Austin Buchan / mbed_zumy_rpc

Publishing for Biomimetics.

Dependencies:   MPU6050IMU QEI RPCInterface mbed-src

main.cpp@0:966d81803039, 2016-05-31 (annotated)

Committer:
abuchan
Date:
Tue May 31 16:37:13 2016 +0000
Revision:
0:966d81803039
Publishing for Biomimetics.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
abuchan 0:966d81803039 1 #include "mbed.h"
abuchan 0:966d81803039 2 #include "SerialRPCInterface.h"
abuchan 0:966d81803039 3 #include "MPU6050.h"
abuchan 0:966d81803039 4 #include "QEI.h"
abuchan 0:966d81803039 5
abuchan 0:966d81803039 6 SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
abuchan 0:966d81803039 7
abuchan 0:966d81803039 8 float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
abuchan 0:966d81803039 9 int r_enc, l_enc;
abuchan 0:966d81803039 10
abuchan 0:966d81803039 11 RPCVariable<float> rpc_accel_x(&accel_x, "accel_x");
abuchan 0:966d81803039 12 RPCVariable<float> rpc_accel_y(&accel_y, "accel_y");
abuchan 0:966d81803039 13 RPCVariable<float> rpc_accel_z(&accel_z, "accel_z");
abuchan 0:966d81803039 14 RPCVariable<float> rpc_gryo_x(&gyro_x, "gyro_x");
abuchan 0:966d81803039 15 RPCVariable<float> rpc_gryo_y(&gyro_y, "gyro_y");
abuchan 0:966d81803039 16 RPCVariable<float> rpc_gryo_z(&gyro_z, "gyro_z");
abuchan 0:966d81803039 17 RPCVariable<int> rpc_r_enc(&r_enc, "r_enc");
abuchan 0:966d81803039 18 RPCVariable<int> rpc_l_enc(&l_enc, "l_enc");
abuchan 0:966d81803039 19 QEI l_wheel (p29, p30, NC, 624);
abuchan 0:966d81803039 20 QEI r_wheel (p11, p12, NC, 624);
abuchan 0:966d81803039 21
abuchan 0:966d81803039 22 MPU6050 mpu6050;
abuchan 0:966d81803039 23
abuchan 0:966d81803039 24 DigitalOut init_done(LED1);
abuchan 0:966d81803039 25 DigitalOut imu_good(LED2);
abuchan 0:966d81803039 26 DigitalOut main_loop(LED3);
abuchan 0:966d81803039 27
abuchan 0:966d81803039 28 int main() {
abuchan 0:966d81803039 29 init_done = 0;
abuchan 0:966d81803039 30 imu_good = 0;
abuchan 0:966d81803039 31 main_loop = 0;
abuchan 0:966d81803039 32
abuchan 0:966d81803039 33 //Set up I2C
abuchan 0:966d81803039 34 i2c.frequency(400000); // use fast (400 kHz) I2C
abuchan 0:966d81803039 35
abuchan 0:966d81803039 36 volatile bool imu_ready = false;
abuchan 0:966d81803039 37
abuchan 0:966d81803039 38 wait_ms(100);
abuchan 0:966d81803039 39
abuchan 0:966d81803039 40 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
abuchan 0:966d81803039 41
abuchan 0:966d81803039 42 if (whoami == 0x68) // WHO_AM_I should always be 0x68
abuchan 0:966d81803039 43 {
abuchan 0:966d81803039 44 mpu6050.MPU6050SelfTest(SelfTest);
abuchan 0:966d81803039 45 if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
abuchan 0:966d81803039 46 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
abuchan 0:966d81803039 47 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
abuchan 0:966d81803039 48 mpu6050.initMPU6050();
abuchan 0:966d81803039 49 mpu6050.getAres();
abuchan 0:966d81803039 50 mpu6050.getGres();
abuchan 0:966d81803039 51 imu_ready = true;
abuchan 0:966d81803039 52 imu_good = 1;
abuchan 0:966d81803039 53 }
abuchan 0:966d81803039 54 }
abuchan 0:966d81803039 55
abuchan 0:966d81803039 56 init_done = 1;
abuchan 0:966d81803039 57 uint8_t loop_count = 10;
abuchan 0:966d81803039 58 while(1) {
abuchan 0:966d81803039 59 wait_ms(10);
abuchan 0:966d81803039 60
abuchan 0:966d81803039 61 // Handle the encoders
abuchan 0:966d81803039 62 r_enc=r_wheel.getPulses();
abuchan 0:966d81803039 63 l_enc=l_wheel.getPulses();
abuchan 0:966d81803039 64 //pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
abuchan 0:966d81803039 65
abuchan 0:966d81803039 66 if (!(--loop_count)) {
abuchan 0:966d81803039 67 loop_count = 10;
abuchan 0:966d81803039 68 main_loop = !main_loop;
abuchan 0:966d81803039 69 }
abuchan 0:966d81803039 70
abuchan 0:966d81803039 71 if (imu_ready) {
abuchan 0:966d81803039 72
abuchan 0:966d81803039 73 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
abuchan 0:966d81803039 74 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
abuchan 0:966d81803039 75 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
abuchan 0:966d81803039 76
abuchan 0:966d81803039 77 // Now we'll calculate the accleration value into actual g's
abuchan 0:966d81803039 78 accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
abuchan 0:966d81803039 79 accel_y = (float)accelCount[1]*aRes - accelBias[1];
abuchan 0:966d81803039 80 accel_z = (float)accelCount[2]*aRes - accelBias[2];
abuchan 0:966d81803039 81
abuchan 0:966d81803039 82 // Calculate the gyro value into actual degrees per second
abuchan 0:966d81803039 83 gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
abuchan 0:966d81803039 84 gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];
abuchan 0:966d81803039 85 gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
abuchan 0:966d81803039 86 }
abuchan 0:966d81803039 87 }
abuchan 0:966d81803039 88 }
abuchan 0:966d81803039 89 }