Cool-step / Mbed 2 deprecated cool_step_1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MPU9150_DMP MotorControl QuaternionMath SimpleIOMacros mbed

Fork of cool_step_new by Cool-step

main.cpp@6:3bd16fdf0b6e, 2015-04-21 (annotated)

Committer:
heuristics
Date:
Tue Apr 21 07:30:19 2015 +0000
Revision:
6:3bd16fdf0b6e
Parent:
5:3953111e9476
Child:
7:7f9abf427b06
first publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
heuristics 0:94acd21860e4 1 #include "mbed.h"
heuristics 4:7ccb10039316 2 #include "MPU9150.h"
heuristics 4:7ccb10039316 3 #include "Quaternion.h"
heuristics 0:94acd21860e4 4
heuristics 4:7ccb10039316 5 //led pins
heuristics 1:7681221d0a5c 6 DigitalOut led1(P2_6);
heuristics 1:7681221d0a5c 7 DigitalOut led2(P2_7);
heuristics 1:7681221d0a5c 8 DigitalOut led3(P2_8);
heuristics 0:94acd21860e4 9
heuristics 4:7ccb10039316 10
heuristics 4:7ccb10039316 11 MPU9150 imu(P0_28, P0_27, P2_13);
heuristics 4:7ccb10039316 12
heuristics 4:7ccb10039316 13
heuristics 4:7ccb10039316 14 Serial RN42(P0_10, P0_11);
heuristics 4:7ccb10039316 15 Serial debug(P0_2, P0_3);
heuristics 4:7ccb10039316 16
heuristics 1:7681221d0a5c 17 Ticker infoTicker;
heuristics 4:7ccb10039316 18 Vector3 eularAngles;
heuristics 4:7ccb10039316 19
heuristics 5:3953111e9476 20 Timer timer;
heuristics 5:3953111e9476 21 Timer timer2;
heuristics 5:3953111e9476 22
heuristics 4:7ccb10039316 23 char buffer[200];
heuristics 1:7681221d0a5c 24 void infoTask(void)
heuristics 1:7681221d0a5c 25 {
heuristics 1:7681221d0a5c 26 led1=!led1;
heuristics 5:3953111e9476 27 printf("%d\r\n",timer2.read_us());
heuristics 1:7681221d0a5c 28 }
heuristics 1:7681221d0a5c 29
heuristics 1:7681221d0a5c 30 int main()
heuristics 1:7681221d0a5c 31 {
heuristics 4:7ccb10039316 32 RN42.baud(9600);
heuristics 4:7ccb10039316 33 debug.baud(115200);
heuristics 6:3bd16fdf0b6e 34
heuristics 4:7ccb10039316 35 infoTicker.attach(infoTask,0.2f);
heuristics 4:7ccb10039316 36
heuristics 4:7ccb10039316 37 if(imu.isReady()) {
heuristics 4:7ccb10039316 38 debug.printf("MPU9150 is ready\r\n");
heuristics 4:7ccb10039316 39 } else {
heuristics 4:7ccb10039316 40 debug.printf("MPU9150 initialisation failure\r\n");
heuristics 4:7ccb10039316 41 }
heuristics 4:7ccb10039316 42
heuristics 4:7ccb10039316 43 imu.initialiseDMP();
heuristics 4:7ccb10039316 44
heuristics 4:7ccb10039316 45 timer.start();
heuristics 5:3953111e9476 46 timer2.start();
heuristics 4:7ccb10039316 47
heuristics 4:7ccb10039316 48 imu.setFifoReset(true);
heuristics 4:7ccb10039316 49 imu.setDMPEnabled(true);
heuristics 4:7ccb10039316 50
heuristics 4:7ccb10039316 51 Quaternion q1;
heuristics 0:94acd21860e4 52 while(1) {
heuristics 6:3bd16fdf0b6e 53
heuristics 4:7ccb10039316 54 if(imu.getFifoCount() >= 48) {
heuristics 4:7ccb10039316 55 imu.getFifoBuffer(buffer, 48);
heuristics 4:7ccb10039316 56 led2 = !led2;
heuristics 6:3bd16fdf0b6e 57 timer2.reset();
heuristics 4:7ccb10039316 58 }
heuristics 4:7ccb10039316 59
heuristics 5:3953111e9476 60 if(timer.read_ms() > 100) {
heuristics 4:7ccb10039316 61 timer.reset();
heuristics 4:7ccb10039316 62
heuristics 4:7ccb10039316 63 //This is the format of the data in the fifo,
heuristics 4:7ccb10039316 64 /* ================================================================================================ *
heuristics 4:7ccb10039316 65 | Default MotionApps v4.1 48-byte FIFO packet structure: |
heuristics 4:7ccb10039316 66 | |
heuristics 4:7ccb10039316 67 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
heuristics 4:7ccb10039316 68 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
heuristics 4:7ccb10039316 69 | |
heuristics 4:7ccb10039316 70 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
heuristics 4:7ccb10039316 71 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
heuristics 4:7ccb10039316 72 * ================================================================================================ */
heuristics 4:7ccb10039316 73
heuristics 4:7ccb10039316 74 /*
heuristics 4:7ccb10039316 75 debug.printf("%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]),
heuristics 4:7ccb10039316 76 (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
heuristics 4:7ccb10039316 77 (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
heuristics 4:7ccb10039316 78
heuristics 4:7ccb10039316 79 debug.printf("%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]),
heuristics 4:7ccb10039316 80 (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
heuristics 4:7ccb10039316 81 (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
heuristics 4:7ccb10039316 82
heuristics 4:7ccb10039316 83 debug.printf("%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
heuristics 4:7ccb10039316 84 (int16_t)(buffer[31] << 8) + buffer[30],
heuristics 4:7ccb10039316 85 (int16_t)(buffer[33] << 8) + buffer[32]);
heuristics 4:7ccb10039316 86
heuristics 4:7ccb10039316 87 debug.printf("%f, %f, %f, %f\r\n",
heuristics 4:7ccb10039316 88 (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
heuristics 4:7ccb10039316 89 (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
heuristics 4:7ccb10039316 90 (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
heuristics 4:7ccb10039316 91 (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
heuristics 4:7ccb10039316 92 */
heuristics 4:7ccb10039316 93
heuristics 4:7ccb10039316 94 q1.decode(buffer);
heuristics 4:7ccb10039316 95 eularAngles = q1.getEulerAngles();
heuristics 4:7ccb10039316 96 debug.printf("%f, %f, %f\r\n", eularAngles.x, eularAngles.y, eularAngles.z);
heuristics 4:7ccb10039316 97
heuristics 4:7ccb10039316 98
heuristics 4:7ccb10039316 99 //TeaPot Demo Packet for MotionFit SDK
heuristics 4:7ccb10039316 100 /*
heuristics 4:7ccb10039316 101 debug.putc('$'); //packet start
heuristics 4:7ccb10039316 102 debug.putc((char)2); //assume packet type constant
heuristics 4:7ccb10039316 103 debug.putc((char)0); //count seems unused
heuristics 4:7ccb10039316 104 for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
heuristics 4:7ccb10039316 105 debug.putc((char)(buffer[i]));
heuristics 4:7ccb10039316 106 }
heuristics 4:7ccb10039316 107 for(int i = 0; i < 5; i++){ //no idea, padded with 0
heuristics 4:7ccb10039316 108 debug.putc((char)0);
heuristics 4:7ccb10039316 109 }
heuristics 4:7ccb10039316 110 */
heuristics 4:7ccb10039316 111 }
heuristics 0:94acd21860e4 112 }
heuristics 0:94acd21860e4 113 }