Cool-step / Mbed 2 deprecated cool_step_new

first publish

Dependencies:   MPU9150_DMP MotorControl QuaternionMath SimpleIOMacros mbed

Fork of cool_step by Siner Gokhan Yilmaz

main.cpp@4:7ccb10039316, 2015-04-20 (annotated)

Committer:
heuristics
Date:
Mon Apr 20 12:22:15 2015 +0000
Revision:
4:7ccb10039316
Parent:
2:182019316acc
Child:
5:3953111e9476
IMU first test

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