Diff: main.cpp

Revision:

0:5ed57e0c2298

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 31 22:36:45 2015 +0000
@@ -0,0 +1,154 @@
+#include "mbed.h"
+#include "MPU6050.h"
+#include "SDFileSystem.h"
+#include "Mouse.h"
+
+SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
+
+Serial pc(USBTX, USBRX);
+
+FILE *Data;   // Creates name of file
+char buffer[5000000];  // Buffer size (# of characters) for SD card
+
+MPU6050 mpu6050;
+MOUSE mouse;
+Timer t;
+
+DigitalIn button(PTB9);
+
+signed long mx, my;
+float d,dx,dy;
+double x,xx,y,yy;
+double psi,lpsi=0;   // psi - current orientation, lpsi - last orientation, theta - current angle around circle
+double gyroZ,lgyroZ;
+double dt, timer;
+
+bool closed = 1;    // Flag for sd card, to open and close with switch
+
+
+//================================================================================
+//=============               Sensor Initialization                  =============
+//================================================================================
+
+void gyro_init(){
+    i2c.frequency(400000);
+    
+    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){
+        pc.printf("MPU6050 is online...");
+        wait(1);
+
+        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+        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
+
+            pc.printf("\nMPU6050 passed self test... Initializing");
+            wait(2); //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+        } else pc.printf("\nDevice 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
+    }
+}
+
+
+//================================================================================
+//=============                     Get Inputs                       =============
+//================================================================================
+
+void get_Rates(){
+    if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+        mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc gyro values
+        mpu6050.getGres();
+        gyroZ = gyroCount[2]*gRes; // - gyroBias[2];
+    }
+}
+
+
+//================================================================================
+//=============                 Main Program Start                   =============
+//================================================================================
+
+int main(){
+    pc.baud(115200);
+    
+    Data = fopen("/sd/Data.txt", "w");
+    closed = 0;
+    
+    gyro_init();
+    mouse.init();
+    
+    t.start();
+    timer = t.read_us();
+
+    while(1) {
+        if(button) {
+            
+            if (closed){
+                Data = fopen("/sd/Data.txt", "w");
+                closed = 0;
+            }
+            
+            DigitalOut myled(LED1);
+                
+            get_Rates();  // Gyro rates & Mouse position
+
+            dt = (t.read_us() - timer) / 1000000.00;
+            timer = t.read_us();
+
+
+//================================================================================
+//=============                   Char Conversion                    =============
+//================================================================================
+
+            psi += ((lgyroZ+gyroZ)/2)*dt;  // Current orientation/pose
+            if (psi>360) psi -= 360; // resets current orientation to keep between 0 & 360
+            if (psi<-360) psi += 360; // resets current orientation to keep between 0 & -360
+            lgyroZ = gyroZ;
+                        
+            mx = mouse.getDx();
+            my = mouse.getDy();
+            dx = (mx/231.25);  // Converts char into float in inches
+            dy = (my/231.25);  // Experimentally obtained 231.25 (1850/8in)
+                        
+            double a1 = psi;
+            a1 *= (PI/180);
+            double a2 = lpsi;
+            a2 *= (PI/180);
+            double a3 = a1-a2;
+                        
+            double a = dx*tan(a3);
+            double b = dx/cos(a3);
+            double c = (dy+a)*cos(a2)-(b*sin(a1));
+            double d = sqrt((dx*dx)+(dy*dy));
+            double e = sqrt((d*d)-(c*c));
+            double f = (dy+a)*cos(a3);
+            double g = c*cos(a1);
+            double h = (f-g)/(sin(a1));
+            
+            yy -= c;
+            xx += h;
+            
+            x = xx + 3;
+            y = yy - 9.5;
+            
+            lpsi = psi;
+            
+            if (Data == NULL) pc.printf("Unable to write the file \n");  // This chunk for writing to file on SD card
+            else fprintf(Data, "%f %f %f %f\r\n",psi,x,y,timer);  // can read float or double not int (only checked these three types)
+                        
+        }else{
+            if(!closed){                                                                                                           
+                fclose(Data);
+                closed = 1;
+            }
+        }
+    }
+}
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