Suchakhree Srisukprom
k
Diff: GetAcceloroY.cpp
- Revision:
- 1:426fbd0d126a
diff -r 238df339023b -r 426fbd0d126a GetAcceloroY.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GetAcceloroY.cpp Wed Dec 09 10:19:11 2015 +0000
@@ -0,0 +1,125 @@
+/*
+//int main()
+ t.start();
+ //___ Set up I2C: use fast (400 kHz) I2C ___
+ i2c.frequency(400000);
+ // Read the WHO_AM_I register, this is a good test of communication
+ whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+ if (I2Cstate != 0) // error on I2C
+ pc.printf("I2C failure while reading WHO_AM_I register");
+
+ if (whoami == 0x71) // WHO_AM_I should always be 0x71
+ {
+ pc.printf("MPU9250 is online...\n\r");
+ sprintf(buffer, "0x%x", whoami);
+ wait(1);
+ mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
+ mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers
+ wait(2);
+ //Initialize device for active mode read of acclerometer, gyroscope, and temperature
+ mpu9250.initMPU9250();
+ pc.printf("MPU9250 initialized for active data mode....\n\r");
+ //Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
+ mpu9250.initAK8963(magCalibration);
+ wait(1);
+ }
+
+ else // Connection failure
+ {
+ pc.printf("Could not connect to MPU9250: \n\r");
+ pc.printf("%#x \n", whoami);
+ sprintf(buffer, "WHO_AM_I 0x%x", whoami);
+ //while(1) ; // Loop forever if communication doesn't happen
+ }
+
+ mpu9250.getAres(); // Get accelerometer sensitivity
+ mpu9250.getGres(); // Get gyro sensitivity
+ mpu9250.getMres(); // Get magnetometer sensitivity
+ magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+ magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+ magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+
+
+ Ay[0]=GetAcceloroY(); pc.printf("1: %d\n",Ay[0]);
+ Ay[1]=GetAcceloroY(); pc.printf("2: %d\n",Ay[1]);
+ if( Ay[1]+Ay[0]< -20 ) pc.printf("#BR$\n\n\n");
+
+
+//Function 4 GetAcceloroY
+
+int GetAcceloroY()
+{
+ // If intPin goes high, all data registers have new data
+ if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+ mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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];
+ }
+ mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ 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];
+ }
+ mpu9250.readMagData(magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
+ my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
+ mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
+ }
+
+ mpu9250.getCompassOrientation(orientation);
+ }
+
+ 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++;
+
+ // Pass gyro rate as rad/s
+ // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+ mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
+
+ // Serial print and/or display at 1.5 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
+ mpu9250.MadgwickQuaternionUpdate(ax,ay,az,gx,gy,gz,mx,my,mz);
+ pc.printf(" ay = %.2f\n", 1000*ay);
+ tempCount = mpu9250.readTempData(); // Read the adc values
+ if (I2Cstate != 0) //error on I2C
+ pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
+ else{ // I2C read or write ok
+ I2Cstate = 1;
+ temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
+ //pc.printf(" temperature = %f C\n\r", temperature);
+ }
+ count = t.read_ms();
+ if(count > 1<<21) {
+ t.start(); // start the timer over again if ~30 minutes has passed
+ count = 0;
+ deltat= 0;
+ lastUpdate = t.read_us();
+ }
+ sum = 0;
+ sumCount = 0;
+ }
+ return ay*1000;
+}*/
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