main.cpp

00001 #include "MPU9150.h"
00002 #include "Quaternion.h"
00003 
00004 Serial debug(USBTX, USBRX);
00005 MPU9150 imu(p27, p28, p15);
00006 
00007 DigitalOut led(LED1);
00008 
00009 char buffer[200];
00010 
00011 int main(){
00012     debug.baud(115200);
00013     
00014     if(imu.isReady()){
00015         debug.printf("MPU9150 is ready\r\n");
00016     } else {
00017         debug.printf("MPU9150 initialisation failure\r\n");
00018     }
00019     
00020     imu.initialiseDMP();
00021 
00022     Timer timer;
00023     timer.start();
00024 
00025     imu.setFifoReset(true);    
00026     imu.setDMPEnabled(true);    
00027     
00028     Quaternion q1;
00029     
00030     while(true){
00031         
00032     wait(1);
00033     
00034 
00035         if(imu.getFifoCount() >= 48){
00036             imu.getFifoBuffer(buffer,  48);
00037             led = !led;
00038         }
00039         q1.decode(buffer);
00040     //    wait(1.1);
00041         if(timer.read_ms() >50){
00042             timer.reset();
00043            
00044            //This is the format of the data in the fifo, 
00045            /* ================================================================================================ *
00046              | Default MotionApps v4.1 48-byte FIFO packet structure:                                           |
00047              |                                                                                                  |
00048              | [QUAT W][      ][QUAT X][      ][QUAT Y][      ][QUAT Z][      ][GYRO X][      ][GYRO Y][      ] |
00049              |   0   1   2   3   4   5   6   7   8   9  10  11  12  13  14  15  16  17  18  19  20  21  22  23  |
00050              |                                                                                                  |
00051              | [GYRO Z][      ][MAG X ][MAG Y ][MAG Z ][ACC X ][      ][ACC Y ][      ][ACC Z ][      ][      ] |
00052              |  24  25  26  27  28  29  30  31  32  33  34  35  36  37  38  39  40  41  42  43  44  45  46  47  |
00053              * ================================================================================================ */
00054              
00055             /*
00056             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]), 
00057                                             (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]), 
00058                                             (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
00059                                                 
00060             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]),
00061                                             (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
00062                                             (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
00063                                             
00064             debug.printf("%d, %d, %d\r\n",  (int16_t)(buffer[29] << 8) + buffer[28], 
00065                                             (int16_t)(buffer[31] << 8) + buffer[30], 
00066                                             (int16_t)(buffer[33] << 8) + buffer[32]);
00067                                             
00068             debug.printf("%f, %f, %f, %f\r\n", 
00069                 (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
00070                 (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
00071                 (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
00072                 (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
00073             */
00074                 //wait(0.01); 
00075             
00076             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);
00077 imu.setFifoReset(true);    
00078     imu.setDMPEnabled(true);
00079 
00080             //TeaPot Demo Packet for MotionFit SDK
00081             /*
00082             debug.putc('$'); //packet start
00083             debug.putc((char)2); //assume packet type constant
00084             debug.putc((char)0); //count seems unused
00085             for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
00086                 debug.putc((char)(buffer[i]));
00087             }
00088             for(int i = 0; i < 5; i++){ //no idea, padded with 0
00089                 debug.putc((char)0);
00090             }
00091             */
00092         
00093         }   
00094    
00095   }
00096 }