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Dependencies:   MPU9150_DMP MotorControl QuaternionMath SimpleIOMacros mbed

Fork of cool_step_new by Cool-step

main.cpp@15:55b8bfa4d09c, 2015-05-15 (annotated)

Committer:
heuristics
Date:
Fri May 15 08:10:06 2015 +0000
Revision:
15:55b8bfa4d09c
Parent:
14:94a02b617085
Child:
17:b3acd6416356
ilk deneme

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 10:09dbd00164b9 4 #include "Motor.h"
heuristics 10:09dbd00164b9 5
heuristics 10:09dbd00164b9 6
heuristics 4:7ccb10039316 7 //led pins
heuristics 1:7681221d0a5c 8 DigitalOut led1(P2_6);
heuristics 1:7681221d0a5c 9 DigitalOut led2(P2_7);
heuristics 1:7681221d0a5c 10 DigitalOut led3(P2_8);
heuristics 10:09dbd00164b9 11 AnalogIn hallSensor(P0_26);
heuristics 15:55b8bfa4d09c 12 InterruptIn hall1_(P0_5), hall2_(P0_4);
heuristics 15:55b8bfa4d09c 13 Hallsensor hall1(P1_26, P1_27);
heuristics 10:09dbd00164b9 14
heuristics 15:55b8bfa4d09c 15 Motor motor1(P2_0, P2_1,&hall1);
heuristics 0:94acd21860e4 16
heuristics 4:7ccb10039316 17
heuristics 15:55b8bfa4d09c 18 Serial RN42(P0_10, P0_11);
heuristics 4:7ccb10039316 19 Serial debug(P0_2, P0_3);
heuristics 4:7ccb10039316 20
heuristics 1:7681221d0a5c 21 Ticker infoTicker;
heuristics 4:7ccb10039316 22
heuristics 5:3953111e9476 23 Timer timer;
heuristics 5:3953111e9476 24 Timer timer2;
heuristics 5:3953111e9476 25
heuristics 7:7f9abf427b06 26
heuristics 12:410ebe8573ce 27 Hallsensor hall2(P0_4, P0_5);
heuristics 12:410ebe8573ce 28 Motor motor2(P2_2, P2_3, &hall2);
heuristics 12:410ebe8573ce 29
heuristics 15:55b8bfa4d09c 30 MPU9150 imu(P0_28, P0_27, P2_13);
heuristics 7:7f9abf427b06 31
heuristics 4:7ccb10039316 32 char buffer[200];
heuristics 1:7681221d0a5c 33 void infoTask(void)
heuristics 1:7681221d0a5c 34 {
heuristics 1:7681221d0a5c 35 led1=!led1;
heuristics 1:7681221d0a5c 36 }
heuristics 10:09dbd00164b9 37 void deneme(void)
heuristics 10:09dbd00164b9 38 {
heuristics 10:09dbd00164b9 39 led3=!led3;
heuristics 10:09dbd00164b9 40 }
heuristics 1:7681221d0a5c 41 int main()
heuristics 1:7681221d0a5c 42 {
heuristics 11:ba1a630e56c4 43
heuristics 15:55b8bfa4d09c 44 RN42.baud(9600);
heuristics 4:7ccb10039316 45 debug.baud(115200);
heuristics 15:55b8bfa4d09c 46 //InitTimer0();
heuristics 15:55b8bfa4d09c 47 //initialize_connection();
heuristics 6:3bd16fdf0b6e 48
heuristics 12:410ebe8573ce 49
heuristics 4:7ccb10039316 50 infoTicker.attach(infoTask,0.2f);
heuristics 4:7ccb10039316 51
heuristics 15:55b8bfa4d09c 52 if(imu.isReady()) {
heuristics 4:7ccb10039316 53 debug.printf("MPU9150 is ready\r\n");
heuristics 4:7ccb10039316 54 } else {
heuristics 4:7ccb10039316 55 debug.printf("MPU9150 initialisation failure\r\n");
heuristics 4:7ccb10039316 56 }
heuristics 15:55b8bfa4d09c 57
heuristics 15:55b8bfa4d09c 58 imu.initialiseDMP();
heuristics 4:7ccb10039316 59
heuristics 4:7ccb10039316 60 timer.start();
heuristics 5:3953111e9476 61 timer2.start();
heuristics 4:7ccb10039316 62
heuristics 14:94a02b617085 63 motor2.setVelocity(0.7);
heuristics 15:55b8bfa4d09c 64 imu.setFifoReset(true);
heuristics 15:55b8bfa4d09c 65 imu.setDMPEnabled(true);
heuristics 4:7ccb10039316 66
heuristics 15:55b8bfa4d09c 67 Quaternion q1;
heuristics 15:55b8bfa4d09c 68 while(1)
heuristics 15:55b8bfa4d09c 69 {
heuristics 6:3bd16fdf0b6e 70
heuristics 15:55b8bfa4d09c 71 if(imu.getFifoCount() >= 48) {
heuristics 15:55b8bfa4d09c 72 imu.getFifoBuffer(buffer, 48);
heuristics 15:55b8bfa4d09c 73 led2 = !led2;
heuristics 15:55b8bfa4d09c 74 debug.printf("%d\r\n",timer2.read_ms());
heuristics 15:55b8bfa4d09c 75 timer2.reset();
heuristics 15:55b8bfa4d09c 76 }
heuristics 4:7ccb10039316 77
heuristics 15:55b8bfa4d09c 78 if(timer.read_ms() > 50)
heuristics 15:55b8bfa4d09c 79 {
heuristics 15:55b8bfa4d09c 80 timer.reset();
heuristics 4:7ccb10039316 81
heuristics 4:7ccb10039316 82 //This is the format of the data in the fifo,
heuristics 4:7ccb10039316 83 /* ================================================================================================ *
heuristics 4:7ccb10039316 84 | Default MotionApps v4.1 48-byte FIFO packet structure: |
heuristics 4:7ccb10039316 85 | |
heuristics 4:7ccb10039316 86 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
heuristics 4:7ccb10039316 87 | 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 88 | |
heuristics 4:7ccb10039316 89 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
heuristics 4:7ccb10039316 90 | 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 91 * ================================================================================================ */
heuristics 4:7ccb10039316 92
heuristics 4:7ccb10039316 93 /*
heuristics 4:7ccb10039316 94 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 95 (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
heuristics 4:7ccb10039316 96 (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
heuristics 4:7ccb10039316 97
heuristics 4:7ccb10039316 98 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 99 (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
heuristics 4:7ccb10039316 100 (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
heuristics 4:7ccb10039316 101
heuristics 4:7ccb10039316 102 debug.printf("%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
heuristics 4:7ccb10039316 103 (int16_t)(buffer[31] << 8) + buffer[30],
heuristics 4:7ccb10039316 104 (int16_t)(buffer[33] << 8) + buffer[32]);
heuristics 4:7ccb10039316 105
heuristics 4:7ccb10039316 106 debug.printf("%f, %f, %f, %f\r\n",
heuristics 4:7ccb10039316 107 (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 108 (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 109 (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 110 (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 111 */
heuristics 4:7ccb10039316 112
heuristics 15:55b8bfa4d09c 113 q1.decode(buffer);
heuristics 10:09dbd00164b9 114
heuristics 15:55b8bfa4d09c 115 debug.printf("%f, ",hallSensor.read());
heuristics 15:55b8bfa4d09c 116 debug.printf("%f, %f, %f, %f ", q1.w, q1.v.x, q1.v.y, q1.v.z);
heuristics 10:09dbd00164b9 117
heuristics 15:55b8bfa4d09c 118 Vector3 vector_x(1,0,0),vector_y(0,1,0),vector_z(0,0,1);
heuristics 15:55b8bfa4d09c 119 Vector3 pry=q1.getEulerAngles();
heuristics 15:55b8bfa4d09c 120 debug.printf("p: %f r: %f y: %f ",pry.x/PI*180,pry.y/PI*180,pry.z/PI*180);
heuristics 15:55b8bfa4d09c 121 debug.printf("m1: %d m2: %d \r\n ",motor2.getPulses(),motor2.getPulses());
heuristics 15:55b8bfa4d09c 122 motor1.setVelocity(pry.x/90);
heuristics 4:7ccb10039316 123
heuristics 4:7ccb10039316 124 }
heuristics 15:55b8bfa4d09c 125 }
heuristics 13:75892580d4ff 126
heuristics 14:94a02b617085 127 }