269 lines
7.1 KiB
C++
269 lines
7.1 KiB
C++
//https://github.com/rogerclarkmelbourne/Arduino_STM32 in arduino/hardware
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//Board: Generic STM32F103C series
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//Upload method: serial
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//20k RAM 64k Flash
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// RX ist A10, TX ist A9 (3v3 level)
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//to flash set boot0 (the one further away from reset button) to 1 and press reset, flash, program executes immediately
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//set boot0 back to 0 to run program on powerup
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//#define DEBUG
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#define PIN_LED PC13
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#define SENDPERIOD 20 //ms
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#define IMUUPDATEPERIOD 10 //ms
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long last_imuupdated=0;
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#include <IMUGY85.h>
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//https://github.com/fookingthg/GY85
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//ITG3200 and ADXL345 from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino
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//https://github.com/mechasolution/Mecha_QMC5883L //because QMC5883 on GY85 instead of HMC5883, source: https://circuitdigest.com/microcontroller-projects/digital-compass-with-arduino-and-hmc5883l-magnetometer
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//in qmc5883L library read values changed from uint16_t to int16_t
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IMUGY85 imu;
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double ax, ay, az, gx, gy, gz, roll, pitch, yaw, mx,my,mz,ma;
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double setYaw=0;
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//from left to right. pins at bottom. chips on top
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//1 GND (black)
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//2 Data
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//3 Clock
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//4 Reset
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//5 +5V (red)
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//6 Right BTN
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//7 Middle BTN
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//8 Left BTN
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//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
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//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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RF24 radio(PB0,PB1); //ce, cs
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//SCK D13 (Pro mini), A5 (bluepill)
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//Miso D12 (Pro mini), A6 (bluepill)
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//Mosi D11 (Pro mini), A7 (bluepill)
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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struct nrfdata {
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uint8_t steer;
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uint8_t speed;
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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nrfdata lastnrfdata;
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long last_nrfreceive=0; //last time values were received and checksum ok
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long nrf_delay=0;
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#define MAX_NRFDELAY 50
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//command variables
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boolean motorenabled=false; //set by nrfdata.commands
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long last_send=0;
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int16_t out_steer=0; //between -1000 and 1000
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int16_t out_speed=0;
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uint8_t out_checksum=0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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boolean armed=false;
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void setup() {
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Serial.begin(115200); //Debug and Program. A9=TX1, A10=RX1 (3v3 level)
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Serial2.begin(19200); //control. B10=TX3, B11=RX3 (Serial2 is Usart 3)
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pinMode(PIN_LED, OUTPUT);
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digitalWrite(PIN_LED,HIGH);
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Serial.println("Initializing nrf24");
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radio.begin();
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1,pipes[1]); //read on pipe 1
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radio.startListening();
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Serial.println("Initializing IMU");
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imu.init();
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Serial.println("Initialized");
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}
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void loop() {
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if (millis()-last_imuupdated>IMUUPDATEPERIOD){
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updateIMU();
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last_imuupdated=millis();
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}
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//NRF24
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nrf_delay=millis()-last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial.println("radio available ...");
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bool done = false;
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while (!done)
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{
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digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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done = radio.read( &lastnrfdata, sizeof(nrfdata) );
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0)); //check bit 0
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if (!motorenabled){ //disable motors?
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armed=false;
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}
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if (lastnrfdata.speed==NRFDATA_CENTER && lastnrfdata.speed==NRFDATA_CENTER){ //arm only when centered
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armed=true; //arm at first received packet
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}
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uint8_t calcchecksum=(uint8_t)((lastnrfdata.steer+3)*(lastnrfdata.speed+13));
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if (lastnrfdata.checksum!=calcchecksum){ //checksum not ok?
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armed=false;
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}else{ //checksum ok
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last_nrfreceive=millis();
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}
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#ifdef DEBUG
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Serial.print("Received:");
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Serial.print(" st=");
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Serial.print(lastnrfdata.steer);
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Serial.print(", sp=");
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Serial.print(lastnrfdata.speed);
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Serial.print(", c=");
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Serial.print(lastnrfdata.commands);
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Serial.print(", chks=");
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Serial.print(lastnrfdata.checksum);
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Serial.print("nrfdelay=");
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Serial.print(nrf_delay);
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#endif
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//y positive = forward
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//x positive = right
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/*
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setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
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while (setYaw<0){
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setYaw+=360;
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}
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while (setYaw>=360){
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setYaw-=360;
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}*/
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/*
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Serial.print("setYaw=");
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Serial.print(setYaw);
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Serial.print(" Yaw=");
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Serial.println(yaw);*/
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}
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}
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if (armed && nrf_delay>=MAX_NRFDELAY){ //too long since last sucessful nrf receive
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armed=false;
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}
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if (armed){
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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out_speed=(int16_t)( ((int16_t)(lastnrfdata.speed)-NRFDATA_CENTER)*1000/127 ); //-1000 to 1000
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out_steer=(int16_t)( ((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*1000/127 );
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//Test Mag
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/*double yawdiff=(setYaw-180)-(yaw-180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
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yawdiff += (yawdiff>180) ? -360 : (yawdiff<-180) ? 360 : 0;
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//yawdiff/=2;
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int yawdiffsign=1;
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if (yawdiff<0){
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yawdiffsign=-1;
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}
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yawdiff=yawdiff*yawdiff; //square
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yawdiff=constrain(yawdiff/2,0,800);
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yawdiff*=yawdiffsign; //redo sign
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out_steer=(int16_t)( yawdiff );
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*/
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/*
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Serial.print("Out steer=");
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Serial.println(out_steer);*/
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}else{ //took too long since last nrf data
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out_steer=0;
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out_speed=0;
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}
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if (millis()-last_send>SENDPERIOD){
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)out_steer)*((uint8_t)out_speed)); //simple checksum
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if (out_checksum==0 || out_checksum==255){ out_checksum=1; } //cannot be 0 or 255 (special purpose)
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if (!motorenabled){ //disable motors?
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out_checksum=0; //checksum=0 disables motors
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}
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Serial2.write((uint8_t *) &out_steer, sizeof(out_steer));
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Serial2.write((uint8_t *) &out_speed, sizeof(out_speed));
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Serial2.write((uint8_t *) &out_checksum, sizeof(out_checksum));
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last_send=millis();
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#ifdef DEBUG
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Serial.print(" steer=");
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Serial.print(out_steer);
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Serial.print(" speed=");
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Serial.print(out_speed);
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial.println();
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#endif
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}
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}
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void updateIMU()
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{
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//Update Imu and write to variables
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imu.update();
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imu.getAcceleration(&ax, &ay, &az);
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imu.getGyro(&gx, &gy, &gz);
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imu.getMag(&mx, &my, &mz,&ma); //calibration data such as bias is set in IMUGY85.h
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roll = imu.getRoll();
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pitch = imu.getPitch();
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yaw = imu.getYaw();
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/*Directions:
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* Components on top.
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* Roll: around Y axis (pointing to the right), left negative
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* Pitch: around X axis (pointing forward), up positive
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* Yaw: around Z axis, CCW positive, 0 to 360
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*/
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}
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