void doMagMinMaxCal()
{
uint64_t displayTimer;
uint64_t now;
char input;
magCal->magCalInit();
magMinMaxDone = false;
// now collect data
printf("\n\nMagnetometer min/max calibration\n");
printf("--------------------------------\n");
printf("Waggle the IMU chip around, ensuring that all six axes\n");
printf("(+x, -x, +y, -y and +z, -z) go through their extrema.\n");
printf("When all extrema have been achieved, enter 's' to save, 'r' to reset\n");
printf("or 'x' to abort and discard the data.\n");
printf("\nPress any key to start...");
getchar();
displayTimer = RTMath::currentUSecsSinceEpoch();
while (1) {
// poll at the rate recommended by the IMU
usleep(imu->IMUGetPollInterval() * 1000);
while (pollIMU()) {
magCal->newMinMaxData(imuData.compass);
now = RTMath::currentUSecsSinceEpoch();
// display 10 times per second
if ((now - displayTimer) > 100000) {
displayMagMinMax();
displayTimer = now;
}
}
if ((input = getUserChar()) != 0) {
switch (input) {
case 's' :
printf("\nSaving min/max data.\n\n");
magCal->magCalSaveMinMax();
magMinMaxDone = true;
return;
case 'x' :
printf("\nAborting.\n");
return;
case 'r' :
printf("\nResetting min/max data.\n");
magCal->magCalReset();
break;
}
}
}
}
void doMagEllipsoidCal()
{
uint64_t displayTimer;
uint64_t now;
char input;
if (!magMinMaxDone) {
printf("\nYou cannot collect ellipsoid data until magnetometer min/max\n");
printf("calibration has been performed.\n");
return;
}
printf("\n\nMagnetometer ellipsoid calibration\n");
printf("\n\n----------------------------------\n");
printf("Move the magnetometer around in as many poses as possible.\n");
printf("The counts for each of the 8 pose quadrants will be displayed.\n");
printf("When enough data (%d samples per octant) has been collected,\n", RTIMUCALDEFS_OCTANT_MIN_SAMPLES);
printf("ellipsoid processing will begin.\n");
printf("Enter 'x' at any time to abort and discard the data.\n");
printf("\nPress any key to start...");
getchar();
displayTimer = RTMath::currentUSecsSinceEpoch();
while (1) {
// poll at the rate recommended by the IMU
usleep(imu->IMUGetPollInterval() * 1000);
while (pollIMU()) {
magCal->newEllipsoidData(imuData.compass);
if (magCal->magCalEllipsoidValid()) {
magCal->magCalSaveRaw(ELLIPSOID_FIT_DIR);
processEllipsoid();
return;
}
now = RTMath::currentUSecsSinceEpoch();
// display 10 times per second
if ((now - displayTimer) > 100000) {
displayMagEllipsoid();
displayTimer = now;
}
}
if ((input = getUserChar()) != 0) {
switch (input) {
case 'x' :
printf("\nAborting.\n");
return;
}
}
}
}
void moreOrLess(char **arr,int arraySizeX,int givinglineNum)
{
int i=0;
int arraySize1=0;
int arraySize2=givinglineNum;
int key = getUserChar();
system("clear");
/*kullanici calitridiginda once verdigi satir kadar basar */
printBetweenSize(arr,arraySizeX,arraySize1,arraySize2,givinglineNum);
//printf("%d\n",times);
char c;
//scanf("%c",&c);
/*q girerse program biter*/
while(key!='q')
{
/*eger esc up or down tusuna basarsa bu kosula girer*/
if(key=='\e'){
/* up ve down tuslari uc karakter oldguu icin iki key daha alinir*/
int key2=getUserChar();
int key3=getUserChar();
if(key2=='[' && key3=='B' )
{
arraySize1+=1;
arraySize2+=1;
system("clear");
system("clear");
printBetweenSize(arr,arraySizeX,arraySize1,arraySize2,givinglineNum);
}
else if(key2=='['&& key3=='A')
{
arraySize1-=1;
arraySize2-=1;
system("clear");
system("clear");
if(arraySize2<givinglineNum)
arraySize2=givinglineNum;
printBetweenSize(arr,arraySizeX,arraySize1,arraySize2,givinglineNum);
}
/*escape tusu icin */
else
{
if(arraySizeX>arraySize1+givinglineNum) arraySize1+=givinglineNum;
if(arraySizeX>arraySize2+1) arraySize2+=givinglineNum;
system("clear");
system("clear");
printBetweenSize(arr,arraySizeX,arraySize1,arraySize2,givinglineNum);
}
}
/*Enter tusu icin*/
else if(key=='\n')
void doAccelCal()
{
uint64_t displayTimer;
uint64_t now;
char input;
printf("\n\nAccelerometer Calibration\n");
printf("-------------------------\n");
printf("The code normally ignores readings until an axis has been enabled.\n");
printf("The idea is to orient the IMU near the current extrema (+x, -x, +y, -y, +z, -z)\n");
printf("and then enable the axis, moving the IMU very gently around to find the\n");
printf("extreme value. Now disable the axis again so that the IMU can be inverted.\n");
printf("When the IMU has been inverted, enable the axis again and find the extreme\n");
printf("point. Disable the axis again and press the space bar to move to the next\n");
printf("axis and repeat. The software will display the current axis and enable state.\n");
printf("Available options are:\n");
printf(" e - enable the current axis.\n");
printf(" d - disable the current axis.\n");
printf(" space bar - move to the next axis (x then y then z then x etc.\n");
printf(" r - reset the current axis (if enabled).\n");
printf(" s - save the data once all 6 extrema have been collected.\n");
printf(" x - abort and discard the data.\n");
printf("\nPress any key to start...");
getchar();
// perform all axis reset
for (int i = 0; i < 3; i++)
accelCal->accelCalEnable(i, true);
accelCal->accelCalReset();
for (int i = 0; i < 3; i++)
accelCal->accelCalEnable(i, false);
accelCurrentAxis = 0;
for (int i = 0; i < 3; i++)
accelEnables[i] = false;
displayTimer = RTMath::currentUSecsSinceEpoch();
while (1) {
// poll at the rate recommended by the IMU
usleep(imu->IMUGetPollInterval() * 1000);
while (pollIMU()) {
for (int i = 0; i < 3; i++)
accelCal->accelCalEnable(i, accelEnables[i]);
accelCal->newAccelCalData(imuData.accel);
now = RTMath::currentUSecsSinceEpoch();
// display 10 times per second
if ((now - displayTimer) > 100000) {
displayAccelMinMax();
displayTimer = now;
}
}
if ((input = getUserChar()) != 0) {
switch (input) {
case 'e' :
accelEnables[accelCurrentAxis] = true;
break;
case 'd' :
accelEnables[accelCurrentAxis] = false;
break;
case 'r' :
accelCal->accelCalReset();
break;
case ' ' :
if (++accelCurrentAxis == 3)
accelCurrentAxis = 0;
break;
case 's' :
accelCal->accelCalSave();
printf("\nAccelerometer calibration data saved to file.\n");
return;
case 'x' :
printf("\nAborting.\n");
return;
}
}
}
}
