Example usage of DMP on MPU9150 for ST Nucelo boards. Tested on Nucleo F411

Dependencies:   CMSIS_DSP_401 MPU9150_DMP_Nucleo QuaternionMath mbed

Committer:
akashvibhute
Date:
Sun Mar 29 08:40:03 2015 +0000
Revision:
1:211e86759c77
Parent:
0:8070e5078178
Example usage of DMP for nucelo for non I2Cdev library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:8070e5078178 1 #include "mbed.h"
akashvibhute 0:8070e5078178 2
akashvibhute 0:8070e5078178 3 Serial debug(USBTX, USBRX);
akashvibhute 0:8070e5078178 4
akashvibhute 0:8070e5078178 5 #include "MPU9150.h"
akashvibhute 0:8070e5078178 6 #include "Quaternion.h"
akashvibhute 0:8070e5078178 7 MPU9150 imu(D15, D14, D7); //scl sda int
akashvibhute 0:8070e5078178 8 DigitalOut led(LED1);
akashvibhute 0:8070e5078178 9 char buffer[200];
akashvibhute 0:8070e5078178 10
akashvibhute 0:8070e5078178 11 int main(){
akashvibhute 0:8070e5078178 12 debug.baud(921600);
akashvibhute 0:8070e5078178 13
akashvibhute 0:8070e5078178 14 if(imu.isReady()){
akashvibhute 0:8070e5078178 15 debug.printf("MPU9150 is ready\r\n");
akashvibhute 0:8070e5078178 16 } else {
akashvibhute 0:8070e5078178 17 debug.printf("MPU9150 initialisation failure\r\n");
akashvibhute 0:8070e5078178 18 }
akashvibhute 0:8070e5078178 19
akashvibhute 0:8070e5078178 20 imu.initialiseDMP();
akashvibhute 0:8070e5078178 21
akashvibhute 0:8070e5078178 22 Timer timer;
akashvibhute 0:8070e5078178 23 timer.start();
akashvibhute 0:8070e5078178 24
akashvibhute 0:8070e5078178 25 imu.setFifoReset(true);
akashvibhute 0:8070e5078178 26 imu.setDMPEnabled(true);
akashvibhute 0:8070e5078178 27
akashvibhute 0:8070e5078178 28 Quaternion q1;
akashvibhute 0:8070e5078178 29
akashvibhute 0:8070e5078178 30 while(true){
akashvibhute 0:8070e5078178 31
akashvibhute 0:8070e5078178 32 if(imu.getFifoCount() >= 48){
akashvibhute 0:8070e5078178 33 imu.getFifoBuffer(buffer, 48);
akashvibhute 0:8070e5078178 34 led = !led;
akashvibhute 0:8070e5078178 35 }
akashvibhute 0:8070e5078178 36
akashvibhute 0:8070e5078178 37 if(timer.read_ms() > 50){
akashvibhute 0:8070e5078178 38 timer.reset();
akashvibhute 0:8070e5078178 39
akashvibhute 0:8070e5078178 40 //This is the format of the data in the fifo,
akashvibhute 0:8070e5078178 41 /* ================================================================================================ *
akashvibhute 0:8070e5078178 42 | Default MotionApps v4.1 48-byte FIFO packet structure: |
akashvibhute 0:8070e5078178 43 | |
akashvibhute 0:8070e5078178 44 | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] |
akashvibhute 0:8070e5078178 45 | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 |
akashvibhute 0:8070e5078178 46 | |
akashvibhute 0:8070e5078178 47 | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] |
akashvibhute 0:8070e5078178 48 | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 |
akashvibhute 0:8070e5078178 49 * ================================================================================================ */
akashvibhute 0:8070e5078178 50
akashvibhute 0:8070e5078178 51 /*
akashvibhute 0:8070e5078178 52 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]),
akashvibhute 0:8070e5078178 53 (int32_t)(((int32_t)buffer[38] << 24) + ((int32_t)buffer[39] << 16) + ((int32_t)buffer[40] << 8) + (int32_t)buffer[41]),
akashvibhute 0:8070e5078178 54 (int32_t)(((int32_t)buffer[42] << 24) + ((int32_t)buffer[43] << 16) + ((int32_t)buffer[44] << 8) + (int32_t)buffer[45]));
akashvibhute 0:8070e5078178 55
akashvibhute 0:8070e5078178 56 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]),
akashvibhute 0:8070e5078178 57 (int32_t)(((int32_t)buffer[20] << 24) + ((int32_t)buffer[21] << 16) + ((int32_t)buffer[22] << 8) + (int32_t)buffer[23]),
akashvibhute 0:8070e5078178 58 (int32_t)(((int32_t)buffer[24] << 24) + ((int32_t)buffer[25] << 16) + ((int32_t)buffer[26] << 8) + (int32_t)buffer[27]));
akashvibhute 0:8070e5078178 59
akashvibhute 0:8070e5078178 60 debug.printf("%d, %d, %d\r\n", (int16_t)(buffer[29] << 8) + buffer[28],
akashvibhute 0:8070e5078178 61 (int16_t)(buffer[31] << 8) + buffer[30],
akashvibhute 0:8070e5078178 62 (int16_t)(buffer[33] << 8) + buffer[32]);
akashvibhute 0:8070e5078178 63
akashvibhute 0:8070e5078178 64 debug.printf("%f, %f, %f, %f\r\n",
akashvibhute 0:8070e5078178 65 (float)((((int32_t)buffer[0] << 24) + ((int32_t)buffer[1] << 16) + ((int32_t)buffer[2] << 8) + buffer[3]))* (1.0 / (1<<30)),
akashvibhute 0:8070e5078178 66 (float)((((int32_t)buffer[4] << 24) + ((int32_t)buffer[5] << 16) + ((int32_t)buffer[6] << 8) + buffer[7]))* (1.0 / (1<<30)),
akashvibhute 0:8070e5078178 67 (float)((((int32_t)buffer[8] << 24) + ((int32_t)buffer[9] << 16) + ((int32_t)buffer[10] << 8) + buffer[11]))* (1.0 / (1<<30)),
akashvibhute 0:8070e5078178 68 (float)((((int32_t)buffer[12] << 24) + ((int32_t)buffer[13] << 16) + ((int32_t)buffer[14] << 8) + buffer[15]))* (1.0 / (1<<30)));
akashvibhute 0:8070e5078178 69 */
akashvibhute 0:8070e5078178 70
akashvibhute 0:8070e5078178 71 q1.decode(buffer);
akashvibhute 0:8070e5078178 72 debug.printf("%f, %f, %f, %f\r\n", q1.w, q1.v.x, q1.v.y, q1.v.z);
akashvibhute 0:8070e5078178 73
akashvibhute 0:8070e5078178 74
akashvibhute 0:8070e5078178 75 //TeaPot Demo Packet for MotionFit SDK
akashvibhute 0:8070e5078178 76 /*
akashvibhute 0:8070e5078178 77 debug.putc('$'); //packet start
akashvibhute 0:8070e5078178 78 debug.putc((char)2); //assume packet type constant
akashvibhute 0:8070e5078178 79 debug.putc((char)0); //count seems unused
akashvibhute 0:8070e5078178 80 for(int i = 0; i < 16; i++){ //16 bytes for 4 32bit floats
akashvibhute 0:8070e5078178 81 debug.putc((char)(buffer[i]));
akashvibhute 0:8070e5078178 82 }
akashvibhute 0:8070e5078178 83 for(int i = 0; i < 5; i++){ //no idea, padded with 0
akashvibhute 0:8070e5078178 84 debug.putc((char)0);
akashvibhute 0:8070e5078178 85 }
akashvibhute 0:8070e5078178 86 */
akashvibhute 0:8070e5078178 87 }
akashvibhute 0:8070e5078178 88 }
akashvibhute 0:8070e5078178 89 }
akashvibhute 0:8070e5078178 90