Suchakhree Srisukprom / Mbed 2 deprecated Test_Megre

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Dependencies:   mbed

GetAcceloroY.cpp@1:426fbd0d126a, 2015-12-09 (annotated)

Committer:
Suchakhree
Date:
Wed Dec 09 10:19:11 2015 +0000
Revision:
1:426fbd0d126a
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Suchakhree 1:426fbd0d126a 1 /*
Suchakhree 1:426fbd0d126a 2 //int main()
Suchakhree 1:426fbd0d126a 3 t.start();
Suchakhree 1:426fbd0d126a 4 //___ Set up I2C: use fast (400 kHz) I2C ___
Suchakhree 1:426fbd0d126a 5 i2c.frequency(400000);
Suchakhree 1:426fbd0d126a 6 // Read the WHO_AM_I register, this is a good test of communication
Suchakhree 1:426fbd0d126a 7 whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
Suchakhree 1:426fbd0d126a 8 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
Suchakhree 1:426fbd0d126a 9 if (I2Cstate != 0) // error on I2C
Suchakhree 1:426fbd0d126a 10 pc.printf("I2C failure while reading WHO_AM_I register");
Suchakhree 1:426fbd0d126a 11
Suchakhree 1:426fbd0d126a 12 if (whoami == 0x71) // WHO_AM_I should always be 0x71
Suchakhree 1:426fbd0d126a 13 {
Suchakhree 1:426fbd0d126a 14 pc.printf("MPU9250 is online...\n\r");
Suchakhree 1:426fbd0d126a 15 sprintf(buffer, "0x%x", whoami);
Suchakhree 1:426fbd0d126a 16 wait(1);
Suchakhree 1:426fbd0d126a 17 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
Suchakhree 1:426fbd0d126a 18 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
Suchakhree 1:426fbd0d126a 19 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers
Suchakhree 1:426fbd0d126a 20 wait(2);
Suchakhree 1:426fbd0d126a 21 //Initialize device for active mode read of acclerometer, gyroscope, and temperature
Suchakhree 1:426fbd0d126a 22 mpu9250.initMPU9250();
Suchakhree 1:426fbd0d126a 23 pc.printf("MPU9250 initialized for active data mode....\n\r");
Suchakhree 1:426fbd0d126a 24 //Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
Suchakhree 1:426fbd0d126a 25 mpu9250.initAK8963(magCalibration);
Suchakhree 1:426fbd0d126a 26 wait(1);
Suchakhree 1:426fbd0d126a 27 }
Suchakhree 1:426fbd0d126a 28
Suchakhree 1:426fbd0d126a 29 else // Connection failure
Suchakhree 1:426fbd0d126a 30 {
Suchakhree 1:426fbd0d126a 31 pc.printf("Could not connect to MPU9250: \n\r");
Suchakhree 1:426fbd0d126a 32 pc.printf("%#x \n", whoami);
Suchakhree 1:426fbd0d126a 33 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
Suchakhree 1:426fbd0d126a 34 //while(1) ; // Loop forever if communication doesn't happen
Suchakhree 1:426fbd0d126a 35 }
Suchakhree 1:426fbd0d126a 36
Suchakhree 1:426fbd0d126a 37 mpu9250.getAres(); // Get accelerometer sensitivity
Suchakhree 1:426fbd0d126a 38 mpu9250.getGres(); // Get gyro sensitivity
Suchakhree 1:426fbd0d126a 39 mpu9250.getMres(); // Get magnetometer sensitivity
Suchakhree 1:426fbd0d126a 40 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
Suchakhree 1:426fbd0d126a 41 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
Suchakhree 1:426fbd0d126a 42 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
Suchakhree 1:426fbd0d126a 43
Suchakhree 1:426fbd0d126a 44
Suchakhree 1:426fbd0d126a 45 Ay[0]=GetAcceloroY(); pc.printf("1: %d\n",Ay[0]);
Suchakhree 1:426fbd0d126a 46 Ay[1]=GetAcceloroY(); pc.printf("2: %d\n",Ay[1]);
Suchakhree 1:426fbd0d126a 47 if( Ay[1]+Ay[0]< -20 ) pc.printf("#BR$\n\n\n");
Suchakhree 1:426fbd0d126a 48
Suchakhree 1:426fbd0d126a 49
Suchakhree 1:426fbd0d126a 50 //Function 4 GetAcceloroY
Suchakhree 1:426fbd0d126a 51
Suchakhree 1:426fbd0d126a 52 int GetAcceloroY()
Suchakhree 1:426fbd0d126a 53 {
Suchakhree 1:426fbd0d126a 54 // If intPin goes high, all data registers have new data
Suchakhree 1:426fbd0d126a 55 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
Suchakhree 1:426fbd0d126a 56 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
Suchakhree 1:426fbd0d126a 57 // Now we'll calculate the accleration value into actual g's
Suchakhree 1:426fbd0d126a 58 if (I2Cstate != 0) //error on I2C
Suchakhree 1:426fbd0d126a 59 pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
Suchakhree 1:426fbd0d126a 60 else{ // I2C read or write ok
Suchakhree 1:426fbd0d126a 61 I2Cstate = 1;
Suchakhree 1:426fbd0d126a 62 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
Suchakhree 1:426fbd0d126a 63 ay = (float)accelCount[1]*aRes - accelBias[1];
Suchakhree 1:426fbd0d126a 64 az = (float)accelCount[2]*aRes - accelBias[2];
Suchakhree 1:426fbd0d126a 65 }
Suchakhree 1:426fbd0d126a 66 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
Suchakhree 1:426fbd0d126a 67 // Calculate the gyro value into actual degrees per second
Suchakhree 1:426fbd0d126a 68 if (I2Cstate != 0) //error on I2C
Suchakhree 1:426fbd0d126a 69 pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
Suchakhree 1:426fbd0d126a 70 else{ // I2C read or write ok
Suchakhree 1:426fbd0d126a 71 I2Cstate = 1;
Suchakhree 1:426fbd0d126a 72 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
Suchakhree 1:426fbd0d126a 73 gy = (float)gyroCount[1]*gRes - gyroBias[1];
Suchakhree 1:426fbd0d126a 74 gz = (float)gyroCount[2]*gRes - gyroBias[2];
Suchakhree 1:426fbd0d126a 75 }
Suchakhree 1:426fbd0d126a 76 mpu9250.readMagData(magCount); // Read the x/y/z adc values
Suchakhree 1:426fbd0d126a 77 // Calculate the magnetometer values in milliGauss
Suchakhree 1:426fbd0d126a 78 // Include factory calibration per data sheet and user environmental corrections
Suchakhree 1:426fbd0d126a 79 if (I2Cstate != 0) //error on I2C
Suchakhree 1:426fbd0d126a 80 pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
Suchakhree 1:426fbd0d126a 81 else{ // I2C read or write ok
Suchakhree 1:426fbd0d126a 82 I2Cstate = 1;
Suchakhree 1:426fbd0d126a 83 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
Suchakhree 1:426fbd0d126a 84 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
Suchakhree 1:426fbd0d126a 85 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
Suchakhree 1:426fbd0d126a 86 }
Suchakhree 1:426fbd0d126a 87
Suchakhree 1:426fbd0d126a 88 mpu9250.getCompassOrientation(orientation);
Suchakhree 1:426fbd0d126a 89 }
Suchakhree 1:426fbd0d126a 90
Suchakhree 1:426fbd0d126a 91 Now = t.read_us();
Suchakhree 1:426fbd0d126a 92 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
Suchakhree 1:426fbd0d126a 93 lastUpdate = Now;
Suchakhree 1:426fbd0d126a 94 sum += deltat;
Suchakhree 1:426fbd0d126a 95 sumCount++;
Suchakhree 1:426fbd0d126a 96
Suchakhree 1:426fbd0d126a 97 // Pass gyro rate as rad/s
Suchakhree 1:426fbd0d126a 98 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
Suchakhree 1:426fbd0d126a 99 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
Suchakhree 1:426fbd0d126a 100
Suchakhree 1:426fbd0d126a 101 // Serial print and/or display at 1.5 s rate independent of data rates
Suchakhree 1:426fbd0d126a 102 delt_t = t.read_ms() - count;
Suchakhree 1:426fbd0d126a 103 if (delt_t > 500) { // update LCD once per half-second independent of read rate
Suchakhree 1:426fbd0d126a 104 mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);
Suchakhree 1:426fbd0d126a 105 pc.printf(" ay = %.2f\n", 1000*ay);
Suchakhree 1:426fbd0d126a 106 tempCount = mpu9250.readTempData(); // Read the adc values
Suchakhree 1:426fbd0d126a 107 if (I2Cstate != 0) //error on I2C
Suchakhree 1:426fbd0d126a 108 pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
Suchakhree 1:426fbd0d126a 109 else{ // I2C read or write ok
Suchakhree 1:426fbd0d126a 110 I2Cstate = 1;
Suchakhree 1:426fbd0d126a 111 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
Suchakhree 1:426fbd0d126a 112 //pc.printf(" temperature = %f C\n\r", temperature);
Suchakhree 1:426fbd0d126a 113 }
Suchakhree 1:426fbd0d126a 114 count = t.read_ms();
Suchakhree 1:426fbd0d126a 115 if(count > 1<<21) {
Suchakhree 1:426fbd0d126a 116 t.start(); // start the timer over again if ~30 minutes has passed
Suchakhree 1:426fbd0d126a 117 count = 0;
Suchakhree 1:426fbd0d126a 118 deltat= 0;
Suchakhree 1:426fbd0d126a 119 lastUpdate = t.read_us();
Suchakhree 1:426fbd0d126a 120 }
Suchakhree 1:426fbd0d126a 121 sum = 0;
Suchakhree 1:426fbd0d126a 122 sumCount = 0;
Suchakhree 1:426fbd0d126a 123 }
Suchakhree 1:426fbd0d126a 124 return ay*1000;
Suchakhree 1:426fbd0d126a 125 }*/