Omar Hagrass
/
MPU9150_Example
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Dependencies: CMSIS_DSP_401 MPU9150_DMP QuaternionMath mbed
Fork of
MPU9150_Example
by 
Chris Pepper
Revision 1:b213291e5a51, committed 2015-08-11
- Comitter:
- Hagrass
- Date:
- Tue Aug 11 14:41:02 2015 +0000
- Parent:
- 0:9f2982964a48
- Commit message:
- IMU;
Changed in this revision
--- a/MPU9150_DMP.lib Mon Sep 01 14:26:51 2014 +0000 +++ b/MPU9150_DMP.lib Tue Aug 11 14:41:02 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/p3p/code/MPU9150_DMP/#e523a92390b6 +https://developer.mbed.org/users/Hagrass/code/MPU9150_DMP/#0332862b5608
--- a/QuaternionMath.lib Mon Sep 01 14:26:51 2014 +0000 +++ b/QuaternionMath.lib Tue Aug 11 14:41:02 2015 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/p3p/code/QuaternionMath/#3cc1a808d8c6 +https://developer.mbed.org/users/Hagrass/code/QuaternionMath/#a23aea42443c
--- a/main.cpp Mon Sep 01 14:26:51 2014 +0000
+++ b/main.cpp Tue Aug 11 14:41:02 2015 +0000
@@ -2,7 +2,7 @@
#include "Quaternion.h"
Serial debug(USBTX, USBRX);
-MPU9150 imu(p10, p9, p15);
+MPU9150 imu(p27, p28, p15);
DigitalOut led(LED1);
@@ -28,13 +28,17 @@
Quaternion q1;
while(true){
+
+ wait(1);
+
if(imu.getFifoCount() >= 48){
imu.getFifoBuffer(buffer, 48);
led = !led;
}
-
- if(timer.read_ms() > 50){
+ q1.decode(buffer);
+ // wait(1.1);
+ if(timer.read_ms() >50){
timer.reset();
//This is the format of the data in the fifo,
@@ -67,10 +71,11 @@
(float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
(float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
*/
-
- q1.decode(buffer);
- debug.printf("%f, %f, %f, %f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
-
+ //wait(0.01);
+
+ 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);
+imu.setFifoReset(true);
+ imu.setDMPEnabled(true);
//TeaPot Demo Packet for MotionFit SDK
/*
@@ -84,6 +89,8 @@
debug.putc((char)0);
}
*/
+
}
- }
+
+ }
}
\ No newline at end of file