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