ethan hong / Mbed 2 deprecated MPU9250AHRS

Basic program to obtain properly-scaled gyro, accelerometer, and magnetometer data from the MPU-9250 9-axis motion sensor and do 9 DoF sensor fusion using the open-source Madgwick and Mahony sensor fusion filters. Running on STM32F401RE Nucleo board at 84 MHz achieves sensor fusion filter update rates of ~5000 Hz.

Dependencies:   BufferedSerial ST_401_84MHZ USBDevice mbed

Fork of MPU9250AHRS by Kris Winer

Files at this revision

API Documentation at this revision

Revision 3:423c156187bd, committed 2015-12-11

Comitter:
banhis
Date:
Fri Dec 11 00:55:22 2015 +0000
Parent:
2:4e59a37182df
Commit message:
INCLUDE - USB2UART LIBRARIES

Changed in this revision

BufferedSerial.lib Show annotated file Show diff for this revision Revisions of this file
MPU9250.h Show annotated file Show diff for this revision Revisions of this file
N5110.lib Show diff for this revision Revisions of this file
USBDevice.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 4e59a37182df -r 423c156187bd BufferedSerial.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BufferedSerial.lib	Fri Dec 11 00:55:22 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/sam_grove/code/BufferedSerial/#779304f9c5d2

diff -r 4e59a37182df -r 423c156187bd MPU9250.h
--- a/MPU9250.h	Tue Aug 05 01:37:23 2014 +0000
+++ b/MPU9250.h	Fri Dec 11 00:55:22 2015 +0000
@@ -151,7 +151,7 @@
 #define YA_OFFSET_H      0x7A
 #define YA_OFFSET_L      0x7B
 #define ZA_OFFSET_H      0x7D
-#define ZA_OFFSET_L      0x7E
+#define ZA_OFFSET_L      0x0E
 
 // Using the MSENSR-9250 breakout board, ADO is set to 0 
 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
@@ -625,7 +625,7 @@
 // Configure the accelerometer for self-test
    writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
    writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
-   delay(25); // Delay a while to let the device stabilize
+   //delay(25); // Delay a while to let the device stabilize
 
   for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer
   
@@ -648,7 +648,7 @@
  // Configure the gyro and accelerometer for normal operation
    writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00);
    writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00);
-   delay(25); // Delay a while to let the device stabilize
+  // delay(25); // Delay a while to let the device stabilize
    
    // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
    selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results

diff -r 4e59a37182df -r 423c156187bd N5110.lib
--- a/N5110.lib	Tue Aug 05 01:37:23 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/onehorse/code/Adfs/#28c629d0b0d0

diff -r 4e59a37182df -r 423c156187bd USBDevice.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Fri Dec 11 00:55:22 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/USBDevice/#2af474687369

diff -r 4e59a37182df -r 423c156187bd main.cpp
--- a/main.cpp	Tue Aug 05 01:37:23 2014 +0000
+++ b/main.cpp	Fri Dec 11 00:55:22 2015 +0000
@@ -30,7 +30,7 @@
 //F401_init84 myinit(0);
 #include "mbed.h"
 #include "MPU9250.h"
-#include "N5110.h"
+//#include "N5110.h"
 
 // Using NOKIA 5110 monochrome 84 x 48 pixel display
 // pin 9 - Serial clock out (SCLK)
@@ -51,13 +51,13 @@
    Serial pc(USBTX, USBRX); // tx, rx
 
    //        VCC,   SCE,  RST,  D/C,  MOSI,S CLK, LED
-   N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
+   //N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
    
 
         
 int main()
 {
-  pc.baud(9600);  
+  pc.baud(115200);  
 
   //Set up I2C
   i2c.frequency(400000);  // use fast (400 kHz) I2C  
@@ -66,23 +66,23 @@
   
   t.start();        
   
-  lcd.init();
+  //lcd.init();
 //  lcd.setBrightness(0.05);
   
     
   // Read the WHO_AM_I register, this is a good test of communication
   uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);  // Read WHO_AM_I register for MPU-9250
-  pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+  pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x74\n\r");
   
-  if (whoami == 0x71) // WHO_AM_I should always be 0x68
+  if (whoami == 0x74) // WHO_AM_I should always be 0x68
   {  
     pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
     pc.printf("MPU9250 is online...\n\r");
-    lcd.clear();
-    lcd.printString("MPU9250 is", 0, 0);
+    //lcd.clear();
+    //lcd.printString("MPU9250 is", 0, 0);
     sprintf(buffer, "0x%x", whoami);
-    lcd.printString(buffer, 0, 1);
-    lcd.printString("shoud be 0x71", 0, 2);  
+    //lcd.printString(buffer, 0, 1);
+    //lcd.printString("shoud be 0x71", 0, 2);  
     wait(1);
     
     mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
@@ -118,11 +118,11 @@
     pc.printf("Could not connect to MPU9250: \n\r");
     pc.printf("%#x \n",  whoami);
  
-    lcd.clear();
-    lcd.printString("MPU9250", 0, 0);
-    lcd.printString("no connection", 0, 1);
+    //lcd.clear();
+    //lcd.printString("MPU9250", 0, 0);
+    //lcd.printString("no connection", 0, 1);
     sprintf(buffer, "WHO_AM_I 0x%x", whoami);
-    lcd.printString(buffer, 0, 2); 
+    //lcd.printString(buffer, 0, 2); 
  
     while(1) ; // Loop forever if communication doesn't happen
     }