Arduino 1.x and Processing 2.x compatibility update

v1.4.2 header and readme updates

Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/DeclinationHelper.java

@@ -4,11 +4,11 @@
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/ObjectPool.java

@@ -1,14 +1,14 @@
 /******************************************************************************************
-* Android Java Interface for Razor AHRS v1.4.1
+* Android Java Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorAHRS.java

@@ -1,5 +1,5 @@
 /******************************************************************************************
-* Android Java Interface for Razor AHRS v1.4.1
+* Android Java Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *

Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorListener.java

@@ -1,5 +1,5 @@
 /******************************************************************************************
-* Android Java Interface for Razor AHRS v1.4.1
+* Android Java Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *

Android/RazorExampleApp/src/de/tuberlin/qu/RazorExample.java

@@ -1,14 +1,14 @@
 /******************************************************************************************
-* Android Java Interface for Razor AHRS v1.4.1
+* Android Java Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

Arduino/Razor_AHRS/Razor_AHRS.pde → Arduino/Razor_AHRS/Razor_AHRS.ino

@@ -1,14 +1,14 @@
 /***************************************************************************************************************
-* Razor AHRS Firmware v1.4.1
+* Razor AHRS Firmware v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" (SEN-10125 and SEN-10736)
 * and "9DOF Sensor Stick" (SEN-10183, 10321 and SEN-10724)
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 *
 *
@@ -42,6 +42,8 @@
 *     * v1.4.1
 *       * Added output modes to read raw and/or calibrated sensor data in text or binary format.
 *       * Added static magnetometer soft iron distortion compensation
+*     * v1.4.2
+*       * (No core firmware changes)
 *
 * TODOs:
 *   * Allow optional use of EEPROM for storing and reading calibration values.
@@ -218,7 +220,7 @@ boolean output_errors = false;  // true or false
 #define ACCEL_Z_MIN ((float) -250)
 #define ACCEL_Z_MAX ((float) 250)
 
-// Magnetometer (standard calibration)
+// Magnetometer (standard calibration mode)
 // "magn x,y,z (min/max) = X_MIN/X_MAX  Y_MIN/Y_MAX  Z_MIN/Z_MAX"
 #define MAGN_X_MIN ((float) -600)
 #define MAGN_X_MAX ((float) 600)
@@ -227,7 +229,7 @@ boolean output_errors = false;  // true or false
 #define MAGN_Z_MIN ((float) -600)
 #define MAGN_Z_MAX ((float) 600)
 
-// Magnetometer (extended calibration)
+// Magnetometer (extended calibration mode)
 // Uncommend to use extended magnetometer calibration (compensates hard & soft iron errors)
 //#define CALIBRATION__MAGN_USE_EXTENDED true
 //const float magn_ellipsoid_center[3] = {0, 0, 0};
@@ -242,12 +244,12 @@ boolean output_errors = false;  // true or false
 /*
 // Calibration example:
 
-// "accel x,y,z (min/max) = -278.00/270.00  -254.00/284.00  -294.00/235.00"
-#define ACCEL_X_MIN ((float) -278)
-#define ACCEL_X_MAX ((float) 270)
-#define ACCEL_Y_MIN ((float) -254)
-#define ACCEL_Y_MAX ((float) 284)
-#define ACCEL_Z_MIN ((float) -294)
+// "accel x,y,z (min/max) = -277.00/264.00  -256.00/278.00  -299.00/235.00"
+#define ACCEL_X_MIN ((float) -277)
+#define ACCEL_X_MAX ((float) 264)
+#define ACCEL_Y_MIN ((float) -256)
+#define ACCEL_Y_MAX ((float) 278)
+#define ACCEL_Z_MIN ((float) -299)
 #define ACCEL_Z_MAX ((float) 235)
 
 // "magn x,y,z (min/max) = -511.00/581.00  -516.00/568.00  -489.00/486.00"
@@ -268,10 +270,10 @@ const float magn_ellipsoid_transform[3][3] = {{0.902, -0.00354, 0.000636}, {-0.0
 //const float magn_ellipsoid_center[3] = {72.3360, 23.0954, 53.6261};
 //const float magn_ellipsoid_transform[3][3] = {{0.879685, 0.000540833, -0.0106054}, {0.000540833, 0.891086, -0.0130338}, {-0.0106054, -0.0130338, 0.997494}};
 
-//"gyro x,y,z (current/average) = -32.00/-34.82  102.00/100.41  -16.00/-16.38"
-#define GYRO_AVERAGE_OFFSET_X ((float) -34.82)
-#define GYRO_AVERAGE_OFFSET_Y ((float) 100.41)
-#define GYRO_AVERAGE_OFFSET_Z ((float) -16.38)
+//"gyro x,y,z (current/average) = -40.00/-42.05  98.00/96.20  -18.00/-18.36"
+#define GYRO_AVERAGE_OFFSET_X ((float) -42.05)
+#define GYRO_AVERAGE_OFFSET_Y ((float) 96.20)
+#define GYRO_AVERAGE_OFFSET_Z ((float) -18.36)
 */
 
 
@@ -299,7 +301,7 @@ const float magn_ellipsoid_transform[3][3] = {{0.902, -0.00354, 0.000636}, {-0.0
 // Check if hardware version code is defined
 #ifndef HW__VERSION_CODE
   // Generate compile error
-  #error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.pde (or .ino)!
+  #error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.ino!
 #endif
 
 #include <Wire.h>

C++/Example.cpp

@@ -1,14 +1,14 @@
 /******************************************************************************************
-* Test Program: Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1
+* Test Program: Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

C++/RazorAHRS.cpp

@@ -1,14 +1,14 @@
 /******************************************************************************************
-* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1
+* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports,contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

C++/RazorAHRS.h

@@ -1,14 +1,14 @@
 /******************************************************************************************
-* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1
+* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz ([email protected])
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 

Matlab/magnetometer_calibration/magnetometer_calibration.m

@@ -1,14 +1,14 @@
 %******************************************************************************************
-% Magnetometer Calibration Skript for Razor AHRS v1.4.1
+% Magnetometer Calibration Skript for Razor AHRS v1.4.2
 % 9 Degree of Measurement Attitude and Heading Reference System
 % for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 %
 % Released under GNU GPL (General Public License) v3.0
-% Copyright (C) 2013 Peter Bartz
+% Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 % Copyright (C) 2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 % Written by Peter Bartz ([email protected])
 %
-% Infos, updates, bug reports and feedback:
+% Infos, updates, bug reports, contributions and feedback:
 %     https://github.com/ptrbrtz/razor-9dof-ahrs
 %******************************************************************************************
 
@@ -33,7 +33,7 @@
 S = comp * S; % do compensation
 
 % output info
-fprintf('In the Razor_AHRS.pde (or .ino), under "SENSOR CALIBRATION" find the section that reads "Magnetometer (extended calibration)"\n');
+fprintf('In the Razor_AHRS.ino, under "SENSOR CALIBRATION" find the section that reads "Magnetometer (extended calibration)"\n');
 fprintf('Replace the existing 3 lines with these:\n\n');
 fprintf('#define CALIBRATION__MAGN_USE_EXTENDED true\n');
 fprintf('const float magn_ellipsoid_center[3] = {%.6g, %.6g, %.6g};\n', e_center);

Processing/Magnetometer_calibration/Magnetometer_calibration.pde

@@ -1,25 +1,26 @@
 /******************************************************************************************
-* Magnetometer Sampling Sketch for Razor AHRS v1.4.1
+* Magnetometer Sampling Sketch for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz (peter-bartz@gmx.de)
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 
 /*
-  NOTE: There seems to be a bug with the serial library in the latest Processing
-  versions 1.5 and 1.5.1: "WARNING: RXTX Version mismatch ...". The previous version
-  1.2.1 works fine and is still available on the web.
+  NOTE: There seems to be a bug with the serial library in Processing versions 1.5
+  and 1.5.1: "WARNING: RXTX Version mismatch ...".
+  Processing 2.0.x seems to work just fine. Later versions may too.
+  Alternatively, the older version 1.2.1 also works and is still available on the web.
 */
 
 /*
-  NOTE: You have to install a library, before this sketch can be run!
+  IMPORTANT: You have to install a library, before this sketch can be run!
   We're using EJML for matrix math, because it's really fast:
   http://code.google.com/p/java-matrix-benchmark/
   Also, it's released under LGPL, which fits well with our GPL.
@@ -29,6 +30,7 @@
   create a folder "library" inside "EJML" and put the .jar inside. Rename to EJML.jar. So you
   should have "libraries/EJML/library/EJML.jar". Restart Processing and you're good.
   More info on installing libraries in Processing: http://wiki.processing.org/w/How_to_Install_a_Contributed_Library
+  Tested to be working with EJML 0.17 and 0.23.
 */
 import org.ejml.data.*;
 import org.ejml.simple.*;
@@ -45,6 +47,7 @@ final static int SERIAL_PORT_NUM = 0;
 
 import processing.opengl.*;
 import processing.serial.*;
+import java.io.*;
 
 final static int SERIAL_PORT_BAUD_RATE = 57600;
 
@@ -361,7 +364,7 @@ void outputCalibration() {
   println("\n");
 
   // Output calibration
-  System.out.printf("In the Razor_AHRS.pde (or .ino), under 'SENSOR CALIBRATION' find the section that reads 'Magnetometer (extended calibration)'\n");
+  System.out.printf("In the Razor_AHRS.ino, under 'SENSOR CALIBRATION' find the section that reads 'Magnetometer (extended calibration)'\n");
   System.out.printf("Replace the existing 3 lines with these:\n\n");
   System.out.printf("#define CALIBRATION__MAGN_USE_EXTENDED true\n");
   System.out.printf("const float magn_ellipsoid_center[3] = {%.6g, %.6g, %.6g};\n", center.get(0), center.get(1), center.get(2));

Processing/Razor_AHRS_test/Razor_AHRS_test.pde

@@ -1,21 +1,22 @@
 /******************************************************************************************
-* Test Sketch for Razor AHRS v1.4.1
+* Test Sketch for Razor AHRS v1.4.2
 * 9 Degree of Measurement Attitude and Heading Reference System
 * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick"
 *
 * Released under GNU GPL (General Public License) v3.0
-* Copyright (C) 2013 Peter Bartz
+* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net]
 * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin
 * Written by Peter Bartz (peter-bartz@gmx.de)
 *
-* Infos, updates, bug reports and feedback:
+* Infos, updates, bug reports, contributions and feedback:
 *     https://github.com/ptrbrtz/razor-9dof-ahrs
 ******************************************************************************************/
 
 /*
-  NOTE: There seems to be a bug with the serial library in the latest Processing
-  versions 1.5 and 1.5.1: "WARNING: RXTX Version mismatch ...". The previous version
-  1.2.1 works fine and is still available on the web.
+  NOTE: There seems to be a bug with the serial library in Processing versions 1.5
+  and 1.5.1: "WARNING: RXTX Version mismatch ...".
+  Processing 2.0.x seems to work just fine. Later versions may too.
+  Alternatively, the older version 1.2.1 also works and is still available on the web.
 */
 
 import processing.opengl.*;

README.md

@@ -20,7 +20,7 @@ Quick setup
 
 ### Razor AHRS Firmware and *Processing* Test Sketch
 
-Select your hardware in `Arduino/Razor_AHRS/Razor_AHRS.pde` under `"USER SETUP AREA"` / `"HARDWARE OPTIONS"`.  
+Select your hardware in `Arduino/Razor_AHRS/Razor_AHRS.ino` under `"USER SETUP AREA"` / `"HARDWARE OPTIONS"`.
 Upload the firmware using *Arduino*.  
 Run `Processing/Razor_AHRS_test/Razor_AHRS_test.pde` using *Processing*.