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pwm fix - add 9dof example

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This commit is contained in:
Erik Tylek Kettenburg
2015-01-12 18:23:47 -08:00
parent 02c36dfd60
commit fb93846380
5 changed files with 160 additions and 14 deletions
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7
hardware/digistump/avr/cores/pro/Arduino.h
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@@ -103,10 +103,6 @@ int digitalRead(uint8_t);
int analogRead(uint8_t);
void analogReference(uint8_t mode);
void analogWrite(uint8_t, int);
void pwmWrite(uint8_t, int);
void pwmConnect(uint8_t, int);
void pwmDisconnect(uint8_t, int);
void pwmReset(void);
unsigned long millis(void);
unsigned long micros(void);
@@ -164,6 +160,9 @@ extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
#define TIMER1B 4
#define TIMER1D 5
#define CHANNELA 3; //TIMER1A
#define CHANNELB 4; //TIMER1B
#include "pins_arduino.h"
#ifndef USE_SOFTWARE_SERIAL

157
hardware/digistump/avr/libraries/Digispark_Examples/_9DOF_Shield/_9DOF_Shield.ino Normal file
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@@ -0,0 +1,157 @@
#include <Wire.h>
#include <DigiKeyboard.h>
#define ADXL345 (0x53) //address of Accelerometer
#define ADXL345_X (0x32) //register for X value from Accelerometer
#define ADXL345_Y (0x34) //register for Y value from Accelerometer
#define ADXL345_Z (0x36) //register for Z value from Accelerometer
#define HMC5883 (0x1E) //address of Magnetometer
#define ITG3200 (0x68) //address of Gyro
int16_t magX = 0; //X value from Magnetometer
int16_t magY = 0; //Y value from Magnetometer
int16_t magZ = 0; //Z value from Magnetometer
int gyroHX = 0; //HX value from Gyro
int gyroHY = 0; //HY value from Gyro
int gyroHZ = 0; //HZ value from Gyro
void setup()
{
Wire.begin();
initAccelerometer();
initMagnetometer();
initGyro();
}
void loop()
{
DigiKeyboard.println(readAccelerometer(ADXL345_X));
DigiKeyboard.println(readAccelerometer(ADXL345_Y));
DigiKeyboard.println(readAccelerometer(ADXL345_Z));
DigiKeyboard.delay(1000);
readMagnetometer();
DigiKeyboard.println(magX);
DigiKeyboard.println(magY);
DigiKeyboard.println(magZ);
DigiKeyboard.println(getHeading());
DigiKeyboard.delay(1000);
readGyro();
DigiKeyboard.println(gyroHX);
DigiKeyboard.println(gyroHY);
DigiKeyboard.println(gyroHZ);
DigiKeyboard.delay(1000);
}
void initGyro(){
writeRegister(ITG3200, 0x3E, 0x00); //enable
writeRegister(ITG3200, 0x15, 0x07); // EB, 50, 80, 7F, DE, 23, 20, FF
writeRegister(ITG3200, 0x16, 0x1E); // +/- 2000 dgrs/sec, 1KHz, 1E, 19
writeRegister(ITG3200, 0x17, 0x00);
}
void readGyro(){
Wire.beginTransmission(ITG3200);
Wire.write(0x1B); //format x y z temp
Wire.endTransmission();
Wire.requestFrom(ITG3200, (byte)8);
// Wait around until enough data is available
while (Wire.available() < 8);
uint8_t lo = Wire.read();
uint8_t hi = Wire.read();
//throw out first two - don't seem accurate
//gyroTemp = (lo << 8) | hi; // temperature
//gyroTemp = ((double) (gyroTemp + 13200)) / 280;
lo = Wire.read();
hi = Wire.read();
gyroHX = (((lo << 8) | hi) + 120 )/ 14.375;
lo = Wire.read();
hi = Wire.read();
gyroHY = (((lo << 8) | hi) + 20 )/ 14.375;
lo = Wire.read();
hi = Wire.read();
gyroHZ = (((lo << 8) | hi) + 93 )/ 14.375;
}
void initMagnetometer(){
writeRegister(HMC5883, 0x02, 0x00); //enable
}
void readMagnetometer(){
Wire.beginTransmission(HMC5883);
Wire.write(0x03); //format X_H_M
Wire.endTransmission();
Wire.requestFrom(HMC5883, (byte)6);
// Wait around until enough data is available
while (Wire.available() < 6);
// Note high before low (different than accel)
uint8_t hi = Wire.read();
uint8_t lo = Wire.read();
// Shift values to create properly formed integer (low byte first)
magX = (int16_t)(hi | ((int16_t)lo << 8));
// Note high before low (different than accel)
hi = Wire.read();
lo = Wire.read();
// Shift values to create properly formed integer (low byte first)
magY = (int16_t)(hi | ((int16_t)lo << 8));
// Note high before low (different than accel)
hi = Wire.read();
lo = Wire.read();
// Shift values to create properly formed integer (low byte first)
magZ = (int16_t)(hi | ((int16_t)lo << 8));
}
void initAccelerometer(){
//if(readRegister(ADXL345,0x00) != 0xE5)
writeRegister(ADXL345, 0x2D, 0x08); //power up and enable measurements
writeRegister(ADXL345, 0x31, 0x01);//set range to +/-4G
}
uint16_t readAccelerometer(uint8_t reg){
Wire.beginTransmission(ADXL345);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(ADXL345, 2);
return (uint16_t)(Wire.read() | (Wire.read() << 8));
}
uint8_t readRegister(uint8_t address, uint8_t reg){
Wire.beginTransmission(address);
Wire.write(reg);
Wire.endTransmission();
Wire.requestFrom(address, 1);
return Wire.read();
}
void writeRegister(uint8_t address, uint8_t reg, uint8_t val){
Wire.beginTransmission(address);
Wire.write(reg);
Wire.write(val);
Wire.endTransmission();
}
float getHeading(){
// Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
// Calculate heading when the magnetometer is level, then correct for signs of axis.
float heading = atan2(magY, magX);
// Correct for when signs are reversed.
if(heading < 0)
heading += 2*PI;
// Check for wrap due to addition of declination.
if(heading > 2*PI)
heading -= 2*PI;
// Convert radians to degrees for readability.
heading = heading * 180/M_PI;
return heading;
}

4
hardware/digistump/avr/variants/pro/pins_arduino.h
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@@ -42,10 +42,6 @@
#define MISO 8
#define SCK 11
static const uint8_t CHANNELA = TIMER1A;
static const uint8_t CHANNELB = TIMER1B;
static const uint8_t SDA = 0;
static const uint8_t SCL = 2;

3
hardware/digistump/avr/variants/pro32buffer/pins_arduino.h
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@@ -42,9 +42,6 @@
#define MISO 8
#define SCK 11
static const uint8_t CHANNELA = TIMER1A;
static const uint8_t CHANNELB = TIMER1B;
static const uint8_t SDA = 0;
static const uint8_t SCL = 2;

3
hardware/digistump/avr/variants/pro64buffer/pins_arduino.h
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@@ -42,9 +42,6 @@
#define MISO 8
#define SCK 11
static const uint8_t CHANNELA = TIMER1A;
static const uint8_t CHANNELB = TIMER1B;
static const uint8_t SDA = 0;
static const uint8_t SCL = 2;