92 lines
2.7 KiB
Arduino
92 lines
2.7 KiB
Arduino
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/*
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MinIMU-9-Arduino-AHRS
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Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
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Copyright (c) 2011 Pololu Corporation.
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http://www.pololu.com/
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MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
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http://code.google.com/p/sf9domahrs/
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sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
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Julio and Doug Weibel:
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http://code.google.com/p/ardu-imu/
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MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
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under the terms of the GNU Lesser General Public License as published by the
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Free Software Foundation, either version 3 of the License, or (at your option)
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any later version.
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MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
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more details.
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You should have received a copy of the GNU Lesser General Public License along
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with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
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*/
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void printdata(void)
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{
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Serial.print("!");
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#if PRINT_EULER == 1
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Serial.print("ANG:");
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Serial.print(ToDeg(roll));
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Serial.print(",");
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Serial.print(ToDeg(pitch));
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Serial.print(",");
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Serial.print(ToDeg(yaw));
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#endif
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#if PRINT_ANALOGS==1
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Serial.print(",AN:");
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Serial.print(AN[0]); //(int)read_adc(0)
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Serial.print(",");
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Serial.print(AN[1]);
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Serial.print(",");
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Serial.print(AN[2]);
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Serial.print(",");
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Serial.print(AN[3]);
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Serial.print (",");
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Serial.print(AN[4]);
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Serial.print (",");
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Serial.print(AN[5]);
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Serial.print(",");
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Serial.print(c_magnetom_x);
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Serial.print (",");
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Serial.print(c_magnetom_y);
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Serial.print (",");
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Serial.print(c_magnetom_z);
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#endif
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/*#if PRINT_DCM == 1
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Serial.print (",DCM:");
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Serial.print(convert_to_dec(DCM_Matrix[0][0]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[0][1]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[0][2]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[1][0]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[1][1]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[1][2]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[2][0]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[2][1]));
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Serial.print (",");
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Serial.print(convert_to_dec(DCM_Matrix[2][2]));
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#endif*/
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Serial.println();
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}
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long convert_to_dec(float x)
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{
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return x*10000000;
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}
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