From 9c0f882007ac9e4f2d4298cd87160116650deaf8 Mon Sep 17 00:00:00 2001
From: James Devine <devine.jd@gmail.com>
Date: Sat, 20 Jun 2015 07:18:57 -0700
Subject: [PATCH]

---
 gistfile1.txt | 145 ++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 145 insertions(+)
 create mode 100644 gistfile1.txt

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+
+// HTU21D-F is on Arduino Due I2C Bus 2, followed the guidance on forum.arduino.cc/index.php?topic=216359.0 to make it work
+//modifications to HTU21DF.h and .cpp not included in this file. Also commented out delay.h as it's AVR not ARM. 
+
+#include <Adafruit_Sensor.h>
+
+#include <Adafruit_L3GD20_U.h>
+#include <Adafruit_BMP085_U.h>
+#include <Adafruit_LSM303_U.h>
+#include <Adafruit_10DOF.h>
+#include <Adafruit_HTU21DF.h>
+
+
+#include <Wire.h>
+
+
+/* Assign a unique ID to the sensors */
+Adafruit_10DOF                dof   = Adafruit_10DOF();
+Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
+Adafruit_LSM303_Mag_Unified   mag   = Adafruit_LSM303_Mag_Unified(30302);
+Adafruit_BMP085_Unified       bmp   = Adafruit_BMP085_Unified(18001);
+Adafruit_HTU21DF htu = Adafruit_HTU21DF();
+
+/* Update this with the correct SLP for accurate altitude measurements */
+float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
+
+/**************************************************************************/
+/*!
+    @brief  Initialises all the sensors used by this example
+*/
+/**************************************************************************/
+void initSensors()
+{
+  if(!accel.begin())
+  {
+    /* There was a problem detecting the LSM303 ... check your connections */
+    Serial.println(F("Ooops, no LSM303 detected ... Check your wiring!"));
+    while(1);
+  }
+  if(!mag.begin())
+  {
+    /* There was a problem detecting the LSM303 ... check your connections */
+    Serial.println("Ooops, no LSM303 detected ... Check your wiring!");
+    while(1);
+  }
+  if(!bmp.begin())
+  {
+    /* There was a problem detecting the BMP180 ... check your connections */
+    Serial.println("Ooops, no BMP180 detected ... Check your wiring!");
+    while(1);
+  }
+    if (!htu.begin()) {
+    Serial.println("Couldn't find HTU21DF sensor!");
+    while (1);
+  }
+}
+
+/**************************************************************************/
+/*!
+
+*/
+/**************************************************************************/
+void setup(void)
+{
+  Serial.begin(115200);
+  Serial.println(F("Adafruit 10 DOF Pitch/Roll/Heading Example with Humidity")); Serial.println("");
+  
+  /* Initialise the sensors */
+  initSensors();
+}
+
+/**************************************************************************/
+/*!
+    @brief  Constantly check the roll/pitch/heading/altitude/temperature
+*/
+/**************************************************************************/
+void loop(void)
+{
+  sensors_event_t accel_event;
+  sensors_event_t mag_event;
+  sensors_event_t bmp_event;
+  sensors_vec_t   orientation;
+
+  /* Calculate pitch and roll from the raw accelerometer data */
+  accel.getEvent(&accel_event);
+  if (dof.accelGetOrientation(&accel_event, &orientation))
+  {
+    /* 'orientation' should have valid .roll and .pitch fields */
+    Serial.println("Data dump from raw sensors");
+    Serial.print(F("Roll: "));
+    Serial.print(orientation.roll);
+    Serial.print(F("; "));
+    Serial.print(F("Pitch: "));
+    Serial.print(orientation.pitch);
+    Serial.println(F("; "));
+    Serial.print("GravX:");
+    Serial.println(accel_event.acceleration.x);
+    Serial.print("Gravy:");
+    Serial.println(accel_event.acceleration.y);
+    Serial.print("Gravz:");
+    Serial.println(accel_event.acceleration.z);
+    
+  }
+  
+  /* Calculate the heading using the magnetometer */
+  mag.getEvent(&mag_event);
+  if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &orientation))
+  {
+    /* 'orientation' should have valid .heading data now */
+    Serial.print(F("Heading: "));
+    Serial.print(orientation.heading);
+    Serial.println(F("; "));
+    Serial.print("Magx:");
+    Serial.println(mag_event.magnetic.x);
+    Serial.print("Magy:");
+    Serial.println(mag_event.magnetic.y);
+    Serial.print("Magz:");
+    Serial.println(mag_event.magnetic.z);
+  }
+
+  /* Calculate the altitude using the barometric pressure sensor */
+  bmp.getEvent(&bmp_event);
+  if (bmp_event.pressure)
+  {
+    /* Get ambient temperature in C */
+    float temperature;
+    bmp.getTemperature(&temperature);
+    /* Convert atmospheric pressure, SLP and temp to altitude    */
+    Serial.print(F("Alt: "));
+    Serial.print(bmp.pressureToAltitude(seaLevelPressure,
+                                        bmp_event.pressure,
+                                        temperature)); 
+    Serial.println(F(" m; "));
+    /* Display the temperature */
+    Serial.print(F("Temp1: "));
+    Serial.print(temperature);
+    Serial.println(F(" C"));
+
+    Serial.print("Temp2: "); Serial.println(htu.readTemperature());
+    Serial.print("Hum: "); Serial.println(htu.readHumidity());
+  }
+  
+  Serial.println(F(""));
+  delay(1000);
+}
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