caperren/osurc_mars_rover_2017_2018
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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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This commit is contained in:
Dylan Thrush
2018-07-28 22:24:46 -07:00
parent 6607e4bd77 ae8cffeb6e
commit 5b33b80196
27 changed files with 5306 additions and 598 deletions
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96
software/firmware/tower/tower.ino
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@@ -2,6 +2,8 @@
#include <ModbusRtu.h>
#include <Adafruit_BNO055_t3.h>
#include <ArduinoJson.h>
#include <utility/imumaths.h>
#include <EEPROM.h>
/*
Imu/data (Imu)
@@ -99,7 +101,7 @@ const char baud115200[] = "PUBX,41,1,3,3,115200,0";
void setup() {
// Debugging
Serial.begin(9600);
// while (!Serial);
// while (!Serial);
// Raw pin setup
setup_hardware();
@@ -113,16 +115,7 @@ void setup() {
GPS_IMU_STREAMING_PORT.begin(115200);
GPS_IMU_STREAMING_PORT.transmitterEnable(HARDWARE::GPS_IMU_RS485_EN);
// IMU Setup
Serial.println("Setting up IMU");
if (!bno.begin()) {
/* There was a problem detecting the BNO055 ... check your connections */
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
while (1);
}
Serial.println("IMU Online. Setting to external crystal.");
bno.setExtCrystalUse(true);
Serial.println("IMU Configured.");
setup_imu();
// GPS Setup
GPS_SERIAL_PORT.begin(9600);
@@ -170,7 +163,7 @@ void send_imu_stream_line(JsonObject &root) {
JsonObject& imu_object = root.createNestedObject("imu");
quat = bno.getQuat();
linear_accel = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
linear_accel = bno.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
angular_vel = bno.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu_object["ox"] = quat.x();
@@ -186,18 +179,73 @@ void send_imu_stream_line(JsonObject &root) {
imu_object["avy"] = angular_vel.y();
imu_object["avz"] = angular_vel.z();
//
// /* Display calibration status for each sensor. */
// uint8_t system, gyro, accel, mag = 0;
// bno.getCalibration(&system, &gyro, &accel, &mag);
// Serial.print("CALIBRATION: Sys=");
// Serial.print(system, DEC);
// Serial.print(" Gyro=");
// Serial.print(gyro, DEC);
// Serial.print(" Accel=");
// Serial.print(accel, DEC);
// Serial.print(" Mag=");
// Serial.print(mag, DEC);
}
void setup_imu(){
// IMU Setup
Serial.println("Setting up IMU");
if (!bno.begin()) {
/* There was a problem detecting the BNO055 ... check your connections */
Serial.print("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
while (1);
}
Serial.println("IMU Online. Setting to external crystal.");
int eeAddress = 0;
long bnoID;
bool foundCalib = false;
EEPROM.get(eeAddress, bnoID);
adafruit_bno055_offsets_t calibrationData;
sensor_t sensor;
/*
* Look for the sensor's unique ID at the beginning oF EEPROM.
* This isn't foolproof, but it's better than nothing.
*/
bno.getSensor(&sensor);
eeAddress += sizeof(long);
EEPROM.get(eeAddress, calibrationData);
bno.setSensorOffsets(calibrationData);
bno.setAxisConfig(Adafruit_BNO055::REMAP_CONFIG_P6);
bno.setAxisSign(Adafruit_BNO055::REMAP_SIGN_P6);
bno.setMode(Adafruit_BNO055::OPERATION_MODE_IMUPLUS);
delay(300);
bno.setExtCrystalUse(true);
Serial.println("IMU Configured");
// while(1){
// display_cal_status();
// }
}
void display_cal_status(void)
{
/* Get the four calibration values (0..3) */
/* Any sensor data reporting 0 should be ignored, */
/* 3 means 'fully calibrated" */
uint8_t system, gyro, accel, mag;
system = gyro = accel = mag = 0;
bno.getCalibration(&system, &gyro, &accel, &mag);
/* The data should be ignored until the system calibration is > 0 */
Serial.print("\t");
if (!system)
{
Serial.print("! ");
}
/* Display the individual values */
Serial.print("Sys:");
Serial.print(system, DEC);
Serial.print(" G:");
Serial.print(gyro, DEC);
Serial.print(" A:");
Serial.print(accel, DEC);
Serial.print(" M:");
Serial.println(mag, DEC);
}
void process_gps_and_send_if_ready(JsonObject &root) {