B03
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Dependencies: mbed
Diff: main.cpp
- Revision:
- 0:fd464054a6b5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Dec 16 07:32:42 2017 +0000
@@ -0,0 +1,180 @@
+/* MPU9250 Basic Example Code
+ by: Kris Winer
+ date: April 1, 2014
+ license: Beerware - Use this code however you'd like. If you
+ find it useful you can buy me a beer some time.
+
+ Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
+ getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
+ allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
+ Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
+
+ SDA and SCL should have external pull-up resistors (to 3.3V).
+ 10k resistors are on the EMSENSR-9250 breakout board.
+
+ Hardware setup:
+ MPU9250 Breakout --------- Arduino
+ VDD ---------------------- 3.3V
+ VDDI --------------------- 3.3V
+ SDA ----------------------- A4
+ SCL ----------------------- A5
+ GND ---------------------- GND
+
+ Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
+ Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
+ We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
+ We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
+ */
+
+//#include "ST_F401_84MHZ.h"
+//F401_init84 myinit(0);
+#include "mbed.h"
+#include "MPU9250.h"
+Serial bt(PA_15, PB_7);
+
+
+// Using NOKIA 5110 monochrome 84 x 48 pixel display
+// pin 9 - Serial clock out (SCLK)
+// pin 8 - Serial data out (DIN)
+// pin 7 - Data/Command select (D/C)
+// pin 5 - LCD chip select (CS)
+// pin 6 - LCD reset (RST)
+//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
+
+char buffer[14];
+
+ MPU9250 mpu9250;
+ Serial pc(USBTX, USBRX);
+ float pitchAngle , rollAngle , pitchAngle_rad , rollAngle_rad , yawAngle;
+int main()
+{
+ pc.baud(9600);
+ i2c.frequency(400000); // use fast (400 kHz) I2C
+ pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ // Read the WHO_AM_I register, this is a good test of communication
+ uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x73\n\r");
+ if (whoami == 0x73) // WHO_AM_I should always be 0x68
+ {
+// pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
+// pc.printf("MPU9250 is online...\n\r");
+// sprintf(buffer, "0x%x", whoami);
+// wait(1);
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
+// pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
+// pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
+// pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
+// pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
+// pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
+// pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
+ mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+// pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
+// pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
+// pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
+// pc.printf("x accel bias = %f\n\r", accelBias[0]);
+// pc.printf("y accel bias = %f\n\r", accelBias[1]);
+// pc.printf("z accel bias = %f\n\r", accelBias[2]);
+ wait(1);
+ mpu9250.initMPU9250();
+ pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ mpu9250.initAK8963(magCalibration);
+// pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+// pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
+// pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
+ //if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
+// if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
+// if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
+// if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
+// wait(1);
+ }
+ else
+ {
+ pc.printf("Could not connect to MPU9250: \n\r");
+ pc.printf("%#x \n", whoami);
+
+ sprintf(buffer, "WHO_AM_I 0x%x", whoami);
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+// pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+// pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+// pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+// magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+// magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+// magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+
+ while(1) {
+
+ // If intPin goes high, all data registers have new data
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+ mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
+ ay = (float)accelCount[1]*aRes - accelBias[1];
+ az = (float)accelCount[2]*aRes - accelBias[2];
+
+ mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
+ gy = (float)gyroCount[1]*gRes - gyroBias[1];
+ gz = (float)gyroCount[2]*gRes - gyroBias[2];
+
+ mpu9250.readMagData(magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ if (magCount[0] > magbias_max[0]) magbias_max[0] = magCount[0];
+ if (magCount[1] > magbias_max[1]) magbias_max[1] = magCount[1];
+ if (magCount[2] > magbias_max[2]) magbias_max[2] = magCount[2];
+
+ if (magCount[0] < magbias_min[0]) magbias_min[0] = magCount[0];
+ if (magCount[1] < magbias_min[1]) magbias_min[1] = magCount[1];
+ if (magCount[2] < magbias_min[2]) magbias_min[2] = magCount[2];
+
+ // set offset value to shift in the middle (max. + min.) / 2
+ magbias[0] = ((magbias_max[0] + magbias_min[0])/2); // User environmental x-axis correction in milliGauss, should be automatically calculated
+ magbias[1] = ((magbias_max[1] + magbias_min[1])/2); // User environmental x-axis correction in milliGauss
+ magbias[2] = ((magbias_max[2] + magbias_min[2])/2); // User environmental x-axis correction in milliGauss
+
+
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ mx = (float)(magCount[0]- magbias[0])*mRes*magCalibration[0] ; // get actual magnetometer value, this depends on scale being set
+ my = (float)(magCount[1]- magbias[1])*mRes*magCalibration[1] ;
+ mz = (float)(magCount[2]- magbias[2])*mRes*magCalibration[2] ;
+ }
+// mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+// pc.printf("ax = %.3f", ax);
+// pc.printf(" ay = %.3f", ay);
+// pc.printf(" az = %.3f \n\r", az);
+// pc.printf("gx = %.3f", gx);
+// pc.printf(" gy = %.3f", gy);
+// pc.printf(" gz = %.3f deg/s\n\r", gz);
+// pc.printf("mx = %.3f", mx / 1000);
+// pc.printf(" my = %.3f", my / 1000);
+// pc.printf(" mz = %.3f \n\n\r", mz / 1000);
+ pitchAngle = atan2f(ay ,az) * 180/PI;
+ if(pitchAngle <= 0)
+ {
+ pitchAngle = (pitchAngle + 180) + 180;
+ }
+ rollAngle = atan2f(-ax,ay*sinf(pitchAngle_rad)+az*cosf(pitchAngle_rad/ 180)) * 180/PI;
+ pitchAngle_rad = pitchAngle * PI/180;
+ rollAngle_rad = rollAngle * PI/180;
+// mx = mz*sinf(rollAngle_rad) - my*cosf(rollAngle_rad);
+// my = mx*cosf(pitchAngle_rad) + my*sinf(pitchAngle_rad)*sinf(rollAngle_rad) + mz*sinf(pitchAngle_rad)*cosf(rollAngle_rad);
+ yawAngle = atan2f(my,mx) * 180/PI;
+// pc.printf(" yawAngle = %.1f \n\n\r", yawAngle);
+ pc.printf(" PitchAngle , RollAngle , YawAngle = %.1f %.1f %.1f \n\r", pitchAngle , rollAngle , yawAngle);
+ wait_ms(100);
+ bt.putc(pitchAngle+rollAngle);
+// bt.putc(rollAngle);
+}
+}
+