Gitakichi Tokyo / Mbed 2 deprecated MPU9250

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Dependencies:   mbed

Fork of MPU9250 by Ilia Manenok

main.cpp@1:a3ced0ecbcf8, 2016-07-08 (annotated)

Committer:
gitakichi
Date:
Fri Jul 08 14:11:56 2016 +0000
Revision:
1:a3ced0ecbcf8
Parent:
0:ccea261dce7a
Child:
2:855c83d4c7d6
?????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
imanyonok 0:ccea261dce7a 1 #include "mbed.h"
imanyonok 0:ccea261dce7a 2 #include "MPU9250.h"
imanyonok 0:ccea261dce7a 3
gitakichi 1:a3ced0ecbcf8 4 MPU9250 mpu9250;
imanyonok 0:ccea261dce7a 5
gitakichi 1:a3ced0ecbcf8 6 Timer t;
gitakichi 1:a3ced0ecbcf8 7
gitakichi 1:a3ced0ecbcf8 8 Serial pc(USBTX, USBRX); // tx, rx
imanyonok 0:ccea261dce7a 9
gitakichi 1:a3ced0ecbcf8 10 DigitalIn mybutton(USER_BUTTON);
imanyonok 0:ccea261dce7a 11
gitakichi 1:a3ced0ecbcf8 12 void attitude_setup(void);
gitakichi 1:a3ced0ecbcf8 13 float attitude_get(void);
imanyonok 0:ccea261dce7a 14
imanyonok 0:ccea261dce7a 15 int main()
imanyonok 0:ccea261dce7a 16 {
gitakichi 1:a3ced0ecbcf8 17
gitakichi 1:a3ced0ecbcf8 18 attitude_setup();
gitakichi 1:a3ced0ecbcf8 19
gitakichi 1:a3ced0ecbcf8 20 while(1) {
gitakichi 1:a3ced0ecbcf8 21 attitude_get();
gitakichi 1:a3ced0ecbcf8 22 pc.printf("Yaw, Pitch, Roll: %.0f %.0f %.0f \n\r", yaw, pitch, roll);
gitakichi 1:a3ced0ecbcf8 23 if (mybutton == 0) wait(0.1);//Button is pressed
gitakichi 1:a3ced0ecbcf8 24 }
imanyonok 0:ccea261dce7a 25
gitakichi 1:a3ced0ecbcf8 26 }
gitakichi 1:a3ced0ecbcf8 27 void attitude_setup(void)
gitakichi 1:a3ced0ecbcf8 28 {
gitakichi 1:a3ced0ecbcf8 29 pc.baud(9600);
gitakichi 1:a3ced0ecbcf8 30
gitakichi 1:a3ced0ecbcf8 31 //Set up I2C
gitakichi 1:a3ced0ecbcf8 32 i2c.frequency(400000); // use fast (400 kHz) I2C
gitakichi 1:a3ced0ecbcf8 33
gitakichi 1:a3ced0ecbcf8 34 //pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
gitakichi 1:a3ced0ecbcf8 35
gitakichi 1:a3ced0ecbcf8 36 t.start();
gitakichi 1:a3ced0ecbcf8 37
gitakichi 1:a3ced0ecbcf8 38
gitakichi 1:a3ced0ecbcf8 39
gitakichi 1:a3ced0ecbcf8 40 // Read the WHO_AM_I register, this is a good test of communication
gitakichi 1:a3ced0ecbcf8 41 uint8_t whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
imanyonok 0:ccea261dce7a 42
gitakichi 1:a3ced0ecbcf8 43
gitakichi 1:a3ced0ecbcf8 44 if (whoami == 0x71) { // WHO_AM_I should always be 0x68
gitakichi 1:a3ced0ecbcf8 45 wait(1);
gitakichi 1:a3ced0ecbcf8 46 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
gitakichi 1:a3ced0ecbcf8 47 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
gitakichi 1:a3ced0ecbcf8 48 wait(2);
gitakichi 1:a3ced0ecbcf8 49 mpu9250.initMPU9250();
gitakichi 1:a3ced0ecbcf8 50 mpu9250.initAK8963(magCalibration);
gitakichi 1:a3ced0ecbcf8 51 wait(2);
gitakichi 1:a3ced0ecbcf8 52 } else while(1) ; // Loop forever if communication doesn't happen
imanyonok 0:ccea261dce7a 53
imanyonok 0:ccea261dce7a 54 mpu9250.getAres(); // Get accelerometer sensitivity
imanyonok 0:ccea261dce7a 55 mpu9250.getGres(); // Get gyro sensitivity
imanyonok 0:ccea261dce7a 56 mpu9250.getMres(); // Get magnetometer sensitivity
gitakichi 1:a3ced0ecbcf8 57
imanyonok 0:ccea261dce7a 58 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
imanyonok 0:ccea261dce7a 59 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
imanyonok 0:ccea261dce7a 60 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
gitakichi 1:a3ced0ecbcf8 61 }
imanyonok 0:ccea261dce7a 62
gitakichi 1:a3ced0ecbcf8 63 float attitude_get(void)
gitakichi 1:a3ced0ecbcf8 64 {
gitakichi 1:a3ced0ecbcf8 65 //while(1) {
gitakichi 1:a3ced0ecbcf8 66
gitakichi 1:a3ced0ecbcf8 67 // If intPin goes high, all data registers have new data
gitakichi 1:a3ced0ecbcf8 68 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
imanyonok 0:ccea261dce7a 69
gitakichi 1:a3ced0ecbcf8 70 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
gitakichi 1:a3ced0ecbcf8 71 // Now we'll calculate the accleration value into actual g's
gitakichi 1:a3ced0ecbcf8 72 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
gitakichi 1:a3ced0ecbcf8 73 ay = (float)accelCount[1]*aRes - accelBias[1];
gitakichi 1:a3ced0ecbcf8 74 az = (float)accelCount[2]*aRes - accelBias[2];
imanyonok 0:ccea261dce7a 75
gitakichi 1:a3ced0ecbcf8 76 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
gitakichi 1:a3ced0ecbcf8 77 // Calculate the gyro value into actual degrees per second
gitakichi 1:a3ced0ecbcf8 78 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
gitakichi 1:a3ced0ecbcf8 79 gy = (float)gyroCount[1]*gRes - gyroBias[1];
gitakichi 1:a3ced0ecbcf8 80 gz = (float)gyroCount[2]*gRes - gyroBias[2];
imanyonok 0:ccea261dce7a 81
gitakichi 1:a3ced0ecbcf8 82 mpu9250.readMagData(magCount); // Read the x/y/z adc values
gitakichi 1:a3ced0ecbcf8 83 // Calculate the magnetometer values in milliGauss
gitakichi 1:a3ced0ecbcf8 84 // Include factory calibration per data sheet and user environmental corrections
gitakichi 1:a3ced0ecbcf8 85 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
gitakichi 1:a3ced0ecbcf8 86 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
gitakichi 1:a3ced0ecbcf8 87 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
gitakichi 1:a3ced0ecbcf8 88
gitakichi 1:a3ced0ecbcf8 89
gitakichi 1:a3ced0ecbcf8 90 Now = t.read_us();
gitakichi 1:a3ced0ecbcf8 91 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
gitakichi 1:a3ced0ecbcf8 92 lastUpdate = Now;
imanyonok 0:ccea261dce7a 93
gitakichi 1:a3ced0ecbcf8 94 // Pass gyro rate as rad/s
gitakichi 1:a3ced0ecbcf8 95 mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
gitakichi 1:a3ced0ecbcf8 96 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
imanyonok 0:ccea261dce7a 97
gitakichi 1:a3ced0ecbcf8 98 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]);
gitakichi 1:a3ced0ecbcf8 99 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
gitakichi 1:a3ced0ecbcf8 100 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]);
gitakichi 1:a3ced0ecbcf8 101 pitch *= 180.0f / PI;
gitakichi 1:a3ced0ecbcf8 102 yaw *= 180.0f / PI;
gitakichi 1:a3ced0ecbcf8 103 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
gitakichi 1:a3ced0ecbcf8 104 roll *= 180.0f / PI;
gitakichi 1:a3ced0ecbcf8 105
gitakichi 1:a3ced0ecbcf8 106 return 0;
gitakichi 1:a3ced0ecbcf8 107 }
gitakichi 1:a3ced0ecbcf8 108 return -1;
imanyonok 0:ccea261dce7a 109 }
gitakichi 1:a3ced0ecbcf8 110