/**
* @brief Initializes the gyro/accelerometer and the magnetometer unit of the imu.
* As well as the arduino subsystem
*/
void setup() {
Wire.begin();
delay(1500);
/********/
/* GYRO */
/********/
gyro.init();
gyro.writeReg(L3G_CTRL_REG4, 0x00); // 245 dps scale
gyro.writeReg(L3G_CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
//8.75 mdps/LSB
/****************/
/* MAGNETOMETER */
/****************/
compass.init();
compass.enableDefault();
compass.writeReg(LSM303::CTRL2, 0x08); // 4 g scale: AFS = 001
//0.122 mg/LSB
compass.writeReg(LSM303::CTRL5, 0x10); // Magnetometer Low Resolution 50 Hz
//Magnetometer 4 gauss scale : 0.16mgauss/LSB
//ROS-TF base frame of the imu_data
imu_msg.header.frame_id="base_imu_link";
//Register ROS messages
nh.initNode();
nh.advertise(imu_pub);
nh.advertise(mag_pub);
//starting value for the timer
timer=millis();
}
void Accelerometer::setup(){
Wire.begin();
compass.init();
compass.enableDefault();
memset(lastValuesX,0,sizeof(lastValuesX));
memset(lastValuesY,0,sizeof(lastValuesY));
memset(lastValuesZ,0,sizeof(lastValuesZ));
index =0;
}
bool Hal::initHal()
{
debugPrintLn("Start init");
// initialize all the hardware
initLora();
initSwitch();
initLTC();
compass.init();
compass.enableDefault();
htu.begin();
// setAckOn();
debugPrintLn("Einde init");
}
void setup(){
Serial.begin(115200);
Wire.begin(); //gyro code
gyro.init();//gyro code
gyro.enableDefault(); //gyro code
ps.enableDefault(); //baro code
handshaken = 0;
/*accelerometer code*/
compass.init();
compass.enableDefault();
/*accelerometer code*/
/*sonar code*/
pinMode(TRIGGER_PIN, OUTPUT);
pinMode(ECHO_PIN, INPUT);
pinMode(TRIGGER_PIN2, OUTPUT);
pinMode(ECHO_PIN2, INPUT);
pinMode(TRIGGER_PIN3, OUTPUT);
pinMode(ECHO_PIN3, INPUT);
pinMode(TRIGGER_PIN4, OUTPUT);
pinMode(ECHO_PIN4, INPUT);
pinMode(TRIGGER_PIN5, OUTPUT);
pinMode(ECHO_PIN5, INPUT);
/*sonar code*/
pinMode(MOTOR, OUTPUT);
/*
Calibration values; the default values of +/-32767 for each axis
lead to an assumed magnetometer bias of 0. Use the ACCalibrate
program to determine appropriate values for your particular unit.
*/
//compass.m_min = (LSM303::vector<int16_t>){-32767, -32767, -32767};
//compass.m_max = (LSM303::vector<int16_t>){+32767, +32767, +32767};
//LSM303::vector<int16_t> running_min = {-2872, -3215, -1742}, running_max = {+3019, +3108, +3570}; //calibration init data for compass
compass.m_min = (LSM303::vector<int16_t>){-2872, -3215, -1742};
compass.m_max = (LSM303::vector<int16_t>) {+3019, +3108, +3570};
}
void Accel_Init()
{
compass.init();
compass.enableDefault();
switch (compass.getDeviceType())
{
case LSM303::device_D:
compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
break;
case LSM303::device_DLHC:
compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
break;
default: // DLM, DLH
compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
}
//compass.heading((LSM303::vector<int>){0, 0, -1});
//compass.m_min = (LSM303::vector<int16_t>){-2304, -2194, -2156};
//compass.m_max = (LSM303::vector<int16_t>){+2771, +2860, +2753};
}
void setup(){
rled = 1; gled = 1; bled = 1;
autoSD.ready_datalogger(); // Prepares a datalog filename according to index.txt
pc.printf("Index: %d\r\n",autoSD.curr_index());
if(!ps.init()){ //enable pressure sensor
pc.printf("Unable to talk to Barometer\r\n");
while(1){ rled = !rled; wait_ms(100);}
}
else{
ps.enableDefault();
}
if(!gyr.init()){
pc.printf("Unable to talk to Gyroscope\r\n");
while(1){ rled = !rled; wait_ms(100);}
}
else{
gyr.enableDefault();
}
if(!acc.init()){
pc.printf("Unable to talk to Accelerometer\r\n");
while(1){ rled = !rled; wait_ms(100);}
}
else{
acc.enableDefault();
}
fp = fopen(autoSD.filepath, "w");
if (fp == NULL) {
pc.printf("Unable to write the file \r\n");
while(1){ rled = !rled; wait_ms(100);}
}
pc.printf("Success in Set Up\r\n");
}
void setup() {
Serial.begin(9600);
Wire.begin();
compass.init();
compass.enableDefault();
compass.setMagGain(LSM303::magGain_47);
}