Not done - might need - for later
Dependencies: FXOS8700CQ MPU6050IMU mbed
main.cpp
- Committer:
- joshwilkins2013
- Date:
- 2015-03-31
- Revision:
- 0:7eb9e18d5839
File content as of revision 0:7eb9e18d5839:
#include "mbed.h" #include "MPU6050.h" #include "FXOS8700CQ.h" float sum = 0; uint32_t sumCount = 0; MPU6050 mpu6050; FXOS8700CQ fxos(PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // SDA, SCL, (addr << 1) Timer t; InterruptIn fxos_int2(PTC13); // should just be the Data-Ready interrupt bool fxos_int2_triggered = false; // Interrupt status flags and data SRAWDATA accel_data; // Storage for the data from the sensor SRAWDATA magn_data; Serial pc(USBTX, USBRX); // tx, rx void trigger_fxos_int2(void){ fxos_int2_triggered = true; } void print_reading(){ pc.printf("A X:%5d,Y:%5d,Z:%5d M X:%5d,Y:%5d,Z:%5d\r\n", accel_data.x, accel_data.y, accel_data.z, magn_data.x, magn_data.y, magn_data.z); } int main(){ t.start(); pc.baud(115200); // 200Hz x line of output data! printf("\r\n\nFXOS8700Q Who Am I= %X\r\n", fxos.get_whoami()); fxos_int2.fall(&trigger_fxos_int2); // Iterrupt for active-low interrupt line from FXOS fxos.enable(); pc.printf("Started data collection. Accelerometer at max %dg.\r\n", fxos.get_accel_scale()); fxos.get_data(&accel_data, &magn_data); // clear interrupt from device fxos_int2_triggered = false; // un-trigger //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C // Read the WHO_AM_I register, this is a good test of communication uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); if (whoami == 0x68){ // WHO_AM_I should always be 0x68 pc.printf("MPU6050 is online..."); wait(1); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[0]); pc.printf("% of factory value \n\r"); pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[1]); pc.printf("% of factory value \n\r"); pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%f", SelfTest[2]); pc.printf("% of factory value \n\r"); pc.printf("x-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[3]); pc.printf("% of factory value \n\r"); pc.printf("y-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[4]); pc.printf("% of factory value \n\r"); pc.printf("z-axis self test: gyration trim within : "); pc.printf("%f", SelfTest[5]); pc.printf("% of factory value \n\r"); wait(1); if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f){ mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature wait(2); }else pc.printf("Device did not the pass self-test!\n\r"); }else{ pc.printf("Could not connect to MPU6050: \n\r"); pc.printf("%#x \n", whoami); while(1) ; // Loop forever if communication doesn't happen } while(1){ // If data ready bit set, all data registers have new data if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt mpu6050.readAccelData(accelCount); // Read the x/y/z adc values mpu6050.getAres(); // Now we'll calculate the accleration value into actual g's ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set ay = (float)accelCount[1]*aRes - accelBias[1]; az = (float)accelCount[2]*aRes - accelBias[2]; mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values mpu6050.getGres(); // Calculate the gyro value into actual degrees per second gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; tempCount = mpu6050.readTempData(); // Read the x/y/z adc values temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade } if(fxos_int2_triggered){ fxos_int2_triggered = false; // un-trigger fxos.get_data(&accel_data, &magn_data); } Now = t.read_us(); deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update lastUpdate = Now; sum += deltat; sumCount++; if(lastUpdate - firstUpdate > 10000000.0f) { beta = 0.04; // decrease filter gain after stabilized zeta = 0.015; // increasey bias drift gain after stabilized } // Pass gyro rate as rad/s mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); // Serial print and/or display at 0.5 s rate independent of data rates delt_t = t.read_ms() - count; pc.printf("ax = %f", 1000*ax); pc.printf(" ay = %f", 1000*ay); pc.printf(" az = %f mg\n\r", 1000*az); pc.printf("gx = %f", gx); pc.printf(" gy = %f", gy); pc.printf(" gz = %f deg/s\n\r", gz); pc.printf(" temperature = %f C\n\r", temperature); pc.printf("q0 = %f\n\r", q[0]); pc.printf("q1 = %f\n\r", q[1]); pc.printf("q2 = %f\n\r", q[2]); pc.printf("q3 = %f\n\r", q[3]); // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation. // In this coordinate system, the positive z-axis is down toward Earth. // 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. // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative. // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll. // These arise from the definition of the homogeneous rotation matrix constructed from quaternions. // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be // applied in the correct order which for this configuration is yaw, pitch, and then roll. // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links. 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]); pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); 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]); pitch *= 180.0f / PI; yaw *= 180.0f / PI; roll *= 180.0f / PI; // pc.printf("Yaw, Pitch, Roll: \n\r"); // pc.printf("%f", yaw); // pc.printf(", "); // pc.printf("%f", pitch); // pc.printf(", "); // pc.printf("%f\n\r", roll); // pc.printf("average rate = "); pc.printf("%f", (sumCount/sum)); pc.printf(" Hz\n\r"); pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); pc.printf("average rate = %f\n\r", (float) sumCount/sum); count = t.read_ms(); sum = 0; sumCount = 0; } }