int main ()
{ struct intvector mag; // integer vector of magnetometer measurements
#define magx mag.x.i16 // x axis
#define magy mag.y.i16 // y axis
#define magz mag.z.i16 // z axis
microcontroller_init();
uart1_open(57600l); // open UART1
printf ("Starting test...\n\r");
microcontroller_delay_ms(5);
i2c_init(); // Initialise the I2C(1) module
hmc5843_init(); // initialize the HMC5843 chip
test_HMC5843(); // display configuration and ID registers
while(1)
{
hmc5843_read(&mag); // update magnetometer data
printf( "%5d %5d %5d -> %f\r\n",magx,magy,magz, atan2f(-magy,magx)/3.14*180.0);
microcontroller_delay_ms(100);
} // end while
} // end main
int main ()
{ struct intvector mag; // integer vector of magnetometer measurements
#define magx mag.x.i16 // x axis
#define magy mag.y.i16 // y axis
#define magz mag.z.i16 // z axis
microcontroller_init();
uart1_open(38400); // open UART1
printf ("Starting test...\n\r");
InitI2C(); // Initialise the I2C(1) module
init_HMC5843(); // initialize the HMC5843 chip
test_HMC5843(); // display configuration and ID registers
while(1)
{
HMC5843(&mag); // update magnetometer data
printf( "%5d %5d %5d\r",magx,magy,magz);
microcontroller_delay_ms(100);
} // end while
} // end main
int main()
{
char buffer[20];
int i;
float tmp, roll_angle;
float acc_gyro = 0, dt;
struct Gyro1DKalman filter_roll;
struct Gyro1DKalman filter_pitch;
init_microcontroller();
adc_init();
adc_start();
timer_init_ms();
uart1_open();
uart1_puts("Device initialized\n\r");
uart1_puts("Entering main loop\n\r");
init_Gyro1DKalman(&filter_roll, 0.0001, 0.0003, 0.69);
while(1)
{
dt = timer_dt(); // time passed in s since last call
// execute kalman filter
tmp = PredictAccG_roll(accelero_z(), accelero_y(), accelero_x());
ars_predict(&filter_roll, gyro_roll_rad(), dt); // Kalman predict
roll_angle = ars_update(&filter_roll, tmp); // Kalman update + result (angle)
//PrintAll(accelero_x(), accelero_y(), accelero_z(), gyro_roll_rad(), gyro_pitch_rad(), r);
PrintForVbApp(roll_angle / 3.14*180.0, tmp);
//PrintForStabilizer(r);
}
uart1_close();
return 0;
}
