Revision 0:a9753886e1e0, committed 2017-11-05

Comitter:

rattokiller

Date:

Sun Nov 05 14:20:26 2017 +0000

Commit message:

librerie utili

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050.h	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,580 @@
+#ifndef MPU6050_H
+#define MPU6050_H
+ 
+#include "mpu_setting.h"
+
+// Set initial input parameters
+enum Ascale {
+  AFS_2G = 0,
+  AFS_4G,
+  AFS_8G,
+  AFS_16G
+};
+
+enum Gscale {
+  GFS_250DPS = 0,
+  GFS_500DPS,
+  GFS_1000DPS,
+  GFS_2000DPS
+};
+
+// Specify sensor full scale
+int Gscale = GFS_250DPS;
+int Ascale = AFS_4G;
+
+//Set up I2C, (SDA,SCL)
+
+//I2C i2c(I2C_SDA, I2C_SCL);
+
+//I2C i2c(PC_9, PA_8); /* setting port i2c imu */
+I2C i2c(PF_0, PF_1); //sda, scl -> usare la 3.3 V
+//I2C i2c(PB_9,PB_8);
+
+DigitalOut myled(LED1);
+   
+float aRes, gRes; // scale resolutions per LSB for the sensors
+  
+// Pin definitions
+int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos ext int pins
+
+int16_t accelCount[3];  // Stores the 16-bit signed accelerometer sensor output
+float ax, ay, az;       // Stores the real accel value in g's
+int16_t gyroCount[3];   // Stores the 16-bit signed gyro sensor output
+float gx, gy, gz;       // Stores the real gyro value in degrees per seconds
+float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
+int16_t tempCount;   // Stores the real internal chip temperature in degrees Celsius
+float temperature;
+float SelfTest[6];
+
+int delt_t = 0; // used to control display output rate
+int count = 0;  // used to control display output rate
+
+// parameters for 6 DoF sensor fusion calculations
+float PI = 3.14159265358979323846f;
+float GyroMeasError = PI * (60.0f / 180.0f);     // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
+float beta = sqrt(3.0f / 4.0f) * GyroMeasError;  // compute beta
+float GyroMeasDrift = PI * (1.0f / 180.0f);      // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
+float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift;  // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
+float pitch, yaw, roll;
+float deltat = 0.0f;                              // integration interval for both filter schemes
+int lastUpdate = 0, firstUpdate = 0, Now = 0;     // used to calculate integration interval                               // used to calculate integration interval
+float q[4] = {1.0f, 0.0f, 0.0f, 0.0f};            // vector to hold quaternion
+
+class MPU6050 {
+ 
+    protected:
+ 
+    public:
+  //===================================================================================================================
+//====== Set of useful function to access acceleratio, gyroscope, and temperature data
+//===================================================================================================================
+
+    void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+   char data_write[2];
+   data_write[0] = subAddress;
+   data_write[1] = data;
+   i2c.write(address, data_write, 2, 0);
+}
+
+    char readByte(uint8_t address, uint8_t subAddress)
+{
+    char data[1]; // `data` will store the register data     
+    char data_write[1];
+    data_write[0] = subAddress;
+    i2c.write(address, data_write, 1, 1); // no stop
+    i2c.read(address, data, 1, 0); 
+    return data[0]; 
+}
+
+    void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
+{     
+    char data[14];
+    char data_write[1];
+    data_write[0] = subAddress;
+    i2c.write(address, data_write, 1, 1); // no stop
+    i2c.read(address, data, count, 0); 
+    for(int ii = 0; ii < count; ii++) {
+     dest[ii] = data[ii];
+    }
+} 
+ 
+
+void getGres() {
+  switch (Gscale)
+  {
+    // Possible gyro scales (and their register bit settings) are:
+    // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS  (11). 
+        // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+    case GFS_250DPS:
+          gRes = 250.0/32768.0;
+          break;
+    case GFS_500DPS:
+          gRes = 500.0/32768.0;
+          break;
+    case GFS_1000DPS:
+          gRes = 1000.0/32768.0;
+          break;
+    case GFS_2000DPS:
+          gRes = 2000.0/32768.0;
+          break;
+  }
+}
+
+void getAres() {
+  switch (Ascale)
+  {
+    // Possible accelerometer scales (and their register bit settings) are:
+    // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs  (11). 
+        // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
+    case AFS_2G:
+          aRes = 2.0/32768.0;
+          break;
+    case AFS_4G:
+          aRes = 4.0/32768.0;
+          break;
+    case AFS_8G:
+          aRes = 8.0/32768.0;
+          break;
+    case AFS_16G:
+          aRes = 16.0/32768.0;
+          break;
+  }
+}
+
+
+void readAccelData(int16_t * destination)
+{
+  uint8_t rawData[6];  // x/y/z accel register data stored here
+  readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]);  // Read the six raw data registers into data array
+  destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
+  destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;  
+  destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; 
+}
+
+void readGyroData(int16_t * destination)
+{
+  uint8_t rawData[6];  // x/y/z gyro register data stored here
+  readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]);  // Read the six raw data registers sequentially into data array
+  destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
+  destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;  
+  destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; 
+}
+
+int16_t readTempData()
+{
+  uint8_t rawData[2];  // x/y/z gyro register data stored here
+  readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]);  // Read the two raw data registers sequentially into data array 
+  return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ;  // Turn the MSB and LSB into a 16-bit value
+}
+
+
+
+// Configure the motion detection control for low power accelerometer mode
+void LowPowerAccelOnly()
+{
+
+// The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
+// Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
+// above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a 
+// threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
+// consideration for these threshold evaluations; otherwise, the flags would be set all the time!
+  
+  uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6]
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c |  0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
+
+  c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5]
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c |  0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
+    
+  c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
+// Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG,  c | 0x00);  // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter
+
+  c = readByte(MPU6050_ADDRESS, CONFIG);
+  writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
+  writeByte(MPU6050_ADDRESS, CONFIG, c |  0x00);  // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
+    
+  c = readByte(MPU6050_ADDRESS, INT_ENABLE);
+  writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF);  // Clear all interrupts
+  writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40);  // Enable motion threshold (bits 5) interrupt only
+  
+// Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
+// for at least the counter duration
+  writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
+  writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1  ms; LSB is 1 ms @ 1 kHz rate
+  
+  wait(0.1);  // Add delay for accumulation of samples
+  
+  c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c |  0x07);  // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
+   
+  c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c |  0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])  
+
+  c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c |  0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
+
+}
+
+
+void resetMPU6050() {
+  // reset device
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+  wait(0.1);
+  }
+  
+  
+void initMPU6050()
+{  
+ // Initialize MPU6050 device
+ // wake up device
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors 
+  wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt  
+
+ // get stable time source
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);  // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+
+ // Configure Gyro and Accelerometer
+ // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; 
+ // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
+ // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
+  writeByte(MPU6050_ADDRESS, CONFIG, 0x03);  
+ 
+ // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
+  writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04);  // Use a 200 Hz rate; the same rate set in CONFIG above
+ 
+ // Set gyroscope full scale range
+ // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
+  uint8_t c =  readByte(MPU6050_ADDRESS, GYRO_CONFIG);
+  writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] 
+  writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+  writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 0); // Set full scale range for the gyro
+   
+ // Set accelerometer configuration
+  c =  readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] 
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 0); // Set full scale range for the accelerometer 
+
+  // Configure Interrupts and Bypass Enable
+  // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips 
+  // can join the I2C bus and all can be controlled by the Arduino as master
+   writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);    
+   writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01);  // Enable data ready (bit 0) interrupt
+}
+
+// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
+// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
+void calibrateMPU6050(float * dest1, float * dest2)
+{  
+  uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
+  uint16_t ii, packet_count, fifo_count;
+  int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+  
+// reset device, reset all registers, clear gyro and accelerometer bias registers
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
+  wait_ms(100);  
+   
+// get stable time source
+// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);  
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00); 
+  wait_ms(200);
+  
+// Configure device for bias calculation
+  writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00);   // Disable all interrupts
+  writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00);      // Disable FIFO
+  writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00);   // Turn on internal clock source
+  writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
+  writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00);    // Disable FIFO and I2C master modes
+  writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C);    // Reset FIFO and DMP
+  wait_ms(20);
+  
+// Configure MPU6050 gyro and accelerometer for bias calculation
+  writeByte(MPU6050_ADDRESS, CONFIG, 0x01);      // Set low-pass filter to 188 Hz
+  writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00);  // Set sample rate to 1 kHz
+  writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00);  // Set gyro full-scale to 250 degrees per second, maximum sensitivity
+  writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
+ 
+  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
+  writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40);   // Enable FIFO  
+  writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78);     // Enable gyro and accelerometer sensors for FIFO  (max size 1024 bytes in MPU-6050)
+  wait_us(78250); // accumulate 80 samples in 80 milliseconds = 960 bytes
+
+// At end of sample accumulation, turn off FIFO sensor read
+  writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00);        // Disable gyro and accelerometer sensors for FIFO
+  readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
+  fifo_count = ((uint16_t)data[0] << 8) | data[1];
+  packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
+   // pc.printf("packet = %d", packet_count);
+    
+  for (ii = 0; ii < packet_count; ii++) {
+    int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
+    readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
+    accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1]  ) ;  // Form signed 16-bit integer for each sample in FIFO
+    accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3]  ) ;
+    accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5]  ) ;    
+    gyro_temp[0]  = (int16_t) (((int16_t)data[6] << 8) | data[7]  ) ;
+    gyro_temp[1]  = (int16_t) (((int16_t)data[8] << 8) | data[9]  ) ;
+    gyro_temp[2]  = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
+    
+    accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
+    accel_bias[1] += (int32_t) accel_temp[1];
+    accel_bias[2] += (int32_t) accel_temp[2];
+    gyro_bias[0]  += (int32_t) gyro_temp[0];
+    gyro_bias[1]  += (int32_t) gyro_temp[1];
+    gyro_bias[2]  += (int32_t) gyro_temp[2];
+            
+}
+
+pc.printf("packet = %d, filo = %d", packet_count,fifo_count);  
+    accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
+    accel_bias[1] /= (int32_t) packet_count;
+    accel_bias[2] /= (int32_t) packet_count;
+    gyro_bias[0]  /= (int32_t) packet_count;
+    gyro_bias[1]  /= (int32_t) packet_count;
+    gyro_bias[2]  /= (int32_t) packet_count;
+    
+  if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;}  // Remove gravity from the z-axis accelerometer bias calculation
+  else {accel_bias[2] += (int32_t) accelsensitivity;}
+ 
+// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
+  data[0] = (-gyro_bias[0]/4  >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
+  data[1] = (-gyro_bias[0]/4)       & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
+  data[2] = (-gyro_bias[1]/4  >> 8) & 0xFF;
+  data[3] = (-gyro_bias[1]/4)       & 0xFF;
+  data[4] = (-gyro_bias[2]/4  >> 8) & 0xFF;
+  data[5] = (-gyro_bias[2]/4)       & 0xFF;
+
+// Push gyro biases to hardware registers
+  writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]); 
+  writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
+  writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
+  writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
+  writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
+  writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]);
+
+  dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
+  dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
+  dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
+
+// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
+// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
+// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
+// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
+// the accelerometer biases calculated above must be divided by 8.
+
+  int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
+  readBytes(MPU6050_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
+  accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  readBytes(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]);
+  accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  readBytes(MPU6050_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
+  accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
+  
+  uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
+  uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
+  
+  for(ii = 0; ii < 3; ii++) {
+    if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
+  }
+
+  // Construct total accelerometer bias, including calculated average accelerometer bias from above
+  accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
+  accel_bias_reg[1] -= (accel_bias[1]/8);
+  accel_bias_reg[2] -= (accel_bias[2]/8);
+ 
+  data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
+  data[1] = (accel_bias_reg[0])      & 0xFF;
+  data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+  data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
+  data[3] = (accel_bias_reg[1])      & 0xFF;
+  data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+  data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
+  data[5] = (accel_bias_reg[2])      & 0xFF;
+  data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
+
+  // Push accelerometer biases to hardware registers
+//  writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]);  
+//  writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
+//  writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
+//  writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);  
+//  writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
+//  writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]);
+
+// Output scaled accelerometer biases for manual subtraction in the main program
+   dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; 
+   dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
+   dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
+printf("set acc : x= %f\t,y= %f\tz= %f\r\n;",accelBias[0],accelBias[1],accelBias[2]);
+    
+}
+
+
+// Accelerometer and gyroscope self test; check calibration wrt factory settings
+void MPU6050SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
+{
+   uint8_t rawData[4] = {0, 0, 0, 0};
+   uint8_t selfTest[6];
+   float factoryTrim[6];
+   
+   // Configure the accelerometer for self-test
+   writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
+   writeByte(MPU6050_ADDRESS, GYRO_CONFIG,  0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
+   wait(0.25);  // Delay a while to let the device execute the self-test
+   rawData[0] = readByte(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results
+   rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results
+   rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results
+   rawData[3] = readByte(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results
+   // Extract the acceleration test results first
+   selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
+   selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer
+   selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer
+   // Extract the gyration test results first
+   selfTest[3] = rawData[0]  & 0x1F ; // XG_TEST result is a five-bit unsigned integer
+   selfTest[4] = rawData[1]  & 0x1F ; // YG_TEST result is a five-bit unsigned integer
+   selfTest[5] = rawData[2]  & 0x1F ; // ZG_TEST result is a five-bit unsigned integer   
+   // Process results to allow final comparison with factory set values
+   factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation
+   factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation
+   factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation
+   factoryTrim[3] =  ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) ));             // FT[Xg] factory trim calculation
+   factoryTrim[4] =  (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) ));             // FT[Yg] factory trim calculation
+   factoryTrim[5] =  ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) ));             // FT[Zg] factory trim calculation
+   
+ //  Output self-test results and factory trim calculation if desired
+ //  Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
+ //  Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
+ //  Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
+ //  Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
+
+ // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
+ // To get to percent, must multiply by 100 and subtract result from 100
+   for (int i = 0; i < 6; i++) {
+     destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
+   }
+   
+}
+
+
+// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
+// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
+// which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
+// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
+// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
+// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
+        void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz)
+        {
+            float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3];         // short name local variable for readability
+            float norm;                                               // vector norm
+            float f1, f2, f3;                                         // objective funcyion elements
+            float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements
+            float qDot1, qDot2, qDot3, qDot4;
+            float hatDot1, hatDot2, hatDot3, hatDot4;
+            float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz;  // gyro bias error
+
+            // Auxiliary variables to avoid repeated arithmetic
+            float _halfq1 = 0.5f * q1;
+            float _halfq2 = 0.5f * q2;
+            float _halfq3 = 0.5f * q3;
+            float _halfq4 = 0.5f * q4;
+            float _2q1 = 2.0f * q1;
+            float _2q2 = 2.0f * q2;
+            float _2q3 = 2.0f * q3;
+            float _2q4 = 2.0f * q4;
+//            float _2q1q3 = 2.0f * q1 * q3;
+//            float _2q3q4 = 2.0f * q3 * q4;
+
+            // Normalise accelerometer measurement
+            norm = sqrt(ax * ax + ay * ay + az * az);
+            if (norm == 0.0f) return; // handle NaN
+            norm = 1.0f/norm;
+            ax *= norm;
+            ay *= norm;
+            az *= norm;
+            
+            // Compute the objective function and Jacobian
+            f1 = _2q2 * q4 - _2q1 * q3 - ax;
+            f2 = _2q1 * q2 + _2q3 * q4 - ay;
+            f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az;
+            J_11or24 = _2q3;
+            J_12or23 = _2q4;
+            J_13or22 = _2q1;
+            J_14or21 = _2q2;
+            J_32 = 2.0f * J_14or21;
+            J_33 = 2.0f * J_11or24;
+          
+            // Compute the gradient (matrix multiplication)
+            hatDot1 = J_14or21 * f2 - J_11or24 * f1;
+            hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3;
+            hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1;
+            hatDot4 = J_14or21 * f1 + J_11or24 * f2;
+            
+            // Normalize the gradient
+            norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
+            hatDot1 /= norm;
+            hatDot2 /= norm;
+            hatDot3 /= norm;
+            hatDot4 /= norm;
+            
+            // Compute estimated gyroscope biases
+            gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3;
+            gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2;
+            gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1;
+            
+            // Compute and remove gyroscope biases
+            gbiasx += gerrx * deltat * zeta;
+            gbiasy += gerry * deltat * zeta;
+            gbiasz += gerrz * deltat * zeta;
+ //           gx -= gbiasx;
+ //           gy -= gbiasy;
+ //           gz -= gbiasz;
+            
+            // Compute the quaternion derivative
+            qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz;
+            qDot2 =  _halfq1 * gx + _halfq3 * gz - _halfq4 * gy;
+            qDot3 =  _halfq1 * gy - _halfq2 * gz + _halfq4 * gx;
+            qDot4 =  _halfq1 * gz + _halfq2 * gy - _halfq3 * gx;
+
+            // Compute then integrate estimated quaternion derivative
+            q1 += (qDot1 -(beta * hatDot1)) * deltat;
+            q2 += (qDot2 -(beta * hatDot2)) * deltat;
+            q3 += (qDot3 -(beta * hatDot3)) * deltat;
+            q4 += (qDot4 -(beta * hatDot4)) * deltat;
+
+            // Normalize the quaternion
+            norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4);    // normalise quaternion
+            norm = 1.0f/norm;
+            q[0] = q1 * norm;
+            q[1] = q2 * norm;
+            q[2] = q3 * norm;
+            q[3] = q4 * norm;
+            
+        }
+    
+    void calibrate_manual_MPU6050(float * dest1, float * dest2){
+        //giroscopio
+    dest1[0] = 0;//(float) gyro_bias[0]/(float) gyrosensitivity;
+    dest1[1] =0;// ((float) gyro_bias[1]/(float) gyrosensitivity;
+    dest1[2] = 0;//(float) gyro_bias[2]/(float) gyrosensitivity;
+  
+        //acceletomtro
+    dest2[0] = 0;//(float)accel_bias[0]/(float)accelsensitivity; 
+    dest2[1] = 0;//float)accel_bias[1]/(float)accelsensitivity;
+    dest2[2] = 0;//(float)accel_bias[2]/(float)accelsensitivity;
+    
+    
+    }
+        
+  
+  };
+#endif
\ No newline at end of file

--- /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;
+}
+
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/fb8e0ae1cceb
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/my_img_sd.h	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,215 @@
+#ifndef img_sd_h
+#define img_sd_h
+
+
+
+#define BLOCK_START_ADDR         0     /* Block start address      */  
+
+#define BLOCKSIZE                512   /* Block Size in Bytes      */
+#define NUM_OF_BLOCKS            2     /* Total number of blocks   */
+#define BUFFER_WORDS_SIZE        ((BLOCKSIZE * NUM_OF_BLOCKS) >> 2) /* Total data size in bytes */
+
+#include <mbed.h>
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+void stampa_B(uint32_t b[],int n,int x,int y,int x0,int y0,int x_0,int y_0);
+void riemp_B(uint32_t b[],int n,int x0,int y0,int x,int y);
+
+
+void serializza_img(uint32_t** img ,int x,int y,uint64_t addr){
+    
+    int n_b=4*x*y/BLOCKSIZE +1;
+    uint32_t Buffer[BLOCKSIZE];
+    Buffer[0]=n_b;
+    Buffer[1]=0;
+    Buffer[2]=x;
+    Buffer[3]=y;
+    //  pc.printf("n_b= %d\r\n",n_b);
+    riemp_B(&Buffer[4],124,0,0,x,y);
+    if(sd.WriteBlocks(Buffer,addr, BLOCKSIZE, 1) == SD_OK)
+                pc.printf("SD OK");
+    int incx,incy;
+    incx=128/y;
+    incy=128%y;
+    int x0,y0;
+    x0=124/y;
+    y0=124%y;
+    for(int i=1;i<n_b;i++){
+         // pc.printf("sto caricando il buffer..  ");
+          riemp_B(Buffer,128,x0,y0,x,y);
+          if(sd.WriteBlocks(Buffer,addr+BLOCKSIZE*i, BLOCKSIZE,1) != SD_OK)
+              pc.printf("Errore i= %d",i);
+        x0+=incx;
+        y0+=incy;
+        if(y0>=y){
+        x0++;
+        y0-=y;
+        }
+              
+    }
+        
+    //pc.printf("ok, serializato!\r\n");
+  
+
+    
+}
+unsigned int  N_bk = 120;
+
+void leggi_img(int x_0,int y_0,uint64_t addr){
+    int x,y;
+    uint32_t Buffer[N_bk*BLOCKSIZE+1];
+    int n_b=0;
+    if(sd.ReadBlocks(Buffer, addr, BLOCKSIZE,1)== SD_OK){
+       // pc.printf("SD READ : OK.\r\n");
+
+        n_b=Buffer[0];
+        x=Buffer[2];
+        y=Buffer[3];
+   //  pc.printf("nb= %d\r\n",n_b);
+    //  pc.printf("x =  %d - y= %d\r\n",x,y);
+    }
+    if(n_b<N_bk)N_bk=n_b;
+    stampa_B(&Buffer[4],124,x,y,0,0,x_0,y_0);
+    int incx,incy;
+    incx=N_bk*128/y;
+    incy=(N_bk*128)%y;
+    int x0,y0;
+    x0=124/y;
+    y0=124%y;
+    
+
+   // pc.printf("x= %d, y= %d, x0= %d, yo= %d, y_00= %d\r\n",x,y,x0,y0,y_0);
+    for(int i=1;i<n_b;i+=N_bk)
+    
+        if(sd.ReadBlocks(Buffer, addr+BLOCKSIZE*i, BLOCKSIZE,N_bk)== SD_OK){
+       // pc.printf("SD READ %d: OK.\r\n",i);
+        stampa_B(Buffer,128*N_bk,x,y,x0,y0,x_0,y_0);
+        x0+=incx;
+        y0+=incy;
+        if(y0>=y){
+        x0++;
+        y0-=y;
+        }
+   
+    }
+   
+    
+ //   pc.printf("finito !");
+
+}
+
+
+void riemp_B(uint32_t b[],int n,int x0,int y0,int x,int y){
+ 
+   // pc.printf("ok\r\n");
+}
+
+void stampa_B(uint32_t b[],int n,int x,int y,int x0,int y0,int x_0,int y_0){
+   int cont=0;
+   int y1=y0;
+   int j;
+   
+  for(int i=x0;i<x;i++)
+        for(j=y1;j<y;j++){
+             y1=0;
+             lcd.DrawPixel(j+x_0,x-i+y_0,b[(i-x0)*y+j-y0]);
+            //cont++;
+        if(++cont==n)return;
+    } 
+}
+
+void scrivi_dato(uint32_t Buffer[],uint64_t addr,int n=1){
+    //pc.baud(921600);
+if(addr>=start_addr_dato){
+     if(sd.WriteBlocks(Buffer,addr, BLOCKSIZE*n,1) != SD_OK){
+              pc.printf("\t\t\t\t ->  Errore scrittura : ");
+              pc.printf("addres = %x \r\n",addr);
+              }
+    else 
+        { 
+        //  pc.printf("non salvato:\t%s\r\n",(char*)Buffer);
+               // pc.printf("addres = %x ",addr);
+
+        //slave.address(0xA0);
+         
+         }
+ }
+ else pc.printf("errore indirizzo non valido, addr= %d -- addr_Base = %d\r\n",addr,start_addr_dato);       
+}
+
+void printa_dato(uint32_t Buffer[],uint64_t addr){
+if(addr>=start_addr_dato)
+     if(sd.ReadBlocks(Buffer,addr, BLOCKSIZE,1) != SD_OK)
+                pc.printf("errore lettura");
+    else    pc.printf("Dato letto: %s",(char*)Buffer);
+}
+
+void scrivi_dato_progresione(uint32_t Buffer[]){
+   /*
+   uint32_t B[512];
+   sd.ReadBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+   B[10]++;
+   sd.WriteBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+   
+   scrivi_dato(Buffer,512*B[10]);
+   */
+   static int u=0;
+   
+   static int n=-1;
+   const int k=32;
+   static uint32_t Dato_B[BLOCKSIZE*k];
+   static int B[BLOCKSIZE];
+   uint64_t addr;
+   //pc.printf("n=%d",n);
+    if(n<0){pc.printf("inizio scritura\r\n");sd.ReadBlocks((uint32_t*)B,0, BLOCKSIZE,1);n=0;
+        if(B[10]<start_addr_dato/512)pc.printf("problemone, l' indirizzo salvato non è valido!\r\n");
+        }
+    //pc.printf("inizio scritura");
+    
+    if(n==k-1){
+    
+    //sd.ReadBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+    sd.ReadBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+    strcpy((char*)Dato_B[BLOCKSIZE*n],(char*)Buffer);
+    addr=B[10];
+    addr=BLOCKSIZE*addr;
+     
+    scrivi_dato(Dato_B,addr,k);
+    
+    u++;
+    //if(u==640||u==800||u==2240||u==2976||u==2720)B[10]=B[10]+2*k;else
+     B[10]=B[10]+k;
+    
+    sd.WriteBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+    
+    n=0;
+   }
+   else {strcpy((char*)Dato_B[BLOCKSIZE*n],(char*)Buffer);n++;}
+   
+   
+  
+}
+
+void printa_dato_progressione(){
+    
+    pc.printf("\r\n Sto per legere in progresione ... ");
+    uint32_t B[BLOCKSIZE];
+    sd.ReadBlocks((uint32_t*)B,0, BLOCKSIZE,1);
+    int n=B[10];
+    pc.printf("n=%d\r\n",n-start_addr_dato/512);
+    for(int i=start_addr_dato;i<n*BLOCKSIZE;i+=BLOCKSIZE)
+    printa_dato((uint32_t*)B,i);
+    
+    pc.printf("\tfine\r\n"); 
+}
+
+void cancella_dati(){
+    
+ int  B[512];
+        pc.printf("\n dati cancellati \n");
+        B[10]=start_addr_dato/512;
+        sd.WriteBlocks((uint32_t*)B,0, BLOCKSIZE,1);    
+}
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/racolta_dati.h	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,104 @@
+
+void calcola_dati(){
+    while(true){
+    wait_us(20);
+  // 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
+   }  
+   
+    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
+  gx=(int)gx;gy=(int)gy;gz=(int)gz;
+  
+  ax=((int)10000*ax)/10000;
+  ay=((int)10000*ay)/10000;
+  az=((int)10000*az)/10000;
+  
+  q[0]=((int)10000*q[0])/10000;
+    q[1]=((int)10000*q[1])/10000;
+  q[2]=((int)10000*q[2])/10000;
+  q[3]=((int)10000*q[3])/10000;
+   
+    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;
+    if (delt_t > 500) { // update LCD once per half-second independent of read rate
+#if false
+    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\t\t", gz); 
+     pc.printf("\t\t temperature = %f  C\n\r", temperature);     
+
+    
+ //   pc.printf("q0 = %f\tq1 = %f\tq2 = %f\tq3 = %f\n\r", q[0],q[1],q[2],q[3]);
+ #endif
+ //   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.
+  
+  //sbagliato -> da fare tutto da capo. usare solo l' accelerometro per pich e rol, lo yaw non serve.
+  
+    yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]),2.0f *(q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]));   //<--- quel coglione ha sbagliato a scrive l' equazione con i quaternioni
+    pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
+    roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]),2.0f* (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: %.2f %.2f %.2f", yaw, pitch, roll);
+   //  pc.printf("\taverage rate = %f\n\r", (float) sumCount/sum);
+      
+  
+    count = t.read_ms(); 
+    sum = 0;
+    sumCount = 0; 
+    }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trasmetti.cpp	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,185 @@
+#define tra_cpp
+#include "trasmetti.h"
+#include <cstring>
+//#include <iostream>
+
+namespace mydati{
+
+
+
+bool trasmetti::ins_in_testa(pacco* d,char priorita){
+    coda* app;
+    app =new coda;
+    if(!app)return false;
+    app->dato=d;
+    app->priorita=priorita;
+    n++;
+    app->suc=testa;
+    testa=app;
+    delete [] d->txt;
+    return true;
+    
+}
+bool trasmetti::ins_in_coda(pacco* d,char priorita){
+
+    coda* app;
+    app =new coda;
+    if(!app)return false;
+ //   pc.printf("funzione ins coda 1 \r\n");
+ 
+    app->dato=d;
+ 
+    /*
+    app->dato=new pacco;
+    app->dato->n=d->n;
+    app->dato->txt=new char[d->n];
+    strcpy(app->dato->txt,d->txt);
+    delete [] d->txt;
+    */
+
+    if(!n){testa=fine=app;  n++;return true;}
+//pc.printf("funzione ins coda 3 \r\n");
+        fine->suc=app;
+        fine=app;
+        fine->suc=0;
+        n++;
+        return true; 
+};
+bool trasmetti::ins_priorita(pacco* d,char priorita){
+
+    coda* app;
+    app =new coda;
+    if(!app)return false;
+    app->dato=d;
+
+    app->priorita=priorita;
+
+    if(!n){app->suc=0;testa=fine=app;   n++;return true;}
+    if(testa->priorita<priorita){n++;app->suc=testa; testa=app;return true;}
+    
+    coda* cerca = testa;
+    if(n!=1){   bool tr =true;
+    while(cerca->suc->suc!=0&&tr)
+        if(cerca->suc->priorita>=priorita)
+        {
+        cerca=cerca->suc;       
+        }
+        else tr=false;
+        
+    app->suc=cerca->suc;
+    cerca->suc=app;
+    n++;
+    return true;
+    }
+        fine->suc=app;
+        fine=app;
+        fine->suc=0;
+        n++;
+        return true; 
+};
+
+bool trasmetti::invio(){ // iovio i dati!
+  
+ if(!n)return false;
+ pacco* app;
+ extract(&app); 
+
+if(!pc_trasmisione(app->n,app->txt))return false;
+ delete [] app->txt;
+ delete app;
+
+ return true;
+}
+void trasmetti::extract(pacco** d){
+    if(n!=0){
+    
+    coda* app=testa;
+    *d=testa->dato;
+    testa=testa->suc;
+    n--;
+
+    delete app;
+    }
+    
+}
+bool dati_imu::invia(char p){
+    //da agiungere una stringa per il protocolla dei tipo dei dati... 
+    //es #nomeclasse@dati
+    pacco* app;
+    app= new pacco;
+    app->n=nb_classe;
+    app->txt=new char[nb_classe+1];
+    sprintf(app->txt,"A%03.0f%03.0f%03.0f%04.0f%04.0f%04.0f#%d",1000*ax+off_set_a,1000*ay+off_set_a,1000*az+off_set_a,10*gx+off_set_g,10*gy+off_set_g,10*gz+off_set_g,number());
+    
+    
+    //app->txt=buffer;
+    /*
+    app->txt=new char[strlen(buffer)+1];
+    //printf("ximu %d X \n",strlen(buffer));
+    strcpy(app->txt,buffer);
+   */ 
+    //*funzione se si vuole usare la trasmisione binaria
+    //memcpy((void*)app->txt,(void*)this,nb_classe);
+    
+    
+    
+    return telemetria.ins_in_coda(app,p);
+}
+
+
+
+
+bool  estensimetro::invia(char p){
+    pacco* app;
+    app= new pacco;
+    app->n=nb_classe;
+    app->txt=new char[nb_classe+1];
+    sprintf(app->txt,"B%04.0f%04.0f%04.0f%04.0f#%d",ad,as,pd,ps,number());
+     
+    
+    
+    return telemetria.ins_in_coda(app,p);
+}
+
+bool  ruota_fonica::invia(char p){
+    pacco* app;
+    app= new pacco;
+    app->n=nb_classe;
+     app->txt=new char[nb_classe+1];
+     
+    sprintf(app->txt,"C%04.0f%04.0f%04.0f%04.0f#%d",ad,as,pd,ps,number());
+    //sprintf(app->txt,"C%04.0f%04.0f#%d",ad,as,pd,ps,number());
+    
+    
+    return telemetria.ins_in_coda(app,p);
+}
+
+bool  motore::invia(char p){
+    pacco* app;
+    app= new pacco;
+    app->n=nb_classe;
+    //char buffer[50];
+    app->txt=new char[nb_classe+1];
+    
+   
+    if(P_olio>10){pc.printf("errore olio troppo alto");P_olio=9.9;}
+    
+    if(velocita>10000){pc.printf("errore velocita troppo alta!");velocita=9999;}
+    //D 2000 7700 80800 9400 22 5#2
+    sprintf(app->txt,"D%03d%03d%05.0f%04.0f%02.0f%d#%d",T_acqua,T_olio,RMP,velocita,10*P_olio,marcia,number());
+  //  pc.printf("funzione motore.invia \r\n");
+    return telemetria.ins_in_coda(app,p);
+}
+bool allert::invia(const char* s){
+    
+    
+    pacco* app;
+    app= new pacco;
+    app->n=strlen(s+1);
+    //app->txt=new char[app->n+1];
+    app->txt=(char*)s;
+    
+    return telemetria.ins_in_testa(app);
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trasmetti.h	Sun Nov 05 14:20:26 2017 +0000
@@ -0,0 +1,225 @@
+//#ifndef mydati_h
+//#odefine mydati_h
+#include "mbed.h"
+
+
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+#ifndef mydati_h
+#define mydati_h
+extern Serial pc;
+extern Serial device;
+extern Serial device2;
+
+namespace  mydati{
+
+bool pc_trasmisione(int,char* s);
+
+    struct pacco{
+    char* txt;
+    char n;
+    };
+    
+class trasmetti{ /* classe superiore che ha il compito di interagire con l' altra scheda,
+                 le altre sottoclassi si intrfacciano a lei */
+private:
+    int addr_slave;
+    I2C* master;
+    char conteggio;
+
+    struct coda{
+    char priorita;
+    pacco* dato;
+    coda* suc;
+    };
+    coda* testa;
+    coda* fine;
+    char n;
+    void extract(pacco**);
+public:
+trasmetti():n(0){testa=fine=0;}
+
+void set_add(int a){addr_slave=a;}
+void set_master(I2C* a){master=a;}
+
+bool ins_in_coda(pacco* ,char priorita= 0);
+bool ins_priorita(pacco* ,char priorita= 0);
+bool ins_in_testa(pacco* ,char priorita= 0);
+
+bool pc_trasmisione(int n,char* s);
+
+bool invio();
+}
+//serve perche deve essere unina per tutti e quindi di variabile di qeusta classe ne deve essere creata solo una
+#ifdef tra_cpp 
+telemetria;
+#else
+;
+extern trasmetti telemetria;
+#endif
+class sensore{ //classe generia appezotata, da riempire sucesivamente per oblicare alle altri figlie di implemetare la funzione
+    private:
+    static const int max_n=10;
+    int n;
+    
+    public:
+    sensore():n(-1){}
+    virtual bool invia(char p=0)=0;
+    int number(){n++;n=n%max_n;return n;}
+    virtual ~sensore(){}
+};
+
+
+/*le sucesive classi hanno il compito di legere i dati dal sensore 
+e di inviari interfaciandosi con la classe di sopra, 
+le funzioni che prendoi i dati vengono cambiate, c'è un set_all che viene implementato in mbed, 
+l' altro serve a me per testare il tutto con il cp
+*/
+class dati_imu : public sensore{
+private:
+static const char priorita_imu =5;
+static const int nb_classe =25;
+    float ax,ay,az;
+    float gx,gy,gz;
+    float pich,roll,yaw;
+    float temp;
+    static const int off_set_a=2000;
+    static const int off_set_g=1000;
+public:
+//dati_imu():sensore(),ax(0),ay(0),az(0),gx(0),gy(0),gz(0),pich(0),roll(0),yaw(0),temp(0){}
+
+void set_all(float a,float b,float c,float d,float e,float f,float g,float h, float i, float t){ // da elimiare i parametri di ingresso, essa chiamera una funzione dedicata
+    ax=a;ay=b;az=c;gx=d;gy=e;gz=f;pich=g;roll=h;yaw=i;temp=t;   
+    }
+void set_all(); 
+
+virtual bool invia(char p=priorita_imu);
+};
+
+class estensimetro : public sensore{
+    private:
+        static const char priorita_estensimetro =4;
+        static const int nb_classe =17;
+        float ad,as,pd,ps; // a= anteriore p= posteriore
+    public:
+        void set_all(float vad,float vas,float vpd,float vps){ad=vad; as=vas; pd=vpd; ps=vps;}
+        void set_all(); 
+        virtual bool invia(char p=priorita_estensimetro);
+};
+
+class ruota_fonica : public sensore{
+    private:
+        static const char priorita_ruota_fonica =4;
+        static const int nb_classe =17;
+        float ad,as,pd,ps; // a= anteriore p= posteriore
+    public:
+        void set_all(float vad,float vas,float vpd,float vps){ad=vad; as=vas; pd=vpd; ps=vps;}
+        void set_all(){}
+        virtual bool invia(char p=priorita_ruota_fonica);
+};
+
+class motore : public sensore{
+    private:
+        static const char priorita_motore =4;
+        static const int nb_classe =24;
+        float  P_olio,RMP,velocita;
+        char marcia,T_acqua,T_olio;
+    public:
+        motore():P_olio(0),RMP(0),velocita(0),marcia(0),T_acqua(0),T_olio(0){}
+        void set_all(char Ta,char To,float Po,float vrmp,float vel, char m){T_acqua=Ta; T_olio=To;P_olio=Po;RMP=vrmp;velocita=vel;marcia=m;}
+        void set_1(float a,char b){RMP=a;T_acqua=b;}
+        void set_velocita_gear(float a,char b){velocita=a;marcia=b;}
+        void set_T_oil(char a){T_olio=a;}
+        void set_P_oil(float a){P_olio=a;}
+        
+        char get_marcia()const{return marcia;}
+        char get_Tacq()const{return T_acqua;}
+        char get_Tolio()const{return T_olio;}
+        float get_Polio()const{return P_olio;}
+        float get_rmp()const{return RMP;}
+        float get_vel()const{return velocita;}
+        
+        virtual bool invia(char p=priorita_motore);
+};
+
+class allert{
+    public:
+    bool invia(const char*);
+};
+#ifdef tra_cpp 
+
+void led_rpm(int rpm, char a[]){
+    
+    int r=rpm;
+
+    if(r==0)a[0]=a[1]=0xff;
+    else if(r<3000){a[0]=0xfb;a[1]=0xef;}
+    else if(r<(3000+1333)){a[0]=0xf3;a[1]=0b11001111;}
+    else if(r<(3000+1333*2)){a[0]=0xe3;a[1]=0b11000111;}
+    else if(r<(3000+1333*3)){a[0]=0xc3;a[1]=0b11000011;}
+    else if(r<(3000+1333*4)){a[0]=0x83;a[1]=0b11000001;}
+    else if(r<(3000+1333*5)){a[0]=0x03;a[1]=0b11000000;}
+    else if(r<(11000)){a[0]=0x01;a[1]=0b10000000;}
+    else {a[0]=0x00;a[1]=0x00;}
+}
+
+
+bool trasmetti::pc_trasmisione(int n,char* s)
+{// da implementae con funzione che invia i dati su
+char ss[30];
+
+for(int i=0;i<20;i++)ss[5+i]='X';
+strcpy(ss,s);
+
+
+/*da portare in setting e trovare un modo epr farli risultare qui*/
+const int addr = 0x70;
+const int addr1 = 0x72;
+
+
+
+char nn[2];
+
+char a[2];
+
+nn[0]=22;
+int rpm;
+
+//master->frequency(100000);//da portare in setting e non farlo sempre
+
+//aggiungere condizione di return false se il write fallisce !
+        wait_us(10);  
+        
+        master->write(addr_slave,ss,nn[0]);
+        wait_us(1);
+        master->stop();
+        
+        
+  #define led_genny
+    
+    #ifdef led_genny
+         if(s[0]=='D'){
+            rpm=(s[7]-'0')*10000+(s[8]-'0')*1000+(s[9]-'0')*100+(s[10]-'0')*10+s[11]-'0';    
+            led_rpm(rpm,a);
+            master->write(addr, a, 1);    // Send command string
+            master->stop();
+            master->write(addr1, &a[1], 1);    // Send command string
+            master->stop();
+          }
+        
+        
+   #endif     
+        
+    
+    //  device.printf("%s@",s);
+     // device2.printf("%s@",s);
+     
+      // pc.printf("%s\r\n",ss); 
+         
+
+return true;    
+}
+#endif
+}
+#endif
\ No newline at end of file