An example program that decodes the data returned from the MPU9150 DMP
Dependencies: CMSIS_DSP_401 MPU9150_DMP QuaternionMath mbed
Fork of MPU9150_Example by
main.cpp@1:b213291e5a51, 2015-08-11 (annotated)
- Committer:
- Hagrass
- Date:
- Tue Aug 11 14:41:02 2015 +0000
- Revision:
- 1:b213291e5a51
- Parent:
- 0:9f2982964a48
IMU;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
p3p | 0:9f2982964a48 | 1 | #include "MPU9150.h" |
p3p | 0:9f2982964a48 | 2 | #include "Quaternion.h" |
p3p | 0:9f2982964a48 | 3 | |
p3p | 0:9f2982964a48 | 4 | Serial debug(USBTX, USBRX); |
Hagrass | 1:b213291e5a51 | 5 | MPU9150 imu(p27, p28, p15); |
p3p | 0:9f2982964a48 | 6 | |
p3p | 0:9f2982964a48 | 7 | DigitalOut led(LED1); |
p3p | 0:9f2982964a48 | 8 | |
p3p | 0:9f2982964a48 | 9 | char buffer[200]; |
p3p | 0:9f2982964a48 | 10 | |
p3p | 0:9f2982964a48 | 11 | int main(){ |
p3p | 0:9f2982964a48 | 12 | debug.baud(115200); |
p3p | 0:9f2982964a48 | 13 | |
p3p | 0:9f2982964a48 | 14 | if(imu.isReady()){ |
p3p | 0:9f2982964a48 | 15 | debug.printf("MPU9150 is ready\r\n"); |
p3p | 0:9f2982964a48 | 16 | } else { |
p3p | 0:9f2982964a48 | 17 | debug.printf("MPU9150 initialisation failure\r\n"); |
p3p | 0:9f2982964a48 | 18 | } |
p3p | 0:9f2982964a48 | 19 | |
p3p | 0:9f2982964a48 | 20 | imu.initialiseDMP(); |
p3p | 0:9f2982964a48 | 21 | |
p3p | 0:9f2982964a48 | 22 | Timer timer; |
p3p | 0:9f2982964a48 | 23 | timer.start(); |
p3p | 0:9f2982964a48 | 24 | |
p3p | 0:9f2982964a48 | 25 | imu.setFifoReset(true); |
p3p | 0:9f2982964a48 | 26 | imu.setDMPEnabled(true); |
p3p | 0:9f2982964a48 | 27 | |
p3p | 0:9f2982964a48 | 28 | Quaternion q1; |
p3p | 0:9f2982964a48 | 29 | |
p3p | 0:9f2982964a48 | 30 | while(true){ |
Hagrass | 1:b213291e5a51 | 31 | |
Hagrass | 1:b213291e5a51 | 32 | wait(1); |
Hagrass | 1:b213291e5a51 | 33 | |
p3p | 0:9f2982964a48 | 34 | |
p3p | 0:9f2982964a48 | 35 | if(imu.getFifoCount() >= 48){ |
p3p | 0:9f2982964a48 | 36 | imu.getFifoBuffer(buffer, 48); |
p3p | 0:9f2982964a48 | 37 | led = !led; |
p3p | 0:9f2982964a48 | 38 | } |
Hagrass | 1:b213291e5a51 | 39 | q1.decode(buffer); |
Hagrass | 1:b213291e5a51 | 40 | // wait(1.1); |
Hagrass | 1:b213291e5a51 | 41 | if(timer.read_ms() >50){ |
p3p | 0:9f2982964a48 | 42 | timer.reset(); |
p3p | 0:9f2982964a48 | 43 | |
p3p | 0:9f2982964a48 | 44 | //This is the format of the data in the fifo, |
p3p | 0:9f2982964a48 | 45 | /* ================================================================================================ * |
p3p | 0:9f2982964a48 | 46 | | Default MotionApps v4.1 48-byte FIFO packet structure: | |
p3p | 0:9f2982964a48 | 47 | | | |
p3p | 0:9f2982964a48 | 48 | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | |
p3p | 0:9f2982964a48 | 49 | | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | |
p3p | 0:9f2982964a48 | 50 | | | |
p3p | 0:9f2982964a48 | 51 | | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | |
p3p | 0:9f2982964a48 | 52 | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | |
p3p | 0:9f2982964a48 | 53 | * ================================================================================================ */ |
p3p | 0:9f2982964a48 | 54 | |
p3p | 0:9f2982964a48 | 55 | /* |
p3p | 0:9f2982964a48 | 56 | debug.printf("%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[34] << 24) + ((int32_t)buffer[35] << 16) + ((int32_t)buffer[36] << 8) + (int32_t)buffer[37]), |
p3p | 0:9f2982964a48 | 57 | (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]), |
p3p | 0:9f2982964a48 | 58 | (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45])); |
p3p | 0:9f2982964a48 | 59 | |
p3p | 0:9f2982964a48 | 60 | debug.printf("%d, %d, %d\r\n", (int32_t)(((int32_t)buffer[16] << 24) + ((int32_t)buffer[17] << 16) + ((int32_t)buffer[18] << 8) + (int32_t)buffer[19]), |
p3p | 0:9f2982964a48 | 61 | (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]), |
p3p | 0:9f2982964a48 | 62 | (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27])); |
p3p | 0:9f2982964a48 | 63 | |
p3p | 0:9f2982964a48 | 64 | debug.printf("%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28], |
p3p | 0:9f2982964a48 | 65 | (int16_t)(buffer[31] << 8) + buffer[30], |
p3p | 0:9f2982964a48 | 66 | (int16_t)(buffer[33] << 8) + buffer[32]); |
p3p | 0:9f2982964a48 | 67 | |
p3p | 0:9f2982964a48 | 68 | debug.printf("%f, %f, %f, %f\r\n", |
p3p | 0:9f2982964a48 | 69 | (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)), |
p3p | 0:9f2982964a48 | 70 | (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)), |
p3p | 0:9f2982964a48 | 71 | (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)), |
p3p | 0:9f2982964a48 | 72 | (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30))); |
p3p | 0:9f2982964a48 | 73 | */ |
Hagrass | 1:b213291e5a51 | 74 | //wait(0.01); |
Hagrass | 1:b213291e5a51 | 75 | |
Hagrass | 1:b213291e5a51 | 76 | debug.printf("w:%f, v.x:%f, v.y:%f, v.z:%f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z); |
Hagrass | 1:b213291e5a51 | 77 | imu.setFifoReset(true); |
Hagrass | 1:b213291e5a51 | 78 | imu.setDMPEnabled(true); |
p3p | 0:9f2982964a48 | 79 | |
p3p | 0:9f2982964a48 | 80 | //TeaPot Demo Packet for MotionFit SDK |
p3p | 0:9f2982964a48 | 81 | /* |
p3p | 0:9f2982964a48 | 82 | debug.putc('$'); //packet start |
p3p | 0:9f2982964a48 | 83 | debug.putc((char)2); //assume packet type constant |
p3p | 0:9f2982964a48 | 84 | debug.putc((char)0); //count seems unused |
p3p | 0:9f2982964a48 | 85 | for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats |
p3p | 0:9f2982964a48 | 86 | debug.putc((char)(buffer[i])); |
p3p | 0:9f2982964a48 | 87 | } |
p3p | 0:9f2982964a48 | 88 | for(int i = 0; i < 5; i++){ //no idea, padded with 0 |
p3p | 0:9f2982964a48 | 89 | debug.putc((char)0); |
p3p | 0:9f2982964a48 | 90 | } |
p3p | 0:9f2982964a48 | 91 | */ |
Hagrass | 1:b213291e5a51 | 92 | |
p3p | 0:9f2982964a48 | 93 | } |
Hagrass | 1:b213291e5a51 | 94 | |
Hagrass | 1:b213291e5a51 | 95 | } |
p3p | 0:9f2982964a48 | 96 | } |