TurtleBot
IMU for turtle robot project
Dependencies: mbed
Diff: main.cpp
- Revision:
- 4:5002036c82df
- Parent:
- 3:0d58dbc24178
--- a/main.cpp Wed Jan 24 08:44:45 2018 +0000
+++ b/main.cpp Sun Jan 28 09:02:04 2018 +0000
@@ -26,35 +26,18 @@
We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
*/
-//#include "ST_F401_84MHZ.h"
-//F401_init84 myinit(0);
#include "mbed.h"
#include "MPU9250.h"
-//#include "N5110.h"
-
-// Using NOKIA 5110 monochrome 84 x 48 pixel display
-// pin 9 - Serial clock out (SCLK)
-// pin 8 - Serial data out (DIN)
-// pin 7 - Data/Command select (D/C)
-// pin 5 - LCD chip select (CS)
-// pin 6 - LCD reset (RST)
-//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
float sum = 0;
uint32_t sumCount = 0;
char buffer[14];
-
- MPU9250 mpu9250;
-
- Timer t;
+float origin = 0;
- Serial pc(USBTX, USBRX); // tx, rx
+MPU9250 mpu9250;
+Timer t;
+Serial pc(USBTX, USBRX); // tx, rx
- // VCC, SCE, RST, D/C, MOSI,S CLK, LED
-// N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
-
-
-
int main()
{
pc.baud(9600);
@@ -62,51 +45,43 @@
//Set up I2C
i2c.frequency(400000); // use fast (400 kHz) I2C
- pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+ //pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
t.start();
-
-// lcd.init();
-// lcd.setBrightness(0.05);
-
-
+
// Read the WHO_AM_I register, this is a good test of communication
uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
- pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+ //pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
- if (whoami == 0x71) // WHO_AM_I should always be 0x68
+ if (whoami == 0x68) // WHO_AM_I should always be 0x68
{
- pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
- pc.printf("MPU9250 is online...\n\r");
-// lcd.clear();
-// lcd.printString("MPU9250 is", 0, 0);
- sprintf(buffer, "0x%x", whoami);
-// lcd.printString(buffer, 0, 1);
-// lcd.printString("shoud be 0x71", 0, 2);
+ //pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
+ //pc.printf("MPU9250 is online...\n\r");
+ sprintf(buffer, "0x%x", whoami);
wait(1);
mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
- pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
- pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
- pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
- pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
- pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
- pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
+ //pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
+ //pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
+ //pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
+ //pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
+ //pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
+ //pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
- pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
- pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
- pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
- pc.printf("x accel bias = %f\n\r", accelBias[0]);
- pc.printf("y accel bias = %f\n\r", accelBias[1]);
- pc.printf("z accel bias = %f\n\r", accelBias[2]);
+ //pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
+ //pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
+ //pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
+ //pc.printf("x accel bias = %f\n\r", accelBias[0]);
+ //pc.printf("y accel bias = %f\n\r", accelBias[1]);
+ //pc.printf("z accel bias = %f\n\r", accelBias[2]);
wait(2);
mpu9250.initMPU9250();
- pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ //pc.printf("MPU9250 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
mpu9250.initAK8963(magCalibration);
- pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
- pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
- pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
+ //pc.printf("AK8963 initialized for active data mode....\n\r"); // Initialize device for active mode read of magnetometer
+ //pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
+ //pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
@@ -118,11 +93,7 @@
pc.printf("Could not connect to MPU9250: \n\r");
pc.printf("%#x \n", whoami);
-// lcd.clear();
-// lcd.printString("MPU9250", 0, 0);
-// lcd.printString("no connection", 0, 1);
- sprintf(buffer, "WHO_AM_I 0x%x", whoami);
-// lcd.printString(buffer, 0, 2);
+ sprintf(buffer, "WHO_AM_I 0x%x", whoami);
while(1) ; // Loop forever if communication doesn't happen
}
@@ -130,9 +101,9 @@
mpu9250.getAres(); // Get accelerometer sensitivity
mpu9250.getGres(); // Get gyro sensitivity
mpu9250.getMres(); // Get magnetometer sensitivity
- pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
- pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
- pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
+ //pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
+ //pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
+ //pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
magbias[1] = +120.; // User environmental x-axis correction in milliGauss
magbias[2] = +125.; // User environmental x-axis correction in milliGauss
@@ -180,39 +151,30 @@
// Serial print and/or display at 0.5 s rate independent of data rates
delt_t = t.read_ms() - count;
- if (delt_t > 500) { // update LCD once per half-second independent of read rate
-
- pc.printf("ax = %f", 1000*ax);
- pc.printf(" ay = %f", 1000*ay);
- pc.printf(" az = %f mg\n\r", 1000*az);
+ if (delt_t > 50) { // update LCD once per half-second independent of read rate
- pc.printf("gx = %f", gx);
- pc.printf(" gy = %f", gy);
- pc.printf(" gz = %f deg/s\n\r", gz);
-
- pc.printf("gx = %f", mx);
- pc.printf(" gy = %f", my);
- pc.printf(" gz = %f mG\n\r", mz);
+ //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);
- tempCount = mpu9250.readTempData(); // Read the adc values
- temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
- 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]);
+ //pc.printf("gx = %f", mx);
+ //pc.printf(" gy = %f", my);
+ //pc.printf(" gz = %f mG\n\r", mz);
-/* lcd.clear();
- lcd.printString("MPU9250", 0, 0);
- lcd.printString("x y z", 0, 1);
- sprintf(buffer, "%d %d %d mg", (int)(1000.0f*ax), (int)(1000.0f*ay), (int)(1000.0f*az));
- lcd.printString(buffer, 0, 2);
- sprintf(buffer, "%d %d %d deg/s", (int)gx, (int)gy, (int)gz);
- lcd.printString(buffer, 0, 3);
- sprintf(buffer, "%d %d %d mG", (int)mx, (int)my, (int)mz);
- lcd.printString(buffer, 0, 4);
- */
+ //tempCount = mpu9250.readTempData(); // Read the adc values
+ //temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+ //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.
@@ -231,7 +193,7 @@
roll *= 180.0f / PI;
pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
- pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+ //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
// sprintf(buffer, "YPR: %f %f %f", yaw, pitch, roll);
// lcd.printString(buffer, 0, 4);
// sprintf(buffer, "rate = %f", (float) sumCount/sum);