Merge pull request #179 from BCLab-UNM/calibration-file-arrangements

Added New Libraries, Script File, and Calibration Code

Author: gmfricke

arduino/calibrator/calibrator.ino

@@ -0,0 +1,94 @@
+#define USE_USBCON
+
+#include <ros.h>
+#include <std_msgs/String.h>
+#include <std_msgs/Int32MultiArray.h>
+
+#include <Wire.h>
+#include <LSM303.h>
+
+LSM303 lsm303;
+
+ros::NodeHandle_<ArduinoHardware, 2, 2, 125, 125> nh;
+
+std_msgs::Int32MultiArray imu_msg;
+long int imu_data[8];
+ros::Publisher imu_pub("/imu_raw", &imu_msg);
+
+void setup()
+{
+  nh.initNode();
+
+  imu_msg.data = (long int *) &imu_data;
+  imu_msg.data_length = 8;
+  nh.advertise(imu_pub);
+  nh.spinOnce();
+
+  Wire.begin();
+  
+  /* Initialize the sensor */
+  if(iicScan() > 0) {
+    lsm303.init();
+    lsm303.enableDefault();
+    lsm303.setTimeout(1);
+
+    // Enable temperature sensor
+    byte ctrl5 = lsm303.readReg(0x24);
+    ctrl5 |= 0x80;
+
+    // Set the mag data rate to 50Hz
+    ctrl5 &= ~0b00011100;
+    ctrl5 |=  0b00010000;
+
+    lsm303.writeReg(0x24, ctrl5);
+
+    // Set the acc data rate to 50Hz
+    byte ctrl1 = lsm303.readReg(0x20);
+    ctrl1 &= ~0b11110000;
+    ctrl1 |=  0b01010000;
+
+    // Enable BDU - Synchronized conversion. 
+    ctrl1 |= 0b00001000;
+
+    lsm303.writeReg(0x20, ctrl1);
+  }
+}
+
+int iicScan() {
+  byte numberOfDevices = 0;
+
+  for(byte address = 1; address < 127; address++ ) {
+    Wire.beginTransmission(address);
+    byte error = Wire.endTransmission();
+
+    if (!error) {
+      numberOfDevices++;
+    }
+  }
+
+  return numberOfDevices;
+}
+
+void loop()
+{
+  if (iicScan() > 0) {
+    lsm303.read();
+    LSM303::vector<int16_t> acc = lsm303.a;
+    LSM303::vector<int16_t> mag = lsm303.m;
+
+    byte temp_lo = lsm303.readReg(0x05);
+    byte temp_hi = lsm303.readReg(0x06);
+    
+    imu_data[0] = mag.x;
+    imu_data[1] = mag.y;
+    imu_data[2] = mag.z;
+    imu_data[3] = acc.x;
+    imu_data[4] = acc.y;
+    imu_data[5] = acc.z;
+    imu_data[6] = temp_lo;
+    imu_data[7] = temp_hi;
+    imu_pub.publish(&imu_msg);
+  }
+
+  nh.spinOnce();    
+}

arduino/libraries/lsm303-arduino/.travis.yml

@@ -0,0 +1,24 @@
+language: python
+
+cache:
+  directories:
+  - "~/.platformio"
+
+install:
+- pip install -U platformio
+
+env:
+- BOARD=uno
+- BOARD=leonardo
+- BOARD=micro
+- BOARD=megaatmega2560
+- BOARD=due
+- BOARD=yun
+- BOARD=genuino101
+- BOARD=zero
+
+script:
+- set -eo pipefail;
+  for e in examples/*; do
+    platformio ci --board=$BOARD --lib=. $e/*;
+  done

arduino/libraries/lsm303-arduino/LICENSE.txt

@@ -0,0 +1,25 @@
+Copyright (c) 2013 Pololu Corporation.  For more information, see
+
+http://www.pololu.com/
+http://forum.pololu.com/
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the "Software"), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.