT_LOW // SDO connected to GND |
| //#define FIMU_ADXL345_DEF_ADDR ADXL345_ADDR_ALT_HIGH // SDO connected to GND |
| #else |
| #include <bma180.h> |
| #define FIMU_ACC_ADDR BMA180_ADDRESS_SDO_LOW |
| //#define FIMU_ACC_ADDR BMA180_ADDRESS_SDO_HIGH |
| #endif |
| #include <HMC58X3.h> |
| #include <ITG3200.h> |
| #ifndef FreeIMU_h |
| #define FreeIMU_h |
| #define FIMU_BMA180_DEF_ADDR BMA180_ADDRESS_SDO_LOW |
| #define FIMU_ITG3200_DEF_ADDR ITG3200_ADDR_AD0_LOW // AD0 connected to GND |
| // HMC5843 address is fixed so don't bother to define it |
| /* |
| // ITG3200 constants |
| #define FIMU_ITG3200_SMPLRT_DIV 0x15 |
| #define FIMU_ITG3200_DLPF_FS 0x16 |
| #define FIMU_ITG3200_INT_CFG 0x17 |
| #define FIMU_ITG3200_PWR_MGM 0x3E |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| class FreeIMU |
| { |
| public: |
| FreeIMU(); |
| void init(); |
| void init(bool fastmode); |
| void init(int acc_addr, int gyro_addr, bool fastmode); |
| void getRawValues(int * raw_values); |
| void getValues(float * values); |
| void getQ(float * q); |
| void getEuler(float * angles); |
| void getYawPitchRoll(float * ypr); |
| // we make them public so that users can interact directly with device classes |
| #if FREEIMU_VER <= 3 |
| ADXL345 acc; |
| #else |
| BMA180 acc; |
| #endif |
| HMC58X3 magn; |
| ITG3200 gyro; |
| private: |
| int* raw_acc, raw_gyro, raw_magn; |
| void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz); |
| float q0, q1, q2, q3; // quaternion elements representing the estimated orientation |
| float iq0, iq1, iq2, iq3; |
| float exInt, eyInt, ezInt; // scaled integral error |
| int lastUpdate, now; // sample period expressed in milliseconds |
| float halfT; // half the sample period expressed in seconds |
| int startLoopTime; |
| }; |
| float invSqrt(float number); |
| #endif // FreeIMU_h |
| /branches/V0.82b-Arthur-P/FreeIMU/LICENSE.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
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| ALL NECESSARY SERVICING, REPAIR OR CORRECTION. |
| 16. Limitation of Liability. |
| IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING |
| WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS |
| THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY |
| GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE |
| USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF |
| DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD |
| PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), |
| EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
| SUCH DAMAGES. |
| 17. Interpretation of Sections 15 and 16. |
| If the disclaimer of warranty and limitation of liability provided |
| above cannot be given local legal effect according to their terms, |
| reviewing courts shall apply local law that most closely approximates |
| an absolute waiver of all civil liability in connection with the |
| Program, unless a warranty or assumption of liability accompanies a |
| copy of the Program in return for a fee. |
| END OF TERMS AND CONDITIONS |
| How to Apply These Terms to Your New Programs |
| If you develop a new program, and you want it to be of the greatest |
| possible use to the public, the best way to achieve this is to make it |
| free software which everyone can redistribute and change under these terms. |
| To do so, attach the following notices to the program. It is safest |
| to attach them to the start of each source file to most effectively |
| state the exclusion of warranty; and each file should have at least |
| the "copyright" line and a pointer to where the full notice is found. |
| <one line to give the program's name and a brief idea of what it does.> |
| Copyright (C) <year> <name of author> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the GNU General Public License as published by |
| the Free Software Foundation, either version 3 of the License, or |
| (at your option) any later version. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Also add information on how to contact you by electronic and paper mail. |
| If the program does terminal interaction, make it output a short |
| notice like this when it starts in an interactive mode: |
| <program> Copyright (C) <year> <name of author> |
| This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
| This is free software, and you are welcome to redistribute it |
| under certain conditions; type `show c' for details. |
| The hypothetical commands `show w' and `show c' should show the appropriate |
| parts of the General Public License. Of course, your program's commands |
| might be different; for a GUI interface, you would use an "about box". |
| You should also get your employer (if you work as a programmer) or school, |
| if any, to sign a "copyright disclaimer" for the program, if necessary. |
| For more information on this, and how to apply and follow the GNU GPL, see |
| <http://www.gnu.org/licenses/>. |
| The GNU General Public License does not permit incorporating your program |
| into proprietary programs. If your program is a subroutine library, you |
| may consider it more useful to permit linking proprietary applications with |
| the library. If this is what you want to do, use the GNU Lesser General |
| Public License instead of this License. But first, please read |
| <http://www.gnu.org/philosophy/why-not-lgpl.html>. |
| /branches/V0.82b-Arthur-P/FreeIMU/examples/FreeIMU_quaternion/FreeIMU_quaternion.pde |
|---|
| 0,0 → 1,37 |
| #include <ADXL345.h> |
| #include <HMC58X3.h> |
| #include <ITG3200.h> |
| #include <bma180.h> |
| #define DEBUG |
| #ifdef DEBUG |
| #include "DebugUtils.h" |
| #endif |
| #include "CommunicationUtils.h" |
| #include "FreeIMU.h" |
| #include <Wire.h> |
| float q[4]; |
| // Set the FreeIMU object |
| FreeIMU my3IMU = FreeIMU(); |
| void setup() { |
| Serial.begin(115200); |
| Wire.begin(); |
| delay(5); |
| my3IMU.init(); |
| delay(5); |
| } |
| void loop() { |
| my3IMU.getQ(q); |
| serialPrintFloatArr(q, 4); |
| Serial.println(""); |
| delay(10); |
| } |
| /branches/V0.82b-Arthur-P/FreeIMU/examples/FreeIMU_raw/FreeIMU_raw.pde |
|---|
| 0,0 → 1,43 |
| #include <ADXL345.h> |
| #include <bma180.h> |
| #include <HMC58X3.h> |
| #include <ITG3200.h> |
| //#define DEBUG |
| #include "DebugUtils.h" |
| #include "FreeIMU.h" |
| #include <Wire.h> |
| int raw_values[9]; |
| char str[512]; |
| float val[9]; |
| // Set the default object |
| FreeIMU my3IMU = FreeIMU(); |
| void setup() { |
| Serial.begin(115200); |
| Wire.begin(); |
| delay(500); |
| my3IMU.init(true); // the parameter enable or disable fast mode |
| delay(500); |
| } |
| void loop() { |
| my3IMU.getRawValues(raw_values); |
| sprintf(str, "%d,%d,%d,%d,%d,%d,%d,%d,%d,", raw_values[0], raw_values[1], raw_values[2], raw_values[3], raw_values[4], raw_values[5], raw_values[6], raw_values[7], raw_values[8]); |
| Serial.print(str); |
| Serial.print(10, BYTE); |
| /* |
| my3IMU.getValues(val); |
| sprintf(str, "%d,%d,%d,%d,%d,%d,%d,%d,%d", int(val[0]), int(val[1]), int(val[2]), int(val[3]), int(val[4]), int(val[5]), int(val[6]), int(val[7]), int(val[8])); |
| Serial.print(str); |
| Serial.print(10, BYTE); |
| */ |
| } |
| /branches/V0.82b-Arthur-P/FreeIMU/examples/FreeIMU_speedtest/FreeIMU_speedtest.pde |
|---|
| 0,0 → 1,71 |
| #include <ADXL345.h> |
| #include <HMC5843.h> |
| #include <ITG3200.h> |
| //#define DEBUG |
| #include "DebugUtils.h" |
| #include "FreeIMU.h" |
| #include <Wire.h> |
| int raw_values[9]; |
| char str[512]; |
| float val[9], q[4]; |
| unsigned long start, stop; |
| // Set the default object |
| FreeIMU my3IMU = FreeIMU(); |
| void setup() { |
| Serial.begin(115200); |
| Wire.begin(); |
| delay(500); |
| my3IMU.init(true); // the parameter enable or disable fast mode |
| delay(500); |
| } |
| void loop() { |
| Serial.println("Testing raw reading speed (average on 1024 samples):"); |
| start = micros(); |
| for(int i=0; i<1024; i++) { |
| my3IMU.getRawValues(raw_values); |
| } |
| stop = micros(); |
| Serial.print("--> result: "); |
| Serial.print((stop - start) / 1024); |
| Serial.print(" microseconds .... "); |
| Serial.print(((stop - start) / 1024) / 1000); |
| Serial.println(" milliseconds"); |
| Serial.println("Testing calibrated reading speed (average on 1024 samples):"); |
| start = micros(); |
| for(int i=0; i<1024; i++) { |
| my3IMU.getValues(val); |
| } |
| stop = micros(); |
| Serial.print("--> result: "); |
| Serial.print((stop - start) / 1024); |
| Serial.print(" microseconds .... "); |
| Serial.print(((stop - start) / 1024) / 1000); |
| Serial.println(" milliseconds"); |
| Serial.println("Testing sensor fusion speed (average on 1024 samples):"); |
| start = micros(); |
| for(int i=0; i<1024; i++) { |
| my3IMU.getQ(q); |
| } |
| stop = micros(); |
| Serial.print("--> result: "); |
| Serial.print((stop - start) / 1024); |
| Serial.print(" microseconds .... "); |
| Serial.print(((stop - start) / 1024) / 1000); |
| Serial.println(" milliseconds"); |
| Serial.println("Looping again.."); |
| Serial.println("----"); |
| } |
| /branches/V0.82b-Arthur-P/FreeIMU/examples/FreeIMU_yaw_pitch_roll/FreeIMU_yaw_pitch_roll.pde |
|---|
| 0,0 → 1,44 |
| #include <ADXL345.h> |
| #include <HMC58X3.h> |
| #include <ITG3200.h> |
| //#define DEBUG |
| #include "DebugUtils.h" |
| #include "FreeIMU.h" |
| #include "CommunicationUtils.h" |
| #include <Wire.h> |
| int raw_values[9]; |
| //char str[512]; |
| float ypr[3]; // yaw pitch roll |
| float val[9]; |
| // Set the FreeIMU object |
| FreeIMU my3IMU = FreeIMU(); |
| void setup() { |
| Serial.begin(115200); |
| Wire.begin(); |
| delay(5); |
| my3IMU.init(); // the parameter enable or disable fast mode |
| delay(5); |
| } |
| void loop() { |
| my3IMU.getYawPitchRoll(ypr); |
| Serial.print("Yaw: "); |
| Serial.print(ypr[0]); |
| Serial.print(" Pitch: "); |
| Serial.print(ypr[1]); |
| Serial.print(" Roll: "); |
| Serial.print(ypr[2]); |
| Serial.println(""); |
| delay(10); |
| } |
| /branches/V0.82b-Arthur-P/HMC/HMC.cpp |
|---|
| 0,0 → 1,108 |
| /* |
| * HMC.cpp - Interface a Honeywell HMC5843 magnetometer to an AVR via i2c |
| * Version 0.1 - http://www.timzaman.com/ |
| * Copyright (c) 2011 Tim Zaman |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS |
| * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
| * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
| * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS |
| * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| */ |
| #include "HMC.h" |
| #include "WProgram.h" |
| #include <Wire.h> |
| /* PUBLIC METHODS */ |
| HMC5843::HMC5843() |
| { |
| } |
| void HMC5843::init() |
| { |
| } |
| // This can be called at 100ms intervals to get new data |
| void HMC5843::getValues(int *x, int *y, int *z) |
| { |
| Wire.begin(); //Initiate the Wire library and join the I2C bus as a master |
| int regb=0x01; |
| int regbdata=0x40; |
| int outputData[6]; |
| int i; |
| double angle; |
| Wire.beginTransmission(HMC5883_WriteAddress); |
| Wire.send(regb); |
| Wire.send(regbdata); |
| Wire.endTransmission(); |
| delay(1000); |
| Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write address). |
| Wire.send(HMC5883_ModeRegisterAddress); //Place the Mode Register Address in send-buffer. |
| Wire.send(HMC5883_ContinuousModeCommand); //Place the command for Continuous operation Mode in send-buffer. |
| Wire.endTransmission(); //Send the send-buffer to HMC5883 and end the I2C transmission. |
| delay(100); |
| Wire.beginTransmission(HMC5883_WriteAddress); //Initiate a transmission with HMC5883 (Write address). |
| Wire.requestFrom(HMC5883_WriteAddress,6); //Request 6 bytes of data from the address specified. |
| delay(500); |
| //Read the value of magnetic components X,Y and Z |
| if(6 <= Wire.available()) // If the number of bytes available for reading be <=6. |
| { |
| for(i=0;i<6;i++) |
| { |
| outputData[i]=Wire.receive(); //Store the data in outputData buffer |
| } |
| } |
| *x=outputData[0] << 8 | outputData[1]; //Combine MSB and LSB of X Data output register |
| *z=outputData[2] << 8 | outputData[3]; //Combine MSB and LSB of Z Data output register |
| *y=outputData[4] << 8 | outputData[5]; //Combine MSB and LSB of Y Data output register |
| } |
| void HMC5843::getAngle(int *a) |
| { |
| int fx,fy,fz; |
| getValues(&fx,&fy,&fz); |
| *a= atan((double)fy/(double)fx)*(360/PI); // angle in degrees |
| } |
| // Set the default object |
| HMC5843 HMC = HMC5843(); |
| /branches/V0.82b-Arthur-P/HMC/HMC.h |
|---|
| 0,0 → 1,51 |
| /* |
| * HMC.cpp - Interface a Honeywell HMC5843 magnetometer to an AVR via i2c |
| * Version 0.1 - http://www.timzaman.com/ |
| * Copyright (c) 2011 Tim Zaman |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS |
| * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED |
| * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
| * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS |
| * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| */ |
| #include "WProgram.h" |
| #ifndef HMC_h |
| #define HMC_h |
| #define HMC5883_WriteAddress 0x1E // i.e 0x3C >> 1 |
| #define HMC5883_ModeRegisterAddress 0x02 |
| #define HMC5883_ContinuousModeCommand 0x00 |
| #define HMC5883_DataOutputXMSBAddress 0x03 |
| class HMC5843 |
| { |
| public: |
| HMC5843(); |
| void init(); |
| void getValues(int *x, int *y, int *z); |
| void getAngle(int *a); |
| private: |
| }; |
| extern HMC5843 HMC; |
| #endif // HMC_h |
| /branches/V0.82b-Arthur-P/HMC/HMC_test/HMC_test.pde |
|---|
| 0,0 → 1,24 |
| #include <Wire.h> |
| #include <HMC.h> |
| int a; |
| void setup() |
| { |
| Serial.begin(9600); |
| } |
| void loop() |
| { |
| int x,y,z; |
| delay(100); // There will be new values every 100ms |
| HMC.getValues(&x,&y,&z); |
| Serial.print("x:"); |
| Serial.print(x); |
| Serial.print(" y:"); |
| Serial.print(y); |
| Serial.print(" z:"); |
| Serial.println(z); |
| HMC.getAngle(&a); |
| Serial.println(a); |
| } |
| /branches/V0.82b-Arthur-P/HMC/keywords.txt |
|---|
| 0,0 → 1,26 |
| ####################################### |
| # Syntax Coloring Map For HMC |
| ####################################### |
| ####################################### |
| # Datatypes (KEYWORD1) |
| ####################################### |
| ####################################### |
| # Methods and Functions (KEYWORD2) |
| ####################################### |
| init KEYWORD2 |
| getValues KEYWORD2 |
| ####################################### |
| # Instances (KEYWORD2) |
| ####################################### |
| HMC KEYWORD2 |
| ####################################### |
| # Constants (LITERAL1) |
| ####################################### |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/README |
|---|
| 0,0 → 1,3 |
| This is a Bazaar control directory. |
| Do not change any files in this directory. |
| See http://bazaar-vcs.org/ for more information about Bazaar. |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/branch/branch.conf |
|---|
| 0,0 → 1,0 |
| push_location = bzr+ssh://bazaar.launchpad.net/%2Bbranch/hmc58x3/ |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/branch/format |
|---|
| 0,0 → 1,0 |
| Bazaar Branch Format 7 (needs bzr 1.6) |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/branch/last-revision |
|---|
| 0,0 → 1,0 |
| 3 fvaresano@yahoo.it-20110427135834-srsvpieyo0qnmijx |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/branch/tags |
|---|
| 0,0 → 1,0 |
| d3:0.250:fvaresano@yahoo.it-20110426220136-1zamk9owxu52ilmz3:0.350:fvaresano@yahoo.it-20110427135834-srsvpieyo0qnmijx4:v0.150:fvaresano@yahoo.it-20110122162824-672zp5uhbqfot2ofe |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/branch-format |
|---|
| 0,0 → 1,0 |
| Bazaar-NG meta directory, format 1 |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/checkout/conflicts |
|---|
| 0,0 → 1,0 |
| BZR conflict list format 1 |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/checkout/dirstate |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/checkout/format |
|---|
| 0,0 → 1,0 |
| Bazaar Working Tree Format 6 (bzr 1.14) |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/checkout/views |
|---|
| --- HMC58X3/.bzr/repository/format (nonexistent) |
| +++ HMC58X3/.bzr/repository/format (revision 1993) |
| @@ -0,0 +1 @@ |
| +Bazaar repository format 2a (needs bzr 1.16 or later) |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/indices/596bd1a93273ed77e909ef16a2b196c4.cix |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
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| +application/octet-stream |
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|---|
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|---|
| 0,0 → 1,6 |
| B+Tree Graph Index 2 |
| node_ref_lists=1 |
| key_elements=1 |
| len=1 |
| row_lengths=1 |
| xuÌA Fa× ` Ų0éUÆ¢Q;¶¢UN_/ÐÝÛ|/]kèæÀ±ÂÆ/y^<TcÒ0D¦Ã ÖiʼL^¾çÞ`\ü#õv-òÚìCÿ ±hÊ(ë}ùl &¥ |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/indices/596bd1a93273ed77e909ef16a2b196c4.six |
|---|
| 0,0 → 1,5 |
| B+Tree Graph Index 2 |
| node_ref_lists=0 |
| key_elements=1 |
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| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/indices/596bd1a93273ed77e909ef16a2b196c4.tix |
|---|
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| B+Tree Graph Index 2 |
| node_ref_lists=0 |
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| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/indices/de99a66b1f6127fc4f923ed90a4eeb03.tix |
|---|
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| B+Tree Graph Index 2 |
| node_ref_lists=1 |
| key_elements=2 |
| len=2 |
| row_lengths=1 |
| +Á/?únµùnFá6b°Úø{Hs}J ÷¸6ZëP ZÞ" þÒUqÊv~G·?IæÜ-çº>£(AMá¿m_|¶ZÈÍH´û)ot |
| \ No newline at end of file |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/indices/f7816f4e08b3ca09e31bfadaaa72e828.cix |
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| x5;! ·æ ÛàOð«)Òäöa#¥xÒ+f4ïÏ+ Ïð,Ãxnp#-Ö,Øqñê×Jõ é¨ç²ÃÌ'$J®Ç¶æ=b6º¥Ì?i@IQàìÑtÒòS!éÛÝCQ4ôRú¿ôK_(ä |
| /branches/V0.82b-Arthur-P/HMC58X3/.bzr/repository/packs/596bd1a93273ed77e909ef16a2b196c4.pack |
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| /branches/V0.82b-Arthur-P/HMC58X3/HMC58X3.cpp |
|---|
| 0,0 → 1,167 |
| /* |
| HMC58X3.cpp - Interface a Honeywell HMC58X3 or HMC5883L magnetometer to an Arduino via i2c |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Based on: |
| http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1274748346 |
| Modification/extension of the following by E.J.Muller |
| http://eclecti.cc/hardware/hmc5843-magnetometer-library-for-arduino |
| Copyright (c) 2009 Nirav Patel, |
| The above were based on: |
| http://www.sparkfun.com/datasheets/Sensors/Magneto/HMC58X3-v11.c |
| http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #include "WProgram.h" |
| #include <HMC58X3.h> |
| /* PUBLIC METHODS */ |
| HMC58X3::HMC58X3() { |
| x_scale=1; |
| y_scale=1; |
| z_scale=1; |
| } |
| void HMC58X3::init(bool setmode) { |
| // note that we don't initialize Wire here. |
| // You'll have to do that in setup() in your Arduino program |
| delay(5); // you need to wait at least 5ms after power on to initialize |
| if (setmode) { |
| setMode(0); |
| } |
| writeReg(HMC58X3_R_CONFA, 0x70); |
| writeReg(HMC58X3_R_CONFB, 0xA0); |
| writeReg(HMC58X3_R_MODE, 0x00); |
| } |
| void HMC58X3::setMode(unsigned char mode) { |
| if (mode > 2) { |
| return; |
| } |
| writeReg(HMC58X3_R_MODE, mode); |
| delay(100); |
| } |
| void HMC58X3::calibrate(unsigned char gain) { |
| x_scale=1; // get actual values |
| y_scale=1; |
| z_scale=1; |
| writeReg(HMC58X3_R_CONFA, 0x010 + HMC_POS_BIAS); // Reg A DOR=0x010 + MS1,MS0 set to pos bias |
| setGain(gain); |
| float x, y, z, mx=0, my=0, mz=0, t=10; |
| for (int i=0; i<(int)t; i++) { |
| setMode(1); |
| getValues(&x,&y,&z); |
| if (x>mx) mx=x; |
| if (y>my) my=y; |
| if (z>mz) mz=z; |
| } |
| float max=0; |
| if (mx>max) max=mx; |
| if (my>max) max=my; |
| if (mz>max) max=mz; |
| x_max=mx; |
| y_max=my; |
| z_max=mz; |
| x_scale=max/mx; // calc scales |
| y_scale=max/my; |
| z_scale=max/mz; |
| writeReg(HMC58X3_R_CONFA, 0x010); // set RegA/DOR back to default |
| } |
| // set data output rate |
| // 0-6, 4 default, normal operation assumed |
| void HMC58X3::setDOR(unsigned char DOR) { |
| if (DOR>6) return; |
| writeReg(HMC58X3_R_CONFA,DOR<<2); |
| } |
| void HMC58X3::setGain(unsigned char gain) { |
| // 0-7, 1 default |
| if (gain > 7) return; |
| writeReg(HMC58X3_R_CONFB, gain << 5); |
| } |
| void HMC58X3::writeReg(unsigned char reg, unsigned char val) { |
| Wire.beginTransmission(HMC58X3_ADDR); |
| Wire.send(reg); // send register address |
| Wire.send(val); // send value to write |
| Wire.endTransmission(); //end transmission |
| } |
| void HMC58X3::getValues(int *x,int *y,int *z) { |
| float fx,fy,fz; |
| getValues(&fx,&fy,&fz); |
| *x= (int) (fx + 0.5); |
| *y= (int) (fy + 0.5); |
| *z= (int) (fz + 0.5); |
| } |
| void HMC58X3::getValues(float *x,float *y,float *z) { |
| int xr,yr,zr; |
| getRaw(&xr, &yr, &zr); |
| *x= ((float) xr) / x_scale; |
| *y = ((float) yr) / y_scale; |
| *z = ((float) zr) / z_scale; |
| } |
| void HMC58X3::getRaw(int *x,int *y,int *z) { |
| Wire.beginTransmission(HMC58X3_ADDR); |
| Wire.send(HMC58X3_R_XM); // will start from DATA X MSB and fetch all the others |
| Wire.endTransmission(); |
| Wire.beginTransmission(HMC58X3_ADDR); |
| Wire.requestFrom(HMC58X3_ADDR, 6); |
| if(6 == Wire.available()) { |
| // read out the 3 values, 2 bytes each. |
| *x = (Wire.receive() << 8) | Wire.receive(); |
| #ifdef ISHMC5843 |
| *y = (Wire.receive() << 8) | Wire.receive(); |
| *z = (Wire.receive() << 8) | Wire.receive(); |
| #else // the Z registers comes before the Y registers in the HMC5883L |
| *z = (Wire.receive() << 8) | Wire.receive(); |
| *y = (Wire.receive() << 8) | Wire.receive(); |
| #endif |
| // the HMC58X3 will automatically wrap around on the next request |
| } |
| Wire.endTransmission(); |
| } |
| void HMC58X3::getValues(float *xyz) { |
| getValues(&xyz[0], &xyz[1], &xyz[2]); |
| } |
| /branches/V0.82b-Arthur-P/HMC58X3/HMC58X3.h |
|---|
| 0,0 → 1,87 |
| /* |
| HMC58X3.cpp - Interface a Honeywell HMC58X3 magnetometer to an Arduino via i2c |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Based on: |
| http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1274748346 |
| Modification/extension of the following by E.J.Muller |
| http://eclecti.cc/hardware/hmc5843-magnetometer-library-for-arduino |
| Copyright (c) 2009 Nirav Patel, |
| The above were based on: |
| http://www.sparkfun.com/datasheets/Sensors/Magneto/HMC58X3-v11.c |
| http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| //uncomment the following line if you are using this library with the HMC5843 |
| //#define ISHMC5843 |
| #include "WProgram.h" |
| #include <Wire.h> |
| #ifndef HMC58X3_h |
| #define HMC58X3_h |
| #define HMC58X3_ADDR 0x1E // 7 bit address of the HMC58X3 used with the Wire library |
| #define HMC_POS_BIAS 1 |
| #define HMC_NEG_BIAS 2 |
| // HMC58X3 register map. For details see HMC58X3 datasheet |
| #define HMC58X3_R_CONFA 0 |
| #define HMC58X3_R_CONFB 1 |
| #define HMC58X3_R_MODE 2 |
| #define HMC58X3_R_XM 3 |
| #define HMC58X3_R_XL 4 |
| #ifdef ISHMC5843 |
| #define HMC58X3_R_YM 5 |
| #define HMC58X3_R_YL 6 |
| #define HMC58X3_R_ZM 7 |
| #define HMC58X3_R_ZL 8 |
| #else // HMC5883L |
| #define HMC58X3_R_YM 7 |
| #define HMC58X3_R_YL 8 |
| #define HMC58X3_R_ZM 5 |
| #define HMC58X3_R_ZL 6 |
| #endif |
| #define HMC58X3_R_STATUS 9 |
| #define HMC58X3_R_IDA 10 |
| #define HMC58X3_R_IDB 11 |
| #define HMC58X3_R_IDC 12 |
| class HMC58X3 |
| { |
| public: |
| HMC58X3(); |
| void init(bool setmode); |
| void init(int address, bool setmode); |
| void getValues(int *x,int *y,int *z); |
| void getValues(float *x,float *y,float *z); |
| void getValues(float *xyz); |
| void getRaw(int *x,int *y,int *z); |
| void calibrate(unsigned char gain); |
| void setMode(unsigned char mode); |
| void setDOR(unsigned char DOR); |
| void setGain(unsigned char gain); |
| private: |
| void writeReg(unsigned char reg, unsigned char val); |
| float x_scale,y_scale,z_scale,x_max,y_max,z_max; |
| }; |
| #endif // HMC58X3_h |
| /branches/V0.82b-Arthur-P/HMC58X3/INSTALL.txt |
|---|
| 0,0 → 1,6 |
| Copy the whole directory which contain this file into the folder "libraries" inside the Arduino sketchbook folder. |
| You can understand the location of your sketchbook folder from the Arduino IDE clicking on File -> Preferences: the "sketchbook location" is what you are looking for. |
| In case you don't have an "libraries" folder there just create an empty one. |
| For more informations see: |
| http://www.arduino.cc/en/Reference/Libraries |
| /branches/V0.82b-Arthur-P/HMC58X3/LICENSE.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
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| The licenses for most software and other practical works are designed |
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| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
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| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
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| want it, that you can change the software or use pieces of it in new |
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| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
| freedoms that you received. You must make sure that they, too, receive |
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| /branches/V0.82b-Arthur-P/HMC58X3/examples/HMC58X3_basic/HMC58X3_basic.pde |
|---|
| 0,0 → 1,75 |
| /* |
| HMC5843_basic.pde - Basic reading example for the HMC5843 library |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #include <Wire.h> |
| #include <HMC58X3.h> |
| HMC58X3 magn; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| // no delay needed as we have already a delay(5) in HMC5843::init() |
| magn.init(false); // Dont set mode yet, we'll do that later on. |
| // Calibrate HMC using self test, not recommended to change the gain after calibration. |
| magn.calibrate(1); // Use gain 1=default, valid 0-7, 7 not recommended. |
| // Single mode conversion was used in calibration, now set continuous mode |
| magn.setMode(0); |
| } |
| void loop() { |
| int ix,iy,iz; |
| float fx,fy,fz; |
| delay(10); |
| // Get values, as ints and floats. |
| magn.getValues(&ix,&iy,&iz); |
| magn.getValues(&fx,&fy,&fz); |
| // also available HMC5843::getValues(float *xyz) you can pass to it an array of 3 floats |
| // Print int values |
| Serial.print("Ints x:"); |
| Serial.print(ix); |
| Serial.print(","); |
| Serial.print(iy); |
| Serial.print(","); |
| Serial.print(iz); |
| Serial.print(","); |
| // Print float values |
| Serial.print(" Floats x:"); |
| Serial.print(fx); |
| Serial.print(" y:"); |
| Serial.print(fy); |
| Serial.print(" z:"); |
| Serial.print(fz); |
| // a simple heading, assuming it's close to horizontal. See: |
| // M.J. Caruso. Applications of magnetic sensors for low cost compass systems. |
| // In Position Location and Navigation Symposium, IEEE, 2000. Available from: |
| // http://hnc.ru/lib/a%26c%20%28automatic%20%26%20controls%29/sensors/DataSheet/Magnit/Honeywell/lowcost.pdf |
| Serial.print(" Heading: "); |
| float heading = atan2(fy, fx); |
| if(heading < 0) { |
| heading += 2 * M_PI; |
| } |
| Serial.println(heading * 180/M_PI); |
| // x and y axis are swapped above with respect to the above paper as our Z axis points to the sky while in the paper it points to the bottom |
| } |
| /branches/V0.82b-Arthur-P/HMC58X3/examples/HMC58X3_raw/HMC58X3_raw.pde |
|---|
| 0,0 → 1,47 |
| /* |
| HMC58X3_basic.pde - Basic reading example for the HMC58X3 library |
| Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| // Uncomment the following line if you are using the HMC5843 |
| #include <Wire.h> |
| #include <HMC58X3.h> |
| HMC58X3 magn; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| // no delay needed as we have already a delay(5) in HMC58X3::init() |
| magn.init(true); // Dont set mode yet, we'll do that later on. |
| } |
| void loop() { |
| int ix,iy,iz; |
| delay(10); |
| // Get values, as ints and floats. |
| magn.getRaw(&ix,&iy,&iz); |
| Serial.print(ix); |
| Serial.print(","); |
| Serial.print(iy); |
| Serial.print(","); |
| Serial.print(iz); |
| Serial.println(","); |
| } |
| /branches/V0.82b-Arthur-P/HMC58X3/examples/HMC58X3_registers_scan/HMC58X3_registers_scan.pde |
|---|
| 0,0 → 1,80 |
| /*HMC5883LRegisterScanner.pde |
| **A sketch that attempts to read every register from a slave device |
| **Written by Wayne Truchsess http://dsscircuits.com |
| */ |
| #include "Wire.h" |
| #define I2C 0x1E |
| byte x; |
| void setup() { |
| Wire.begin(); |
| Serial.begin(9600); |
| delay(1000); |
| Wire.beginTransmission(I2C); // start transmission to device |
| Wire.send(0); // send register address |
| Wire.send(0x70); // send value to write |
| Wire.endTransmission(); // end transmission |
| delay(10); |
| Wire.beginTransmission(I2C); // start transmission to device |
| Wire.send(1); // send register address |
| Wire.send(B11000000); // send value to write |
| Wire.endTransmission(); // end transmission |
| delay(10); |
| Wire.beginTransmission(I2C); // start transmission to device |
| Wire.send(2); // send register address |
| Wire.send(0x00); // send value to write |
| Wire.endTransmission(); // end transmission |
| delay(100); |
| baselineRegisters(); |
| } |
| void loop() { |
| int x,y,z; |
| Wire.beginTransmission(I2C); |
| Wire.send(3); // will start from DATA X MSB and fetch all the others |
| Wire.endTransmission(); |
| Wire.beginTransmission(I2C); |
| Wire.requestFrom(I2C, 6); |
| if(6 == Wire.available()) { |
| // read out the 3 values, 2 bytes each. |
| x = (Wire.receive() << 8) + Wire.receive(); |
| y = (Wire.receive() << 8) + Wire.receive(); |
| z = (Wire.receive() << 8) + Wire.receive(); |
| // the HMC5843 will automatically wrap around on the next request |
| } |
| Wire.endTransmission(); |
| Serial.print(x); |
| Serial.print(" "); |
| Serial.print(y); |
| Serial.print(" "); |
| Serial.println(z); |
| delay(100); |
| return; |
| } |
| void baselineRegisters() { |
| for(int l = 0x00; l < 0x12; l++){ |
| Wire.beginTransmission(I2C); |
| Wire.send(l); |
| Wire.endTransmission(); |
| //delay(100); |
| Wire.beginTransmission(I2C); |
| Wire.requestFrom(I2C,1); |
| x = Wire.receive(); |
| Serial.print("Register Address "); |
| Serial.print(l,DEC); |
| Serial.print(" = "); |
| Serial.print(x,BIN); |
| Serial.print(" = "); |
| Serial.print(x,DEC); |
| Serial.println(" "); |
| Wire.endTransmission(); |
| } |
| } |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/README |
|---|
| 0,0 → 1,3 |
| This is a Bazaar control directory. |
| Do not change any files in this directory. |
| See http://bazaar.canonical.com/ for more information about Bazaar. |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/branch/branch.conf |
|---|
| 0,0 → 1,0 |
| push_location = sftp://varesano@varesano.net/~/repository/MS561101BA/ |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/branch/format |
|---|
| 0,0 → 1,0 |
| Bazaar Branch Format 7 (needs bzr 1.6) |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/branch/last-revision |
|---|
| 0,0 → 1,0 |
| 11 fvaresano@yahoo.it-20110716111241-tsuf4c5qgsr09w5j |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/branch/tags |
|---|
| --- MS561101BA/.bzr/branch-format (nonexistent) |
| +++ MS561101BA/.bzr/branch-format (revision 1993) |
| @@ -0,0 +1 @@ |
| +Bazaar-NG meta directory, format 1 |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/checkout/conflicts |
|---|
| 0,0 → 1,0 |
| BZR conflict list format 1 |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/checkout/dirstate |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/checkout/format |
|---|
| 0,0 → 1,0 |
| Bazaar Working Tree Format 6 (bzr 1.14) |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/checkout/views |
|---|
| --- MS561101BA/.bzr/repository/format (nonexistent) |
| +++ MS561101BA/.bzr/repository/format (revision 1993) |
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| len=2 |
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| +Í E¤lÅA|¯ÁY}Ò¤RòOWgõcqë |
| +Sý "àÃDù8Js$ b$nW®sv«Ò#3[ßJ Jgæb1½{S[5ëû¤XHýl¦n|]TÁ1lÄȱGÕ¤z¦Öû,/[ؤD Ôq,@(DþÕ?tuð¥H $bÐá wvé |
| \ No newline at end of file |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/repository/obsolete_packs/ba4a951ce21a260fb2fa0c3bad1b9d3c.cix |
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| +Ê1 PfNÁJ ò5ñ0- 88èâíõÍïy¯±Cg¼ÍÛTb Ô2µ¢(£q6Ý!t"?Iª+'J\8Ç S; |
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| +ó¹lR&Ékh ±WƱ²@{;O& |
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| len=3 |
| row_lengths=1 |
| xÏ=Â0áÔ{ |
| +)ÌûöÆn «]rg?¹¿°ÎîBÝ_#&` ÿm?eÈæa¶ª/6 £I2c7¤xÞ÷ý1û© ÔZ aó |
| +;|LÒBÖ²Â["QÙB"eù ´éüêØù]³LöÐ[ µ e.BlððÂV |
| \ No newline at end of file |
| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/repository/pack-names |
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| /branches/V0.82b-Arthur-P/MS561101BA/.bzr/repository/packs/583b77052c0f2776d214fbc51f58a718.pack |
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| /branches/V0.82b-Arthur-P/MS561101BA/INSTALL.txt |
|---|
| 0,0 → 1,6 |
| Copy the whole directory which contain this file into the folder "libraries" inside the Arduino sketchbook folder. |
| You can understand the location of your sketchbook folder from the Arduino IDE clicking on File -> Preferences: the "sketchbook location" is what you are looking for. |
| In case you don't have an "libraries" folder there just create an empty one. |
| For more informations see: |
| http://www.arduino.cc/en/Reference/Libraries |
| /branches/V0.82b-Arthur-P/MS561101BA/LICENSE.txt |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
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| might be different; for a GUI interface, you would use an "about box". |
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| /branches/V0.82b-Arthur-P/MS561101BA/MS561101BA.cpp |
|---|
| 0,0 → 1,143 |
| /* |
| MS5611-01BA.cpp - Interfaces a Measurement Specialities MS5611-01BA with Arduino |
| See http://www.meas-spec.com/downloads/MS5611-01BA01.pdf for the device datasheet |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Development of this code has been supported by the Department of Computer Science, |
| Universita' degli Studi di Torino, Italy within the Piemonte Project |
| http://www.piemonte.di.unito.it/ |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #include "MS561101BA.h" |
| #define EXTRA_PRECISION 5 // trick to add more precision to the pressure and temp readings |
| MS561101BA::MS561101BA() { |
| ; |
| } |
| void MS561101BA::init(uint8_t address) { |
| _addr = address; |
| // disable internal pullups of the ATMEGA which Wire enable by default |
| #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) |
| // deactivate internal pull-ups for twi |
| // as per note from atmega8 manual pg167 |
| cbi(PORTC, 4); |
| cbi(PORTC, 5); |
| #else |
| // deactivate internal pull-ups for twi |
| // as per note from atmega128 manual pg204 |
| cbi(PORTD, 0); |
| cbi(PORTD, 1); |
| #endif |
| reset(); // reset the device to populate its internal PROM registers |
| delay(1000); // some safety time |
| readPROM(); // reads the PROM into object variables for later use |
| } |
| float MS561101BA::getPressure(uint8_t OSR) { |
| // see datasheet page 7 for formulas |
| int64_t dT = getDeltaTemp(OSR); |
| int64_t off = (((int64_t)_C[1]) << 16) + ((_C[3] * dT) >> 7); |
| int64_t sens = (((int64_t)_C[0]) << 15) + ((_C[2] * dT) >> 8); |
| return ((((rawPressure(OSR) * sens) >> 21) - off) >> (15-EXTRA_PRECISION)) / ((1<<EXTRA_PRECISION) * 100.0); |
| } |
| float MS561101BA::getTemperature(uint8_t OSR) { |
| // see datasheet page 7 for formulas |
| return ((1<<EXTRA_PRECISION)*2000l + ((getDeltaTemp(OSR) * _C[5]) >> (23-EXTRA_PRECISION))) / ((1<<EXTRA_PRECISION) * 100.0); |
| } |
| int64_t MS561101BA::getDeltaTemp(uint8_t OSR) { |
| return rawTemperature(OSR) - (((int32_t)_C[4]) << 8); |
| } |
| int32_t MS561101BA::rawPressure(uint8_t OSR) { |
| return doConversion(MS561101BA_D1 + OSR); |
| } |
| int32_t MS561101BA::rawTemperature(uint8_t OSR) { |
| return doConversion(MS561101BA_D2 + OSR); |
| } |
| unsigned long MS561101BA::doConversion(uint8_t command) { |
| unsigned long conversion = 0; |
| // see page 11 of the datasheet |
| // initialize pressure conversion |
| Wire.beginTransmission(_addr); |
| Wire.send(command); |
| Wire.endTransmission(); |
| delay(10); // the conversion will take a time <= 9.04 ms to have the output ready |
| // TODO: make the delay dependant on the OSR requested in the command |
| // start read sequence |
| Wire.beginTransmission(_addr); |
| Wire.send(0); |
| Wire.endTransmission(); |
| Wire.beginTransmission(_addr); |
| Wire.requestFrom(_addr, (uint8_t) MS561101BA_D1D2_SIZE); |
| if(Wire.available()) { |
| conversion = Wire.receive() * 65536 + Wire.receive() * 256 + Wire.receive(); |
| } |
| else { |
| conversion = -1; |
| } |
| return conversion; |
| } |
| /** |
| * Reads factory calibration and store it into object variables. |
| */ |
| int MS561101BA::readPROM() { |
| for (int i=0;i<MS561101BA_PROM_REG_COUNT;i++) { |
| Wire.beginTransmission(_addr); |
| Wire.send(MS561101BA_PROM_BASE_ADDR + (i * MS561101BA_PROM_REG_SIZE)); |
| Wire.endTransmission(); |
| Wire.beginTransmission(_addr); |
| Wire.requestFrom(_addr, (uint8_t) MS561101BA_PROM_REG_SIZE); |
| if(Wire.available()) { |
| _C[i] = Wire.receive() << 8 | Wire.receive(); |
| //DEBUG_PRINT(_C[i]); |
| } |
| else { |
| return -1; // error reading the PROM or communicating with the device |
| } |
| } |
| return 0; |
| } |
| /** |
| * Send a reset command to the device. With the reset command the device |
| * populates its internal registers with the values read from the PROM. |
| */ |
| void MS561101BA::reset() { |
| Wire.beginTransmission(_addr); |
| Wire.send(MS561101BA_RESET); |
| Wire.endTransmission(); |
| } |
| /branches/V0.82b-Arthur-P/MS561101BA/MS561101BA.h |
|---|
| 0,0 → 1,83 |
| /* |
| MS5611-01BA.h - Interfaces a Measurement Specialities MS5611-01BA with Arduino |
| See http://www.meas-spec.com/downloads/MS5611-01BA01.pdf for the device datasheet |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Development of this code has been supported by the Department of Computer Science, Universita' degli Studi di Torino, Italy within the Piemonte Project http://www.piemonte.di.unito.it/ |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| #ifndef MS561101BA_h |
| #define MS561101BA_h |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #include "WProgram.h" |
| #include <Wire.h> |
| //#define DEBUG_V |
| //#define DEBUG |
| //#include <DebugUtils.h> |
| // addresses of the device |
| #define MS561101BA_ADDR_CSB_HIGH 0x76 //CBR=1 0x76 I2C address when CSB is connected to HIGH (VCC) |
| #define MS561101BA_ADDR_CSB_LOW 0x77 //CBR=0 0x77 I2C address when CSB is connected to LOW (GND) |
| // registers of the device |
| #define MS561101BA_D1 0x40 |
| #define MS561101BA_D2 0x50 |
| #define MS561101BA_RESET 0x1E |
| // D1 and D2 result size (bytes) |
| #define MS561101BA_D1D2_SIZE 3 |
| // OSR (Over Sampling Ratio) constants |
| #define MS561101BA_OSR_256 0x00 |
| #define MS561101BA_OSR_512 0x02 |
| #define MS561101BA_OSR_1024 0x04 |
| #define MS561101BA_OSR_2048 0x06 |
| #define MS561101BA_OSR_4096 0x08 |
| #define MS561101BA_PROM_BASE_ADDR 0xA2 // by adding ints from 0 to 6 we can read all the prom configuration values. |
| // C1 will be at 0xA2 and all the subsequent are multiples of 2 |
| #define MS561101BA_PROM_REG_COUNT 6 // number of registers in the PROM |
| #define MS561101BA_PROM_REG_SIZE 2 // size in bytes of a prom registry. |
| class MS561101BA { |
| public: |
| MS561101BA(); |
| void init(uint8_t addr); |
| float getPressure(uint8_t OSR); |
| float getTemperature(uint8_t OSR); |
| int64_t getDeltaTemp(uint8_t OSR); |
| int32_t rawPressure(uint8_t OSR); |
| int32_t rawTemperature(uint8_t OSR); |
| int readPROM(); |
| void reset(); |
| private: |
| unsigned long doConversion(uint8_t command); |
| uint8_t _addr; |
| uint16_t _C[MS561101BA_PROM_REG_COUNT]; |
| }; |
| #endif // MS561101BA_h |
| /branches/V0.82b-Arthur-P/MS561101BA/examples/MS561101BA_altitude/MS561101BA_altitude.pde |
|---|
| 0,0 → 1,90 |
| /* |
| MS561101BA_altitude.pde - Computes altitude from sea level using pressure readings from the sensor. |
| The algorithm uses the Hypsometric formula as explained in http://keisan.casio.com/has10/SpecExec.cgi?path=06000000.Science%2F02100100.Earth%20science%2F12000300.Altitude%20from%20atmospheric%20pressure%2Fdefault.xml&charset=utf-8 |
| TODO: The results are not that good. Suggestions on improvements welcome. |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Development of this code has been supported by the Department of Computer Science, |
| Universita' degli Studi di Torino, Italy within the Piemonte Project |
| http://www.piemonte.di.unito.it/ |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| //#define DEBUG_V |
| #include <Wire.h> |
| //#include <DebugUtils.h> |
| #include <MS561101BA.h> |
| #define MOVAVG_SIZE 32 |
| MS561101BA baro = MS561101BA(); |
| float movavg_buff[MOVAVG_SIZE]; |
| int movavg_i=0; |
| const float sea_press = 1013.25; |
| float press, temp; |
| void setup() { |
| Wire.begin(); |
| Serial.begin(115200); |
| delay(1000); |
| // Suppose that the CSB pin is connected to GND. |
| // You'll have to check this on your breakout schematics |
| baro.init(MS561101BA_ADDR_CSB_LOW); |
| delay(100); |
| // populate movavg_buff before starting loop |
| for(int i=0; i<MOVAVG_SIZE; i++) { |
| movavg_buff[i] = baro.getPressure(MS561101BA_OSR_4096); |
| } |
| } |
| void loop() { |
| Serial.print(" temp: "); |
| temp = baro.getTemperature(MS561101BA_OSR_4096); |
| Serial.print(temp); |
| Serial.print(" degC pres: "); |
| pushAvg(baro.getPressure(MS561101BA_OSR_4096)); |
| press = getAvg(movavg_buff, MOVAVG_SIZE); |
| Serial.print(press); |
| Serial.print(" mbar altitude: "); |
| Serial.print(getAltitude(press, temp)); |
| Serial.println(" m"); |
| delay(100); |
| } |
| float getAltitude(float press, float temp) { |
| return ((pow((sea_press / press), 1/5.257) - 1.0) * (temp + 273.15)) / 0.0065; |
| } |
| void pushAvg(float val) { |
| movavg_buff[movavg_i] = val; |
| movavg_i = (movavg_i + 1) % MOVAVG_SIZE; |
| } |
| float getAvg(float * buff, int size) { |
| float sum = 0.0; |
| for(int i=0; i<size; i++) { |
| sum += buff[i]; |
| } |
| return sum / size; |
| } |
| /branches/V0.82b-Arthur-P/MS561101BA/examples/MS561101BA_movaverage/MS561101BA_movaverage.pde |
|---|
| 0,0 → 1,77 |
| /* |
| MS561101BA_movaverage.pde - Reads from the sensors and outputs a moving averaged pressure reading |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Development of this code has been supported by the Department of Computer Science, |
| Universita' degli Studi di Torino, Italy within the Piemonte Project |
| http://www.piemonte.di.unito.it/ |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| //#define DEBUG_V |
| #include <Wire.h> |
| //#include <DebugUtils.h> |
| #include <MS561101BA.h> |
| #define MOVAVG_SIZE 32 |
| MS561101BA baro = MS561101BA(); |
| float movavg_buff[MOVAVG_SIZE]; |
| int movavg_i=0; |
| void setup() { |
| Wire.begin(); |
| Serial.begin(9600); |
| delay(1000); |
| // Suppose that the CSB pin is connected to GND. |
| // You'll have to check this on your breakout schematics |
| baro.init(MS561101BA_ADDR_CSB_LOW); |
| delay(100); |
| // populate movavg_buff before starting loop |
| for(int i=0; i<MOVAVG_SIZE; i++) { |
| movavg_buff[i] = baro.getPressure(MS561101BA_OSR_4096); |
| } |
| } |
| void loop() { |
| Serial.print(" temp: "); |
| Serial.print(baro.getTemperature(MS561101BA_OSR_4096)); |
| Serial.print(" degC pres: "); |
| pushAvg(baro.getPressure(MS561101BA_OSR_4096)); |
| Serial.print(getAvg(movavg_buff, MOVAVG_SIZE)); |
| Serial.println(" mbar"); |
| } |
| void pushAvg(float val) { |
| movavg_buff[movavg_i] = val; |
| movavg_i = (movavg_i + 1) % MOVAVG_SIZE; |
| } |
| float getAvg(float * buff, int size) { |
| float sum = 0.0; |
| for(int i=0; i<size; i++) { |
| sum += buff[i]; |
| } |
| return sum / size; |
| } |
| /branches/V0.82b-Arthur-P/MS561101BA/examples/MS561101BA_regscan/MS561101BA_regscan.pde |
|---|
| 0,0 → 1,41 |
| /*HMC5883LRegisterScanner.pde |
| **A sketch that attempts to read every register from a slave device |
| **Written by Wayne Truchsess http://dsscircuits.com |
| */ |
| #include "Wire.h" |
| #define I2C 0x77 |
| byte x; |
| void setup() { |
| Wire.begin(); |
| Serial.begin(9600); |
| delay(1000); |
| } |
| void loop() { |
| readRegisters(); |
| } |
| void readRegisters() { |
| for(int l = 0x00; l < 256; l++){ |
| Wire.beginTransmission(I2C); |
| Wire.send(l); |
| Wire.endTransmission(); |
| //delay(100); |
| Wire.beginTransmission(I2C); |
| Wire.requestFrom(I2C,1); |
| x = Wire.receive(); |
| Serial.print("Register Address "); |
| Serial.print(l,DEC); |
| Serial.print("_"); |
| Serial.print(l,HEX); |
| Serial.print(" = "); |
| Serial.print(x,BIN); |
| Serial.print(" = "); |
| Serial.print(x,DEC); |
| Serial.println(" "); |
| Wire.endTransmission(); |
| } |
| } |
| /branches/V0.82b-Arthur-P/MS561101BA/examples/MS561101BA_simple/MS561101BA_simple.pde |
|---|
| 0,0 → 1,51 |
| /* |
| MS561101BA_demo.pde - Example code for using the MS561101BA library. |
| Displays temperature and pression readings from the sensor |
| Copyright (C) 2011 Fabio Varesano <fvaresano@yahoo.it> |
| Development of this code has been supported by the Department of Computer Science, |
| Universita' degli Studi di Torino, Italy within the Piemonte Project |
| http://www.piemonte.di.unito.it/ |
| This program is free software: you can redistribute it and/or modify |
| it under the terms of the version 3 GNU General Public License as |
| published by the Free Software Foundation. |
| This program is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| */ |
| //#define DEBUG_V |
| #include <Wire.h> |
| //#include <DebugUtils.h> |
| #include <MS561101BA.h> |
| MS561101BA baro = MS561101BA(); |
| void setup() { |
| Wire.begin(); |
| Serial.begin(115200); |
| delay(1000); |
| // Suppose that the CSB pin is connected to GND. |
| // You'll have to check this on your breakout schematics |
| baro.init(MS561101BA_ADDR_CSB_LOW); |
| } |
| void loop() { |
| Serial.print(" temp: "); |
| Serial.print(baro.getTemperature(MS561101BA_OSR_4096)); |
| Serial.print(" degC pres: "); |
| Serial.print(baro.getPressure(MS561101BA_OSR_4096)); |
| Serial.println(" mbar"); |
| } |
| /branches/V0.82b-Arthur-P/adxl345driver/ADXL345.cpp |
|---|
| 0,0 → 1,608 |
| /************************************************************************** |
| * * |
| * ADXL345 Driver for Arduino * |
| * * |
| *************************************************************************** |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU License. * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU License V2 for more details. * |
| * * |
| ***************************************************************************/ |
| #include "WProgram.h" |
| #include "ADXL345.h" |
| #include <Wire.h> |
| #define TO_READ (6) // num of bytes we are going to read each time (two bytes for each axis) |
| ADXL345::ADXL345() { |
| status = ADXL345_OK; |
| error_code = ADXL345_NO_ERROR; |
| gains[0] = 0.00376390; |
| gains[1] = 0.00376009; |
| gains[2] = 0.00349265; |
| } |
| void ADXL345::init(int address) { |
| _dev_address = address; |
| powerOn(); |
| } |
| void ADXL345::powerOn() { |
| //Turning on the ADXL345 |
| //writeTo(ADXL345_POWER_CTL, 0); |
| //writeTo(ADXL345_POWER_CTL, 16); |
| writeTo(ADXL345_POWER_CTL, 8); |
| } |
| // Reads the acceleration into an array of three places |
| void ADXL345::readAccel(int *xyz){ |
| readAccel(xyz, xyz + 1, xyz + 2); |
| } |
| // Reads the acceleration into three variable x, y and z |
| void ADXL345::readAccel(int *x, int *y, int *z) { |
| readFrom(ADXL345_DATAX0, TO_READ, _buff); //read the acceleration data from the ADXL345 |
| // each axis reading comes in 10 bit resolution, ie 2 bytes. Least Significat Byte first!! |
| // thus we are converting both bytes in to one int |
| *x = (((int)_buff[1]) << 8) | _buff[0]; |
| *y = (((int)_buff[3]) << 8) | _buff[2]; |
| *z = (((int)_buff[5]) << 8) | _buff[4]; |
| } |
| void ADXL345::get_Gxyz(float *xyz){ |
| int i; |
| int xyz_int[3]; |
| readAccel(xyz_int); |
| for(i=0; i<3; i++){ |
| xyz[i] = xyz_int[i] * gains[i]; |
| } |
| } |
| // Writes val to address register on device |
| void ADXL345::writeTo(byte address, byte val) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(address); // send register address |
| Wire.send(val); // send value to write |
| Wire.endTransmission(); // end transmission |
| } |
| // Reads num bytes starting from address register on device in to _buff array |
| void ADXL345::readFrom(byte address, int num, byte _buff[]) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(address); // sends address to read from |
| Wire.endTransmission(); // end transmission |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.requestFrom(_dev_address, num); // request 6 bytes from device |
| int i = 0; |
| while(Wire.available()) // device may send less than requested (abnormal) |
| { |
| _buff[i] = Wire.receive(); // receive a byte |
| i++; |
| } |
| if(i != num){ |
| status = ADXL345_ERROR; |
| error_code = ADXL345_READ_ERROR; |
| } |
| Wire.endTransmission(); // end transmission |
| } |
| // Gets the range setting and return it into rangeSetting |
| // it can be 2, 4, 8 or 16 |
| void ADXL345::getRangeSetting(byte* rangeSetting) { |
| byte _b; |
| readFrom(ADXL345_DATA_FORMAT, 1, &_b); |
| *rangeSetting = _b & B00000011; |
| } |
| // Sets the range setting, possible values are: 2, 4, 8, 16 |
| void ADXL345::setRangeSetting(int val) { |
| byte _s; |
| byte _b; |
| switch (val) { |
| case 2: |
| _s = B00000000; |
| break; |
| case 4: |
| _s = B00000001; |
| break; |
| case 8: |
| _s = B00000010; |
| break; |
| case 16: |
| _s = B00000011; |
| break; |
| default: |
| _s = B00000000; |
| } |
| readFrom(ADXL345_DATA_FORMAT, 1, &_b); |
| _s |= (_b & B11101100); |
| writeTo(ADXL345_DATA_FORMAT, _s); |
| } |
| // gets the state of the SELF_TEST bit |
| bool ADXL345::getSelfTestBit() { |
| return getRegisterBit(ADXL345_DATA_FORMAT, 7); |
| } |
| // Sets the SELF-TEST bit |
| // if set to 1 it applies a self-test force to the sensor causing a shift in the output data |
| // if set to 0 it disables the self-test force |
| void ADXL345::setSelfTestBit(bool selfTestBit) { |
| setRegisterBit(ADXL345_DATA_FORMAT, 7, selfTestBit); |
| } |
| // Gets the state of the SPI bit |
| bool ADXL345::getSpiBit() { |
| return getRegisterBit(ADXL345_DATA_FORMAT, 6); |
| } |
| // Sets the SPI bit |
| // if set to 1 it sets the device to 3-wire mode |
| // if set to 0 it sets the device to 4-wire SPI mode |
| void ADXL345::setSpiBit(bool spiBit) { |
| setRegisterBit(ADXL345_DATA_FORMAT, 6, spiBit); |
| } |
| // Gets the state of the INT_INVERT bit |
| bool ADXL345::getInterruptLevelBit() { |
| return getRegisterBit(ADXL345_DATA_FORMAT, 5); |
| } |
| // Sets the INT_INVERT bit |
| // if set to 0 sets the interrupts to active high |
| // if set to 1 sets the interrupts to active low |
| void ADXL345::setInterruptLevelBit(bool interruptLevelBit) { |
| setRegisterBit(ADXL345_DATA_FORMAT, 5, interruptLevelBit); |
| } |
| // Gets the state of the FULL_RES bit |
| bool ADXL345::getFullResBit() { |
| return getRegisterBit(ADXL345_DATA_FORMAT, 3); |
| } |
| // Sets the FULL_RES bit |
| // if set to 1, the device is in full resolution mode, where the output resolution increases with the |
| // g range set by the range bits to maintain a 4mg/LSB scal factor |
| // if set to 0, the device is in 10-bit mode, and the range buts determine the maximum g range |
| // and scale factor |
| void ADXL345::setFullResBit(bool fullResBit) { |
| setRegisterBit(ADXL345_DATA_FORMAT, 3, fullResBit); |
| } |
| // Gets the state of the justify bit |
| bool ADXL345::getJustifyBit() { |
| return getRegisterBit(ADXL345_DATA_FORMAT, 2); |
| } |
| // Sets the JUSTIFY bit |
| // if sets to 1 selects the left justified mode |
| // if sets to 0 selects right justified mode with sign extension |
| void ADXL345::setJustifyBit(bool justifyBit) { |
| setRegisterBit(ADXL345_DATA_FORMAT, 2, justifyBit); |
| } |
| // Sets the THRESH_TAP byte value |
| // it should be between 0 and 255 |
| // the scale factor is 62.5 mg/LSB |
| // A value of 0 may result in undesirable behavior |
| void ADXL345::setTapThreshold(int tapThreshold) { |
| tapThreshold = min(max(tapThreshold,0),255); |
| byte _b = byte (tapThreshold); |
| writeTo(ADXL345_THRESH_TAP, _b); |
| } |
| // Gets the THRESH_TAP byte value |
| // return value is comprised between 0 and 255 |
| // the scale factor is 62.5 mg/LSB |
| int ADXL345::getTapThreshold() { |
| byte _b; |
| readFrom(ADXL345_THRESH_TAP, 1, &_b); |
| return int (_b); |
| } |
| // set/get the gain for each axis in Gs / count |
| void ADXL345::setAxisGains(float *_gains){ |
| int i; |
| for(i = 0; i < 3; i++){ |
| gains[i] = _gains[i]; |
| } |
| } |
| void ADXL345::getAxisGains(float *_gains){ |
| int i; |
| for(i = 0; i < 3; i++){ |
| _gains[i] = gains[i]; |
| } |
| } |
| // Sets the OFSX, OFSY and OFSZ bytes |
| // OFSX, OFSY and OFSZ are user offset adjustments in twos complement format with |
| // a scale factor of 15,6mg/LSB |
| // OFSX, OFSY and OFSZ should be comprised between |
| void ADXL345::setAxisOffset(int x, int y, int z) { |
| writeTo(ADXL345_OFSX, byte (x)); |
| writeTo(ADXL345_OFSY, byte (y)); |
| writeTo(ADXL345_OFSZ, byte (z)); |
| } |
| // Gets the OFSX, OFSY and OFSZ bytes |
| void ADXL345::getAxisOffset(int* x, int* y, int*z) { |
| byte _b; |
| readFrom(ADXL345_OFSX, 1, &_b); |
| *x = int (_b); |
| readFrom(ADXL345_OFSY, 1, &_b); |
| *y = int (_b); |
| readFrom(ADXL345_OFSZ, 1, &_b); |
| *z = int (_b); |
| } |
| // Sets the DUR byte |
| // The DUR byte contains an unsigned time value representing the maximum time |
| // that an event must be above THRESH_TAP threshold to qualify as a tap event |
| // The scale factor is 625µs/LSB |
| // A value of 0 disables the tap/float tap funcitons. Max value is 255. |
| void ADXL345::setTapDuration(int tapDuration) { |
| tapDuration = min(max(tapDuration,0),255); |
| byte _b = byte (tapDuration); |
| writeTo(ADXL345_DUR, _b); |
| } |
| // Gets the DUR byte |
| int ADXL345::getTapDuration() { |
| byte _b; |
| readFrom(ADXL345_DUR, 1, &_b); |
| return int (_b); |
| } |
| // Sets the latency (latent register) which contains an unsigned time value |
| // representing the wait time from the detection of a tap event to the start |
| // of the time window, during which a possible second tap can be detected. |
| // The scale factor is 1.25ms/LSB. A value of 0 disables the float tap function. |
| // It accepts a maximum value of 255. |
| void ADXL345::setDoubleTapLatency(int floatTapLatency) { |
| byte _b = byte (floatTapLatency); |
| writeTo(ADXL345_LATENT, _b); |
| } |
| // Gets the Latent value |
| int ADXL345::getDoubleTapLatency() { |
| byte _b; |
| readFrom(ADXL345_LATENT, 1, &_b); |
| return int (_b); |
| } |
| // Sets the Window register, which contains an unsigned time value representing |
| // the amount of time after the expiration of the latency time (Latent register) |
| // during which a second valud tap can begin. The scale factor is 1.25ms/LSB. A |
| // value of 0 disables the float tap function. The maximum value is 255. |
| void ADXL345::setDoubleTapWindow(int floatTapWindow) { |
| floatTapWindow = min(max(floatTapWindow,0),255); |
| byte _b = byte (floatTapWindow); |
| writeTo(ADXL345_WINDOW, _b); |
| } |
| // Gets the Window register |
| int ADXL345::getDoubleTapWindow() { |
| byte _b; |
| readFrom(ADXL345_WINDOW, 1, &_b); |
| return int (_b); |
| } |
| // Sets the THRESH_ACT byte which holds the threshold value for detecting activity. |
| // The data format is unsigned, so the magnitude of the activity event is compared |
| // with the value is compared with the value in the THRESH_ACT register. The scale |
| // factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the |
| // activity interrupt is enabled. The maximum value is 255. |
| void ADXL345::setActivityThreshold(int activityThreshold) { |
| activityThreshold = min(max(activityThreshold,0),255); |
| byte _b = byte (activityThreshold); |
| writeTo(ADXL345_THRESH_ACT, _b); |
| } |
| // Gets the THRESH_ACT byte |
| int ADXL345::getActivityThreshold() { |
| byte _b; |
| readFrom(ADXL345_THRESH_ACT, 1, &_b); |
| return int (_b); |
| } |
| // Sets the THRESH_INACT byte which holds the threshold value for detecting inactivity. |
| // The data format is unsigned, so the magnitude of the inactivity event is compared |
| // with the value is compared with the value in the THRESH_INACT register. The scale |
| // factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the |
| // inactivity interrupt is enabled. The maximum value is 255. |
| void ADXL345::setInactivityThreshold(int inactivityThreshold) { |
| inactivityThreshold = min(max(inactivityThreshold,0),255); |
| byte _b = byte (inactivityThreshold); |
| writeTo(ADXL345_THRESH_INACT, _b); |
| } |
| // Gets the THRESH_INACT byte |
| int ADXL345::getInactivityThreshold() { |
| byte _b; |
| readFrom(ADXL345_THRESH_INACT, 1, &_b); |
| return int (_b); |
| } |
| // Sets the TIME_INACT register, which contains an unsigned time value representing the |
| // amount of time that acceleration must be less thant the value in the THRESH_INACT |
| // register for inactivity to be declared. The scale factor is 1sec/LSB. The value must |
| // be between 0 and 255. |
| void ADXL345::setTimeInactivity(int timeInactivity) { |
| timeInactivity = min(max(timeInactivity,0),255); |
| byte _b = byte (timeInactivity); |
| writeTo(ADXL345_TIME_INACT, _b); |
| } |
| // Gets the TIME_INACT register |
| int ADXL345::getTimeInactivity() { |
| byte _b; |
| readFrom(ADXL345_TIME_INACT, 1, &_b); |
| return int (_b); |
| } |
| // Sets the THRESH_FF register which holds the threshold value, in an unsigned format, for |
| // free-fall detection. The root-sum-square (RSS) value of all axes is calculated and |
| // compared whith the value in THRESH_FF to determine if a free-fall event occured. The |
| // scale factor is 62.5mg/LSB. A value of 0 may result in undesirable behavior if the free-fall |
| // interrupt is enabled. The maximum value is 255. |
| void ADXL345::setFreeFallThreshold(int freeFallThreshold) { |
| freeFallThreshold = min(max(freeFallThreshold,0),255); |
| byte _b = byte (freeFallThreshold); |
| writeTo(ADXL345_THRESH_FF, _b); |
| } |
| // Gets the THRESH_FF register. |
| int ADXL345::getFreeFallThreshold() { |
| byte _b; |
| readFrom(ADXL345_THRESH_FF, 1, &_b); |
| return int (_b); |
| } |
| // Sets the TIME_FF register, which holds an unsigned time value representing the minimum |
| // time that the RSS value of all axes must be less than THRESH_FF to generate a free-fall |
| // interrupt. The scale factor is 5ms/LSB. A value of 0 may result in undesirable behavior if |
| // the free-fall interrupt is enabled. The maximum value is 255. |
| void ADXL345::setFreeFallDuration(int freeFallDuration) { |
| freeFallDuration = min(max(freeFallDuration,0),255); |
| byte _b = byte (freeFallDuration); |
| writeTo(ADXL345_TIME_FF, _b); |
| } |
| // Gets the TIME_FF register. |
| int ADXL345::getFreeFallDuration() { |
| byte _b; |
| readFrom(ADXL345_TIME_FF, 1, &_b); |
| return int (_b); |
| } |
| bool ADXL345::isActivityXEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 6); |
| } |
| bool ADXL345::isActivityYEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 5); |
| } |
| bool ADXL345::isActivityZEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 4); |
| } |
| bool ADXL345::isInactivityXEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 2); |
| } |
| bool ADXL345::isInactivityYEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 1); |
| } |
| bool ADXL345::isInactivityZEnabled() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 0); |
| } |
| void ADXL345::setActivityX(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 6, state); |
| } |
| void ADXL345::setActivityY(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 5, state); |
| } |
| void ADXL345::setActivityZ(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 4, state); |
| } |
| void ADXL345::setInactivityX(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 2, state); |
| } |
| void ADXL345::setInactivityY(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 1, state); |
| } |
| void ADXL345::setInactivityZ(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 0, state); |
| } |
| bool ADXL345::isActivityAc() { |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 7); |
| } |
| bool ADXL345::isInactivityAc(){ |
| return getRegisterBit(ADXL345_ACT_INACT_CTL, 3); |
| } |
| void ADXL345::setActivityAc(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 7, state); |
| } |
| void ADXL345::setInactivityAc(bool state) { |
| setRegisterBit(ADXL345_ACT_INACT_CTL, 3, state); |
| } |
| bool ADXL345::getSuppressBit(){ |
| return getRegisterBit(ADXL345_TAP_AXES, 3); |
| } |
| void ADXL345::setSuppressBit(bool state) { |
| setRegisterBit(ADXL345_TAP_AXES, 3, state); |
| } |
| bool ADXL345::isTapDetectionOnX(){ |
| return getRegisterBit(ADXL345_TAP_AXES, 2); |
| } |
| void ADXL345::setTapDetectionOnX(bool state) { |
| setRegisterBit(ADXL345_TAP_AXES, 2, state); |
| } |
| bool ADXL345::isTapDetectionOnY(){ |
| return getRegisterBit(ADXL345_TAP_AXES, 1); |
| } |
| void ADXL345::setTapDetectionOnY(bool state) { |
| setRegisterBit(ADXL345_TAP_AXES, 1, state); |
| } |
| bool ADXL345::isTapDetectionOnZ(){ |
| return getRegisterBit(ADXL345_TAP_AXES, 0); |
| } |
| void ADXL345::setTapDetectionOnZ(bool state) { |
| setRegisterBit(ADXL345_TAP_AXES, 0, state); |
| } |
| bool ADXL345::isActivitySourceOnX(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 6); |
| } |
| bool ADXL345::isActivitySourceOnY(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 5); |
| } |
| bool ADXL345::isActivitySourceOnZ(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 4); |
| } |
| bool ADXL345::isTapSourceOnX(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 2); |
| } |
| bool ADXL345::isTapSourceOnY(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 1); |
| } |
| bool ADXL345::isTapSourceOnZ(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 0); |
| } |
| bool ADXL345::isAsleep(){ |
| return getRegisterBit(ADXL345_ACT_TAP_STATUS, 3); |
| } |
| bool ADXL345::isLowPower(){ |
| return getRegisterBit(ADXL345_BW_RATE, 4); |
| } |
| void ADXL345::setLowPower(bool state) { |
| setRegisterBit(ADXL345_BW_RATE, 4, state); |
| } |
| float ADXL345::getRate(){ |
| byte _b; |
| readFrom(ADXL345_BW_RATE, 1, &_b); |
| _b &= B00001111; |
| return (pow(2,((int) _b)-6)) * 6.25; |
| } |
| void ADXL345::setRate(float rate){ |
| byte _b,_s; |
| int v = (int) (rate / 6.25); |
| int r = 0; |
| while (v >>= 1) |
| { |
| r++; |
| } |
| if (r <= 9) { |
| readFrom(ADXL345_BW_RATE, 1, &_b); |
| _s = (byte) (r + 6) | (_b & B11110000); |
| writeTo(ADXL345_BW_RATE, _s); |
| } |
| } |
| void ADXL345::set_bw(byte bw_code){ |
| if((bw_code < ADXL345_BW_3) || (bw_code > ADXL345_BW_1600)){ |
| status = false; |
| error_code = ADXL345_BAD_ARG; |
| } |
| else{ |
| writeTo(ADXL345_BW_RATE, bw_code); |
| } |
| } |
| byte ADXL345::get_bw_code(){ |
| byte bw_code; |
| readFrom(ADXL345_BW_RATE, 1, &bw_code); |
| return bw_code; |
| } |
| byte ADXL345::getInterruptSource() { |
| byte _b; |
| readFrom(ADXL345_INT_SOURCE, 1, &_b); |
| return _b; |
| } |
| bool ADXL345::getInterruptSource(byte interruptBit) { |
| return getRegisterBit(ADXL345_INT_SOURCE,interruptBit); |
| } |
| bool ADXL345::getInterruptMapping(byte interruptBit) { |
| return getRegisterBit(ADXL345_INT_MAP,interruptBit); |
| } |
| // Set the mapping of an interrupt to pin1 or pin2 |
| // eg: setInterruptMapping(ADXL345_INT_DOUBLE_TAP_BIT,ADXL345_INT2_PIN); |
| void ADXL345::setInterruptMapping(byte interruptBit, bool interruptPin) { |
| setRegisterBit(ADXL345_INT_MAP, interruptBit, interruptPin); |
| } |
| bool ADXL345::isInterruptEnabled(byte interruptBit) { |
| return getRegisterBit(ADXL345_INT_ENABLE,interruptBit); |
| } |
| void ADXL345::setInterrupt(byte interruptBit, bool state) { |
| setRegisterBit(ADXL345_INT_ENABLE, interruptBit, state); |
| } |
| void ADXL345::setRegisterBit(byte regAdress, int bitPos, bool state) { |
| byte _b; |
| readFrom(regAdress, 1, &_b); |
| if (state) { |
| _b |= (1 << bitPos); // forces nth bit of _b to be 1. all other bits left alone. |
| } |
| else { |
| _b &= ~(1 << bitPos); // forces nth bit of _b to be 0. all other bits left alone. |
| } |
| writeTo(regAdress, _b); |
| } |
| bool ADXL345::getRegisterBit(byte regAdress, int bitPos) { |
| byte _b; |
| readFrom(regAdress, 1, &_b); |
| return ((_b >> bitPos) & 1); |
| } |
| // print all register value to the serial ouptut, which requires it to be setup |
| // this can be used to manually to check the current configuration of the device |
| void ADXL345::printAllRegister() { |
| byte _b; |
| Serial.print("0x00: "); |
| readFrom(0x00, 1, &_b); |
| print_byte(_b); |
| Serial.println(""); |
| int i; |
| for (i=29;i<=57;i++){ |
| Serial.print("0x"); |
| Serial.print(i, HEX); |
| Serial.print(": "); |
| readFrom(i, 1, &_b); |
| print_byte(_b); |
| Serial.println(""); |
| } |
| } |
| void print_byte(byte val){ |
| int i; |
| Serial.print("B"); |
| for(i=7; i>=0; i--){ |
| Serial.print(val >> i & 1, BIN); |
| } |
| } |
| /branches/V0.82b-Arthur-P/adxl345driver/ADXL345.h |
|---|
| 0,0 → 1,206 |
| /************************************************************************** |
| * * |
| * ADXL345 Driver for Arduino * |
| * * |
| *************************************************************************** |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU License. * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU License V2 for more details. * |
| * * |
| ***************************************************************************/ |
| #include "WProgram.h" |
| #ifndef ADXL345_h |
| #define ADXL345_h |
| /* -- ADXL345 addresses --*/ |
| #define ADXL345_ADDR_ALT_HIGH 0x1D // ADXL345 address when ALT is connected to HIGH |
| #define ADXL345_ADDR_ALT_LOW 0x53 // ADXL345 address when ALT is connected to LOW |
| /* ------- Register names ------- */ |
| #define ADXL345_DEVID 0x00 |
| #define ADXL345_RESERVED1 0x01 |
| #define ADXL345_THRESH_TAP 0x1d |
| #define ADXL345_OFSX 0x1e |
| #define ADXL345_OFSY 0x1f |
| #define ADXL345_OFSZ 0x20 |
| #define ADXL345_DUR 0x21 |
| #define ADXL345_LATENT 0x22 |
| #define ADXL345_WINDOW 0x23 |
| #define ADXL345_THRESH_ACT 0x24 |
| #define ADXL345_THRESH_INACT 0x25 |
| #define ADXL345_TIME_INACT 0x26 |
| #define ADXL345_ACT_INACT_CTL 0x27 |
| #define ADXL345_THRESH_FF 0x28 |
| #define ADXL345_TIME_FF 0x29 |
| #define ADXL345_TAP_AXES 0x2a |
| #define ADXL345_ACT_TAP_STATUS 0x2b |
| #define ADXL345_BW_RATE 0x2c |
| #define ADXL345_POWER_CTL 0x2d |
| #define ADXL345_INT_ENABLE 0x2e |
| #define ADXL345_INT_MAP 0x2f |
| #define ADXL345_INT_SOURCE 0x30 |
| #define ADXL345_DATA_FORMAT 0x31 |
| #define ADXL345_DATAX0 0x32 |
| #define ADXL345_DATAX1 0x33 |
| #define ADXL345_DATAY0 0x34 |
| #define ADXL345_DATAY1 0x35 |
| #define ADXL345_DATAZ0 0x36 |
| #define ADXL345_DATAZ1 0x37 |
| #define ADXL345_FIFO_CTL 0x38 |
| #define ADXL345_FIFO_STATUS 0x39 |
| #define ADXL345_BW_1600 0xF // 1111 |
| #define ADXL345_BW_800 0xE // 1110 |
| #define ADXL345_BW_400 0xD // 1101 |
| #define ADXL345_BW_200 0xC // 1100 |
| #define ADXL345_BW_100 0xB // 1011 |
| #define ADXL345_BW_50 0xA // 1010 |
| #define ADXL345_BW_25 0x9 // 1001 |
| #define ADXL345_BW_12 0x8 // 1000 |
| #define ADXL345_BW_6 0x7 // 0111 |
| #define ADXL345_BW_3 0x6 // 0110 |
| /* |
| Interrupt PINs |
| INT1: 0 |
| INT2: 1 |
| */ |
| #define ADXL345_INT1_PIN 0x00 |
| #define ADXL345_INT2_PIN 0x01 |
| /* |
| Interrupt bit position |
| */ |
| #define ADXL345_INT_DATA_READY_BIT 0x07 |
| #define ADXL345_INT_SINGLE_TAP_BIT 0x06 |
| #define ADXL345_INT_DOUBLE_TAP_BIT 0x05 |
| #define ADXL345_INT_ACTIVITY_BIT 0x04 |
| #define ADXL345_INT_INACTIVITY_BIT 0x03 |
| #define ADXL345_INT_FREE_FALL_BIT 0x02 |
| #define ADXL345_INT_WATERMARK_BIT 0x01 |
| #define ADXL345_INT_OVERRUNY_BIT 0x00 |
| #define ADXL345_OK 1 // no error |
| #define ADXL345_ERROR 0 // indicates error is predent |
| #define ADXL345_NO_ERROR 0 // initial state |
| #define ADXL345_READ_ERROR 1 // problem reading accel |
| #define ADXL345_BAD_ARG 2 // bad method argument |
| class ADXL345 |
| { |
| public: |
| bool status; // set when error occurs |
| // see error code for details |
| byte error_code; // Initial state |
| float gains[3]; // counts to Gs |
| ADXL345(); |
| void init(int address); |
| void powerOn(); |
| void readAccel(int* xyx); |
| void readAccel(int* x, int* y, int* z); |
| void get_Gxyz(float *xyz); |
| void setTapThreshold(int tapThreshold); |
| int getTapThreshold(); |
| void setAxisGains(float *_gains); |
| void getAxisGains(float *_gains); |
| void setAxisOffset(int x, int y, int z); |
| void getAxisOffset(int* x, int* y, int*z); |
| void setTapDuration(int tapDuration); |
| int getTapDuration(); |
| void setDoubleTapLatency(int floatTapLatency); |
| int getDoubleTapLatency(); |
| void setDoubleTapWindow(int floatTapWindow); |
| int getDoubleTapWindow(); |
| void setActivityThreshold(int activityThreshold); |
| int getActivityThreshold(); |
| void setInactivityThreshold(int inactivityThreshold); |
| int getInactivityThreshold(); |
| void setTimeInactivity(int timeInactivity); |
| int getTimeInactivity(); |
| void setFreeFallThreshold(int freeFallthreshold); |
| int getFreeFallThreshold(); |
| void setFreeFallDuration(int freeFallDuration); |
| int getFreeFallDuration(); |
| bool isActivityXEnabled(); |
| bool isActivityYEnabled(); |
| bool isActivityZEnabled(); |
| bool isInactivityXEnabled(); |
| bool isInactivityYEnabled(); |
| bool isInactivityZEnabled(); |
| bool isActivityAc(); |
| bool isInactivityAc(); |
| void setActivityAc(bool state); |
| void setInactivityAc(bool state); |
| bool getSuppressBit(); |
| void setSuppressBit(bool state); |
| bool isTapDetectionOnX(); |
| void setTapDetectionOnX(bool state); |
| bool isTapDetectionOnY(); |
| void setTapDetectionOnY(bool state); |
| bool isTapDetectionOnZ(); |
| void setTapDetectionOnZ(bool state); |
| void setActivityX(bool state); |
| void setActivityY(bool state); |
| void setActivityZ(bool state); |
| void setInactivityX(bool state); |
| void setInactivityY(bool state); |
| void setInactivityZ(bool state); |
| bool isActivitySourceOnX(); |
| bool isActivitySourceOnY(); |
| bool isActivitySourceOnZ(); |
| bool isTapSourceOnX(); |
| bool isTapSourceOnY(); |
| bool isTapSourceOnZ(); |
| bool isAsleep(); |
| bool isLowPower(); |
| void setLowPower(bool state); |
| float getRate(); |
| void setRate(float rate); |
| void set_bw(byte bw_code); |
| byte get_bw_code(); |
| byte getInterruptSource(); |
| bool getInterruptSource(byte interruptBit); |
| bool getInterruptMapping(byte interruptBit); |
| void setInterruptMapping(byte interruptBit, bool interruptPin); |
| bool isInterruptEnabled(byte interruptBit); |
| void setInterrupt(byte interruptBit, bool state); |
| void getRangeSetting(byte* rangeSetting); |
| void setRangeSetting(int val); |
| bool getSelfTestBit(); |
| void setSelfTestBit(bool selfTestBit); |
| bool getSpiBit(); |
| void setSpiBit(bool spiBit); |
| bool getInterruptLevelBit(); |
| void setInterruptLevelBit(bool interruptLevelBit); |
| bool getFullResBit(); |
| void setFullResBit(bool fullResBit); |
| bool getJustifyBit(); |
| void setJustifyBit(bool justifyBit); |
| void printAllRegister(); |
| void writeTo(byte address, byte val); |
| private: |
| void readFrom(byte address, int num, byte buff[]); |
| void setRegisterBit(byte regAdress, int bitPos, bool state); |
| bool getRegisterBit(byte regAdress, int bitPos); |
| byte _buff[6] ; //6 bytes buffer for saving data read from the device |
| int _dev_address; |
| }; |
| void print_byte(byte val); |
| #endif |
| /branches/V0.82b-Arthur-P/adxl345driver/accel_cal.py |
|---|
| 0,0 → 1,40 |
| import scipy.optimize |
| from pylab import * |
| from numpy import * |
| from mpl_toolkits.mplot3d import Axes3 |
| cal = open('cal.dat') |
| fig = figure(1); clf() |
| az = Axis3D(fig) |
| for f in [cal]: |
| data = array([map(float, l.split()) for l in f.readlines()]) |
| N = len(data[0]) |
| x = data[:,0] |
| y = data[:,1] |
| z = data[:,2] |
| ax.scater(x, y, z) |
| here |
| A = array([[cx + r * cos(theta), |
| cy + r * sin(theta)] for theta in arange(0, 2 * pi, 1 * pi/180)]) |
| # plot(A[:,0], A[:,1], 'g-') |
| xy = data[:,1:3] |
| def cost(params): |
| cx, cy, r = params |
| xy_ = xy - [cx, cy] |
| thetas = arctan2(xy_[:,1], xy_[:,0]) |
| resids = xy_ - transpose([r * cos(thetas), r * sin(thetas)]) |
| return sum(ravel(resids ** 2)) |
| cx, cy, r = scipy.optimize.fmin(cost, [cx, cy, r], disp=False) |
| print f.name, cx, cy, r |
| ## acc_cal_lights_on.dat 550.150958354 507.218838209 249.831129791 |
| ## acc_cal_lights_off.dat 563.391868993 518.281081432 251.367556713 |
| A = array([[cx + r * cos(theta), |
| cy + r * sin(theta)] for theta in arange(0, 2 * pi, 1 * pi/180)]) |
| plot(A[:,0], A[:,1]) |
| /branches/V0.82b-Arthur-P/adxl345driver/examples/ADXL345_run/ADXL345_run.pde |
|---|
| 0,0 → 1,59 |
| /************************************************************************** |
| * * |
| * ADXL345 Driver for Arduino * |
| * * |
| *************************************************************************** |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the MIT License. * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * MIT License for more details. * |
| * * |
| *************************************************************************** |
| * |
| * Revision History |
| * |
| * Date By What |
| * 20100515 TJS Initial Creation |
| * 20100524 TJS Modified to run with Kevin Stevenard's driver |
| */ |
| #include "Wire.h" |
| #include "ADXL345.h" |
| ADXL345 Accel; |
| void setup(){ |
| Serial.begin(9600); |
| delay(1); |
| Wire.begin(); |
| delay(1); |
| Serial.println("Here"); |
| Accel.init(ADXL345_ADDR_ALT_LOW); |
| Accel.set_bw(ADXL345_BW_12); |
| Serial.print("BW_OK? "); |
| Serial.println(Accel.status, DEC); |
| delay(1000); |
| } |
| void loop(){ |
| int i; |
| float acc_data[3]; |
| Accel.get_Gxyz(acc_data); |
| if(Accel.status){ |
| float length = 0.; |
| for(i = 0; i < 3; i++){ |
| length += (float)acc_data[i] * (float)acc_data[i]; |
| Serial.print(acc_data[i]); |
| Serial.print(" "); |
| } |
| length = sqrt(length); |
| Serial.print(length); |
| Serial.println(""); |
| delay(40); |
| } |
| else{ |
| Serial.println("ERROR: ADXL345 data read error"); |
| } |
| } |
| /branches/V0.82b-Arthur-P/adxl345driver/examples/ADXL345_run/accel_cal.py |
|---|
| 0,0 → 1,52 |
| import scipy.optimize |
| from pylab import * |
| from numpy import * |
| cal = open('cal1.dat') |
| for f in [cal]: |
| data = array([map(float, l.split()) for l in f.readlines()]) |
| N = len(data[0]) |
| x = data[:,0] |
| y = data[:,1] |
| z = data[:,2] |
| data = data[:,:3] |
| def cost(args): |
| rs = diag(1. / array(args[0:3])) ** 2 |
| c = array(args[3:6]) |
| m = data - array(c) |
| out = 0 |
| for p in m: |
| out += abs(dot(dot(p, rs), p) - 1) |
| return out |
| guess = array([250, 250, 250, 0, 0, 0]) |
| print cost(guess) |
| best = scipy.optimize.fmin(cost, guess) |
| print cost(best) |
| print best |
| print 1/best[:3] |
| here |
| A = array([[cx + r * cos(theta), |
| cy + r * sin(theta)] for theta in arange(0, 2 * pi, 1 * pi/180)]) |
| # plot(A[:,0], A[:,1], 'g-') |
| xy = data[:,1:3] |
| def cost(params): |
| cx, cy, r = params |
| xy_ = xy - [cx, cy] |
| thetas = arctan2(xy_[:,1], xy_[:,0]) |
| resids = xy_ - transpose([r * cos(thetas), r * sin(thetas)]) |
| return sum(ravel(resids ** 2)) |
| cx, cy, r = scipy.optimize.fmin(cost, [cx, cy, r], disp=False) |
| print f.name, cx, cy, r |
| ## acc_cal_lights_on.dat 550.150958354 507.218838209 249.831129791 |
| ## acc_cal_lights_off.dat 563.391868993 518.281081432 251.367556713 |
| A = array([[cx + r * cos(theta), |
| cy + r * sin(theta)] for theta in arange(0, 2 * pi, 1 * pi/180)]) |
| plot(A[:,0], A[:,1]) |
| /branches/V0.82b-Arthur-P/adxl345driver/examples/ADXL345_run/cal.dat |
|---|
| 0,0 → 1,1579 |
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| /branches/V0.82b-Arthur-P/adxl345driver/examples/ADXL345_run/cal1.dat |
|---|
| 0,0 → 1,885 |
| -262 34 -40 267.21 |
| -262 33 -39 266.93 |
| -261 33 -40 266.10 |
| -261 34 -40 266.23 |
| -261 35 -39 266.21 |
| -262 32 -39 266.81 |
| -261 34 -41 266.38 |
| -262 34 -38 266.92 |
| -256 27 -34 259.66 |
| -268 82 -45 283.85 |
| -271 24 -38 274.70 |
| -265 24 -30 267.77 |
| -267 40 -28 271.43 |
| -294 46 -10 297.74 |
| -288 39 -21 291.39 |
| -279 53 -17 284.50 |
| -284 54 -12 289.34 |
| -254 47 -37 260.95 |
| -252 86 -26 267.54 |
| -256 85 -37 272.27 |
| -225 80 -63 246.97 |
| -218 104 -67 250.66 |
| -197 138 -72 251.07 |
| -224 136 -62 269.29 |
| -196 156 -65 258.80 |
| -194 168 -63 264.25 |
| -184 168 -56 255.37 |
| -184 183 -47 263.73 |
| -162 215 -51 273.99 |
| -160 208 -44 266.08 |
| -142 225 -44 269.68 |
| -140 212 -40 257.18 |
| -135 217 -26 256.89 |
| -122 226 -25 258.04 |
| -130 241 -13 274.14 |
| -110 249 -16 272.68 |
| -104 244 -21 266.07 |
| -100 238 -22 259.09 |
| -94 236 -33 256.17 |
| -92 234 -40 254.60 |
| -95 242 -30 261.70 |
| -94 247 -30 265.98 |
| -85 251 -23 266.00 |
| -79 252 -17 264.64 |
| -73 250 -20 261.21 |
| -56 242 -27 249.86 |
| -63 253 -14 261.10 |
| -29 257 -20 259.40 |
| -38 263 -9 265.88 |
| -11 255 -23 256.27 |
| -14 260 -12 260.65 |
| 4 253 -17 253.60 |
| -3 256 -4 256.05 |
| 12 255 -7 255.38 |
| 28 250 -5 251.61 |
| 36 251 0 253.57 |
| 49 243 -6 247.96 |
| 25 256 8 257.34 |
| 48 244 -2 248.68 |
| 50 247 0 252.01 |
| 67 251 4 259.82 |
| 61 249 9 256.52 |
| 69 239 12 249.05 |
| 84 249 12 263.06 |
| 100 231 14 252.11 |
| 108 225 15 250.03 |
| 116 213 13 242.89 |
| 121 219 13 250.54 |
| 126 219 20 253.45 |
| 132 207 15 245.96 |
| 139 202 12 245.50 |
| 148 202 12 250.70 |
| 154 196 17 249.84 |
| 158 196 20 252.55 |
| 149 189 31 242.66 |
| 159 185 32 246.03 |
| 176 187 36 259.31 |
| 182 161 33 245.22 |
| 187 169 40 255.21 |
| 191 150 34 245.23 |
| 199 150 30 251.00 |
| 204 132 25 244.26 |
| 201 143 33 248.88 |
| 204 131 28 244.05 |
| 207 125 25 243.10 |
| 206 129 32 245.16 |
| 214 127 26 250.20 |
| 223 124 22 256.10 |
| 217 122 24 250.10 |
| 215 115 17 244.42 |
| 220 107 12 244.93 |
| 221 109 11 246.66 |
| 225 115 11 252.92 |
| 218 105 4 242.00 |
| 226 105 -4 249.23 |
| 222 109 1 247.32 |
| 230 112 -4 255.85 |
| 241 119 -6 268.85 |
| 227 95 -10 246.28 |
| 224 84 -16 239.77 |
| 225 91 -9 242.87 |
| 230 87 -12 246.20 |
| 241 83 -11 255.13 |
| 244 72 -17 254.97 |
| 241 71 -15 251.69 |
| 233 81 -14 247.07 |
| 241 83 -8 255.02 |
| 246 86 -12 260.88 |
| 258 73 -26 269.39 |
| 232 75 -20 244.64 |
| 242 65 -32 252.61 |
| 233 69 -17 243.60 |
| 248 66 -31 258.50 |
| 243 70 -20 253.67 |
| 244 66 -21 253.64 |
| 246 61 -20 254.24 |
| 245 65 -19 254.19 |
| 247 64 -27 256.58 |
| 238 62 -24 247.11 |
| 247 64 -21 256.02 |
| 250 63 -20 258.59 |
| 250 62 -21 258.43 |
| 252 50 -22 257.85 |
| 249 42 -21 253.39 |
| 249 29 -24 251.83 |
| 251 38 -18 254.50 |
| 251 27 -24 253.59 |
| 252 21 -24 254.01 |
| 248 16 -23 249.58 |
| 248 25 -13 249.60 |
| 253 19 -18 254.35 |
| 259 9 -22 260.09 |
| 255 9 -14 255.54 |
| 255 1 -18 255.64 |
| 245 3 -10 245.22 |
| 251 1 -12 251.29 |
| 263 0 -12 263.27 |
| 254 -12 -11 254.52 |
| 247 -6 -3 247.09 |
| 256 -13 -9 256.49 |
| 263 -12 -5 263.32 |
| 256 -19 -10 256.90 |
| 249 -11 0 249.24 |
| 249 -13 -7 249.44 |
| 245 -10 -6 245.28 |
| 252 -15 -6 252.52 |
| 251 -22 -9 252.12 |
| 250 -21 -5 250.93 |
| 256 -18 -1 256.63 |
| 262 -13 1 262.32 |
| 259 -4 -1 259.03 |
| 262 -4 -5 262.08 |
| 245 0 -5 245.05 |
| 241 4 -9 241.20 |
| 248 35 3 250.48 |
| 252 35 5 254.47 |
| 251 32 -4 253.06 |
| 254 61 7 261.32 |
| 239 61 2 246.67 |
| 254 77 -2 265.42 |
| 223 90 0 240.48 |
| 223 96 -6 242.86 |
| 212 130 -10 248.89 |
| 210 144 0 254.63 |
| 215 139 -5 256.07 |
| 190 185 17 265.73 |
| 180 186 0 258.84 |
| 154 191 7 245.45 |
| 132 204 9 243.15 |
| 141 205 -8 248.94 |
| 107 222 1 246.44 |
| 91 232 2 249.22 |
| 64 238 11 246.70 |
| 67 245 6 254.07 |
| 15 251 19 252.16 |
| 14 255 9 255.54 |
| -1 257 10 257.20 |
| -12 261 10 261.47 |
| -44 256 6 259.82 |
| -55 234 1 240.38 |
| -65 244 5 252.56 |
| -80 256 11 268.43 |
| -86 237 -8 252.25 |
| -113 237 5 262.61 |
| -121 214 -9 246.00 |
| -146 216 -5 260.76 |
| -160 214 -3 267.22 |
| -166 191 -13 253.39 |
| -183 199 -11 270.58 |
| -179 177 -19 252.45 |
| -210 161 -16 265.10 |
| -217 154 -19 266.77 |
| -211 135 -30 252.28 |
| -228 129 -23 262.97 |
| -239 114 -21 265.63 |
| -240 109 -27 264.97 |
| -251 106 -21 273.27 |
| -248 74 -30 260.54 |
| -254 78 -28 267.18 |
| -251 65 -39 262.20 |
| -259 40 -36 264.53 |
| -258 49 -33 264.68 |
| -257 12 -38 260.07 |
| -260 1 -38 262.76 |
| -266 0 -33 268.04 |
| -269 -26 -42 273.50 |
| -260 -55 -44 269.37 |
| -265 -43 -42 271.73 |
| -252 -60 -47 263.27 |
| -255 -84 -52 273.47 |
| -243 -101 -51 268.05 |
| -237 -126 -49 272.85 |
| -233 -132 -46 271.71 |
| -216 -127 -54 256.32 |
| -209 -162 -49 268.93 |
| -215 -157 -48 270.51 |
| -211 -163 -46 270.57 |
| -185 -190 -59 271.67 |
| -185 -191 -54 271.33 |
| -183 -212 -57 285.80 |
| -162 -215 -56 274.96 |
| -132 -219 -65 263.84 |
| -134 -228 -61 271.41 |
| -123 -231 -65 269.66 |
| -118 -244 -66 278.96 |
| -88 -251 -75 276.35 |
| -85 -253 -74 276.97 |
| -71 -246 -71 265.70 |
| -51 -251 -83 269.24 |
| -53 -252 -75 268.21 |
| -38 -271 -84 286.25 |
| -38 -273 -82 287.57 |
| -34 -268 -82 282.32 |
| -4 -263 -90 278.00 |
| 13 -260 -97 277.81 |
| 19 -259 -94 276.18 |
| 18 -255 -94 272.37 |
| 25 -272 -95 289.20 |
| 28 -264 -97 282.65 |
| 40 -255 -106 279.04 |
| 51 -249 -109 276.56 |
| 67 -238 -118 273.97 |
| 73 -241 -120 278.94 |
| 79 -247 -122 286.59 |
| 90 -230 -128 278.18 |
| 101 -224 -131 278.46 |
| 94 -222 -133 275.33 |
| 97 -217 -134 272.86 |
| 105 -204 -135 266.21 |
| 100 -215 -132 271.38 |
| 112 -206 -135 270.56 |
| 123 -207 -137 277.03 |
| 126 -197 -141 273.07 |
| 126 -191 -138 267.21 |
| 139 -196 -144 280.13 |
| 152 -194 -143 284.94 |
| 156 -183 -143 279.77 |
| 161 -176 -141 277.09 |
| 150 -173 -141 268.91 |
| 167 -168 -141 275.67 |
| 170 -166 -136 273.77 |
| 171 -169 -137 276.71 |
| 181 -157 -144 279.55 |
| 179 -146 -140 270.11 |
| 188 -138 -138 270.98 |
| 184 -130 -140 265.25 |
| 195 -125 -141 271.17 |
| 196 -121 -140 269.55 |
| 192 -129 -137 268.84 |
| 214 -108 -137 276.10 |
| 197 -110 -131 260.90 |
| 208 -99 -140 269.56 |
| 220 -89 -135 273.03 |
| 221 -104 -130 276.69 |
| 235 -95 -133 286.25 |
| 221 -96 -132 274.74 |
| 221 -77 -128 266.75 |
| 222 -79 -128 268.16 |
| 214 -85 -128 263.45 |
| 219 -69 -131 264.35 |
| 220 -87 -120 265.27 |
| 218 -79 -120 261.08 |
| 239 -62 -125 276.75 |
| 237 -71 -113 271.99 |
| 242 -62 -114 274.60 |
| 227 -71 -105 259.99 |
| 244 -70 -111 277.05 |
| 238 -39 -105 263.04 |
| 241 -62 -100 268.19 |
| 236 -66 -102 265.44 |
| 241 -55 -101 267.03 |
| 241 -69 -96 268.44 |
| 252 -47 -106 277.40 |
| 237 -56 -96 261.77 |
| 242 -54 -101 267.73 |
| 224 -59 -91 248.87 |
| 235 -56 -95 259.59 |
| 234 -46 -80 251.54 |
| 250 -51 -84 268.62 |
| 250 -59 -76 267.87 |
| 244 -63 -77 263.50 |
| 247 -62 -78 266.34 |
| 245 -58 -78 263.58 |
| 247 -57 -77 264.93 |
| 248 -55 -77 265.44 |
| 244 -54 -72 260.07 |
| 246 -64 -79 266.18 |
| 247 -62 -77 266.05 |
| 247 -52 -74 263.04 |
| 243 -63 -74 261.71 |
| 248 -62 -80 267.86 |
| 242 -60 -73 259.79 |
| 249 -54 -75 265.60 |
| 248 -63 -77 267.21 |
| 242 -60 -73 259.79 |
| 245 -61 -75 263.38 |
| 245 -63 -76 264.14 |
| 246 -51 -72 261.34 |
| 245 -67 -76 265.12 |
| 239 -64 -74 258.25 |
| 236 -80 -78 261.11 |
| 243 -58 -81 262.63 |
| 228 -89 -76 256.28 |
| 243 -66 -80 264.21 |
| 222 -102 -75 255.56 |
| 232 -83 -79 258.75 |
| 239 -101 -87 273.66 |
| 229 -99 -84 263.25 |
| 220 -138 -88 274.20 |
| 212 -97 -78 245.84 |
| 221 -145 -88 278.59 |
| 203 -148 -93 267.88 |
| 190 -154 -92 261.30 |
| 196 -158 -96 269.44 |
| 186 -149 -87 253.70 |
| 191 -174 -89 273.27 |
| 190 -196 -98 290.03 |
| 167 -192 -98 272.68 |
| 143 -225 -87 280.43 |
| 157 -230 -102 296.57 |
| 137 -220 -96 276.38 |
| 129 -221 -102 275.47 |
| 88 -219 -105 258.32 |
| 107 -244 -121 292.62 |
| 80 -232 -107 267.72 |
| 69 -264 -119 297.69 |
| 57 -250 -108 278.23 |
| 55 -246 -121 279.61 |
| 41 -247 -124 279.40 |
| -1 -251 -112 274.86 |
| -2 -255 -116 280.15 |
| 6 -244 -123 273.31 |
| -21 -256 -108 278.64 |
| -35 -249 -118 277.76 |
| -49 -248 -114 277.31 |
| -47 -241 -122 274.18 |
| -72 -248 -120 284.76 |
| -89 -230 -109 269.63 |
| -106 -241 -109 284.95 |
| -105 -232 -112 278.20 |
| -122 -220 -113 275.78 |
| -133 -225 -103 280.93 |
| -141 -209 -100 271.22 |
| -164 -198 -97 274.79 |
| -163 -196 -96 272.40 |
| -175 -193 -90 275.63 |
| -179 -201 -91 284.12 |
| -183 -189 -91 278.37 |
| -194 -182 -84 278.96 |
| -191 -179 -89 276.48 |
| -205 -165 -81 275.34 |
| -209 -163 -80 276.86 |
| -208 -153 -81 270.62 |
| -219 -153 -75 277.48 |
| -219 -145 -78 273.99 |
| -233 -133 -71 277.52 |
| -229 -139 -75 278.19 |
| -231 -116 -74 268.87 |
| -242 -110 -68 274.39 |
| -240 -107 -70 271.94 |
| -245 -102 -68 273.96 |
| -246 -95 -66 271.84 |
| -250 -91 -64 273.64 |
| -250 -87 -67 273.05 |
| -253 -85 -62 274.00 |
| -259 -74 -57 275.33 |
| -257 -68 -59 272.31 |
| -257 -62 -60 271.10 |
| -257 -62 -56 270.24 |
| -263 -50 -55 273.30 |
| -256 -51 -57 267.18 |
| -262 -48 -54 271.78 |
| -258 -42 -55 267.12 |
| -261 -18 -57 267.76 |
| -270 -27 -49 275.74 |
| -261 -15 -54 266.95 |
| -266 -17 -50 271.19 |
| -263 -7 -51 267.99 |
| -265 -18 -45 269.40 |
| -264 -14 -44 268.01 |
| -272 -18 -36 274.96 |
| -258 -13 -41 261.56 |
| -266 -21 -29 268.40 |
| -262 -24 -29 264.69 |
| -259 -22 -23 260.95 |
| -279 -28 -10 280.58 |
| -264 -8 -7 264.21 |
| -255 -19 -7 255.80 |
| -268 -13 -1 268.32 |
| -259 -11 4 259.26 |
| -264 -6 19 264.75 |
| -252 -5 24 253.19 |
| -268 -15 42 271.69 |
| -244 -4 31 245.99 |
| -235 -22 29 237.80 |
| -244 -4 53 249.72 |
| -243 -8 65 251.67 |
| -240 -4 79 252.70 |
| -255 -6 92 271.15 |
| -227 -15 100 248.50 |
| -217 -7 115 245.69 |
| -201 -12 118 233.39 |
| -206 -12 128 242.83 |
| -183 -1 130 224.48 |
| -172 -4 143 223.72 |
| -190 5 150 242.13 |
| -162 11 156 225.17 |
| -165 11 171 237.88 |
| -146 9 178 230.39 |
| -144 12 190 238.70 |
| -127 2 186 225.23 |
| -106 1 185 213.22 |
| -120 -4 194 228.15 |
| -94 -8 200 221.13 |
| -104 2 202 227.21 |
| -77 6 209 222.81 |
| -75 2 214 226.77 |
| -61 1 207 215.80 |
| -51 6 205 211.33 |
| -62 12 214 223.12 |
| -41 5 210 214.02 |
| -43 0 216 220.24 |
| -27 2 210 211.74 |
| -23 12 213 214.57 |
| -18 6 217 217.83 |
| -8 4 212 212.19 |
| -6 7 214 214.20 |
| -6 1 218 218.08 |
| -10 -1 221 221.23 |
| 8 -2 213 213.16 |
| 10 -8 213 213.38 |
| 3 2 217 217.03 |
| 18 8 221 221.88 |
| 14 6 218 218.53 |
| 34 2 208 210.77 |
| 36 3 208 211.11 |
| 51 -2 204 210.29 |
| 51 -6 207 213.27 |
| 60 1 212 220.33 |
| 57 -1 211 218.57 |
| 78 1 206 220.27 |
| 82 1 199 215.23 |
| 87 3 198 216.29 |
| 102 -4 186 212.17 |
| 101 0 189 214.29 |
| 121 2 191 226.11 |
| 119 -2 186 220.82 |
| 137 -4 176 223.07 |
| 138 -3 181 227.63 |
| 139 -4 181 228.25 |
| 153 0 177 233.96 |
| 162 -5 157 225.65 |
| 169 -11 147 224.26 |
| 161 -11 148 218.97 |
| 175 -8 135 221.17 |
| 192 -11 142 239.06 |
| 174 -9 142 224.77 |
| 206 -11 111 234.26 |
| 198 -17 120 232.15 |
| 198 -23 116 230.63 |
| 217 -28 109 244.45 |
| 212 -27 104 237.67 |
| 226 -27 85 242.96 |
| 232 -17 88 248.71 |
| 212 -21 94 232.85 |
| 246 -27 70 257.19 |
| 234 -29 65 244.59 |
| 238 -24 50 244.38 |
| 250 -16 49 255.26 |
| 205 -32 65 217.43 |
| 251 -33 44 256.96 |
| 256 -27 33 259.53 |
| 226 -26 39 230.81 |
| 245 -38 33 250.12 |
| 233 -30 38 237.98 |
| 253 -20 22 254.74 |
| 255 -23 12 256.32 |
| 252 -29 2 253.67 |
| 248 -31 5 249.98 |
| 242 -27 9 243.67 |
| 248 -24 4 249.19 |
| 257 -24 -10 258.31 |
| 250 -25 1 251.25 |
| 255 -29 2 256.65 |
| 245 -34 2 247.36 |
| 260 -31 -2 261.85 |
| 256 -24 -8 257.25 |
| 249 -25 -8 250.38 |
| 246 -26 -3 247.39 |
| 253 -28 -7 254.64 |
| 244 -28 1 245.60 |
| 260 -36 10 262.67 |
| 243 -37 22 246.78 |
| 253 -28 11 254.78 |
| 250 -22 21 251.84 |
| 242 -41 24 246.62 |
| 240 -39 42 246.75 |
| 236 -34 63 246.62 |
| 217 -25 64 227.62 |
| 204 -30 79 220.81 |
| 224 -42 91 245.40 |
| 250 -46 103 274.27 |
| 174 -40 129 220.27 |
| 211 -38 124 247.67 |
| 127 -7 152 198.20 |
| 230 -30 159 281.21 |
| 172 -38 144 227.52 |
| 172 -36 146 228.46 |
| 129 -29 184 226.58 |
| 74 -26 204 218.56 |
| 77 -17 197 212.20 |
| 73 -7 201 213.96 |
| 72 -13 210 222.38 |
| 34 -7 213 215.81 |
| 30 -23 208 211.41 |
| -17 -9 238 238.78 |
| -8 -24 232 233.38 |
| -23 -19 224 225.98 |
| -40 -2 222 225.58 |
| -61 -12 208 217.09 |
| -83 0 213 228.60 |
| -90 0 204 222.97 |
| -93 -5 197 217.91 |
| -122 -5 190 225.85 |
| -122 -4 186 222.48 |
| -167 3 193 255.24 |
| -131 -15 170 215.14 |
| -174 -2 166 240.49 |
| -147 -19 136 201.16 |
| -193 -8 149 243.95 |
| -207 16 144 252.67 |
| -231 6 120 260.38 |
| -211 1 106 236.13 |
| -220 -1 107 244.64 |
| -235 -2 106 257.81 |
| -253 16 84 267.06 |
| -236 13 64 244.87 |
| -212 -13 38 215.77 |
| -243 1 42 246.60 |
| -237 0 19 237.76 |
| -275 4 37 277.51 |
| -249 4 16 249.55 |
| -236 -17 -2 236.62 |
| -276 -2 13 276.31 |
| -255 -8 -15 255.57 |
| -281 5 -8 281.16 |
| -256 -5 -28 257.58 |
| -262 -6 -31 263.90 |
| -253 -9 -41 256.46 |
| -268 0 -38 270.68 |
| -259 -8 -49 263.72 |
| -277 5 -42 280.21 |
| -257 -9 -69 266.25 |
| -250 -2 -80 262.50 |
| -260 -11 -81 272.55 |
| -269 3 -74 279.01 |
| -259 -3 -93 275.21 |
| -257 36 -88 274.02 |
| -247 3 -105 268.41 |
| -262 10 -104 282.06 |
| -238 7 -131 271.76 |
| -237 13 -129 270.15 |
| -225 2 -148 269.32 |
| -237 22 -137 274.63 |
| -238 18 -141 277.22 |
| -250 18 -141 287.58 |
| -241 24 -146 282.79 |
| -244 26 -150 287.60 |
| -225 12 -174 284.68 |
| -233 21 -170 289.19 |
| -231 27 -166 285.74 |
| -231 39 -167 287.70 |
| -220 26 -178 284.18 |
| -199 16 -199 281.88 |
| -207 32 -187 280.79 |
| -191 29 -201 278.79 |
| -187 31 -203 277.74 |
| -203 57 -196 287.88 |
| -200 42 -206 290.17 |
| -190 23 -225 295.39 |
| -190 27 -214 287.45 |
| -185 32 -215 285.44 |
| -179 42 -217 284.42 |
| -173 42 -221 283.79 |
| -168 34 -236 291.68 |
| -166 30 -231 286.04 |
| -171 38 -240 297.13 |
| -167 38 -230 286.76 |
| -153 28 -241 286.83 |
| -146 23 -252 292.15 |
| -130 2 -257 288.02 |
| -108 49 -251 277.61 |
| -108 31 -280 301.70 |
| -82 29 -257 271.32 |
| -95 4 -277 292.87 |
| -78 33 -278 290.61 |
| -57 31 -292 299.12 |
| -51 13 -285 289.82 |
| -36 40 -272 277.27 |
| -26 42 -288 292.21 |
| -29 6 -290 291.51 |
| -11 9 -284 284.36 |
| -2 20 -299 299.67 |
| 12 37 -292 294.58 |
| 23 22 -267 268.89 |
| 41 25 -263 267.35 |
| 41 23 -288 291.81 |
| 61 26 -279 286.77 |
| 63 27 -268 276.63 |
| 92 17 -266 281.97 |
| 88 26 -264 279.49 |
| 91 31 -265 281.90 |
| 110 11 -257 279.77 |
| 118 18 -263 288.82 |
| 127 30 -248 280.24 |
| 127 21 -257 287.44 |
| 138 11 -228 266.74 |
| 144 23 -240 280.83 |
| 158 21 -231 280.65 |
| 165 11 -220 275.22 |
| 169 26 -246 299.59 |
| 193 7 -188 269.52 |
| 190 20 -202 278.04 |
| 183 14 -223 288.81 |
| 198 22 -187 273.23 |
| 200 23 -209 290.19 |
| 215 13 -168 273.16 |
| 211 23 -184 280.90 |
| 224 17 -153 271.80 |
| 227 23 -159 278.10 |
| 232 13 -134 268.23 |
| 230 13 -139 269.05 |
| 234 14 -120 263.35 |
| 241 20 -125 272.22 |
| 240 9 -115 266.28 |
| 238 18 -107 261.57 |
| 247 8 -94 264.40 |
| 244 18 -106 266.64 |
| 251 20 -79 263.90 |
| 254 16 -90 269.95 |
| 252 7 -68 261.11 |
| 245 16 -97 263.99 |
| 249 21 -90 265.60 |
| 252 19 -95 269.98 |
| 252 6 -89 267.32 |
| 253 18 -109 276.07 |
| 245 14 -97 263.87 |
| 241 15 -98 260.60 |
| 236 22 -115 263.45 |
| 240 16 -105 262.45 |
| 251 6 -101 270.63 |
| 228 19 -119 257.89 |
| 243 14 -134 277.85 |
| 229 19 -113 256.07 |
| 243 16 -148 284.97 |
| 226 13 -122 257.16 |
| 221 27 -161 274.76 |
| 213 9 -162 267.76 |
| 203 26 -171 266.69 |
| 196 24 -198 279.64 |
| 206 25 -174 270.81 |
| 188 19 -202 276.60 |
| 192 19 -199 277.18 |
| 180 17 -218 283.22 |
| 162 29 -239 290.18 |
| 173 18 -213 274.99 |
| 155 30 -225 274.86 |
| 134 14 -258 291.06 |
| 125 34 -268 297.67 |
| 126 33 -251 282.78 |
| 108 29 -253 276.61 |
| 90 28 -273 288.81 |
| 88 40 -260 277.39 |
| 73 36 -272 283.92 |
| 60 30 -283 290.84 |
| 53 32 -281 287.74 |
| 29 46 -295 299.97 |
| 20 35 -285 287.84 |
| 4 46 -275 278.85 |
| -17 38 -278 281.10 |
| -44 46 -282 289.10 |
| -54 56 -281 291.57 |
| -73 45 -271 284.24 |
| -76 55 -263 279.23 |
| -111 54 -265 292.34 |
| -121 43 -258 288.19 |
| -122 67 -255 290.51 |
| -141 50 -246 287.92 |
| -157 73 -225 283.91 |
| -170 67 -234 296.89 |
| -177 62 -212 283.05 |
| -198 79 -204 295.06 |
| -199 62 -187 280.02 |
| -210 58 -180 282.60 |
| -195 88 -190 286.13 |
| -236 66 -139 281.73 |
| -227 74 -152 283.04 |
| -229 70 -122 268.75 |
| -244 58 -115 275.91 |
| -245 72 -120 282.15 |
| -262 10 -64 269.89 |
| -261 25 -73 272.17 |
| -259 20 -45 263.64 |
| -252 36 -66 262.98 |
| -256 24 -58 263.58 |
| -259 10 -53 264.56 |
| -257 21 -51 262.85 |
| -285 -17 -35 287.64 |
| -266 4 -34 268.19 |
| -246 36 -55 254.63 |
| -261 -2 -69 269.97 |
| -237 2 -53 242.86 |
| -255 -5 -63 262.71 |
| -255 -22 -84 269.38 |
| -270 -64 -42 280.64 |
| -259 -38 -34 263.97 |
| -284 -71 -69 300.76 |
| -280 -4 -77 290.42 |
| -242 6 -53 247.81 |
| -282 -3 -29 283.50 |
| -252 9 -74 262.79 |
| -251 -36 -75 264.43 |
| -268 -41 -82 283.25 |
| -248 -33 -98 268.70 |
| -281 -20 -35 283.88 |
| -250 -26 -96 269.06 |
| -305 -3 -4 305.04 |
| -259 -11 -27 260.64 |
| -270 -9 -32 272.04 |
| -268 -25 -35 271.43 |
| -271 -12 0 271.27 |
| -263 25 2 264.19 |
| -287 4 -5 287.07 |
| -267 24 -29 269.64 |
| -261 33 -20 263.84 |
| -265 17 -12 265.82 |
| -262 23 -19 263.69 |
| -263 3 -22 263.94 |
| -268 -5 -21 268.87 |
| -265 16 -20 266.23 |
| -264 14 -37 266.95 |
| -264 6 -41 267.23 |
| -262 11 -38 264.97 |
| -264 12 -17 264.82 |
| -281 8 -109 301.51 |
| -209 97 -78 243.26 |
| -280 -7 -46 283.84 |
| -265 30 -52 271.71 |
| -261 40 -35 266.36 |
| -261 31 -41 266.01 |
| -262 34 -43 267.67 |
| -261 32 -39 265.83 |
| -261 33 -38 265.81 |
| -262 37 -41 267.76 |
| -262 33 -41 267.23 |
| -261 29 -41 265.79 |
| -262 36 -39 267.32 |
| -261 35 -43 266.82 |
| -262 32 -37 266.53 |
| -262 33 -38 266.79 |
| -262 36 -41 267.62 |
| -261 34 -39 266.08 |
| -261 33 -39 265.95 |
| -261 34 -42 266.54 |
| -262 37 -41 267.76 |
| -262 36 -40 267.47 |
| -261 35 -41 266.51 |
| -262 36 -40 267.47 |
| -262 35 -41 267.49 |
| -261 33 -42 266.41 |
| -261 36 -39 266.34 |
| -262 35 -41 267.49 |
| -262 35 -43 267.80 |
| -263 35 -42 268.62 |
| -262 34 -38 266.92 |
| -260 34 -39 265.10 |
| -262 35 -41 267.49 |
| -261 34 -40 266.23 |
| -261 34 -40 266.23 |
| -262 35 -40 267.34 |
| -262 35 -39 267.19 |
| -261 35 -43 266.82 |
| -263 35 -42 268.62 |
| -261 34 -42 266.54 |
| -262 35 -40 267.34 |
| -261 33 -41 266.25 |
| -262 35 -39 267.19 |
| -262 35 -40 267.34 |
| -263 35 -40 268.32 |
| -261 34 -41 266.38 |
| -261 34 -40 266.23 |
| -261 34 -40 266.23 |
| -262 36 -40 267.47 |
| -262 34 -41 267.36 |
| -261 34 -39 266.08 |
| -261 34 -41 266.38 |
| -261 34 -40 266.23 |
| -261 34 -39 266.08 |
| -262 35 -40 267.34 |
| -262 36 -40 267.47 |
| -261 35 -38 266.06 |
| -262 34 -42 267.51 |
| -262 35 -41 267.49 |
| -263 35 -39 268.17 |
| -262 34 -41 267.36 |
| -262 34 -40 267.21 |
| -262 35 -41 267.49 |
| -261 35 -42 266.66 |
| -261 35 -40 266.36 |
| -261 35 -40 266.36 |
| -261 35 -39 266.21 |
| -262 35 -39 267.19 |
| -262 34 -40 267.21 |
| -262 34 -41 267.36 |
| -261 33 -40 266.10 |
| -261 33 -40 266.10 |
| -261 34 -39 266.08 |
| -261 35 -42 266.66 |
| -262 34 -41 267.36 |
| -262 33 -39 266.93 |
| -262 34 -40 267.21 |
| -262 36 -40 267.47 |
| -262 35 -41 267.49 |
| -261 35 -40 266.36 |
| -262 35 -39 267.19 |
| -262 35 -40 267.34 |
| -260 34 -40 265.25 |
| -262 34 -40 267.21 |
| -262 35 -40 267.34 |
| -262 35 -40 267.34 |
| -262 35 -40 267.34 |
| -262 36 -39 267.32 |
| -262 36 -39 267.32 |
| -262 34 -39 267.06 |
| -262 34 -41 267.36 |
| -262 34 -40 267.21 |
| -261 34 -41 266.38 |
| -262 34 -40 267.21 |
| -261 34 -40 266.23 |
| -261 34 -41 266.38 |
| -261 34 -40 266.23 |
| -261 34 -39 266.08 |
| -262 35 -42 267.64 |
| -262 35 -37 266.90 |
| -262 33 -40 267.08 |
| -262 35 -41 267.49 |
| -262 35 -38 267.04 |
| -263 35 -41 268.47 |
| -261 35 -39 266.21 |
| -261 34 -41 266.38 |
| -261 35 -39 266.21 |
| -261 34 -39 266.08 |
| -261 33 -40 266.10 |
| -263 36 -41 268.60 |
| -261 34 -40 266.23 |
| -262 36 -40 267.47 |
| -261 34 -42 266.54 |
| -261 35 -40 266.36 |
| -262 35 -38 267.04 |
| -261 35 -41 266.51 |
| -261 34 -41 266.38 |
| -262 35 -37 266.90 |
| -261 34 -39 266.08 |
| -261 33 -41 266.25 |
| -261 34 -40 266.23 |
| /branches/V0.82b-Arthur-P/adxl345driver/examples/ADXL345_test/ADXL345_test.pde |
|---|
| 0,0 → 1,234 |
| #include "Wire.h" |
| #include "ADXL345.h" |
| ADXL345 accel; |
| void setup(void){ |
| int x, y, z, i; |
| double xyz[3], gains[3], gains_orig[3]; |
| Serial.begin(9600); |
| accel.init(ADXL345_ADDR_ALT_LOW); |
| accel.powerOn(); |
| Serial.println("Arduino driver for ADXL345 3-axes accelerometer"); |
| Serial.println("Version 2.0"); |
| Serial.println(""); |
| Serial.println("This program is free software; you can redistribute it and/or modify"); |
| Serial.println("it under the terms of the GNU License V2."); |
| Serial.println("This program is distributed in the hope that it will be useful,"); |
| Serial.println("but WITHOUT ANY WARRANTY; without even the implied warranty of"); |
| Serial.println("MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the "); |
| Serial.println("GNU General Public License, version 2 for more details"); |
| Serial.println(""); |
| Serial.println("Original development: Kevin Stevenard"); |
| Serial.println("Modified by Justin Shaw May 2010"); |
| Serial.println(""); |
| Serial.println(""); |
| accel.getAxisGains(gains_orig); |
| Serial.println("gains_orig[]:"); |
| for(i = 0; i < 3; i++){ |
| Serial.print(gains_orig[i], 6); |
| Serial.print(" "); |
| } |
| Serial.println(""); |
| gains[0] = .1; |
| gains[1] = 1.1; |
| gains[2] = 2.1; |
| accel.setAxisGains(gains); |
| accel.getAxisGains(gains); |
| Serial.println("set gains[]:"); |
| for(i = 0; i < 3; i++){ |
| Serial.print(gains[i]); |
| Serial.print(" "); |
| } |
| Serial.println(""); |
| accel.setAxisGains(gains_orig); |
| accel.getAxisGains(gains); |
| Serial.println("original gains?"); |
| for(i = 0; i < 3; i++){ |
| Serial.print(gains[i], 6); |
| Serial.print(" "); |
| } |
| Serial.println(""); |
| accel.readAccel(&x, &y, &z); |
| Serial.print("XYZ COUNTS: "); |
| Serial.print(x, DEC); |
| Serial.print(" "); |
| Serial.print(y, DEC); |
| Serial.print(" "); |
| Serial.print(z, DEC); |
| Serial.println(""); |
| accel.get_Gxyz(xyz); |
| Serial.print("XYZ Gs: "); |
| for(i = 0; i<3; i++){ |
| Serial.print(xyz[i], DEC); |
| Serial.print(" "); |
| } |
| Serial.println(""); |
| accel.setTapThreshold(1); |
| Serial.print("getTapThreshold(): "); |
| Serial.println(accel.getTapThreshold(), DEC); |
| accel.setAxisOffset(2, 3, 4); |
| Serial.print("getAxisOffset(&x, &y, &z): "); |
| accel.getAxisOffset(&x, &y, &z); |
| Serial.print(x); |
| Serial.print(" "); |
| Serial.print(y); |
| Serial.print(" "); |
| Serial.print(z); |
| Serial.println(""); |
| accel.setTapDuration(5); |
| Serial.print("getTapDuration(): "); |
| Serial.println(accel.getTapDuration(), DEC); |
| accel.setDoubleTapLatency(6); |
| Serial.print("getDoubleTapLatency(): "); |
| Serial.println(accel.getDoubleTapLatency(), DEC); |
| accel.setDoubleTapWindow(7); |
| Serial.print("getDoubleTapWindow() "); |
| Serial.println(accel.getDoubleTapWindow()); |
| accel.setActivityThreshold(8); |
| Serial.print("getActivityThreshold() "); |
| Serial.println(accel.getActivityThreshold(), DEC); |
| accel.setInactivityThreshold(9); |
| Serial.print("getInactivityThreshold() "); |
| Serial.println(accel.getInactivityThreshold(), DEC); |
| accel.setTimeInactivity(10); |
| Serial.print("getTimeInactivity(): "); |
| Serial.println(accel.getTimeInactivity()); |
| accel.setFreeFallThreshold(11); |
| Serial.print("getFreeFallThreshold(): "); |
| Serial.println(accel.getFreeFallThreshold()); |
| accel.setFreeFallDuration(12); |
| Serial.print("getFreeFallDuration(): "); |
| Serial.println(accel.getFreeFallDuration(), DEC); |
| Serial.print("isActivityXEnabled(): "); |
| Serial.println(accel.isActivityXEnabled(), DEC); |
| Serial.print("isActivityYEnabled(): "); |
| Serial.println(accel.isActivityYEnabled(), DEC); |
| Serial.print("isActivityZEnabled(): "); |
| Serial.println(accel.isActivityZEnabled(), DEC); |
| Serial.print("isInactivityXEnabled(): "); |
| Serial.println(accel.isInactivityXEnabled(), DEC); |
| Serial.print("isInactivityYEnabled(): "); |
| Serial.println(accel.isInactivityYEnabled(), DEC); |
| Serial.print("isInactivityZEnabled(): "); |
| Serial.println(accel.isInactivityZEnabled(), DEC); |
| Serial.print("isActivityAc(): "); |
| Serial.println(accel.isInactivityAc(), DEC); |
| accel.setActivityAc(true); |
| accel.setInactivityAc(true); |
| accel.setSuppressBit(true); |
| Serial.print("getSuppressBit(); true? "); |
| Serial.println(accel.getSuppressBit()); |
| accel.setSuppressBit(false); |
| Serial.print("getSuppressBit(); false? "); |
| Serial.println(accel.getSuppressBit()); |
| accel.setTapDetectionOnX(true); |
| Serial.print("isTapDetectionOnX(); true? "); |
| Serial.println(accel.isTapDetectionOnX(), DEC); |
| accel.setTapDetectionOnX(false); |
| Serial.print("isTapDetectionOnX(); false? "); |
| Serial.println(accel.isTapDetectionOnX(), DEC); |
| accel.setTapDetectionOnY(true); |
| Serial.print("isTapDetectionOnY(); true? "); |
| Serial.println(accel.isTapDetectionOnY(), DEC); |
| accel.setTapDetectionOnY(false); |
| Serial.print("isTapDetectionOnY(); false? "); |
| Serial.println(accel.isTapDetectionOnY(), DEC); |
| accel.setTapDetectionOnZ(true); |
| Serial.print("isTapDetectionOnZ(); true? "); |
| Serial.println(accel.isTapDetectionOnZ(), DEC); |
| accel.setTapDetectionOnZ(false); |
| Serial.print("isTapDetectionOnZ(); false? "); |
| Serial.println(accel.isTapDetectionOnZ(), DEC); |
| accel.setActivityX(true); |
| accel.setActivityY(true); |
| accel.setActivityZ(true); |
| accel.setInactivityX(false); |
| accel.setInactivityY(false); |
| accel.setInactivityZ(false); |
| Serial.print("isActivitySourceOnX(): "); |
| Serial.println(accel.isActivitySourceOnX(), DEC); |
| Serial.print("accel.isActivitySourceOnY(): "); |
| Serial.println(accel.isActivitySourceOnY(), DEC); |
| Serial.print("accel.isActivitySourceOnZ(): "); |
| Serial.println(accel.isActivitySourceOnZ(), DEC); |
| Serial.print("accel.isTapSourceOnX(): "); |
| Serial.println(accel.isTapSourceOnX(), DEC); |
| Serial.print("accel.isTapSourceOnY(): "); |
| Serial.println(accel.isTapSourceOnY(), DEC); |
| Serial.print("accel.isTapSourceOnZ(): "); |
| Serial.println(accel.isTapSourceOnZ(), DEC); |
| Serial.print("accel.isAsleep(): "); |
| Serial.println(accel.isAsleep(), DEC); |
| Serial.print("accel.isLowPower(): "); |
| Serial.println(accel.isLowPower(), DEC); |
| accel.setLowPower(false); |
| accel.setRate(3.14159); |
| Serial.print("getRate(): 3.14159?"); |
| Serial.println(accel.getRate()); |
| Serial.print("getInterruptSource(): "); |
| Serial.println(accel.getInterruptSource(), DEC); |
| Serial.print("getInterruptSource(1): "); |
| Serial.println(accel.getInterruptSource(1), DEC); |
| Serial.print("getInterruptMapping(1): "); |
| Serial.println(accel.getInterruptMapping(1), DEC); |
| accel.setInterruptMapping(1, true); |
| Serial.print("isInterruptEnabled(1): "); |
| Serial.println(accel.isInterruptEnabled(1)); |
| accel.setInterrupt(1, true); |
| accel.setSelfTestBit(false); |
| Serial.print("getSelfTestBit(): "); |
| Serial.println(accel.getSelfTestBit(), DEC); |
| accel.printAllRegister(); |
| } |
| void loop(void){ |
| } |
| /branches/V0.82b-Arthur-P/bma180/bma180.cpp |
|---|
| 0,0 → 1,171 |
| #include <avr/pgmspace.h> |
| #include <wiring.h> |
| #include "bma180.h" |
| BMA180::BMA180() |
| { |
| gSense=G2; |
| } |
| void BMA180::setAddress(int adr) |
| { |
| address=(unsigned char) adr; |
| } |
| int temp; |
| void BMA180::readAccel(int * x, int * y, int * z) |
| { |
| unsigned int result; |
| Wire.beginTransmission(address); |
| Wire.send(0x02); |
| Wire.endTransmission(); |
| Wire.requestFrom((int)address, 7); |
| if(Wire.available()==7) |
| { |
| int lsb = Wire.receive()>>2; |
| int msb = Wire.receive(); |
| *x=(msb<<6)+lsb; |
| if ((*x)&0x2000) (*x)|=0xc000; // set full 2 complement for neg values |
| lsb = Wire.receive()>>2; |
| msb = Wire.receive(); |
| *y=(msb<<6)+lsb; |
| if ((*y)&0x2000) (*y)|=0xc000; |
| lsb = Wire.receive()>>2; |
| msb = Wire.receive(); |
| *z=(msb<<6)+lsb; |
| if ((*z)&0x2000) (*z)|=0xc000; |
| temp = Wire.receive(); |
| if (temp&0x80) temp|=0xff00; |
| } |
| result = Wire.endTransmission(); |
| } |
| float BMA180::getGSense() |
| { |
| switch(gSense) |
| { |
| case G1: return 1.0; |
| case G15: return 1.5; |
| case G2: return 2.0; |
| case G3: return 3.0; |
| case G4: return 4.0; |
| case G8: return 8.0; |
| case G16: return 16.0; |
| } |
| } |
| float BMA180::getXValFloat() |
| { |
| // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
| return (float)x/8191.0*getGSense(); |
| } |
| float BMA180::getYValFloat() |
| { |
| // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
| return (float)y/8191.0*getGSense(); |
| } |
| float BMA180::getZValFloat() |
| { |
| // normalize (if x is maximum (8191) and GSENSE=1.0 then 1.0 |
| return (float)z/8191.0*getGSense(); |
| } |
| int BMA180::getRegValue(int adr) |
| { |
| int val; |
| Wire.beginTransmission(address); |
| Wire.send(adr); |
| Wire.endTransmission(); |
| Wire.requestFrom((int)address, 1); |
| if (Wire.available()==1) |
| { |
| val = Wire.receive(); |
| } |
| else val=-1; |
| int result = Wire.endTransmission(); |
| checkResult(result); |
| return val; |
| } |
| void BMA180::setRegValue(int regAdr, int val, int maskPreserve) |
| { |
| int preserve=getRegValue(regAdr); |
| int orgval=preserve & maskPreserve; |
| Wire.beginTransmission(address); |
| Wire.send(regAdr); |
| Wire.send(orgval|val); |
| int result = Wire.endTransmission(); |
| checkResult(result); |
| } |
| void BMA180::setGSensitivty(GSENSITIVITY maxg) //1, 1.5 2 3 4 8 16 |
| { |
| setRegValue(0x35,maxg<<1,0xF1); |
| } |
| void BMA180::SetFilter(FILTER f) // 10,20,40,75,150,300,600,1200, HP 1HZ,BP 0.2-300, higher values not authorized |
| { |
| setRegValue(0x20,f<<4,0x0F); |
| } |
| void BMA180::SetISRMode() // you must provide a ISR function on the pin selected (pin 2 or 3,. so INT0 or INT1) |
| { |
| setRegValue(0x21,2,0xFD); |
| } |
| void BMA180::SoftReset() // all values will be default |
| { |
| setRegValue(0x10,0xB6,0); |
| delay(100); |
| } |
| void BMA180::SetSMPSkip() |
| { |
| setRegValue(0x35, 1, 0xFE); |
| } |
| int BMA180::getIDs(int *id, int *version) |
| { |
| Wire.beginTransmission(address); |
| Wire.send(0x0); |
| Wire.endTransmission(); |
| Wire.requestFrom((int)address, 2); |
| if (Wire.available()==2) |
| { |
| *id = Wire.receive(); |
| *version= Wire.receive(); |
| } |
| else *id=-1; |
| int result = Wire.endTransmission(); |
| checkResult(result); |
| return *id!=-1; |
| } |
| void BMA180::enableWrite() |
| { |
| //ctrl_reg1 register set ee_w bit to enable writing to regs. |
| setRegValue(0x0D,0x10,~0x10); |
| delay(10); |
| } |
| void BMA180::disableWrite() |
| { |
| setRegValue(0x0D,0x0,~0x10); |
| delay(10); |
| } |
| bool BMA180::checkResult(int result) |
| { |
| if(result >= 1) |
| return false; |
| return true; |
| } |
| /branches/V0.82b-Arthur-P/bma180/bma180.h |
|---|
| 0,0 → 1,52 |
| #ifndef _BMA180_h |
| #define _BMA180_h |
| #include <Wire.h> |
| /* |
| extern "C" { |
| #include <../Wire/Wire.h> |
| } |
| */ |
| #define BMA180_ADDRESS_SDO_LOW 0x40 |
| #define BMA180_ADDRESS_SDO_HIGH 0x41 |
| class BMA180 |
| { |
| public: |
| typedef enum {F10HZ=0,F20HZ=1,F40HZ, F75HZ,F15HZ0,F300HZ,F600HZ,F1200HZ,HIGHPASS,BANDPASS} FILTER; |
| typedef enum {G1=0,G15=1,G2,G3,G4,G8,G16}GSENSITIVITY; |
| private: |
| unsigned char address; |
| GSENSITIVITY gSense; |
| public: |
| int x,y,z; // yes, public, what the heck |
| int temp; |
| BMA180(); |
| void setAddress(int val); |
| void readAccel(int * x, int * y, int * z); |
| float getGSense(); |
| float getXValFloat(); |
| float getYValFloat(); |
| float getZValFloat(); |
| void setRegValue(int regAdr, int val, int maskPreserve); |
| int getRegValue(int adr); |
| void setGSensitivty(GSENSITIVITY maxg); |
| void SetFilter(FILTER f); |
| void SetISRMode(); |
| void SoftReset(); |
| void SetSMPSkip(); |
| int getIDs(int *id, int *version); |
| void enableWrite(); |
| void disableWrite(); |
| virtual bool checkResult(int result); |
| }; |
| #endif //_BMA180_h |
| /branches/V0.82b-Arthur-P/bma180/examples/BMA180_simple/BMA180_simple.pde |
|---|
| 0,0 → 1,32 |
| #include <Wire.h> |
| #include <bma180.h> |
| BMA180 bma180 = BMA180(BMA180_ADDRESS_SDO_LOW); |
| void setup() |
| { |
| Wire.begin(); |
| Serial.begin(115200); |
| bma180.SoftReset(); |
| bma180.enableWrite(); |
| bma180.SetFilter(bma180.F10HZ); |
| bma180.setGSensitivty(bma180.G15); |
| bma180.SetSMPSkip(); |
| bma180.SetISRMode(); |
| bma180.disableWrite(); |
| delay(100); |
| } |
| void loop() |
| { |
| bma180.readAccel(); |
| Serial.print(bma180.x,DEC); |
| Serial.print(","); |
| Serial.print(bma180.y,DEC); |
| Serial.print(","); |
| Serial.println(bma180.z,DEC); |
| delay(20); |
| } |
| /branches/V0.82b-Arthur-P/bma180/examples/isr_read/isr_read.pde |
|---|
| 0,0 → 1,99 |
| #include <Wire.h> |
| #include <bma180.h> |
| #define DEBUGOFF |
| BMA180 bma180 = BMA180(BMA180_ADDRESS_SDO_LOW); |
| volatile byte newData=0; |
| volatile unsigned int countISR=0; |
| unsigned int served=0; |
| void BMAISR(void) |
| { |
| countISR++; |
| //bma180.readAccel(); |
| newData=1; |
| } |
| void setup() |
| { |
| Wire.begin(); |
| Serial.begin(115200); |
| bma180.SoftReset(); |
| bma180.enableWrite(); |
| int sversion; |
| int id; |
| bma180.getIDs(&id,&sversion); |
| Serial.print("Id = "); |
| Serial.print(id,DEC); |
| Serial.print(" v."); |
| Serial.println(sversion,HEX); |
| bma180.SetFilter(bma180.F10HZ); |
| bma180.setGSensitivty(bma180.G15); |
| attachInterrupt(0, BMAISR, RISING); |
| bma180.SetSMPSkip(); |
| bma180.SetISRMode(); |
| bma180.disableWrite(); |
| delay(2000); |
| } |
| void loop() |
| { |
| if (newData) |
| { |
| newData=0; |
| bma180.readAccel(); |
| Serial.print("["); |
| Serial.print(bma180.x,DEC); |
| Serial.print(" "); |
| Serial.print(bma180.y,DEC); |
| Serial.print(" "); |
| Serial.print(bma180.z,DEC); |
| Serial.println("]"); |
| } |
| #ifdef DEBUGON |
| if (millis() > tAlive) |
| { |
| bma180.readAccel(); |
| Serial.print("ISR's="); |
| Serial.print(countISR); |
| Serial.print(" served="); |
| Serial.println(served); |
| Serial.print("t="); |
| Serial.print(bma180.temp); |
| Serial.print("["); |
| Serial.print(bma180.x,DEC); |
| Serial.print(" "); |
| Serial.print(bma180.y,DEC); |
| Serial.print(" "); |
| Serial.print(bma180.z,DEC); |
| Serial.println("]"); |
| tAlive=millis()+5000; |
| Serial.print("filter reg="); |
| Serial.println(bma180.getRegValue(0x20),BIN); |
| Serial.print("status_reg1="); |
| Serial.println(bma180.getRegValue(0x09),BIN); |
| Serial.print("status_reg2="); |
| Serial.println(bma180.getRegValue(0x0A),BIN); |
| Serial.print("status_reg3="); |
| Serial.println(bma180.getRegValue(0x0B),BIN); |
| Serial.print("status_reg4="); |
| Serial.println(bma180.getRegValue(0x0C),BIN); |
| Serial.print("ctrl_reg0="); |
| Serial.println(bma180.getRegValue(0x0d),BIN); |
| Serial.print("ctrl_reg1="); |
| Serial.println(bma180.getRegValue(0x0e),BIN); |
| Serial.print("ctrl_reg2="); |
| Serial.println(bma180.getRegValue(0x0f),BIN); |
| Serial.print("ctrl_reg3="); |
| Serial.println(bma180.getRegValue(0x21),BIN); |
| Serial.print("ctrl_reg4="); |
| Serial.println(bma180.getRegValue(0x22),BIN); |
| } |
| #endif |
| } |
| /branches/V0.82b-Arthur-P/bma180/keywords.txt |
|---|
| 0,0 → 1,50 |
| ####################################### |
| # Syntax Coloring Map for BMA180 |
| ####################################### |
| ####################################### |
| # Datatypes (KEYWORD1) |
| ####################################### |
| BMA180 KEYWORD1 |
| GSENSITIVITY KEYWORD1 |
| FILTER KEYWORD1 |
| ####################################### |
| # Methods and Functions (KEYWORD2) |
| ####################################### |
| setAddress KEYWORD2 |
| readAccel KEYWORD2 |
| getGSense KEYWORD2 |
| getXValFloat KEYWORD2 |
| getYValFloat KEYWORD2 |
| getZValFloat KEYWORD2 |
| setRegValue KEYWORD2 |
| getRegValue KEYWORD2 |
| setGSensitivity KEYWORD2 |
| setFilter KEYWORD2 |
| setISRMode KEYWORD2 |
| softReset KEYWORD2 |
| setSMPSkip KEYWORD2 |
| getIDs KEYWORD2 |
| enableWrite KEYWORD2 |
| disableWrite KEYWORD2 |
| ####################################### |
| # Constants (LITERAL1) |
| ####################################### |
| checkResult KEYWORD3 |
| F10HZ KEYWORD3 |
| F20HZ KEYWORD3 |
| F75HZ KEYWORD3 |
| F15HZ0 KEYWORD3 |
| F300HZ KEYWORD3 |
| F600HZ KEYWORD3 |
| F1200HZ KEYWORD3 |
| G1 KEYWORD3 |
| G15 KEYWORD3 |
| G2 KEYWORD3 |
| G3 KEYWORD3 |
| G4 KEYWORD3 |
| G8 KEYWORD3 |
| G16 KEYWORD3 |
| /branches/V0.82b-Arthur-P/bmp085driver/BMP085.cpp |
|---|
| 0,0 → 1,247 |
| /**************************************************************************** |
| * BMP085.cpp - BMP085/I2C (Digital Pressure Sensor) library for Arduino * |
| * Copyright 2010-2011 Filipe Vieira & various contributors * |
| * * |
| * This file is part of BMP085 Arduino library. * |
| * * |
| * This library is free software: you can redistribute it and/or modify * |
| * it under the terms of the GNU Lesser General Public License as published * |
| * by the Free Software Foundation, either version 3 of the License, or * |
| * (at your option) any later version. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU Lesser General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU Lesser General Public License * |
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * |
| ****************************************************************************/ |
| /**************************************************************************** |
| * Tested on Arduino Mega with BMP085 Breakout * |
| * SDA -> pin 20 (no pull up resistors) * |
| * SCL -> pin 21 (no pull up resistors) * |
| * XCLR -> not connected * |
| * EOC -> not connected * |
| * GND -> pin GND * |
| * VCC -> pin 3.3V * |
| * NOTE: SCL and SDA needs pull-up resistors for each I2C bus. * |
| * 2.2kOhm..10kOhm, typ. 4.7kOhm * |
| *****************************************************************************/ |
| #include <Wire.h> |
| #include <BMP085.h> |
| BMP085::BMP085() { |
| _dev_address = BMP085_ADDR; |
| _pressure_waittime[0] = 5; // These are maximum convertion times. |
| _pressure_waittime[1] = 8; // It is possible to use pin EOC (End Of Conversion) |
| _pressure_waittime[2] = 14;// to check if conversion is finished (logic 1) |
| _pressure_waittime[3] = 26;// or running (logic 0) insted of waiting for convertion times. |
| _cm_Offset = 0; |
| _Pa_Offset = 0; // 1hPa = 100Pa = 1mbar |
| oldEMA = 0; |
| } |
| void BMP085::init() { |
| init(MODE_STANDARD, 0, true); |
| } |
| void BMP085::init(byte _BMPMode, int32_t _initVal, bool _Unitmeters){ |
| getCalData(); // initialize cal data |
| calcTrueTemperature(); // initialize b5 |
| setMode(_BMPMode); |
| _Unitmeters ? setLocalAbsAlt(_initVal) : setLocalPressure(_initVal); |
| } |
| byte BMP085::getDevAddr() { |
| return _dev_address; |
| } |
| byte BMP085::getMode(){ |
| return _oss; |
| } |
| void BMP085::setMode(byte _BMPMode){ |
| _oss = _BMPMode; |
| } |
| void BMP085::setLocalPressure(int32_t _Pa){ |
| int32_t tmp_alt; |
| _param_datum = _Pa; |
| getAltitude(&tmp_alt); // calc altitude based on current pressure |
| _param_centimeters = tmp_alt; |
| } |
| void BMP085::setLocalAbsAlt(int32_t _centimeters){ |
| int32_t tmp_Pa; |
| _param_centimeters = _centimeters; |
| getPressure(&tmp_Pa); // calc pressure based on current altitude |
| _param_datum = tmp_Pa; |
| } |
| void BMP085::setAltOffset(int32_t _centimeters){ |
| _cm_Offset = _centimeters; |
| } |
| void BMP085::sethPaOffset(int32_t _Pa){ |
| _Pa_Offset = _Pa; |
| } |
| void BMP085::zeroCal(int32_t _Pa, int32_t _centimeters){ |
| setAltOffset(_centimeters - _param_centimeters); |
| sethPaOffset(_Pa - _param_datum); |
| } |
| void BMP085::getPressure(int32_t *_Pa){ |
| long TruePressure; |
| calcTruePressure(&TruePressure); |
| *_Pa = TruePressure / pow((1 - (float)_param_centimeters / 4433000), 5.255) + _Pa_Offset; |
| // converting from float to int32_t truncates toward zero, 1010.999985 becomes 1010 resulting in 1 Pa error (max). |
| // Note that BMP085 abs accuracy from 700...1100hPa and 0..+65ºC is +-100Pa (typ.) |
| } |
| void BMP085::getAltitude(int32_t *_centimeters){ |
| long TruePressure; |
| calcTruePressure(&TruePressure); |
| *_centimeters = 4433000 * (1 - pow((TruePressure / (float)_param_datum), 0.1903)) + _cm_Offset; |
| // converting from float to int32_t truncates toward zero, 100.999985 becomes 100 resulting in 1 cm error (max). |
| } |
| void BMP085::getTemperature(int32_t *_Temperature) { |
| calcTrueTemperature(); // force b5 update |
| *_Temperature = ((b5 + 8) >> 4); |
| } |
| void BMP085::calcTrueTemperature(){ |
| long ut,x1,x2; |
| //read Raw Temperature |
| writemem(CONTROL, READ_TEMPERATURE); |
| delayMicroseconds(4500); // min. 4.5ms read Temp delay |
| readmem(CONTROL_OUTPUT, 2, _buff); |
| ut = ((long)_buff[0] << 8 | ((long)_buff[1])); // uncompensated temperature value |
| // calculate temperature |
| x1 = ((long)ut - ac6) * ac5 >> 15; |
| x2 = ((long)mc << 11) / (x1 + md); |
| b5 = x1 + x2; |
| } |
| void BMP085::calcTruePressure(long *_TruePressure) { |
| long up,x1,x2,x3,b3,b6,p; |
| unsigned long b4,b7; |
| int32_t tmp; |
| #if AUTO_UPDATE_TEMPERATURE |
| calcTrueTemperature(); // b5 update |
| #endif |
| //read Raw Pressure |
| writemem(CONTROL, READ_PRESSURE+(_oss << 6)); |
| delay(_pressure_waittime[_oss]); |
| readmem(CONTROL_OUTPUT, 3, _buff); |
| up = ((((long)_buff[0] <<16) | ((long)_buff[1] <<8) | ((long)_buff[2])) >> (8-_oss)); // uncompensated pressure value |
| // calculate true pressure |
| b6 = b5 - 4000; // b5 is updated by calcTrueTemperature(). |
| x1 = (b2* (b6 * b6 >> 12)) >> 11; |
| x2 = ac2 * b6 >> 11; |
| x3 = x1 + x2; |
| tmp = ac1; |
| tmp = (tmp * 4 + x3) << _oss; |
| b3 = (tmp + 2) >> 2; |
| x1 = ac3 * b6 >> 13; |
| x2 = (b1 * (b6 * b6 >> 12)) >> 16; |
| x3 = ((x1 + x2) + 2) >> 2; |
| b4 = (ac4 * (uint32_t) (x3 + 32768)) >> 15; |
| b7 = ((uint32_t)up - b3) * (50000 >> _oss); |
| p = b7 < 0x80000000 ? (b7 << 1) / b4 : (b7 / b4) << 1; |
| x1 = (p >> 8) * (p >> 8); |
| x1 = (x1 * 3038) >> 16; |
| x2 = (-7357 * p) >> 16; |
| *_TruePressure = p + ((x1 + x2 + 3791) >> 4); |
| } |
| void BMP085::dumpCalData() { |
| Serial.println("---cal data start---"); |
| Serial.print("ac1:"); |
| Serial.println(ac1,DEC); |
| Serial.print("ac2:"); |
| Serial.println(ac2,DEC); |
| Serial.print("ac3:"); |
| Serial.println(ac3,DEC); |
| Serial.print("ac4:"); |
| Serial.println(ac4,DEC); |
| Serial.print("ac5:"); |
| Serial.println(ac5,DEC); |
| Serial.print("ac6:"); |
| Serial.println(ac6,DEC); |
| Serial.print("b1:"); |
| Serial.println(b1,DEC); |
| Serial.print("b2:"); |
| Serial.println(b2,DEC); |
| Serial.print("mb:"); |
| Serial.println(mb,DEC); |
| Serial.print("mc:"); |
| Serial.println(mc,DEC); |
| Serial.print("md:"); |
| Serial.println(md,DEC); |
| Serial.println("---cal data end---"); |
| } |
| //PRIVATE methods |
| void BMP085::getCalData() { |
| readmem(CAL_AC1, 2, _buff); |
| ac1 = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_AC2, 2, _buff); |
| ac2 = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_AC3, 2, _buff); |
| ac3 = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_AC4, 2, _buff); |
| ac4 = ((unsigned int)_buff[0] <<8 | ((unsigned int)_buff[1])); |
| readmem(CAL_AC5, 2, _buff); |
| ac5 = ((unsigned int)_buff[0] <<8 | ((unsigned int)_buff[1])); |
| readmem(CAL_AC6, 2, _buff); |
| ac6 = ((unsigned int)_buff[0] <<8 | ((unsigned int)_buff[1])); |
| readmem(CAL_B1, 2, _buff); |
| b1 = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_B2, 2, _buff); |
| b2 = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_MB, 2, _buff); |
| mb = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_MC, 2, _buff); |
| mc = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| readmem(CAL_MD, 2, _buff); |
| md = ((int)_buff[0] <<8 | ((int)_buff[1])); |
| } |
| void BMP085::writemem(uint8_t _addr, uint8_t _val) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(_addr); // send register address |
| Wire.send(_val); // send value to write |
| Wire.endTransmission(); // end transmission |
| } |
| void BMP085::readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(_addr); // sends register address to read from |
| Wire.endTransmission(); // end transmission |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.requestFrom(_dev_address, _nbytes);// send data n-bytes read |
| uint8_t i = 0; |
| while (Wire.available()) { |
| __buff[i] = Wire.receive(); // receive DATA |
| i++; |
| } |
| Wire.endTransmission(); // end transmission |
| } |
| /branches/V0.82b-Arthur-P/bmp085driver/BMP085.h |
|---|
| 0,0 → 1,138 |
| /**************************************************************************** |
| * BMP085.h - BMP085/I2C (Digital Pressure Sensor) library for Arduino * |
| * Copyright 2010-2011 Filipe Vieira & various contributors * |
| * * |
| * This file is part of BMP085 Arduino library. * |
| * * |
| * This library is free software: you can redistribute it and/or modify * |
| * it under the terms of the GNU Lesser General Public License as published * |
| * by the Free Software Foundation, either version 3 of the License, or * |
| * (at your option) any later version. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU Lesser General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU Lesser General Public License * |
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * |
| ****************************************************************************/ |
| /**************************************************************************** |
| * Tested on Arduino Mega with BMP085 Breakout * |
| * SDA -> pin 20 (no pull up resistors) * |
| * SCL -> pin 21 (no pull up resistors) * |
| * XCLR -> not connected * |
| * EOC -> not connected * |
| * GND -> pin GND * |
| * VCC -> pin 3.3V * |
| * NOTE: SCL and SDA needs pull-up resistors for each I2C bus. * |
| * 2.2kOhm..10kOhm, typ. 4.7kOhm * |
| *****************************************************************************/ |
| #ifndef BMP085_h |
| #define BMP085_h |
| #include "WProgram.h" |
| #define BMP085_ADDR 0x77 //0x77 default I2C address |
| #define BUFFER_SIZE 3 |
| #define AUTO_UPDATE_TEMPERATURE true //default is true |
| // when true, temperature is measured everytime pressure is measured (Auto). |
| // when false, user chooses when to measure temperature (just call calcTrueTemperature()). |
| // used for dynamic measurement to increase sample rate (see BMP085 modes below). |
| /* ---- Registers ---- */ |
| #define CAL_AC1 0xAA // R Calibration data (16 bits) |
| #define CAL_AC2 0xAC // R Calibration data (16 bits) |
| #define CAL_AC3 0xAE // R Calibration data (16 bits) |
| #define CAL_AC4 0xB0 // R Calibration data (16 bits) |
| #define CAL_AC5 0xB2 // R Calibration data (16 bits) |
| #define CAL_AC6 0xB4 // R Calibration data (16 bits) |
| #define CAL_B1 0xB6 // R Calibration data (16 bits) |
| #define CAL_B2 0xB8 // R Calibration data (16 bits) |
| #define CAL_MB 0xBA // R Calibration data (16 bits) |
| #define CAL_MC 0xBC // R Calibration data (16 bits) |
| #define CAL_MD 0xBE // R Calibration data (16 bits) |
| #define CONTROL 0xF4 // W Control register |
| #define CONTROL_OUTPUT 0xF6 // R Output registers 0xF6=MSB, 0xF7=LSB, 0xF8=XLSB |
| // unused registers |
| #define SOFTRESET 0xE0 |
| #define VERSION 0xD1 // ML_VERSION pos=0 len=4 msk=0F AL_VERSION pos=4 len=4 msk=f0 |
| #define CHIPID 0xD0 // pos=0 mask=FF len=8 |
| // BMP085_CHIP_ID=0x55 |
| /************************************/ |
| /* REGISTERS PARAMETERS */ |
| /************************************/ |
| // BMP085 Modes |
| #define MODE_ULTRA_LOW_POWER 0 //oversampling=0, internalsamples=1, maxconvtimepressure=4.5ms, avgcurrent=3uA, RMSnoise_hPA=0.06, RMSnoise_m=0.5 |
| #define MODE_STANDARD 1 //oversampling=1, internalsamples=2, maxconvtimepressure=7.5ms, avgcurrent=5uA, RMSnoise_hPA=0.05, RMSnoise_m=0.4 |
| #define MODE_HIGHRES 2 //oversampling=2, internalsamples=4, maxconvtimepressure=13.5ms, avgcurrent=7uA, RMSnoise_hPA=0.04, RMSnoise_m=0.3 |
| #define MODE_ULTRA_HIGHRES 3 //oversampling=3, internalsamples=8, maxconvtimepressure=25.5ms, avgcurrent=12uA, RMSnoise_hPA=0.03, RMSnoise_m=0.25 |
| // "Sampling rate can be increased to 128 samples per second (standard mode) for |
| // dynamic measurement.In this case it is sufficient to measure temperature only |
| // once per second and to use this value for all pressure measurements during period." |
| // (from BMP085 datasheet Rev1.2 page 10). |
| // To use dynamic measurement set AUTO_UPDATE_TEMPERATURE to false and |
| // call calcTrueTemperature() from your code. |
| // Control register |
| #define READ_TEMPERATURE 0x2E |
| #define READ_PRESSURE 0x34 |
| //Other |
| #define MSLP 101325 // Mean Sea Level Pressure = 1013.25 hPA (1hPa = 100Pa = 1mbar) |
| class BMP085 { |
| public: |
| BMP085(); |
| // BMP initialization |
| void init(); // sets current elevation above ground level to 0 meters |
| void init(byte _BMPMode, int32_t _initVal, bool _centimeters); // sets a reference datum |
| // if _centimeters=false _initVal is Pa |
| // Who Am I |
| byte getDevAddr(); |
| // BMP mode |
| byte getMode(); |
| void setMode(byte _BMPMode); // BMP085 mode |
| // initialization |
| void setLocalPressure(int32_t _Pa); // set known barometric pressure as reference Ex. QNH |
| void setLocalAbsAlt(int32_t _centimeters); // set known altitude as reference |
| void setAltOffset(int32_t _centimeters); // altitude offset |
| void sethPaOffset(int32_t _Pa); // pressure offset |
| void zeroCal(int32_t _Pa, int32_t _centimeters);// zero Calibrate output to a specific Pa/altitude |
| // BMP Sensors |
| void getPressure(int32_t *_Pa); // pressure in Pa + offset |
| void getAltitude(int32_t *_centimeters); // altitude in centimeters + offset |
| void getTemperature(int32_t *_Temperature); // temperature in Cº |
| void calcTrueTemperature(); // calc temperature data b5 (only needed if AUTO_UPDATE_TEMPERATURE is false) |
| void calcTruePressure(long *_TruePressure); // calc Pressure in Pa |
| // dummy stuff |
| void dumpCalData(); // debug only |
| void writemem(uint8_t _addr, uint8_t _val); |
| void readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]); |
| private: |
| int ac1,ac2,ac3,b1,b2,mb,mc,md; // cal data |
| unsigned int ac4,ac5,ac6; // cal data |
| long b5, oldEMA; // temperature data |
| uint8_t _dev_address; |
| byte _buff[BUFFER_SIZE]; // buffer MSB LSB XLSB |
| int _oss; // OverSamplingSetting |
| int _pressure_waittime[4]; // Max. Conversion Time Pressure is ms for each mode |
| int32_t _cm_Offset, _Pa_Offset; |
| int32_t _param_datum, _param_centimeters; |
| void getCalData(); |
| }; |
| #endif |
| /branches/V0.82b-Arthur-P/bmp085driver/COPYING |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| Preamble |
| The GNU General Public License is a free, copyleft license for |
| software and other kinds of works. |
| The licenses for most software and other practical works are designed |
| to take away your freedom to share and change the works. By contrast, |
| the GNU General Public License is intended to guarantee your freedom to |
| share and change all versions of a program--to make sure it remains free |
| software for all its users. We, the Free Software Foundation, use the |
| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
| your programs, too. |
| When we speak of free software, we are referring to freedom, not |
| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
| free programs, and that you know you can do these things. |
| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
| freedoms that you received. You must make sure that they, too, receive |
| or can get the source code. And you must show them these terms so they |
| know their rights. |
| Developers that use the GNU GPL protect your rights with two steps: |
| (1) assert copyright on the software, and (2) offer you this License |
| giving you legal permission to copy, distribute and/or modify it. |
| For the developers' and authors' protection, the GPL clearly explains |
| that there is no warranty for this free software. For both users' and |
| authors' sake, the GPL requires that modified versions be marked as |
| changed, so that their problems will not be attributed erroneously to |
| authors of previous versions. |
| Some devices are designed to deny users access to install or run |
| modified versions of the software inside them, although the manufacturer |
| can do so. This is fundamentally incompatible with the aim of |
| protecting users' freedom to change the software. The systematic |
| pattern of such abuse occurs in the area of products for individuals to |
| use, which is precisely where it is most unacceptable. Therefore, we |
| have designed this version of the GPL to prohibit the practice for those |
| products. If such problems arise substantially in other domains, we |
| stand ready to extend this provision to those domains in future versions |
| of the GPL, as needed to protect the freedom of users. |
| Finally, every program is threatened constantly by software patents. |
| States should not allow patents to restrict development and use of |
| software on general-purpose computers, but in those that do, we wish to |
| avoid the special danger that patents applied to a free program could |
| make it effectively proprietary. To prevent this, the GPL assures that |
| patents cannot be used to render the program non-free. |
| The precise terms and conditions for copying, distribution and |
| modification follow. |
| TERMS AND CONDITIONS |
| 0. Definitions. |
| "This License" refers to version 3 of the GNU General Public License. |
| "Copyright" also means copyright-like laws that apply to other kinds of |
| works, such as semiconductor masks. |
| "The Program" refers to any copyrightable work licensed under this |
| License. Each licensee is addressed as "you". "Licensees" and |
| "recipients" may be individuals or organizations. |
| To "modify" a work means to copy from or adapt all or part of the work |
| in a fashion requiring copyright permission, other than the making of an |
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| A "covered work" means either the unmodified Program or a work based |
| on the Program. |
| To "propagate" a work means to do anything with it that, without |
| permission, would make you directly or secondarily liable for |
| infringement under applicable copyright law, except executing it on a |
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| How to Apply These Terms to Your New Programs |
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| Also add information on how to contact you by electronic and paper mail. |
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| <program> Copyright (C) <year> <name of author> |
| This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
| This is free software, and you are welcome to redistribute it |
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| The hypothetical commands `show w' and `show c' should show the appropriate |
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| For more information on this, and how to apply and follow the GNU GPL, see |
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| The GNU General Public License does not permit incorporating your program |
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| /branches/V0.82b-Arthur-P/bmp085driver/COPYING.LESSER |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
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| This version of the GNU Lesser General Public License incorporates |
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| As used herein, "this License" refers to version 3 of the GNU Lesser |
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| /branches/V0.82b-Arthur-P/bmp085driver/INSTALL.txt |
|---|
| 0,0 → 1,9 |
| Copy the whole directory which contain this file into the folder "libraries" inside the Arduino sketchbook folder. |
| You can understand the location of your sketchbook folder from the Arduino IDE clicking on File -> Preferences: the "sketchbook location" is what you are looking for. |
| In case you don't have an "libraries" folder there just create an empty one. |
| For more informations see: |
| http://www.arduino.cc/en/Reference/Libraries |
| /branches/V0.82b-Arthur-P/bmp085driver/examples/BMP085_output/BMP085_output.pde |
|---|
| 0,0 → 1,99 |
| // BMP085_output |
| // by Filipe Vieira |
| // Simple example of library usage with almost every BMP085 and lib features being used. |
| #include <Wire.h> |
| #include <BMP085.h> |
| BMP085 dps = BMP085(); |
| long Temperature = 0, Pressure = 0, Altitude = 0; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| delay(1000); |
| dps.init(); |
| showall(); |
| Serial.println("Registers dump"); |
| Serial.println("=========================================================="); |
| dumpRegisters(); |
| Serial.println("Calibration data"); |
| Serial.println("=========================================================="); |
| dps.dumpCalData(); |
| delay(5000); |
| } |
| void loop(void) { |
| dps.getTemperature(&Temperature); |
| dps.getPressure(&Pressure); |
| dps.getAltitude(&Altitude); |
| Serial.print("Temp(C):"); |
| Serial.print(Temperature); |
| Serial.print(" Alt(cm):"); |
| Serial.print(Altitude); |
| Serial.print(" Pressure(Pa):"); |
| Serial.println(Pressure); |
| } |
| void showall(void) { |
| Serial.println("Current BMP085 settings"); |
| Serial.println("=========================================================="); |
| Serial.print("device address = 0x"); |
| Serial.println(dps.getDevAddr(), HEX); |
| Serial.print("Mode = "); |
| switch (dps.getMode()) { |
| case MODE_ULTRA_LOW_POWER: |
| Serial.println("MODE_ULTRA_LOW_POWER"); |
| break; |
| case MODE_STANDARD: |
| Serial.println("MODE_STANDARD"); |
| break; |
| case MODE_HIGHRES: |
| Serial.println("MODE_HIGHRES"); |
| break; |
| case MODE_ULTRA_HIGHRES: |
| Serial.println("MODE_ULTRA_HIGHRES"); |
| break; |
| } |
| } |
| void dumpRegisters() { |
| byte ValidRegisterAddr[]={0xAA,0xAB,0xAC,0xAD,0xAE,0xAF,0xB0,0xB1,0xB2,0xB3,0xB4,0xB5,0xB6,0xB7,0xB8,0xB9,0xBA,0xBB,0xBC,0xBD,0xBE,0xBF,0xF6,0xF7,0xF8,0xF9}; |
| byte _b, i, totregisters = sizeof(ValidRegisterAddr); |
| Serial.println("---dump start---"); |
| Serial.println("Register address|Register data"); |
| Serial.println("Reg.address(hex,dec) Reg.data(bin,hex,dec)"); |
| for (i=0;i<totregisters;i++){ |
| Serial.print("0x"); |
| Serial.print(ValidRegisterAddr[i], HEX); |
| Serial.print(","); |
| Serial.print(ValidRegisterAddr[i], DEC); |
| Serial.print(","); |
| dps.readmem(ValidRegisterAddr[i], 1, &_b); |
| Serial.print("b"); |
| print_bits(_b); |
| Serial.print(",0x"); |
| Serial.print(_b,HEX); |
| Serial.print(","); |
| Serial.println(_b,DEC); |
| } |
| Serial.println("---dump end---"); |
| } |
| void print_bits(byte val){ |
| int i; |
| for(i=7; i>=0; i--) |
| Serial.print(val >> i & 1, BIN); |
| } |
| /* void print_unit16(uint16_t val){ |
| int i; |
| for(i=15; i>=0; i--) |
| Serial.print(val >> i & 1, BIN); |
| } |
| */ |
| /branches/V0.82b-Arthur-P/bmp085driver/examples/BMP085_test1/BMP085_test1.pde |
|---|
| 0,0 → 1,44 |
| // BMP085_test1 |
| // by Filipe Vieira |
| // Simple test of BMP085 output using default settings. |
| // This example requires AUTO_UPDATE_TEMPERATURE to be true in bmp085.h otherwise temperature will not update. |
| // IMPORTANT!! To get correct values you MUST CHANGE init() parameters, in |
| // this example I've set 250m based on GPS data for my location. |
| #include <Wire.h> |
| #include <BMP085.h> |
| BMP085 dps = BMP085(); // Digital Pressure Sensor |
| long Temperature = 0, Pressure = 0, Altitude = 0; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| delay(1000); |
| // uncomment for different initialization settings |
| //dps.init(); // QFE (Field Elevation above ground level) is set to 0 meters. |
| // same as init(MODE_STANDARD, 0, true); |
| //dps.init(MODE_STANDARD, 101850, false); // 101850Pa = 1018.50hPa, false = using Pa units |
| // this initialization is useful for normalizing pressure to specific datum. |
| // OR setting current local hPa information from a weather station/local airport (QNH). |
| dps.init(MODE_ULTRA_HIGHRES, 25000, true); // 250 meters, true = using meter units |
| // this initialization is useful if current altitude is known, |
| // pressure will be calculated based on TruePressure and known altitude. |
| // note: use zeroCal only after initialization. |
| // dps.zeroCal(101800, 0); // set zero point |
| } |
| void loop(void) { |
| dps.getPressure(&Pressure); |
| dps.getAltitude(&Altitude); |
| Serial.print(" Alt(cm):"); |
| Serial.print(Altitude); |
| Serial.print(" Pressure(Pa):"); |
| Serial.println(Pressure); |
| } |
| /branches/V0.82b-Arthur-P/bmp085driver/examples/BMP085_test2/BMP085_test2.pde |
|---|
| 0,0 → 1,53 |
| // BMP085_test2 |
| // by Filipe Vieira |
| // Simple test of BMP085 output using default settings using dynamic update. |
| // In order to take full advantage of dynamic measurement, automatic temperature updates must be disabled. |
| // To disable automatic updates set AUTO_UPDATE_TEMPERATURE to false in bmp085.h. |
| // IMPORTANT!! To get correct values you MUST CHANGE init() parameters, in |
| // this example I've set 250m based on GPS data for my location. |
| #include <Wire.h> |
| #include <BMP085.h> |
| BMP085 dps = BMP085(); // Digital Pressure Sensor |
| long Pressure = 0, Altitude = 0; |
| unsigned long time1=0; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); |
| delay(1000); |
| // uncomment for different initialization settings |
| //dps.init(); // QFE (Field Elevation above ground level) is set to 0 meters. |
| // same as init(MODE_STANDARD, 0, true); |
| //dps.init(MODE_STANDARD, 101850, false); // 101850Pa = 1018.50hPa, false = using Pa units |
| // this initialization is useful for normalizing pressure to specific datum. |
| // OR setting current local hPa information from a weather station/local airport (QNH). |
| dps.init(MODE_STANDARD, 25000, true); // 250 meters, true = using meter units |
| // this initialization is useful if current altitude is known, |
| // pressure will be calculated based on TruePressure and known altitude. |
| // note: use zeroCal only after initialization. |
| // dps.zeroCal(101800, 0); // set zero point |
| } |
| void loop(void) { |
| // calculate temperature every 1 sec (dynamic measurement) |
| // NOTE: in order to take full advantage of dynamic measurement set AUTO_UPDATE_TEMPERATURE to false in bmp085.h |
| if (((millis() - time1)/1000.0) >= 1.0) { |
| dps.calcTrueTemperature(); |
| time1 = millis(); |
| } |
| dps.getPressure(&Pressure); |
| dps.getAltitude(&Altitude); |
| Serial.print(" Alt(cm):"); |
| Serial.print(Altitude); |
| Serial.print(" Pressure(Pa):"); |
| Serial.println(Pressure); |
| } |
| /branches/V0.82b-Arthur-P/bmp085driver/keywords.txt |
|---|
| 0,0 → 1,18 |
| BMP085 KEYWORD1 |
| init KEYWORD2 |
| getDevAddr KEYWORD2 |
| getMode KEYWORD2 |
| setMode KEYWORD2 |
| setLocalPressure KEYWORD2 |
| setLocalAbsAlt KEYWORD2 |
| setAltOffset KEYWORD2 |
| sethPaOffset KEYWORD2 |
| zeroCal KEYWORD2 |
| getPressure KEYWORD2 |
| getAltitude KEYWORD2 |
| getTemperature KEYWORD2 |
| calcTrueTemperature KEYWORD2 |
| calcTruePressure KEYWORD2 |
| dumpCalData KEYWORD2 |
| writemem KEYWORD2 |
| readmem KEYWORD2 |
| /branches/V0.82b-Arthur-P/itg3200filv05/COPYING |
|---|
| 0,0 → 1,674 |
| GNU GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
| Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
| Everyone is permitted to copy and distribute verbatim copies |
| of this license document, but changing it is not allowed. |
| Preamble |
| The GNU General Public License is a free, copyleft license for |
| software and other kinds of works. |
| The licenses for most software and other practical works are designed |
| to take away your freedom to share and change the works. By contrast, |
| the GNU General Public License is intended to guarantee your freedom to |
| share and change all versions of a program--to make sure it remains free |
| software for all its users. We, the Free Software Foundation, use the |
| GNU General Public License for most of our software; it applies also to |
| any other work released this way by its authors. You can apply it to |
| your programs, too. |
| When we speak of free software, we are referring to freedom, not |
| price. Our General Public Licenses are designed to make sure that you |
| have the freedom to distribute copies of free software (and charge for |
| them if you wish), that you receive source code or can get it if you |
| want it, that you can change the software or use pieces of it in new |
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| To protect your rights, we need to prevent others from denying you |
| these rights or asking you to surrender the rights. Therefore, you have |
| certain responsibilities if you distribute copies of the software, or if |
| you modify it: responsibilities to respect the freedom of others. |
| For example, if you distribute copies of such a program, whether |
| gratis or for a fee, you must pass on to the recipients the same |
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| Developers that use the GNU GPL protect your rights with two steps: |
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| For the developers' and authors' protection, the GPL clearly explains |
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| /branches/V0.82b-Arthur-P/itg3200filv05/COPYING.LESSER |
|---|
| 0,0 → 1,165 |
| GNU LESSER GENERAL PUBLIC LICENSE |
| Version 3, 29 June 2007 |
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| Everyone is permitted to copy and distribute verbatim copies |
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| This version of the GNU Lesser General Public License incorporates |
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| /branches/V0.82b-Arthur-P/itg3200filv05/INSTALL.txt |
|---|
| 0,0 → 1,9 |
| Copy the whole directory which contain this file into the folder "libraries" inside the Arduino sketchbook folder. |
| You can understand the location of your sketchbook folder from the Arduino IDE clicking on File -> Preferences: the "sketchbook location" is what you are looking for. |
| In case you don't have an "libraries" folder there just create an empty one. |
| For more informations see: |
| http://www.arduino.cc/en/Reference/Libraries |
| /branches/V0.82b-Arthur-P/itg3200filv05/ITG3200.cpp |
|---|
| 0,0 → 1,328 |
| /**************************************************************************** |
| * ITG3200.h - ITG-3200/I2C library v0.5 for Arduino * |
| * Copyright 2010-2011 Filipe Vieira & various contributors * |
| * http://code.google.com/p/itg-3200driver * |
| * This file is part of ITG-3200 Arduino library. * |
| * * |
| * This library is free software: you can redistribute it and/or modify * |
| * it under the terms of the GNU Lesser General Public License as published * |
| * by the Free Software Foundation, either version 3 of the License, or * |
| * (at your option) any later version. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU Lesser General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU Lesser General Public License * |
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * |
| ****************************************************************************/ |
| /**************************************************************************** |
| * Tested on Arduino Mega with ITG-3200 Breakout * |
| * SCL -> pin 21 (no pull up resistors) * |
| * SDA -> pin 20 (no pull up resistors) * |
| * CLK & GND -> pin GND * |
| * INT -> not connected (but can be used) * |
| * VIO & VDD -> pin 3.3V * |
| *****************************************************************************/ |
| #include "ITG3200.h" |
| #include <Wire.h> |
| ITG3200::ITG3200() { |
| setGains(1.0,1.0,1.0); |
| setOffsets(0.0,0.0,0.0); |
| setRevPolarity(0,0,0); |
| //Wire.begin(); //Normally this code is called from setup() at user code |
| //but some people reported that joining I2C bus earlier |
| //apparently solved problems with master/slave conditions. |
| //Uncomment if needed. |
| } |
| void ITG3200::init(unsigned int address) { |
| // Uncomment or change your default ITG3200 initialization |
| // fast sample rate - divisor = 0 filter = 0 clocksrc = 0, 1, 2, or 3 (raw values) |
| init(address, NOSRDIVIDER, RANGE2000, BW256_SR8, PLL_XGYRO_REF, true, true); |
| // slow sample rate - divisor = 0 filter = 1,2,3,4,5, or 6 clocksrc = 0, 1, 2, or 3 (raw values) |
| //init(NOSRDIVIDER, RANGE2000, BW010_SR1, INTERNALOSC, true, true); |
| // fast sample rate 32Khz external clock - divisor = 0 filter = 0 clocksrc = 4 (raw values) |
| //init(NOSRDIVIDER, RANGE2000, BW256_SR8, PLL_EXTERNAL32, true, true); |
| // slow sample rate 32Khz external clock - divisor = 0 filter = 1,2,3,4,5, or 6 clocksrc = 4 (raw values) |
| //init(NOSRDIVIDER, RANGE2000, BW010_SR1, PLL_EXTERNAL32, true, true); |
| } |
| void ITG3200::init(unsigned int address, byte _SRateDiv, byte _Range, byte _filterBW, byte _ClockSrc, bool _ITGReady, bool _INTRawDataReady) { |
| _dev_address = address; |
| setSampleRateDiv(_SRateDiv); |
| setFSRange(_Range); |
| setFilterBW(_filterBW); |
| setClockSource(_ClockSrc); |
| setITGReady(_ITGReady); |
| setRawDataReady(_INTRawDataReady); |
| delay(GYROSTART_UP_DELAY); // startup |
| } |
| byte ITG3200::getDevAddr() { |
| /*readmem(WHO_AM_I, 1, &_buff[0]); |
| return _buff[0]; */ |
| return _dev_address; |
| } |
| void ITG3200::setDevAddr(unsigned int _addr) { |
| writemem(WHO_AM_I, _addr); |
| _dev_address = _addr; |
| } |
| byte ITG3200::getSampleRateDiv() { |
| readmem(SMPLRT_DIV, 1, &_buff[0]); |
| return _buff[0]; |
| } |
| void ITG3200::setSampleRateDiv(byte _SampleRate) { |
| writemem(SMPLRT_DIV, _SampleRate); |
| } |
| byte ITG3200::getFSRange() { |
| readmem(DLPF_FS, 1, &_buff[0]); |
| return ((_buff[0] & DLPFFS_FS_SEL) >> 3); |
| } |
| void ITG3200::setFSRange(byte _Range) { |
| readmem(DLPF_FS, 1, &_buff[0]); |
| writemem(DLPF_FS, ((_buff[0] & ~DLPFFS_FS_SEL) | (_Range << 3)) ); |
| } |
| byte ITG3200::getFilterBW() { |
| readmem(DLPF_FS, 1, &_buff[0]); |
| return (_buff[0] & DLPFFS_DLPF_CFG); |
| } |
| void ITG3200::setFilterBW(byte _BW) { |
| readmem(DLPF_FS, 1, &_buff[0]); |
| writemem(DLPF_FS, ((_buff[0] & ~DLPFFS_DLPF_CFG) | _BW)); |
| } |
| bool ITG3200::isINTActiveOnLow() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return ((_buff[0] & INTCFG_ACTL) >> 7); |
| } |
| void ITG3200::setINTLogiclvl(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_ACTL) | (_State << 7))); |
| } |
| bool ITG3200::isINTOpenDrain() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return ((_buff[0] & INTCFG_OPEN) >> 6); |
| } |
| void ITG3200::setINTDriveType(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_OPEN) | _State << 6)); |
| } |
| bool ITG3200::isLatchUntilCleared() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return ((_buff[0] & INTCFG_LATCH_INT_EN) >> 5); |
| } |
| void ITG3200::setLatchMode(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_LATCH_INT_EN) | _State << 5)); |
| } |
| bool ITG3200::isAnyRegClrMode() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return ((_buff[0] & INTCFG_INT_ANYRD_2CLEAR) >> 4); |
| } |
| void ITG3200::setLatchClearMode(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_INT_ANYRD_2CLEAR) | _State << 4)); |
| } |
| bool ITG3200::isITGReadyOn() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return ((_buff[0] & INTCFG_ITG_RDY_EN) >> 2); |
| } |
| void ITG3200::setITGReady(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_ITG_RDY_EN) | _State << 2)); |
| } |
| bool ITG3200::isRawDataReadyOn() { |
| readmem(INT_CFG, 1, &_buff[0]); |
| return (_buff[0] & INTCFG_RAW_RDY_EN); |
| } |
| void ITG3200::setRawDataReady(bool _State) { |
| readmem(INT_CFG, 1, &_buff[0]); |
| writemem(INT_CFG, ((_buff[0] & ~INTCFG_RAW_RDY_EN) | _State)); |
| } |
| bool ITG3200::isITGReady() { |
| readmem(INT_STATUS, 1, &_buff[0]); |
| return ((_buff[0] & INTSTATUS_ITG_RDY) >> 2); |
| } |
| bool ITG3200::isRawDataReady() { |
| readmem(INT_STATUS, 1, &_buff[0]); |
| return (_buff[0] & INTSTATUS_RAW_DATA_RDY); |
| } |
| void ITG3200::readTemp(float *_Temp) { |
| readmem(TEMP_OUT,2,_buff); |
| *_Temp = 35 + (((_buff[0] << 8) | _buff[1]) + 13200) / 280.0; // F=C*9/5+32 |
| } |
| void ITG3200::readGyroRaw(int *_GyroX, int *_GyroY, int *_GyroZ){ |
| readmem(GYRO_XOUT, 6, _buff); |
| *_GyroX = ((_buff[0] << 8) | _buff[1]); |
| *_GyroY = ((_buff[2] << 8) | _buff[3]); |
| *_GyroZ = ((_buff[4] << 8) | _buff[5]); |
| } |
| void ITG3200::readGyroRaw(int *_GyroXYZ){ |
| readGyroRaw(_GyroXYZ, _GyroXYZ+1, _GyroXYZ+2); |
| } |
| void ITG3200::setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol) { |
| polarities[0] = _Xpol ? -1 : 1; |
| polarities[1] = _Ypol ? -1 : 1; |
| polarities[2] = _Zpol ? -1 : 1; |
| } |
| void ITG3200::setGains(float _Xgain, float _Ygain, float _Zgain) { |
| gains[0] = _Xgain; |
| gains[1] = _Ygain; |
| gains[2] = _Zgain; |
| } |
| void ITG3200::setOffsets(int _Xoffset, int _Yoffset, int _Zoffset) { |
| offsets[0] = _Xoffset; |
| offsets[1] = _Yoffset; |
| offsets[2] = _Zoffset; |
| } |
| void ITG3200::zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS) { |
| int xyz[3]; |
| float tmpOffsets[] = {0,0,0}; |
| for (int i = 0;i < totSamples;i++){ |
| delay(sampleDelayMS); |
| readGyroRaw(xyz); |
| tmpOffsets[0] += xyz[0]; |
| tmpOffsets[1] += xyz[1]; |
| tmpOffsets[2] += xyz[2]; |
| } |
| setOffsets(-tmpOffsets[0] / totSamples, -tmpOffsets[1] / totSamples, -tmpOffsets[2] / totSamples); |
| } |
| void ITG3200::readGyroRawCal(int *_GyroX, int *_GyroY, int *_GyroZ) { |
| readGyroRaw(_GyroX, _GyroY, _GyroZ); |
| *_GyroX += offsets[0]; |
| *_GyroY += offsets[1]; |
| *_GyroZ += offsets[2]; |
| } |
| void ITG3200::readGyroRawCal(int *_GyroXYZ) { |
| readGyroRawCal(_GyroXYZ, _GyroXYZ+1, _GyroXYZ+2); |
| } |
| void ITG3200::readGyro(float *_GyroX, float *_GyroY, float *_GyroZ){ |
| int x, y, z; |
| readGyroRawCal(&x, &y, &z); // x,y,z will contain calibrated integer values from the sensor |
| *_GyroX = x / 14.375 * polarities[0] * gains[0]; |
| *_GyroY = y / 14.375 * polarities[1] * gains[1]; |
| *_GyroZ = z / 14.375 * polarities[2] * gains[2]; |
| } |
| void ITG3200::readGyro(float *_GyroXYZ){ |
| readGyro(_GyroXYZ, _GyroXYZ+1, _GyroXYZ+2); |
| } |
| void ITG3200::reset() { |
| writemem(PWR_MGM, PWRMGM_HRESET); |
| delay(GYROSTART_UP_DELAY); //gyro startup |
| } |
| bool ITG3200::isLowPower() { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| return (_buff[0] & PWRMGM_SLEEP) >> 6; |
| } |
| void ITG3200::setPowerMode(bool _State) { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| writemem(PWR_MGM, ((_buff[0] & ~PWRMGM_SLEEP) | _State << 6)); |
| } |
| bool ITG3200::isXgyroStandby() { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| return (_buff[0] & PWRMGM_STBY_XG) >> 5; |
| } |
| bool ITG3200::isYgyroStandby() { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| return (_buff[0] & PWRMGM_STBY_YG) >> 4; |
| } |
| bool ITG3200::isZgyroStandby() { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| return (_buff[0] & PWRMGM_STBY_ZG) >> 3; |
| } |
| void ITG3200::setXgyroStandby(bool _Status) { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| writemem(PWR_MGM, ((_buff[0] & PWRMGM_STBY_XG) | _Status << 5)); |
| } |
| void ITG3200::setYgyroStandby(bool _Status) { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| writemem(PWR_MGM, ((_buff[0] & PWRMGM_STBY_YG) | _Status << 4)); |
| } |
| void ITG3200::setZgyroStandby(bool _Status) { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| writemem(PWR_MGM, ((_buff[0] & PWRMGM_STBY_ZG) | _Status << 3)); |
| } |
| byte ITG3200::getClockSource() { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| return (_buff[0] & PWRMGM_CLK_SEL); |
| } |
| void ITG3200::setClockSource(byte _CLKsource) { |
| readmem(PWR_MGM, 1, &_buff[0]); |
| writemem(PWR_MGM, ((_buff[0] & ~PWRMGM_CLK_SEL) | _CLKsource)); |
| } |
| void ITG3200::writemem(uint8_t _addr, uint8_t _val) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(_addr); // send register address |
| Wire.send(_val); // send value to write |
| Wire.endTransmission(); // end transmission |
| } |
| void ITG3200::readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]) { |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.send(_addr); // sends register address to read from |
| Wire.endTransmission(); // end transmission |
| Wire.beginTransmission(_dev_address); // start transmission to device |
| Wire.requestFrom(_dev_address, _nbytes);// send data n-bytes read |
| uint8_t i = 0; |
| while (Wire.available()) { |
| __buff[i] = Wire.receive(); // receive DATA |
| i++; |
| } |
| Wire.endTransmission(); // end transmission |
| } |
| /branches/V0.82b-Arthur-P/itg3200filv05/ITG3200.h |
|---|
| 0,0 → 1,189 |
| /**************************************************************************** |
| * ITG3200.h - ITG-3200/I2C library v0.5 for Arduino * |
| * Copyright 2010-2011 Filipe Vieira & various contributors * |
| * http://code.google.com/p/itg-3200driver * |
| * This file is part of ITG-3200 Arduino library. * |
| * * |
| * This library is free software: you can redistribute it and/or modify * |
| * it under the terms of the GNU Lesser General Public License as published * |
| * by the Free Software Foundation, either version 3 of the License, or * |
| * (at your option) any later version. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU Lesser General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU Lesser General Public License * |
| * along with this program. If not, see <http://www.gnu.org/licenses/>. * |
| ****************************************************************************/ |
| /**************************************************************************** |
| * Tested on Arduino Mega with ITG-3200 Breakout * |
| * SCL -> pin 21 (no pull up resistors) * |
| * SDA -> pin 20 (no pull up resistors) * |
| * CLK & GND -> pin GND * |
| * INT -> not connected (but can be used) * |
| * VIO & VDD -> pin 3.3V * |
| *****************************************************************************/ |
| #ifndef ITG3200_h |
| #define ITG3200_h |
| #include "WProgram.h" |
| #define ITG3200_ADDR_AD0_HIGH 0x69 //AD0=1 0x69 I2C address when AD0 is connected to HIGH (VCC) - default for sparkfun breakout |
| #define ITG3200_ADDR_AD0_LOW 0x68 //AD0=0 0x68 I2C address when AD0 is connected to LOW (GND) |
| // "The LSB bit of the 7 bit address is determined by the logic level on pin 9. |
| // This allows two ITG-3200 devices to be connected to the same I2C bus. |
| // One device should have pin9 (or bit0) LOW and the other should be HIGH." source: ITG3200 datasheet |
| // Note that pin9 (AD0 - I2C Slave Address LSB) may not be available on some breakout boards so check |
| // the schematics of your breakout board for the correct address to use. |
| #define GYROSTART_UP_DELAY 70 // 50ms from gyro startup + 20ms register r/w startup |
| /* ---- Registers ---- */ |
| #define WHO_AM_I 0x00 // RW SETUP: I2C address |
| #define SMPLRT_DIV 0x15 // RW SETUP: Sample Rate Divider |
| #define DLPF_FS 0x16 // RW SETUP: Digital Low Pass Filter/ Full Scale range |
| #define INT_CFG 0x17 // RW Interrupt: Configuration |
| #define INT_STATUS 0x1A // R Interrupt: Status |
| #define TEMP_OUT 0x1B // R SENSOR: Temperature 2bytes |
| #define GYRO_XOUT 0x1D // R SENSOR: Gyro X 2bytes |
| #define GYRO_YOUT 0x1F // R SENSOR: Gyro Y 2bytes |
| #define GYRO_ZOUT 0x21 // R SENSOR: Gyro Z 2bytes |
| #define PWR_MGM 0x3E // RW Power Management |
| /* ---- bit maps ---- */ |
| #define DLPFFS_FS_SEL 0x18 // 00011000 |
| #define DLPFFS_DLPF_CFG 0x07 // 00000111 |
| #define INTCFG_ACTL 0x80 // 10000000 |
| #define INTCFG_OPEN 0x40 // 01000000 |
| #define INTCFG_LATCH_INT_EN 0x20 // 00100000 |
| #define INTCFG_INT_ANYRD_2CLEAR 0x10 // 00010000 |
| #define INTCFG_ITG_RDY_EN 0x04 // 00000100 |
| #define INTCFG_RAW_RDY_EN 0x01 // 00000001 |
| #define INTSTATUS_ITG_RDY 0x04 // 00000100 |
| #define INTSTATUS_RAW_DATA_RDY 0x01 // 00000001 |
| #define PWRMGM_HRESET 0x80 // 10000000 |
| #define PWRMGM_SLEEP 0x40 // 01000000 |
| #define PWRMGM_STBY_XG 0x20 // 00100000 |
| #define PWRMGM_STBY_YG 0x10 // 00010000 |
| #define PWRMGM_STBY_ZG 0x08 // 00001000 |
| #define PWRMGM_CLK_SEL 0x07 // 00000111 |
| /************************************/ |
| /* REGISTERS PARAMETERS */ |
| /************************************/ |
| // Sample Rate Divider |
| #define NOSRDIVIDER 0 // default FsampleHz=SampleRateHz/(divider+1) |
| // Gyro Full Scale Range |
| #define RANGE2000 3 // default |
| // Digital Low Pass Filter BandWidth and SampleRate |
| #define BW256_SR8 0 // default 256Khz BW and 8Khz SR |
| #define BW188_SR1 1 |
| #define BW098_SR1 2 |
| #define BW042_SR1 3 |
| #define BW020_SR1 4 |
| #define BW010_SR1 5 |
| #define BW005_SR1 6 |
| // Interrupt Active logic lvl |
| #define ACTIVE_ONHIGH 0 // default |
| #define ACTIVE_ONLOW 1 |
| // Interrupt drive type |
| #define PUSH_PULL 0 // default |
| #define OPEN_DRAIN 1 |
| // Interrupt Latch mode |
| #define PULSE_50US 0 // default |
| #define UNTIL_INT_CLEARED 1 |
| // Interrupt Latch clear method |
| #define READ_STATUSREG 0 // default |
| #define READ_ANYREG 1 |
| // Power management |
| #define NORMAL 0 // default |
| #define STANDBY 1 |
| // Clock Source - user parameters |
| #define INTERNALOSC 0 // default |
| #define PLL_XGYRO_REF 1 |
| #define PLL_YGYRO_REF 2 |
| #define PLL_ZGYRO_REF 3 |
| #define PLL_EXTERNAL32 4 // 32.768 kHz |
| #define PLL_EXTERNAL19 5 // 19.2 Mhz |
| class ITG3200 { |
| public: |
| float gains[3]; |
| int offsets[3]; |
| float polarities[3]; |
| ITG3200(); |
| // Gyro initialization |
| void init(unsigned int address); |
| void init(unsigned int address, byte _SRateDiv, byte _Range, byte _filterBW, byte _ClockSrc, bool _ITGReady, bool _INTRawDataReady); |
| // Who Am I |
| byte getDevAddr(); |
| void setDevAddr(unsigned int _addr); |
| // Sample Rate Divider |
| byte getSampleRateDiv(); |
| void setSampleRateDiv(byte _SampleRate); |
| // Digital Low Pass Filter BandWidth and SampleRate |
| byte getFSRange(); |
| void setFSRange(byte _Range); // RANGE2000 |
| byte getFilterBW(); |
| void setFilterBW(byte _BW); // see register parameters above |
| // Interrupt Configuration |
| bool isINTActiveOnLow(); |
| void setINTLogiclvl(bool _State); //ACTIVE_ONHIGH, ACTIVE_ONLOW |
| // Interrupt drive type |
| bool isINTOpenDrain(); |
| void setINTDriveType(bool _State); //OPEN_DRAIN, PUSH_PULL |
| // Interrupt Latch mode |
| bool isLatchUntilCleared(); |
| void setLatchMode(bool _State); //UNTIL_INT_CLEARED, PULSE_50US |
| // Interrupt Latch clear method |
| bool isAnyRegClrMode(); |
| void setLatchClearMode(bool _State); //READ_ANYREG, READ_STATUSREG |
| // INT pin triggers |
| bool isITGReadyOn(); |
| void setITGReady(bool _State); |
| bool isRawDataReadyOn(); |
| void setRawDataReady(bool _State); |
| // Trigger Status |
| bool isITGReady(); |
| bool isRawDataReady(); |
| // Gyro Sensors |
| void readTemp(float *_Temp); |
| void readGyroRaw(int *_GyroXYZ); |
| void readGyroRaw(int *_GyroX, int *_GyroY, int *_GyroZ); |
| void setRevPolarity(bool _Xpol, bool _Ypol, bool _Zpol); // true = Reversed false = default |
| void setGains(float _Xgain, float _Ygain, float _Zgain); |
| void setOffsets(int _Xoffset, int _Yoffset, int _Zoffset); |
| void zeroCalibrate(unsigned int totSamples, unsigned int sampleDelayMS); // assuming gyroscope is stationary (updates XYZ offsets for zero) |
| void readGyroRawCal(int *_GyroX, int *_GyroY, int *_GyroZ); |
| void readGyroRawCal(int *_GyroXYZ); |
| void readGyro(float *_GyroXYZ); // includes gain and offset |
| void readGyro(float *_GyroX, float *_GyroY, float *_GyroZ); // includes gain and offset |
| // Power management |
| void reset(); // after reset all registers have default values |
| bool isLowPower(); |
| void setPowerMode(bool _State); // NORMAL, STANDBY |
| bool isXgyroStandby(); |
| bool isYgyroStandby(); |
| bool isZgyroStandby(); |
| void setXgyroStandby(bool _Status); // NORMAL, STANDBY |
| void setYgyroStandby(bool _Status); |
| void setZgyroStandby(bool _Status); |
| byte getClockSource(); |
| void setClockSource(byte _CLKsource); // see register parameters above |
| void writemem(uint8_t _addr, uint8_t _val); |
| void readmem(uint8_t _addr, uint8_t _nbytes, uint8_t __buff[]); |
| private: |
| uint8_t _dev_address; |
| uint8_t _buff[6]; |
| }; |
| #endif |
| /branches/V0.82b-Arthur-P/itg3200filv05/examples/ITG3200_output/ITG3200_output.pde |
|---|
| 0,0 → 1,216 |
| // ITG-3200_output |
| // Copyright 2010-2011 Filipe Vieira & various contributors. |
| // http://code.google.com/p/itg-3200driver |
| // Simple example of library usage with almost every gyro and lib features being used. |
| #include <Wire.h> |
| #include <ITG3200.h> |
| ITG3200 gyro = ITG3200(); |
| float xyz[3], temperature; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); // if experiencing gyro problems/crashes while reading XYZ values |
| // please read class constructor comments for further info. |
| delay(1000); |
| gyro.reset(); |
| // Use ITG3200_ADDR_AD0_HIGH or ITG3200_ADDR_AD0_LOW as the ITG3200 address |
| // depending on how AD0 is connected on your breakout board, check its schematics for details |
| gyro.init(ITG3200_ADDR_AD0_HIGH); |
| Serial.print("zeroCalibrating..."); |
| gyro.zeroCalibrate(2500,2); |
| Serial.println("done."); |
| showall(); |
| Serial.println("Registers dump"); |
| Serial.println("=========================================================="); |
| dumpRegisters(); |
| Serial.println("=========================================================="); |
| delay(5000); |
| } |
| void loop(void) { |
| while (gyro.isRawDataReady()) { |
| gyro.readGyro(xyz); |
| Serial.print("X:"); |
| Serial.print(xyz[0]); |
| Serial.print(" Y:"); |
| Serial.print(xyz[1]); |
| Serial.print(" Z:"); |
| Serial.println(xyz[2]); |
| } |
| } |
| void showall(void) { |
| Serial.println("Current ITG3200 settings"); |
| Serial.println("=========================================================="); |
| Serial.print("device address = 0x"); |
| Serial.println(gyro.getDevAddr(), HEX); |
| Serial.print("Sample rate divider (Hz) = "); |
| if (gyro.getFilterBW() == BW256_SR8) |
| Serial.println(8000 / (gyro.getSampleRateDiv()+1), DEC); |
| else |
| Serial.println(1000 / (gyro.getSampleRateDiv()+1), DEC); |
| Serial.print("full scale range = "); |
| if (gyro.getFSRange() == RANGE2000) |
| Serial.println("+-2000 deg/sec"); |
| else |
| Serial.println("reserved"); |
| Serial.print("low pass filter BW = "); |
| switch (gyro.getFilterBW()) { |
| case BW256_SR8: |
| Serial.println("256Hz LowPassFilter BW/ 8Khz Sample Rate"); |
| break; |
| case BW188_SR1: |
| Serial.println("188Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| case BW098_SR1: |
| Serial.println("98Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| case BW042_SR1: |
| Serial.println("42Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| case BW020_SR1: |
| Serial.println("20Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| case BW010_SR1: |
| Serial.println("10Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| case BW005_SR1: |
| Serial.println("5Hz LowPassFilter BW/ 1Khz Sample Rate"); |
| break; |
| } |
| Serial.print("Logic level for INT output pin = "); |
| if (gyro.isINTActiveOnLow()) |
| Serial.println("Active on Low"); |
| else |
| Serial.println("Active on High"); |
| Serial.print("INT drive type = "); |
| if (gyro.isINTOpenDrain()) |
| Serial.println("Open Drain"); |
| else |
| Serial.println("Push-Pull"); |
| Serial.print("INT latch mode = "); |
| if (gyro.isLatchUntilCleared()) |
| Serial.println("Latch until interrupt is cleared"); |
| else |
| Serial.println("50us pulse"); |
| Serial.print("INT latch clear mode = "); |
| if (gyro.isAnyRegClrMode()) |
| Serial.println("Any register read"); |
| else |
| Serial.println("Status register read only"); |
| Serial.print("ITGReady trigger status = "); |
| if (gyro.isITGReadyOn()) |
| Serial.println("High/Set"); |
| else |
| Serial.println("Low/Clear"); |
| Serial.print("RawDataReady trigger status = "); |
| if (gyro.isRawDataReady()) |
| Serial.println("High/Set"); |
| else |
| Serial.println("Low/Clear"); |
| Serial.print("Temperature (Celsius) = "); |
| gyro.readTemp(&temperature); |
| Serial.println(temperature); |
| Serial.print("Power mode = "); |
| gyro.setPowerMode(NORMAL); |
| if (gyro.isLowPower() == STANDBY) |
| Serial.println("Low power (sleep)"); |
| else |
| Serial.println("Normal"); |
| Serial.print("Xgyro status = "); |
| if (gyro.isXgyroStandby() == NORMAL ) |
| Serial.println("Normal"); |
| else |
| Serial.println("StandBy"); |
| Serial.print("Ygyro status = "); |
| if (gyro.isYgyroStandby() == NORMAL ) |
| Serial.println("Normal"); |
| else |
| Serial.println("StandBy"); |
| Serial.print("Zgyro status = "); |
| if (gyro.isZgyroStandby() == NORMAL ) |
| Serial.println("Normal"); |
| else |
| Serial.println("StandBy"); |
| Serial.print("Clock source = "); |
| switch (gyro.getClockSource()) { |
| case INTERNALOSC: |
| Serial.println("Internal oscillator"); |
| break; |
| case PLL_XGYRO_REF: |
| Serial.println("PLL with X Gyro reference"); |
| break; |
| case PLL_YGYRO_REF: |
| Serial.println("PLL with Y Gyro reference"); |
| break; |
| case PLL_ZGYRO_REF: |
| Serial.println("PLL with Z Gyro reference"); |
| break; |
| case PLL_EXTERNAL32: |
| Serial.println("PLL with external 32.768kHz reference"); |
| break; |
| case PLL_EXTERNAL19: |
| Serial.println("PLL with external 19.2MHz reference"); |
| break; |
| } |
| Serial.print("X offset = "); |
| Serial.println(gyro.offsets[0]); |
| Serial.print("Y offset = "); |
| Serial.println(gyro.offsets[1]); |
| Serial.print("Z offset = "); |
| Serial.println(gyro.offsets[2]); |
| } |
| void dumpRegisters() { |
| byte ValidRegisterAddr[]={0,21,22,23,26,27,28,29,30,31,32,33,34,57,56,62}; |
| byte _b, i, totregisters = sizeof(ValidRegisterAddr); |
| Serial.println("---dump start---"); |
| Serial.println("Register address|Register data"); |
| Serial.println("Reg.address(hex,dec) Reg.data(bin,hex,dec)"); |
| for (i=0;i<totregisters;i++){ |
| Serial.print("0x"); |
| Serial.print(ValidRegisterAddr[i], HEX); |
| Serial.print(","); |
| Serial.print(ValidRegisterAddr[i], DEC); |
| Serial.print(","); |
| gyro.readmem(ValidRegisterAddr[i], 1, &_b); |
| Serial.print("b"); |
| print_bits(_b); |
| Serial.print(",0x"); |
| Serial.print(_b,HEX); |
| Serial.print(","); |
| Serial.println(_b,DEC); |
| } |
| Serial.println("---dump end---"); |
| } |
| void print_bits(uint8_t val){ |
| for(int i=7; i>=0; i--) |
| Serial.print(val >> i & 1, BIN); |
| } |
| void print_unit16(uint16_t val){ |
| for(int i=15; i>=0; i--) |
| Serial.print(val >> i & 1, BIN); |
| } |
| /branches/V0.82b-Arthur-P/itg3200filv05/examples/ITG3200_test/ITG3200_test.pde |
|---|
| 0,0 → 1,66 |
| // ITG-3200_test |
| // Copyright 2010-2011 Filipe Vieira & various contributors. |
| // http://code.google.com/p/itg-3200driver |
| // Simple test of gyro sensors output using default settings. |
| #include <Wire.h> |
| #include <ITG3200.h> |
| ITG3200 gyro = ITG3200(); |
| float x,y,z,temperature; |
| int ix, iy, iz; |
| void setup(void) { |
| Serial.begin(9600); |
| Wire.begin(); // if experiencing gyro problems/crashes while reading XYZ values |
| // please read class constructor comments for further info. |
| delay(1000); |
| // Use ITG3200_ADDR_AD0_HIGH or ITG3200_ADDR_AD0_LOW as the ITG3200 address |
| // depending on how AD0 is connected on your breakout board, check its schematics for details |
| gyro.init(ITG3200_ADDR_AD0_HIGH); |
| Serial.print("zeroCalibrating..."); |
| gyro.zeroCalibrate(2500, 2); |
| Serial.println("done."); |
| } |
| void loop(void) { |
| while (gyro.isRawDataReady()) { |
| /* |
| // Reads uncalibrated raw values from the sensor |
| gyro.readGyroRaw(&ix,&iy,&iz); |
| Serial.print("X:"); |
| Serial.print(ix); |
| Serial.print(" Y:"); |
| Serial.print(iy); |
| Serial.print(" Z:"); |
| Serial.print(iz); |
| */ |
| /* |
| // Reads calibrated raw values from the sensor |
| gyro.readGyroRawCal(&ix,&iy,&iz); |
| Serial.print("X:"); |
| Serial.print(ix); |
| Serial.print(" Y:"); |
| Serial.print(iy); |
| Serial.print(" Z:"); |
| Serial.print(iz); |
| */ |
| // Reads calibrated values in deg/sec |
| gyro.readTemp(&temperature); |
| gyro.readGyro(&x,&y,&z); |
| Serial.print("X:"); |
| Serial.print(x); |
| Serial.print(" Y:"); |
| Serial.print(y); |
| Serial.print(" Z:"); |
| Serial.print(z); |
| Serial.print(" T:"); |
| Serial.println(temperature); |
| } |
| } |
| /branches/V0.82b-Arthur-P/itg3200filv05/keywords.txt |
|---|
| 0,0 → 1,42 |
| ITG3200 KEYWORD1 |
| init KEYWORD2 |
| getDevAddr KEYWORD2 |
| setDevAddr KEYWORD2 |
| getSampleRateDiv KEYWORD2 |
| setSampleRateDiv KEYWORD2 |
| getFSRange KEYWORD2 |
| setFSRange KEYWORD2 |
| getFilterBW KEYWORD2 |
| setFilterBW KEYWORD2 |
| isINTActiveOnLow KEYWORD2 |
| setINTLogiclvl KEYWORD2 |
| isINTOpenDrain KEYWORD2 |
| setINTDriveType KEYWORD2 |
| isLatchUntilCleared KEYWORD2 |
| setLatchMode KEYWORD2 |
| isAnyRegClrMode KEYWORD2 |
| setLatchClearMode KEYWORD2 |
| isITGReadyOn KEYWORD2 |
| setITGReady KEYWORD2 |
| isRawDataReadyOn KEYWORD2 |
| setRawDataReady KEYWORD2 |
| isITGReady KEYWORD2 |
| isRawDataReady KEYWORD2 |
| readTemp KEYWORD2 |
| readGyroRaw KEYWORD2 |
| setRevPolarity KEYWORD2 |
| setGains KEYWORD2 |
| setOffsets KEYWORD2 |
| zeroCalibrate KEYWORD2 |
| readGyro KEYWORD2 |
| reset KEYWORD2 |
| isLowPower KEYWORD2 |
| isXgyroStandby KEYWORD2 |
| isYgyroStandby KEYWORD2 |
| isZgyroStandby KEYWORD2 |
| setXgyroStandby KEYWORD2 |
| setYgyroStandby KEYWORD2 |
| setZgyroStandby KEYWORD2 |
| getClockSource KEYWORD2 |
| setClockSource KEYWORD2 |