Revision 0:f43994f44684, committed 2018-11-08

Comitter:

evenbrownie

Date:

Thu Nov 08 20:48:47 2018 +0000

Commit message:

All I put in were the addresses from the beginning

Changed in this revision

diff -r 000000000000 -r f43994f44684 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,12 @@
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+
+int main() {
+    while(1) {
+        myled = 1; // LED is ON
+        wait(0.2); // 200 ms
+        myled = 0; // LED is OFF
+        wait(1.0); // 1 sec
+    }
+}

diff -r 000000000000 -r f43994f44684 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file

diff -r 000000000000 -r f43994f44684 millis.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/millis.cpp	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,21 @@
+/* 
+ * @author: Natasha Sarkar, 2018
+ */
+
+#include "mbed.h"
+#include "millis.h"
+ 
+volatile unsigned long  _millis;
+ 
+void millis_begin(void) {
+    SysTick_Config(SystemCoreClock / 1000);
+}
+ 
+extern "C" void SysTick_Handler(void) {
+    _millis++;
+}
+ 
+unsigned long millis(void) {
+    return _millis;
+}
+

diff -r 000000000000 -r f43994f44684 millis.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/millis.h	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,22 @@
+/*
+ * @author: Natasha Sarkar, 2018
+ */
+
+#ifndef __MILLIS_H
+#define __MILLIS_H
+
+/**
+ * Starts the clock. Call this function
+ * at the beginning of main.
+ */
+void millis_begin(void);
+
+/**
+ * Returns the number of milliseconds
+ * that have passed since the call
+ * to millis_begin.
+ */
+unsigned long millis(void);
+ 
+#endif
+

diff -r 000000000000 -r f43994f44684 quaternion.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quaternion.cpp	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,68 @@
+/*
+ * @author: Thomas Garcia, 2017
+ */
+
+#include "quaternion.h"
+#include <math.h>
+#include <string.h>
+
+float vector_normalize(struct vector *raw, struct vector *unit)
+{
+  float mag = sqrt(pow(raw->x, 2) + pow(raw->y, 2) + pow(raw->z, 2));
+  if(mag != 0) {
+      unit->x = raw->x / mag;
+      unit->y = raw->y / mag;
+      unit->z = raw->z / mag;
+  }
+  return mag;
+}
+
+void vector_add(struct vector *v1, struct vector *v2, struct vector *result)
+{
+  result->x = v1->x + v2->x;
+  result->y = v1->y + v2->y;
+  result->z = v1->z + v2->z;
+}
+
+void vector_multiply(struct vector *v, float c, struct vector *result)
+{
+  result->x = v->x * c;
+  result->y = v->y * c;
+  result->z = v->z * c;
+}
+
+void quaternion_create(struct vector *v, float angle, struct quaternion *result)
+{
+  result->r = cos(angle/2);
+  result->i = v->x * sin(angle/2);
+  result->j = v->y * sin(angle/2);
+  result->k = v->z * sin(angle/2);
+}
+
+void quaternion_rotate(struct vector *v, struct quaternion *q, struct vector *result)
+{
+  struct vector n;
+  memcpy(&n, v, sizeof(n));
+  result->x = n.x * (1 - 2*(pow(q->j, 2) + pow(q->k, 2))) + n.y * 2*(q->i * q->j - q->k * q->r) + n.z * 2*(q->i * q->k + q->j * q->r);
+  result->y = n.x * 2*(q->i * q->j + q->k * q->r) + n.y * (1 - 2*(pow(q->i, 2) + pow(q->k, 2))) + n.z * 2*(q->j * q->k - q->i * q->r);
+  result->z = n.x * 2*(q->i * q->k - q->j * q->r) + n.y * 2*(q->j * q->k + q->i * q->r) + n.z * (1 - 2*(pow(q->i, 2) + pow(q->j, 2)));
+}
+
+void quaternion_multiply(struct quaternion *q1, struct quaternion *q2, struct quaternion *result)
+{
+  result->r = q1->r * q2->r - q1->i * q2->i - q1->j * q2->j - q1->k * q2->k;
+  result->i = q1->r * q2->i + q1->i * q2->r + q1->j * q2->k - q1->k * q2->j;
+  result->j = q1->r * q2->j - q1->i * q2->k + q1->j * q2->r + q1->k * q2->i;
+  result->k = q1->r * q2->k + q1->i * q2->j - q1->j * q2->i + q1->k * q2->r;
+}
+
+float vector_roll(struct vector *v)
+{
+  return atan2(v->x, sqrt(pow(v->z, 2) + pow(v->y, 2)));
+}
+
+float vector_pitch(struct vector *v)
+{
+  return -atan2(v->y, v->z);
+}
+

diff -r 000000000000 -r f43994f44684 quaternion.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/quaternion.h	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,91 @@
+/*
+ * @author: Thomas Garcia, 2017
+ */
+
+#ifndef __QUATERNION_H
+#define __QUATERNION_H
+
+struct vector {
+  float x;
+  float y;
+  float z;
+};
+
+struct quaternion {
+  float r;
+  float i;
+  float j;
+  float k;
+};
+
+/**
+ * Normalizes a vector.
+ *
+ * raw: pointer to the vector to be normalized.
+ * unit: pointer to where unit vector dimensions should be stored.
+ *
+ * returns: length of original vector
+ */
+float vector_normalize(struct vector *raw, struct vector *unit);
+
+/**
+ * Adds two vectors together.
+ *
+ * v1: pointer to the first vector to be added.
+ * v2: pointer to the second vector to be added.
+ * result: pointer where the sum of v1 and v2 should be stored.
+ */
+void vector_add(struct vector *v1, struct vector *v2, struct vector *result);
+
+/**
+ * Multiples a vector by a constant.
+ *
+ * v: pointer to the vector to be multiplied.
+ * c: scalar constant to multiply vector by.
+ * result: pointer where the c * v should be stored.
+ */
+void vector_multiply(struct vector *v, float c, struct vector *result);
+
+/**
+ * Creates a quaternion representing a rotation.
+ *
+ * v: unit vector representing the axis of rotation.
+ * angle: angle of rotation.
+ * result: quaternion representing a rotation of degree angle around the unit vector of v.
+ */
+void quaternion_create(struct vector *v, float angle, struct quaternion *result);
+
+/**
+ * Rotates a vector based on a quaternion.
+ *
+ * v: vector to be rotated.
+ * q: quaternion representing the rotation to be performed.
+ * result: The rotated vector.
+ */
+void quaternion_rotate(struct vector *v, struct quaternion *q, struct vector *result);
+
+/**
+ * Multiplies two quaternions together.
+ *
+ * q1: The first quaternion to be multiplied.
+ * q2: The second quaternion to be multiplied.
+ * result: q1 * q2.
+ */
+void quaternion_multiply(struct quaternion *q1, struct quaternion *q2, struct quaternion *result);
+
+/**
+ * Returns the roll, given a vector.
+ *
+ * v: The vector.
+ */
+float vector_roll(struct vector *v);
+
+/**
+ * Returns the pitch, given a vector.
+ *
+ * v: The vector.
+ */
+float vector_pitch(struct vector *v);
+
+#endif
+

diff -r 000000000000 -r f43994f44684 sensor_fusion.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_fusion.cpp	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,71 @@
+/* 
+ * @author: Natasha Sarkar, 2018
+ */
+
+#include "mbed.h"
+#include "sensor_fusion.h"
+ 
+MPU6050::MPU6050(PinName sda, PinName scl): i2c_object(sda, scl) {
+    i2c_object.frequency(400000);
+}
+ 
+void MPU6050::start(void) {
+    /** TO DO 
+     * 
+     * CONFIGURE THE FOLLOWING REGISTERS ACCORDING TO THE DATASHEET:
+     *
+     * PWR_MGMT_1 register to take the IMU out of sleep mode
+     * ACCEL_CONFIG register to the smallest possible full-scale range (why might we want to do that?)
+     * GYRO_CONFIG register to the largest possible full-scale range to enable the detection of high-velocity rotations
+     * CONFIG register to the largest possible bandwidth.
+     */
+
+    /** YOUR CODE GOES BELOW */ 
+
+}
+ 
+bool MPU6050::read_raw(float *gx, float *gy, float *gz, float *ax, float *ay, float *az) {
+    /** TO DO
+     * 
+     * GET THE RAW READINGS FROM THE ACCELEROMETER/GYRSCOPE
+     *
+     * Store the readings in the floats pointed to by the given float pointers.
+     */
+
+    /** YOUR CODE GOES BELOW */ 
+
+}
+
+bool MPU6050::data_ready(void) {
+    /** TO DO
+     * 
+     * CHECK THE INT_STATUS REGISTER TO DETERMINE IF DATA IS READY
+     *
+     * Return true if it is ready, false otherwise.
+     */
+
+    /** YOUR CODE GOES BELOW */ 
+}
+
+bool MPU6050::write_reg(int addr, int reg, char buf) {
+    /** TO DO
+     * 
+     * IMPELEMENT THIS FUNCTION
+     *
+     * See the documentation in sensor_fusion.h for detail.
+     */
+
+    /** YOUR CODE GOES BELOW */ 
+}
+ 
+bool MPU6050::read_reg(char addr, char reg, char *buf, int length) {
+    /** TO DO
+     * 
+     * IMPLEMENT THIS FUNCTION
+     * 
+     * See the documentation in sensor_fusion.h for detail.
+     */
+
+    /** YOUR CODE GOES BELOW */ 
+}
+

diff -r 000000000000 -r f43994f44684 sensor_fusion.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_fusion.h	Thu Nov 08 20:48:47 2018 +0000
@@ -0,0 +1,93 @@
+/* 
+ * @author: Natasha Sarkar, 2018
+ */
+
+#ifndef __MPU6050_H
+#define __MPU6050_H
+ 
+#include "mbed.h"
+
+/** TO DO
+ * DEFINE THESE REGISTERS. 
+ * THE ADDRESS AND CONFIG REGISTERS HAVE BEEN DONE FOR YOU AS AN EXAMPLE.
+ *
+ * You will need to look at the register map.
+ */
+ 
+#define SDA                      PB_7   //the pin used for SDA                            
+#define SCL                      PB_6   //the pin used for SCL                    
+#define ADDRESS                  0xD1   //the slave address of the IMU
+#define INT_STATUS               0x3A   //the interrupt status register 
+#define PWR_MGMT_1               0x6B   //power management 1
+#define CONFIG                   0x1A   //the IMU config register
+#define GYRO_CONFIG              0x1B   //the gyroscope config register    
+#define ACCEL_CONFIG             0x1C   //the accelerometer config register        
+#define GYRO_X                   0x44   //the register that stores the first bit of the gyroscope x value          
+#define ACCEL_X                  0x3C   //the register that stores the first bit of the accelerometer x value
+
+class MPU6050 {
+
+public:
+
+    /** 
+     * Creates an MPU6050 object
+     * 
+     * sda: pin name of the sda pin
+     * scl: pin name of the scl pin
+     */
+    MPU6050(PinName sda, PinName scl);
+
+    /** 
+     * Called before using the MPU6050.
+     * 
+     * Sets up the I2C by configuring registers 
+     * as described in the spec (calls write_reg).
+     */
+    void start(void);
+
+    /** 
+     * Gets the readings from the gyroscope and accelerometer (calls read_reg).
+     * 
+     * Parameters: pointers to addresses where these readings should be stored.
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool read_raw(float *gx, float *gy, float *gz, float *ax, float *ay, float *az);
+    
+    /**
+     * Reads the interrupt status register (calls read_reg).
+     *
+     * Returns true if data is ready, false otherwise.
+     */
+    bool data_ready(void);
+
+private:
+
+    I2C i2c_object; //instance of an i2c class
+
+    /** 
+     * Writes 1 byte of data to a specific address
+     * 
+     * addr: the i2c address of the slave device
+     * reg: the register number to write to
+     * buf: the data to write
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool write_reg(int addr, int reg, char buf);
+
+    /** 
+     * Reads data from a specific address
+     * 
+     * addr: the i2c address of the slave device
+     * reg: the register numer to read from
+     * buf: an array to store the data read
+     * length: length of buf (how much to read)
+     *
+     * Returns true upon success, and false upon failure.
+     */
+    bool read_reg(char addr, char reg, char *buf, int length);
+};
+ 
+#endif
+