Diff: main_imu.h

Revision:

0:a9753886e1e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_imu.h	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,175 @@
+/* MPU6050 Basic Example Code
+ by: Kris Winer
+ date: May 1, 2014
+ license: Beerware - Use this code however you'd like. If you 
+ find it useful you can buy me a beer some time.
+ 
+ Demonstrate  MPU-6050 basic functionality including initialization, accelerometer trimming, sleep mode functionality as well as
+ parameterizing the register addresses. Added display functions to allow display to on breadboard monitor. 
+ No DMP use. We just want to get out the accelerations, temperature, and gyro readings.
+ 
+ SDA and SCL should have external pull-up resistors (to 3.3V).
+ 10k resistors worked for me. They should be on the breakout
+ board.
+ 
+ Hardware setup:
+ MPU6050 Breakout --------- Arduino
+ 3.3V --------------------- 3.3V
+ SDA ----------------------- A4
+ SCL ----------------------- A5
+ GND ---------------------- GND
+ 
+  Note: The MPU6050 is an I2C sensor and uses the Arduino Wire library. 
+ 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.
+ We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
+ We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ  to 400000L /twi.h utility file.
+ */
+ #include "MPU6050.h"
+void calcola_dati();
+float sum = 0;
+uint32_t sumCount = 0;
+
+MPU6050 mpu6050;
+Timer t;
+
+Thread calcolo_q;
+
+//void pc_trasmisione(int n,char* s);
+bool inPosition=true;
+
+
+#include "racolta_dati.h" 
+  char buffer[100];
+
+
+void main_imu() // prendere tutto questo main e meterno in main_imu, rinominarlo e aviorlo da qui.
+{
+  //  char n;     pacco posta;
+  
+    using namespace mydati;
+     
+      dati_imu myimu;
+      
+
+
+
+
+
+  //Set up I2C
+  i2c.frequency(100000);  // use fast (400 kHz) I2C   
+  t.start();        
+  
+ 
+        
+        
+  wait_ms(350);
+  
+    inPosition=pul;//vero se non è premuto
+ if(inPosition)pc.printf("pulsante premuto!");
+  
+        // 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("\t\tI AM 0x%x\n\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_ms(50);
+  
+
+    
+    mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+    pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[0]); pc.printf("% of factory value \n\r");
+    pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[1]); pc.printf("% of factory value \n\r");
+    pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[2]); pc.printf("% of factory value \n\r");
+    pc.printf("x-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[3]); pc.printf("% of factory value \n\r");
+    pc.printf("y-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[4]); pc.printf("% of factory value \n\r");
+    pc.printf("z-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[5]); pc.printf("% of factory value \n\r");
+    wait(1);
+
+    if(inPosition && 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\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+
+   
+    wait(2);
+    pc.printf("set acc : x= %f\t,y= %f\tz= %f\r\n;",accelBias[0],accelBias[1],accelBias[2]);
+       }
+    else
+    {
+    pc.printf("Device did not the pass self-test!\n\r");
+ 
+  
+      }
+    }
+    else
+    {
+    pc.printf("Could not connect to MPU6050: \n\n\r");
+    pc.printf("%#x \n",  whoami);
+ 
+ 
+   
+        while(1) ; // Loop forever if communication doesn't happen
+  }
+    
+
+
+ calcolo_q.start(calcola_dati);
+ 
+ while(1) {
+   
+   wait_ms(100);
+   
+   sprintf(buffer,"\tax = %6.1f\tay = %6.1f\taz = %6.1f\t\t", 1000*ax,1000*ay,1000*az);
+  //sprintf(buffer,"ciao");
+   wait_ms(10);
+
+   #if test
+   
+   
+   //sprintf(buffer,"\tax = %6.1f\tay = %6.1f\taz = %6.1f  mg\t\t", 1000*ax,100*ay,100*az); 
+    
+    
+    pc.printf("\tax = %6.1f", 1000*ax); 
+    pc.printf(" ay = %6.1f", 1000*ay); 
+    pc.printf(" az = %6.1f  mg\t\t", 1000*az); 
+
+    pc.printf("gx = %6.1f", gx); 
+    pc.printf(" gy = %6.1f", gy); 
+    pc.printf(" gz = %6.1f  deg/s\t", gz);
+   //  pc.printf("Yaw: %.2f , Pitch: %.2f, Roll: %.2f", yaw, pitch, roll);
+     pc.printf("\t temperature = %.2f  C\n\r", temperature);     
+    // pc.printf("q0 = %f\tq1 = %f\tq2 = %f\tq3 = %f\n\r", q[0],q[1],q[2],q[3]);
+    
+        n=strlen(buffer);
+        posta.n=n+1;
+    
+        posta.txt=buffer;
+        
+     //   telemetria.ins_in_coda(&posta);
+        
+        wait_ms(1);
+      // telemetria.invio();
+        wait_ms(1);
+    
+ //   pc.printf("q0 = %f\tq1 = %f\tq2 = %f\tq3 = %f\n\r", q[0],q[1],q[2],q[3]);
+ 
+ #endif
+ 
+ 
+        myimu.set_all(ax,ay,az,gx,gy,gz,0,0,0,temperature);
+        wait_ms(2);
+        myimu.invia();
+        wait_ms(2);
+  //da sostituire con la funzione della classe sensore imu
+
+        
+        
+        //myled= !myled;
+}
+
+}
+