Diff: main.cpp

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0:fd464054a6b5

diff -r 000000000000 -r fd464054a6b5 main.cpp
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+++ b/main.cpp	Sat Dec 16 07:32:42 2017 +0000
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+/* 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);
+}
+}
+