Diff: main.cpp

Revision:

2:855c83d4c7d6

Parent:

1:a3ced0ecbcf8

diff -r a3ced0ecbcf8 -r 855c83d4c7d6 main.cpp
--- a/main.cpp	Fri Jul 08 14:11:56 2016 +0000
+++ b/main.cpp	Sat Aug 06 11:46:39 2016 +0000
@@ -1,110 +1,16 @@
 #include "mbed.h"
-#include "MPU9250.h"
-
-MPU9250 mpu9250;
-
-Timer t;
+#include "attitude.h"
 
 Serial pc(USBTX, USBRX); // tx, rx
 
-DigitalIn mybutton(USER_BUTTON);
-
-void attitude_setup(void);
-float attitude_get(void);
-
 int main()
 {
-
+    pc.baud(9600);
     attitude_setup();
 
     while(1) {
         attitude_get();
         pc.printf("Yaw,   Pitch,   Roll:  %.0f  %.0f  %.0f \n\r",  yaw,   pitch,   roll);
-        if (mybutton == 0)  wait(0.1);//Button is pressed
     }
 
 }
-void attitude_setup(void)
-{
-    pc.baud(9600);
-
-    //Set up I2C
-    i2c.frequency(400000);  // use fast (400 kHz) I2C
-
-    //pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
-
-    t.start();
-
-
-
-    // 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
-    
-
-    if (whoami == 0x71) { // WHO_AM_I should always be 0x68
-        wait(1);
-        mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
-        mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
-        wait(2);
-        mpu9250.initMPU9250();
-        mpu9250.initAK8963(magCalibration);
-        wait(2);
-    } else while(1) ; // Loop forever if communication doesn't happen
-
-    mpu9250.getAres(); // Get accelerometer sensitivity
-    mpu9250.getGres(); // Get gyro sensitivity
-    mpu9250.getMres(); // Get magnetometer sensitivity
-
-    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
-}
-
-float attitude_get(void)
-{
-    //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];
-
-
-        Now = t.read_us();
-        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
-        lastUpdate = Now;
-
-        // 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);
-
-        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;
-
-        return 0;
-    }
-    return -1;
-}
-