Diff: main.cpp

Revision:

4:337af8bbd44e

Parent:

3:c138317c9753

Child:

5:c7d9f3353b7c

--- a/main.cpp	Sat Jul 08 14:49:30 2017 +0000
+++ b/main.cpp	Sun Jul 09 13:01:22 2017 +0000
@@ -31,15 +31,59 @@
 //black GND
 #include "MPU9250.h"
 #include "FLASH.h"
-#undef DEVICE_STDIO_MESSAGES 
+#include "user.h"
+
+MPU9250 mpu9250;
+
+void Read_MPU9250()
+{
+    
+    // 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
 
-#define DEVICE_STDIO_MESSAGES 0
+            mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values
+            // Now we'll calculate the accleration value into actual g's
+            
+            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+           printf("ax=%f\n\r",ax);
+         printf ("accelcount=%x\n\r",accelCount[0]);
+                  printf ("accelcount int=%i\n\r",accelCount[0]);
+           printf ("acc X_H=%x\n\r",reg8_bit[X_H]);
+            printf ("acc decimel X_L=%d\n\r",reg8_bit[X_L]);
+            printf ("acc X_L=%x\n\r",reg8_bit[X_L]);
+           /* 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
+            /*
+            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
+            /*
+            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];
+            */
+            myled= !myled;
+        }
+    
+    }
+
+
+
+
+
 
 float sum = 0;
 uint32_t sumCount = 0;
 
-MPU9250 mpu9250;
 
+Ticker every_10ms;
 Timer t;
 
 Serial pc(USBTX, USBRX); // tx, rx
@@ -65,7 +109,7 @@
 
     t.start();
 
-
+ pc.printf("start...\n\r");
 
     // 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
@@ -107,7 +151,7 @@
         while(1) ; // Loop forever if communication doesn't happen
     }
 
-    //mpu9250.getAres(); // Get accelerometer sensitivity
+    mpu9250.getAres(); // Get accelerometer sensitivity
     //mpu9250.getGres(); // Get gyro sensitivity
     //mpu9250.getMres(); // Get magnetometer sensitivity
     //pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
@@ -116,37 +160,13 @@
     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
+//every_10ms.attach(&Read_MPU9250,3);//0.001
 
     while(1) {
-
-        // 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
-            /*
-            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
-            /*
-            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
-            /*
-            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];
-            */
-            myled= !myled;
-        }
-
+            
+            Read_MPU9250();
+        
+/*
         Now = t.read_us();
         deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
         lastUpdate = Now;
@@ -154,61 +174,7 @@
         sum += deltat;
         sumCount++;
 
-//    if(lastUpdate - firstUpdate > 10000000.0f) {
-//     beta = 0.04;  // decrease filter gain after stabilized
-//     zeta = 0.015; // increasey bias drift gain after stabilized
-//   }
-
-        // 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 0.5 s rate independent of data rates
-      //  delt_t = t.read_ms() - count;
-      //  if (delt_t > 100) { // update LCD once per half-second independent of read rate
-/*
-            pc.printf("ax = %f", 1000*ax);
-            pc.printf(" ay = %f", 1000*ay);
-            pc.printf(" az = %f  mg\n\r", 1000*az);*/
-            /*
-                pc.printf("gx = %f", gx);
-                pc.printf(" gy = %f", gy);
-                pc.printf(" gz = %f  deg/s\n\r", gz);
-
-                pc.printf("gx = %f", mx);
-                pc.printf(" gy = %f", my);
-                pc.printf(" gz = %f  mG\n\r", mz);
-                */
-            //tempCount = mpu9250.readTempData();  // Read the adc values
-            //temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
-            //pc.printf(" temperature = %f  C\n\r", temperature);
-
-            //pc.printf("q0 = %f\n\r", q[0]);
-            //pc.printf("q1 = %f\n\r", q[1]);
-            //pc.printf("q2 = %f\n\r", q[2]);
-            //pc.printf("q3 = %f\n\r", q[3]);
-
-
-            // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
-            // In this coordinate system, the positive z-axis is down toward Earth.
-            // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
-            // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
-            // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
-            // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
-            // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
-            // applied in the correct order which for this configuration is yaw, pitch, and then roll.
-            // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
-           /* yaw   = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
-            pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
-            roll  = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
-            pitch *= 180.0f / PI;
-            yaw   *= 180.0f / PI;
-            yaw   -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
-            roll  *= 180.0f / PI;*/
-
-            //  pc.printf("Yaw,   Pitch,   Roll:  %f  %f  %f \n\r",  yaw,   pitch,   roll);
-            //pc.printf("average rate = %f\n\r", (float) sumCount/sum);
+   */
 
             /*******************************memory write and read***************************************/
             write_EN_Flash();
@@ -241,17 +207,21 @@
 
             for(int i=0; i<=255; i++) {
                 Sensor_data[i]= SER_FLASH.write(0x00);
-                pc.printf("location %i=%i\n\r",i, Sensor_data[i]);
+                //pc.printf("location %i=%i\n\r",i, Sensor_data[i]);
             }
             FLASH_CS=1;
 
             /***********************************************************************************************************/
-        while(1);
+       // while(1);
 
-            count = t.read_ms();
-            sum = 0;
-            sumCount = 0;
+         //   count = t.read_ms();
+         //   sum = 0;
+          //  sumCount = 0;
+            wait(1);
   //      }
     }
 
 }
+
+
+