Diff: main.cpp

Revision:

3:e0e7c0150ac1

Parent:

2:17a6810fc73e

--- a/main.cpp	Wed Oct 28 03:37:39 2015 +0000
+++ b/main.cpp	Mon Aug 22 06:15:08 2016 +0000
@@ -14,21 +14,21 @@
 //     2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
 //     2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
 //     2012-05-30 - basic DMP initialization working
-
+ 
 /* ============================================
 I2Cdev device library code is placed under the MIT license
 Copyright (c) 2012 Jeff Rowberg
-
+ 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:
-
+ 
 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.
-
+ 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -38,33 +38,33 @@
 THE SOFTWARE.
 ===============================================
 */
-
+ 
 #include "I2Cdev.h"
 #include "MPU6050_6Axis_MotionApps20.h"
-
+ 
 MPU6050 mpu;
-
+ 
 const float M_PI = 3.14159265;
-
+ 
 /* 四元数出力 (DMP生データ) */
 // #define OUTPUT_READABLE_QUATERNION
 // Memo:四元数とは、任意の方向を軸とした、任意角の回転を表す概念。
-
+ 
 /* オイラー角出力 (四元数->オイラー角算出、ジンバルロック発生に注意) */
 // #define OUTPUT_READABLE_EULER
 // Memo:初期姿勢を基準にした座標
-
+ 
 /* ロール/ピッチ/ヨー出力 (四元数->重力加速度->RPY算出、ジンバルロック発生に注意) */
 #define OUTPUT_READABLE_YAWPITCHROLL
 // Memo:センサーを基準にした座標
-
+ 
 /* 重力加速度を除いた加速度(センサ基準座標) */
 // #define OUTPUT_READABLE_REALACCEL
-
+ 
 /* 重力加速度を除いた加速度(初期姿勢と重力加速度を基準にした座標) */
 // #define OUTPUT_READABLE_WORLDACCEL
-
-
+ 
+ 
 // MPU control/status vars
 bool dmpReady = false;  // DMPの初期化が成功した場合はtrueに設定
 uint8_t mpuIntStatus;   // センサの割り込みステータスを保持
@@ -72,7 +72,7 @@
 uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 uint16_t fifoCount;     // count of all bytes currently in FIFO
 uint8_t fifoBuffer[64]; // FIFO storage buffer
-
+ 
 // orientation/motion vars
 Quaternion q;           // [w, x, y, z]         quaternion container
 VectorInt16 aa;         // [x, y, z]            accel sensor measurements
@@ -81,45 +81,45 @@
 VectorFloat gravity;    // [x, y, z]            gravity vector
 float euler[3];         // [psi, theta, phi]    Euler angle container
 float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
-
-
+ 
+ 
 DigitalOut led1(LED1);
-InterruptIn checkpin(p29);
+InterruptIn checkpin(p25);
 Serial pc(USBTX, USBRX);
-
+ 
 // ================================================================
 // ===                     割り込み検出ルーチン                    ===
 // ================================================================
-
+ 
 volatile bool mpuInterrupt = false;     // センサの割り込みピンがHighになったかどうかを示します
 void dmpDataReady() {
     mpuInterrupt = true;
 }
-
-
+ 
+ 
 // ================================================================
 // ===                        メインルーチン                      ===
 // ================================================================
 void setup();
 void loop();
-
+ 
 int main() {
     setup();
     while(1) {
         loop();
     }
 }
-
+ 
 // ================================================================
 // ===                      INITIAL SETUP                       ===
 // ================================================================
-
+ 
 void setup() {
-
+ 
     // initialize device
     pc.printf("Initializing I2C devices...\r\n");
     mpu.initialize();
-
+ 
     // verify connection
     pc.printf("Testing device connections...\r\n");
     if (mpu.testConnection()) pc.printf("MPU6050 connection successful\r\n");
@@ -130,7 +130,7 @@
     //while (Serial.available() && Serial.read()); // empty buffer
     //while (!Serial.available());                 // wait for data
     //while (Serial.available() && Serial.read()); // empty buffer again
-
+ 
     // load and configure the DMP
     pc.printf("Initializing DMP...\r\n");
     devStatus = mpu.dmpInitialize();
@@ -140,17 +140,17 @@
         // turn on the DMP, now that it's ready
         pc.printf("Enabling DMP...\r\n");
         mpu.setDMPEnabled(true);
-
+ 
         // enable Arduino interrupt detection
         pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n");
         checkpin.rise(&dmpDataReady);
         
         mpuIntStatus = mpu.getIntStatus();
-
+ 
         // set our DMP Ready flag so the main loop() function knows it's okay to use it
         pc.printf("DMP ready! Waiting for first interrupt...\r\n");
         dmpReady = true;
-
+ 
         // get expected DMP packet size for later comparison
         packetSize = mpu.dmpGetFIFOPacketSize();
     } else {
@@ -163,19 +163,19 @@
         pc.printf("%d", devStatus);
         pc.printf(")\r\n");
     }
-
+ 
 }
-
-
-
+ 
+ 
+ 
 // ================================================================
 // ===                    MAIN PROGRAM LOOP                     ===
 // ================================================================
-
+ 
 void loop() {
     // DMPの初期化に失敗した場合、何もしない
     if (!dmpReady) return;
-
+ 
     // センサー割り込み or fifoオーバーフロー待ち
     while (!mpuInterrupt && fifoCount < packetSize) {
         // other program behavior stuff here
@@ -189,32 +189,32 @@
         // .
         // .
     }
-
+ 
     // reset interrupt flag and get INT_STATUS byte
     mpuInterrupt = false;
     mpuIntStatus = mpu.getIntStatus();
-
+ 
     // get current FIFO count
     fifoCount = mpu.getFIFOCount();
-
+ 
     // オーバーフローをチェック (我々のコードがあまりにも非効率的でない限り、これが起こることはありません)
     if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
         // reset so we can continue cleanly
         mpu.resetFIFO();
         //Serial.println(F("FIFO overflow!"));
-
+ 
     // オーバーフローが無ければ、DMPデータ・レディ割り込みをチェック
     } else if (mpuIntStatus & 0x02) {
         // wait for correct available data length, should be a VERY short wait
         while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
-
+ 
         // read a packet from FIFO
         mpu.getFIFOBytes(fifoBuffer, packetSize);
         
         // track FIFO count here in case there is > 1 packet available
         // (this lets us immediately read more without waiting for an interrupt)
         fifoCount -= packetSize;
-
+ 
         #ifdef OUTPUT_READABLE_QUATERNION
             // display quaternion values in easy matrix form: w x y z
             mpu.dmpGetQuaternion(&q, fifoBuffer);
@@ -224,7 +224,7 @@
             printf("%f\t", q.y);
             printf("%f\t\r\n", q.z);
         #endif
-
+ 
         #ifdef OUTPUT_READABLE_EULER
             // display Euler angles in degrees
             mpu.dmpGetQuaternion(&q, fifoBuffer);
@@ -234,7 +234,7 @@
             printf("%f\t", euler[1] * 180/M_PI);
             printf("%f\t\r\n", euler[2] * 180/M_PI);
         #endif
-
+ 
         #ifdef OUTPUT_READABLE_YAWPITCHROLL
             // display Euler angles in degrees
             mpu.dmpGetQuaternion(&q, fifoBuffer);
@@ -245,7 +245,7 @@
             printf("%f\t", ypr[1] * 180/M_PI);
             printf("%f\t\r\n", ypr[2] * 180/M_PI);
         #endif
-
+ 
         #ifdef OUTPUT_READABLE_REALACCEL
             // display real acceleration, adjusted to remove gravity
             mpu.dmpGetQuaternion(&q, fifoBuffer);
@@ -257,7 +257,7 @@
             printf("%d\t", aaReal.y);
             printf("%d\t\r\n", aaReal.z);
         #endif
-
+ 
         #ifdef OUTPUT_READABLE_WORLDACCEL
             // display initial world-frame acceleration, adjusted to remove gravity
             // and rotated based on known orientation from quaternion
@@ -270,7 +270,7 @@
             printf("%d\t", aaWorld.y);
             printf("%d\t\r\n", aaWorld.z);
         #endif
-
+ 
         // blink LED to indicate activity
         led1 = !led1;
     }