Revision 2:bb20d5091065, committed 2015-09-01

Comitter:

xosuuu

Date:

Tue Sep 01 14:06:00 2015 +0000

Parent:

1:61bf659e4a1f

Child:

3:ceb5990f373f

Commit message:

This program use the STM32L152 developement board and the MPU-9250 9-axis InvenSense movement sensor. The communication between both devices is made through I2C serial interface.

Changed in this revision

--- a/MPU9250.h	Sun Jun 07 16:48:13 2015 +0000
+++ b/MPU9250.h	Tue Sep 01 14:06:00 2015 +0000
@@ -218,6 +218,7 @@
 float temperature;
 float SelfTest[6];
 float orientation[1];
+float magn_x, magn_y;
 
 int delt_t = 0; // used to control display output rate
 int count = 0;  // used to control display output rate
@@ -260,7 +261,7 @@
         char data_write[1];
         data_write[0] = subAddress;
         I2Cstate = i2c.write(address, data_write, 1, 1); // no stop
-        I2Cstate = i2c.read(address, data, 1, 0); 
+        I2Cstate = i2c.read(address, data, 1, 0);
         return data[0];
     }
 
@@ -452,7 +453,7 @@
   
         // reset device, reset all registers, clear gyro and accelerometer bias registers
         writeByte(MPU9250_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
-        wait(0.1);  
+        wait(0.1);
    
         // get stable time source
         // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
@@ -478,7 +479,7 @@
         uint16_t  gyrosensitivity  = 131;   // = 131 LSB/degrees/sec
         uint16_t  accelsensitivity = 16384;  // = 16384 LSB/g
 
-        // Configure FIFO to capture accelerometer and gyro data for bias calculation
+        // Configure FIFO to capture accelerometer and gyro data. This data will be used for bias calculation
         writeByte(MPU9250_ADDRESS, USER_CTRL, 0x40);   // Enable FIFO  
         writeByte(MPU9250_ADDRESS, FIFO_EN, 0x78);     // Enable gyro and accelerometer sensors for FIFO (max size 512 bytes in MPU-9250)
         wait(0.04); // accumulate 40 samples in 80 milliseconds = 480 bytes
@@ -626,7 +627,6 @@
         // Configure the accelerometer for self-test
         writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
         writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
-        //delay(25); // Delay a while to let the device stabilize
         wait_ms(25); // Delay a while to let the device stabilize
 
         for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
@@ -686,7 +686,6 @@
         what the magnetometer will read. A value, called the declination angle, can be applied to the magnetic direction to correct for this.
         On Valencia (Spain) this value is about 0 degrees.
         */
-        float magn_x, magn_y;
                 
         // First of all measure 3 axis magnetometer values (only X and Y axis is used):        
         readMagData(magCount);  // Read the x/y/z adc values   

--- a/main.cpp	Sun Jun 07 16:48:13 2015 +0000
+++ b/main.cpp	Tue Sep 01 14:06:00 2015 +0000
@@ -26,6 +26,7 @@
 uint32_t sumCount = 0;
 char buffer[14];
 uint8_t dato_leido[2];
+uint8_t whoami;
 
 int main() {
     
@@ -37,7 +38,7 @@
   t.start(); // Timer ON
   
   // Read the WHO_AM_I register, this is a good test of communication
-  uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+  whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
   
   pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
   if (I2Cstate != 0) // error on I2C
@@ -107,8 +108,7 @@
       
         // If intPin goes high, all data registers have new data
         if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
-            
-            wait(5);        
+              
             mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values   
             // Now we'll calculate the accleration value into actual g's
             if (I2Cstate != 0) //error on I2C
@@ -120,7 +120,6 @@
                 az = (float)accelCount[2]*aRes - accelBias[2];
             }   
             
-            wait(5);
             mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
             // Calculate the gyro value into actual degrees per second
             if (I2Cstate != 0) //error on I2C
@@ -132,7 +131,6 @@
                 gz = (float)gyroCount[2]*gRes - gyroBias[2];
             }
             
-            wait(5);
             mpu9250.readMagData(magCount);  // Read the x/y/z adc values   
             // Calculate the magnetometer values in milliGauss
             // Include factory calibration per data sheet and user environmental corrections
@@ -144,8 +142,7 @@
                 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];  
                 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
             }
-            
-            wait(5);            
+                       
             mpu9250.getCompassOrientation(orientation);
         }