Project bike / Mbed 2 deprecated mpu9250bam2

bamlor nuttymaisuay

Dependencies:   mbed

main.cpp@5:738285670edf, 2017-12-11 (annotated)

Committer:
jaybehandsome
Date:
Mon Dec 11 11:56:44 2017 +0000
Revision:
5:738285670edf
Parent:
4:9cc307f25dc9
Child:
6:1de63d5df56a
wow

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jaybehandsome 0:1e46c1a32764 1 /* MPU9250 Basic Example Code
jaybehandsome 0:1e46c1a32764 2 by: Kris Winer
jaybehandsome 0:1e46c1a32764 3 date: April 1, 2014
jaybehandsome 0:1e46c1a32764 4 license: Beerware - Use this code however you'd like. If you
jaybehandsome 0:1e46c1a32764 5 find it useful you can buy me a beer some time.
jaybehandsome 0:1e46c1a32764 6
jaybehandsome 0:1e46c1a32764 7 Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
jaybehandsome 0:1e46c1a32764 8 getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
jaybehandsome 0:1e46c1a32764 9 allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
jaybehandsome 0:1e46c1a32764 10 Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
jaybehandsome 0:1e46c1a32764 11
jaybehandsome 0:1e46c1a32764 12 SDA and SCL should have external pull-up resistors (to 3.3V).
jaybehandsome 0:1e46c1a32764 13 10k resistors are on the EMSENSR-9250 breakout board.
jaybehandsome 0:1e46c1a32764 14
jaybehandsome 0:1e46c1a32764 15 Hardware setup:
jaybehandsome 0:1e46c1a32764 16 MPU9250 Breakout --------- Arduino
jaybehandsome 0:1e46c1a32764 17 VDD ---------------------- 3.3V
jaybehandsome 0:1e46c1a32764 18 VDDI --------------------- 3.3V
jaybehandsome 0:1e46c1a32764 19 SDA ----------------------- A4
jaybehandsome 0:1e46c1a32764 20 SCL ----------------------- A5
jaybehandsome 0:1e46c1a32764 21 GND ---------------------- GND
jaybehandsome 0:1e46c1a32764 22
jaybehandsome 0:1e46c1a32764 23 Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
jaybehandsome 0:1e46c1a32764 24 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.
jaybehandsome 0:1e46c1a32764 25 We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
jaybehandsome 0:1e46c1a32764 26 We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
jaybehandsome 0:1e46c1a32764 27 */
jaybehandsome 0:1e46c1a32764 28
jaybehandsome 0:1e46c1a32764 29 //#include "ST_F401_84MHZ.h"
jaybehandsome 0:1e46c1a32764 30 //F401_init84 myinit(0);
jaybehandsome 0:1e46c1a32764 31 #include "mbed.h"
jaybehandsome 0:1e46c1a32764 32 #include "MPU9250.h"
jaybehandsome 0:1e46c1a32764 33
jaybehandsome 0:1e46c1a32764 34
jaybehandsome 0:1e46c1a32764 35
jaybehandsome 5:738285670edf 36 float x;
jaybehandsome 0:1e46c1a32764 37 float sum = 0;
jaybehandsome 0:1e46c1a32764 38 uint32_t sumCount = 0;
jaybehandsome 0:1e46c1a32764 39 char buffer[14];
jaybehandsome 0:1e46c1a32764 40
jaybehandsome 0:1e46c1a32764 41 MPU9250 mpu9250;
jaybehandsome 0:1e46c1a32764 42
jaybehandsome 0:1e46c1a32764 43 Timer t;
jaybehandsome 0:1e46c1a32764 44
jaybehandsome 0:1e46c1a32764 45 Serial pc(PA_15, PB_7); // tx, rx
jaybehandsome 5:738285670edf 46 float v, delt_t2 = 0, count2 = 0;
jaybehandsome 5:738285670edf 47 int mode;
jaybehandsome 5:738285670edf 48 char cmode;
jaybehandsome 5:738285670edf 49 Serial bam(D1,D0);
jaybehandsome 0:1e46c1a32764 50
jaybehandsome 4:9cc307f25dc9 51 BusOut B(PA_0,PA_1,PA_4,PB_0,PC_1,PC_2,PC_3), A(PC_10,PC_12,PA_13,PA_14,PC_13,PC_11,PD_2), C(PA_5,PA_6,PA_7,PC_7,PB_2,PB_1,PB_15);
jaybehandsome 5:738285670edf 52 float posA = 0,posB,posC;
jaybehandsome 0:1e46c1a32764 53 int main()
jaybehandsome 0:1e46c1a32764 54 {
jaybehandsome 5:738285670edf 55 mode = 0;
jaybehandsome 5:738285670edf 56 pc.baud(38400);
jaybehandsome 0:1e46c1a32764 57 //Set up I2C
jaybehandsome 0:1e46c1a32764 58 i2c.frequency(400000); // use fast (400 kHz) I2C
jaybehandsome 0:1e46c1a32764 59
jaybehandsome 5:738285670edf 60 bam.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
jaybehandsome 0:1e46c1a32764 61
jaybehandsome 0:1e46c1a32764 62 t.start();
jaybehandsome 0:1e46c1a32764 63
jaybehandsome 0:1e46c1a32764 64
jaybehandsome 0:1e46c1a32764 65 // Read the WHO_AM_I register, this is a good test of communication
jaybehandsome 0:1e46c1a32764 66 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
jaybehandsome 5:738285670edf 67 pc.printf("I AM 0x%x\n\r", whoami); bam.printf("I SHOULD BE 0x71\n\r");
jaybehandsome 0:1e46c1a32764 68
jaybehandsome 0:1e46c1a32764 69 if (whoami == 0x71) // WHO_AM_I should always be 0x68
jaybehandsome 0:1e46c1a32764 70 {
jaybehandsome 5:738285670edf 71 bam.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
jaybehandsome 5:738285670edf 72 bam.printf("MPU9250 is online...\n\r");
jaybehandsome 0:1e46c1a32764 73 sprintf(buffer, "0x%x", whoami);
jaybehandsome 0:1e46c1a32764 74
jaybehandsome 0:1e46c1a32764 75 wait(1);
jaybehandsome 0:1e46c1a32764 76
jaybehandsome 0:1e46c1a32764 77 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
jaybehandsome 0:1e46c1a32764 78 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
jaybehandsome 5:738285670edf 79 bam.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
jaybehandsome 5:738285670edf 80 bam.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
jaybehandsome 5:738285670edf 81 bam.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
jaybehandsome 5:738285670edf 82 bam.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
jaybehandsome 5:738285670edf 83 bam.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
jaybehandsome 5:738285670edf 84 bam.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
jaybehandsome 0:1e46c1a32764 85 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
jaybehandsome 5:738285670edf 86 bam.printf("x gyro bias = %f\n\r", gyroBias[0]);
jaybehandsome 5:738285670edf 87 bam.printf("y gyro bias = %f\n\r", gyroBias[1]);
jaybehandsome 5:738285670edf 88 bam.printf("z gyro bias = %f\n\r", gyroBias[2]);
jaybehandsome 5:738285670edf 89 bam.printf("x accel bias = %f\n\r", accelBias[0]);
jaybehandsome 5:738285670edf 90 bam.printf("y accel bias = %f\n\r", accelBias[1]);
jaybehandsome 5:738285670edf 91 bam.printf("z accel bias = %f\n\r", accelBias[2]);
jaybehandsome 0:1e46c1a32764 92 wait(2);
jaybehandsome 0:1e46c1a32764 93 mpu9250.initMPU9250();
jaybehandsome 5:738285670edf 94 bam.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
jaybehandsome 0:1e46c1a32764 95 mpu9250.initAK8963(magCalibration);
jaybehandsome 5:738285670edf 96 bam.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
jaybehandsome 5:738285670edf 97 bam.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
jaybehandsome 5:738285670edf 98 bam.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
jaybehandsome 5:738285670edf 99 if(Mscale == 0) bam.printf("Magnetometer resolution = 14 bits\n\r");
jaybehandsome 5:738285670edf 100 if(Mscale == 1) bam.printf("Magnetometer resolution = 16 bits\n\r");
jaybehandsome 5:738285670edf 101 if(Mmode == 2) bam.printf("Magnetometer ODR = 8 Hz\n\r");
jaybehandsome 5:738285670edf 102 if(Mmode == 6) bam.printf("Magnetometer ODR = 100 Hz\n\r");
jaybehandsome 0:1e46c1a32764 103 wait(1);
jaybehandsome 0:1e46c1a32764 104 }
jaybehandsome 0:1e46c1a32764 105 else
jaybehandsome 0:1e46c1a32764 106 {
jaybehandsome 5:738285670edf 107 bam.printf("Could not connect to MPU9250: \n\r");
jaybehandsome 5:738285670edf 108 bam.printf("%#x \n", whoami);
jaybehandsome 0:1e46c1a32764 109
jaybehandsome 0:1e46c1a32764 110 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
jaybehandsome 0:1e46c1a32764 111
jaybehandsome 0:1e46c1a32764 112
jaybehandsome 0:1e46c1a32764 113 while(1) ; // Loop forever if communication doesn't happen
jaybehandsome 0:1e46c1a32764 114 }
jaybehandsome 0:1e46c1a32764 115
jaybehandsome 0:1e46c1a32764 116 mpu9250.getAres(); // Get accelerometer sensitivity
jaybehandsome 0:1e46c1a32764 117 mpu9250.getGres(); // Get gyro sensitivity
jaybehandsome 0:1e46c1a32764 118 mpu9250.getMres(); // Get magnetometer sensitivity
jaybehandsome 5:738285670edf 119 // pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
jaybehandsome 5:738285670edf 120 // pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
jaybehandsome 5:738285670edf 121 // pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
jaybehandsome 0:1e46c1a32764 122 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
jaybehandsome 0:1e46c1a32764 123 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
jaybehandsome 0:1e46c1a32764 124 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
jaybehandsome 0:1e46c1a32764 125
jaybehandsome 0:1e46c1a32764 126 while(1) {
jaybehandsome 0:1e46c1a32764 127
jaybehandsome 5:738285670edf 128
jaybehandsome 0:1e46c1a32764 129 // If intPin goes high, all data registers have new data
jaybehandsome 0:1e46c1a32764 130 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
jaybehandsome 0:1e46c1a32764 131
jaybehandsome 4:9cc307f25dc9 132 // mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
jaybehandsome 4:9cc307f25dc9 133 // // Now we'll calculate the accleration value into actual g's
jaybehandsome 4:9cc307f25dc9 134 // ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
jaybehandsome 4:9cc307f25dc9 135 // ay = (float)accelCount[1]*aRes - accelBias[1];
jaybehandsome 4:9cc307f25dc9 136 // az = (float)accelCount[2]*aRes - accelBias[2];
jaybehandsome 0:1e46c1a32764 137
jaybehandsome 0:1e46c1a32764 138 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
jaybehandsome 0:1e46c1a32764 139 // Calculate the gyro value into actual degrees per second
jaybehandsome 0:1e46c1a32764 140 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
jaybehandsome 0:1e46c1a32764 141 gy = (float)gyroCount[1]*gRes - gyroBias[1];
jaybehandsome 0:1e46c1a32764 142 gz = (float)gyroCount[2]*gRes - gyroBias[2];
jaybehandsome 0:1e46c1a32764 143
jaybehandsome 4:9cc307f25dc9 144 // mpu9250.readMagData(magCount); // Read the x/y/z adc values
jaybehandsome 4:9cc307f25dc9 145 // // Calculate the magnetometer values in milliGauss
jaybehandsome 4:9cc307f25dc9 146 // // Include factory calibration per data sheet and user environmental corrections
jaybehandsome 4:9cc307f25dc9 147 // mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
jaybehandsome 4:9cc307f25dc9 148 // my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
jaybehandsome 4:9cc307f25dc9 149 // mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
jaybehandsome 4:9cc307f25dc9 150 // }
jaybehandsome 0:1e46c1a32764 151
jaybehandsome 4:9cc307f25dc9 152 // Now = t.read_us();
jaybehandsome 4:9cc307f25dc9 153 // deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
jaybehandsome 4:9cc307f25dc9 154 // lastUpdate = Now;
jaybehandsome 0:1e46c1a32764 155
jaybehandsome 4:9cc307f25dc9 156 //sum += deltat;
jaybehandsome 4:9cc307f25dc9 157 // sumCount++;
jaybehandsome 0:1e46c1a32764 158
jaybehandsome 0:1e46c1a32764 159 // if(lastUpdate - firstUpdate > 10000000.0f) {
jaybehandsome 0:1e46c1a32764 160 // beta = 0.04; // decrease filter gain after stabilized
jaybehandsome 0:1e46c1a32764 161 // zeta = 0.015; // increasey bias drift gain after stabilized
jaybehandsome 0:1e46c1a32764 162 // }
jaybehandsome 0:1e46c1a32764 163
jaybehandsome 0:1e46c1a32764 164 // Pass gyro rate as rad/s
jaybehandsome 0:1e46c1a32764 165 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
jaybehandsome 0:1e46c1a32764 166 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
jaybehandsome 0:1e46c1a32764 167
jaybehandsome 0:1e46c1a32764 168 // Serial print and/or display at 0.5 s rate independent of data rates
jaybehandsome 4:9cc307f25dc9 169 delt_t = t.read_us() - count;
jaybehandsome 4:9cc307f25dc9 170 if (delt_t > 1) { // update LCD once per half-second independent of read rate
jaybehandsome 4:9cc307f25dc9 171 // pc.printf("delt_t = %f\n",delt_t);
jaybehandsome 4:9cc307f25dc9 172
jaybehandsome 4:9cc307f25dc9 173 // if (gz < 1)
jaybehandsome 4:9cc307f25dc9 174 // {
jaybehandsome 4:9cc307f25dc9 175 // x = 0;
jaybehandsome 4:9cc307f25dc9 176 // }
jaybehandsome 4:9cc307f25dc9 177 // else if (gz < 50)
jaybehandsome 4:9cc307f25dc9 178 // {
jaybehandsome 4:9cc307f25dc9 179 // x = 19;
jaybehandsome 4:9cc307f25dc9 180 // }
jaybehandsome 4:9cc307f25dc9 181 // else
jaybehandsome 4:9cc307f25dc9 182 // {
jaybehandsome 4:9cc307f25dc9 183 // x = 13;
jaybehandsome 4:9cc307f25dc9 184 // }
jaybehandsome 4:9cc307f25dc9 185 // x=35;
jaybehandsome 5:738285670edf 186 // if(gz<0)
jaybehandsome 5:738285670edf 187 // {
jaybehandsome 5:738285670edf 188 // x = 0;
jaybehandsome 5:738285670edf 189 // }
jaybehandsome 5:738285670edf 190 // else{
jaybehandsome 5:738285670edf 191 // x = 40 ;
jaybehandsome 5:738285670edf 192 // }
jaybehandsome 5:738285670edf 193 x = 97.5;
jaybehandsome 4:9cc307f25dc9 194 posA += (gz*delt_t*x/1000000);
jaybehandsome 4:9cc307f25dc9 195 posA = fmod(posA,360);
jaybehandsome 4:9cc307f25dc9 196 posB = fmod(posA + 240,360);
jaybehandsome 4:9cc307f25dc9 197 posC = fmod(posA + 120,360);
jaybehandsome 5:738285670edf 198 if (mode == 1)
jaybehandsome 5:738285670edf 199 {
jaybehandsome 4:9cc307f25dc9 200 //pc.printf("x = %f", x);
jaybehandsome 4:9cc307f25dc9 201
jaybehandsome 2:af822f5a5120 202
jaybehandsome 3:46cc9d386ff4 203 // if (posA >= 360 && posA < 720)
jaybehandsome 3:46cc9d386ff4 204 // {
jaybehandsome 2:af822f5a5120 205 // A = 0x7F;
jaybehandsome 2:af822f5a5120 206 // B = 0x7F;
jaybehandsome 2:af822f5a5120 207 // C = 0x7F;
jaybehandsome 2:af822f5a5120 208 // }
jaybehandsome 3:46cc9d386ff4 209 // else if (posA >= 720 && posA < 1080)
jaybehandsome 3:46cc9d386ff4 210 // {
jaybehandsome 3:46cc9d386ff4 211 // A = 0x7F;
jaybehandsome 3:46cc9d386ff4 212 // B = 0;
jaybehandsome 3:46cc9d386ff4 213 // C = 0;
jaybehandsome 3:46cc9d386ff4 214 // }
jaybehandsome 3:46cc9d386ff4 215 // else if (posA >= 1080 && posA < 1440)
jaybehandsome 3:46cc9d386ff4 216 // {
jaybehandsome 3:46cc9d386ff4 217 // A = 0x7F;
jaybehandsome 3:46cc9d386ff4 218 // B = 0x7F;
jaybehandsome 3:46cc9d386ff4 219 // C = 0x7F;
jaybehandsome 3:46cc9d386ff4 220 // }
jaybehandsome 3:46cc9d386ff4 221 // else if (posA >= 1440 && posA < 1800)
jaybehandsome 3:46cc9d386ff4 222 // {
jaybehandsome 3:46cc9d386ff4 223 // A = 0x7F;
jaybehandsome 3:46cc9d386ff4 224 // B = 0;
jaybehandsome 3:46cc9d386ff4 225 // C = 0;
jaybehandsome 3:46cc9d386ff4 226 // }
jaybehandsome 3:46cc9d386ff4 227 // else if (posA >= 1800)
jaybehandsome 3:46cc9d386ff4 228 // {
jaybehandsome 3:46cc9d386ff4 229 // A = 0x7F;
jaybehandsome 3:46cc9d386ff4 230 // B = 0x7F;
jaybehandsome 3:46cc9d386ff4 231 // C = 0x7F;
jaybehandsome 3:46cc9d386ff4 232 // }
jaybehandsome 2:af822f5a5120 233 // else
jaybehandsome 2:af822f5a5120 234 // {
jaybehandsome 2:af822f5a5120 235 // A = 0;
jaybehandsome 2:af822f5a5120 236 // B = 0;
jaybehandsome 2:af822f5a5120 237 // C = 0;
jaybehandsome 2:af822f5a5120 238 // }
jaybehandsome 2:af822f5a5120 239 // if (posA >= 360)
jaybehandsome 2:af822f5a5120 240 // {
jaybehandsome 2:af822f5a5120 241 // break;
jaybehandsome 2:af822f5a5120 242 // }
jaybehandsome 4:9cc307f25dc9 243
jaybehandsome 5:738285670edf 244 if (posA > 0 && posA <= 6)
jaybehandsome 3:46cc9d386ff4 245 {
jaybehandsome 4:9cc307f25dc9 246 A = 0x70;
jaybehandsome 4:9cc307f25dc9 247 }
jaybehandsome 5:738285670edf 248 else if (posA > 6 && posA <= 12)
jaybehandsome 5:738285670edf 249 {
jaybehandsome 5:738285670edf 250 A = 0x70;
jaybehandsome 5:738285670edf 251 }
jaybehandsome 5:738285670edf 252 else if(posA > 12 && posA <= 18 )
jaybehandsome 5:738285670edf 253 {
jaybehandsome 5:738285670edf 254 A = 0x08;
jaybehandsome 5:738285670edf 255 }
jaybehandsome 5:738285670edf 256 else if(posA > 18 && posA <= 24 )
jaybehandsome 4:9cc307f25dc9 257 {
jaybehandsome 4:9cc307f25dc9 258 A = 0x08;
jaybehandsome 3:46cc9d386ff4 259 }
jaybehandsome 5:738285670edf 260 else if(posA > 24 && posA <= 30 )
jaybehandsome 5:738285670edf 261 {
jaybehandsome 5:738285670edf 262 A = 0x07;
jaybehandsome 5:738285670edf 263 }
jaybehandsome 5:738285670edf 264 else if(posA > 30 && posA <= 36 )
jaybehandsome 4:9cc307f25dc9 265 {
jaybehandsome 4:9cc307f25dc9 266 A = 0x07;
jaybehandsome 4:9cc307f25dc9 267 }
jaybehandsome 5:738285670edf 268 else if(posA > 36 && posA <= 42 )
jaybehandsome 5:738285670edf 269 {
jaybehandsome 5:738285670edf 270 A = 0x08;
jaybehandsome 5:738285670edf 271 }
jaybehandsome 5:738285670edf 272 else if(posA > 42 && posA <= 48 )
jaybehandsome 3:46cc9d386ff4 273 {
jaybehandsome 4:9cc307f25dc9 274 A = 0x08;
jaybehandsome 4:9cc307f25dc9 275 }
jaybehandsome 5:738285670edf 276 else if(posA > 48 && posA <= 54 )
jaybehandsome 5:738285670edf 277 {
jaybehandsome 5:738285670edf 278 A = 0x70;
jaybehandsome 5:738285670edf 279 }
jaybehandsome 5:738285670edf 280 else if(posA > 54 && posA <= 59 )
jaybehandsome 4:9cc307f25dc9 281 {
jaybehandsome 4:9cc307f25dc9 282 A = 0x70;
jaybehandsome 4:9cc307f25dc9 283 }
jaybehandsome 3:46cc9d386ff4 284 else
jaybehandsome 3:46cc9d386ff4 285 {
jaybehandsome 3:46cc9d386ff4 286 A = 0x00;
jaybehandsome 3:46cc9d386ff4 287 }
jaybehandsome 5:738285670edf 288 if (posB > 0 && posB <= 6)
jaybehandsome 3:46cc9d386ff4 289 {
jaybehandsome 4:9cc307f25dc9 290 B = 0x70;
jaybehandsome 4:9cc307f25dc9 291 }
jaybehandsome 5:738285670edf 292 else if (posB > 6 && posB <= 12)
jaybehandsome 5:738285670edf 293 {
jaybehandsome 5:738285670edf 294 B = 0x70;
jaybehandsome 5:738285670edf 295 }
jaybehandsome 5:738285670edf 296 else if(posB > 12 && posB <= 18 )
jaybehandsome 5:738285670edf 297 {
jaybehandsome 5:738285670edf 298 B = 0x08;
jaybehandsome 5:738285670edf 299 }
jaybehandsome 5:738285670edf 300 else if(posB > 18 && posB <= 24 )
jaybehandsome 4:9cc307f25dc9 301 {
jaybehandsome 4:9cc307f25dc9 302 B = 0x08;
jaybehandsome 3:46cc9d386ff4 303 }
jaybehandsome 5:738285670edf 304 else if(posB > 24 && posB <= 30 )
jaybehandsome 5:738285670edf 305 {
jaybehandsome 5:738285670edf 306 B = 0x07;
jaybehandsome 5:738285670edf 307 }
jaybehandsome 5:738285670edf 308 else if(posB > 30 && posB <= 36 )
jaybehandsome 4:9cc307f25dc9 309 {
jaybehandsome 4:9cc307f25dc9 310 B = 0x07;
jaybehandsome 4:9cc307f25dc9 311 }
jaybehandsome 5:738285670edf 312 else if(posB > 36 && posB <= 42 )
jaybehandsome 5:738285670edf 313 {
jaybehandsome 5:738285670edf 314 B = 0x08;
jaybehandsome 5:738285670edf 315 }
jaybehandsome 5:738285670edf 316 else if(posB > 42 && posB <= 48 )
jaybehandsome 4:9cc307f25dc9 317 {
jaybehandsome 4:9cc307f25dc9 318 B = 0x08;
jaybehandsome 4:9cc307f25dc9 319 }
jaybehandsome 5:738285670edf 320 else if(posB > 48 && posB <= 54 )
jaybehandsome 5:738285670edf 321 {
jaybehandsome 5:738285670edf 322 B = 0x70;
jaybehandsome 5:738285670edf 323 }
jaybehandsome 5:738285670edf 324 else if(posB > 54 && posB <= 59 )
jaybehandsome 4:9cc307f25dc9 325 {
jaybehandsome 4:9cc307f25dc9 326 B = 0x70;
jaybehandsome 4:9cc307f25dc9 327 }
jaybehandsome 3:46cc9d386ff4 328 else
jaybehandsome 3:46cc9d386ff4 329 {
jaybehandsome 3:46cc9d386ff4 330 B = 0x00;
jaybehandsome 3:46cc9d386ff4 331 }
jaybehandsome 4:9cc307f25dc9 332
jaybehandsome 5:738285670edf 333 if (posC > 0 && posC <= 6)
jaybehandsome 3:46cc9d386ff4 334 {
jaybehandsome 4:9cc307f25dc9 335 C = 0x70;
jaybehandsome 4:9cc307f25dc9 336 }
jaybehandsome 5:738285670edf 337 else if (posC > 6 && posC <= 12)
jaybehandsome 5:738285670edf 338 {
jaybehandsome 5:738285670edf 339 C = 0x70;
jaybehandsome 5:738285670edf 340 }
jaybehandsome 5:738285670edf 341 else if(posC > 12 && posC <= 18 )
jaybehandsome 5:738285670edf 342 {
jaybehandsome 5:738285670edf 343 C = 0x08;
jaybehandsome 5:738285670edf 344 }
jaybehandsome 5:738285670edf 345 else if(posC > 18 && posC <= 24 )
jaybehandsome 4:9cc307f25dc9 346 {
jaybehandsome 4:9cc307f25dc9 347 C = 0x08;
jaybehandsome 3:46cc9d386ff4 348 }
jaybehandsome 5:738285670edf 349 else if(posC > 24 && posC <= 30 )
jaybehandsome 5:738285670edf 350 {
jaybehandsome 5:738285670edf 351 C = 0x07;
jaybehandsome 5:738285670edf 352 }
jaybehandsome 5:738285670edf 353 else if(posC > 30 && posC <= 36 )
jaybehandsome 4:9cc307f25dc9 354 {
jaybehandsome 4:9cc307f25dc9 355 C = 0x07;
jaybehandsome 5:738285670edf 356 }
jaybehandsome 5:738285670edf 357 else if(posC > 36 && posC <= 42 )
jaybehandsome 5:738285670edf 358 {
jaybehandsome 5:738285670edf 359 C = 0x08;
jaybehandsome 5:738285670edf 360 }
jaybehandsome 5:738285670edf 361 else if(posC > 42 && posC <= 48 )
jaybehandsome 4:9cc307f25dc9 362 {
jaybehandsome 4:9cc307f25dc9 363 C = 0x08;
jaybehandsome 4:9cc307f25dc9 364 }
jaybehandsome 5:738285670edf 365 else if(posC > 48 && posC <= 54 )
jaybehandsome 5:738285670edf 366 {
jaybehandsome 5:738285670edf 367 C = 0x70;
jaybehandsome 5:738285670edf 368 }
jaybehandsome 5:738285670edf 369 else if(posC > 54&& posC <= 59 )
jaybehandsome 4:9cc307f25dc9 370 {
jaybehandsome 4:9cc307f25dc9 371 C = 0x70;
jaybehandsome 4:9cc307f25dc9 372 }
jaybehandsome 3:46cc9d386ff4 373 else
jaybehandsome 3:46cc9d386ff4 374 {
jaybehandsome 3:46cc9d386ff4 375 C = 0x00;
jaybehandsome 3:46cc9d386ff4 376 }
jaybehandsome 5:738285670edf 377 }
jaybehandsome 5:738285670edf 378 else if (mode == 2)
jaybehandsome 5:738285670edf 379 {
jaybehandsome 5:738285670edf 380
jaybehandsome 5:738285670edf 381 }
jaybehandsome 0:1e46c1a32764 382 // pc.printf("ax = %f", 1000*ax);
jaybehandsome 0:1e46c1a32764 383 // pc.printf(" ay = %f", 1000*ay);
jaybehandsome 0:1e46c1a32764 384 // pc.printf(" az = %f mg\n\r", 1000*az);
jaybehandsome 0:1e46c1a32764 385
jaybehandsome 2:af822f5a5120 386 // pc.printf("gx = %f", gx);
jaybehandsome 2:af822f5a5120 387 // pc.printf(" gy = %f", gy);
jaybehandsome 5:738285670edf 388 // pc.printf(" %.2f\r", gz);
jaybehandsome 5:738285670edf 389 // pc.printf(" %.2f %.2f %.2f\n", posA, posB, posC);
jaybehandsome 0:1e46c1a32764 390
jaybehandsome 0:1e46c1a32764 391 // pc.printf("gx = %f", mx);
jaybehandsome 0:1e46c1a32764 392 // pc.printf(" gy = %f", my);
jaybehandsome 0:1e46c1a32764 393 // pc.printf(" gz = %f mG\n\r", mz);
jaybehandsome 0:1e46c1a32764 394
jaybehandsome 4:9cc307f25dc9 395 // tempCount = mpu9250.readTempData(); // Read the adc values
jaybehandsome 4:9cc307f25dc9 396 // temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
jaybehandsome 1:c102abc55118 397 // pc.printf(" temperature = %f C\n\r", temperature);
jaybehandsome 0:1e46c1a32764 398
jaybehandsome 0:1e46c1a32764 399 // pc.printf("q0 = %f\n\r", q[0]);
jaybehandsome 0:1e46c1a32764 400 // pc.printf("q1 = %f\n\r", q[1]);
jaybehandsome 0:1e46c1a32764 401 // pc.printf("q2 = %f\n\r", q[2]);
jaybehandsome 0:1e46c1a32764 402 // pc.printf("q3 = %f\n\r", q[3]);
jaybehandsome 0:1e46c1a32764 403
jaybehandsome 0:1e46c1a32764 404
jaybehandsome 0:1e46c1a32764 405
jaybehandsome 0:1e46c1a32764 406 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
jaybehandsome 0:1e46c1a32764 407 // In this coordinate system, the positive z-axis is down toward Earth.
jaybehandsome 0:1e46c1a32764 408 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
jaybehandsome 0:1e46c1a32764 409 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
jaybehandsome 0:1e46c1a32764 410 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
jaybehandsome 0:1e46c1a32764 411 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
jaybehandsome 0:1e46c1a32764 412 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
jaybehandsome 0:1e46c1a32764 413 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
jaybehandsome 0:1e46c1a32764 414 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
jaybehandsome 4:9cc307f25dc9 415 // yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
jaybehandsome 4:9cc307f25dc9 416 // pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
jaybehandsome 4:9cc307f25dc9 417 // roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
jaybehandsome 4:9cc307f25dc9 418 // pitch *= 180.0f / PI;
jaybehandsome 4:9cc307f25dc9 419 // yaw *= 180.0f / PI;
jaybehandsome 4:9cc307f25dc9 420 // yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
jaybehandsome 4:9cc307f25dc9 421 // roll *= 180.0f / PI;
jaybehandsome 0:1e46c1a32764 422
jaybehandsome 0:1e46c1a32764 423 // pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
jaybehandsome 0:1e46c1a32764 424 // pc.printf("average rate = %f\n\r", (float) sumCount/sum);
jaybehandsome 0:1e46c1a32764 425 // sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
jaybehandsome 0:1e46c1a32764 426 // sprintf(buffer, "rate = %f", (float) sumCount/sum);
jaybehandsome 0:1e46c1a32764 427 //
jaybehandsome 0:1e46c1a32764 428
jaybehandsome 4:9cc307f25dc9 429 count = t.read_us();
jaybehandsome 0:1e46c1a32764 430
jaybehandsome 4:9cc307f25dc9 431 // if(count > 1<<21) {
jaybehandsome 4:9cc307f25dc9 432 // t.start(); // start the timer over again if ~30 minutes has passed
jaybehandsome 4:9cc307f25dc9 433 // count = 0;
jaybehandsome 4:9cc307f25dc9 434 // deltat= 0;
jaybehandsome 4:9cc307f25dc9 435 // lastUpdate = t.read_us();
jaybehandsome 4:9cc307f25dc9 436 // }
jaybehandsome 4:9cc307f25dc9 437 // sum = 0;
jaybehandsome 4:9cc307f25dc9 438 // sumCount = 0;
jaybehandsome 0:1e46c1a32764 439 }
jaybehandsome 5:738285670edf 440 delt_t2 = t.read_us() - count2;
jaybehandsome 5:738285670edf 441 if (delt_t2 >= 1000000)
jaybehandsome 5:738285670edf 442 {
jaybehandsome 5:738285670edf 443 v = (gz*x*PI*0.35*3600)/(180*1000*100);
jaybehandsome 5:738285670edf 444 pc.printf("%0.1f",v);
jaybehandsome 5:738285670edf 445 count2 = t.read_us();
jaybehandsome 5:738285670edf 446 }
jaybehandsome 5:738285670edf 447 if (pc.readable())
jaybehandsome 5:738285670edf 448 {
jaybehandsome 5:738285670edf 449 cmode = pc.getc();
jaybehandsome 5:738285670edf 450 switch (cmode)
jaybehandsome 5:738285670edf 451 {
jaybehandsome 5:738285670edf 452 case '?':
jaybehandsome 5:738285670edf 453 mode = 1;
jaybehandsome 5:738285670edf 454 break;
jaybehandsome 5:738285670edf 455
jaybehandsome 5:738285670edf 456 case 'j'
jaybehandsome 5:738285670edf 457 mode = 2;
jaybehandsome 5:738285670edf 458 break;
jaybehandsome 5:738285670edf 459 }
jaybehandsome 5:738285670edf 460 }
jaybehandsome 0:1e46c1a32764 461 }
jaybehandsome 3:46cc9d386ff4 462
jaybehandsome 4:9cc307f25dc9 463
jaybehandsome 4:9cc307f25dc9 464 }
jaybehandsome 0:1e46c1a32764 465 }