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Zumy code for sending struct data
Dependencies: MPU6050IMU QEI RPCInterface mbed
Fork of zumy_mbed by
main.cpp
- Committer:
- jlamyi
- Date:
- 2016-04-07
- Revision:
- 14:a153ce7cc4c8
- Parent:
- 13:af3e8a8189ed
- Child:
- 15:3cee564f9d47
File content as of revision 14:a153ce7cc4c8:
#include "mbed.h" #include "SerialRPCInterface.h" #include "MPU6050.h" #include "QEI.h" //bool debug = false; extern "C" void mbed_reset(); SerialRPCInterface SerialRPC(USBTX, USBRX, 115200); void GetSensorData(char* input, char* output); RPCFunction gsd(&GetSensorData, "gsd"); void Reset(char* input, char* output); RPCFunction rst(&Reset, "rst"); //void WD_init(char* input, char* output); //RPCFunction wdinit(&WD_init, "wdinit"); float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z; int r_enc, l_enc; QEI l_wheel (p29, p30, NC, 624); QEI r_wheel (p11, p12, NC, 624); MPU6050 mpu6050; DigitalOut init_done(LED1); DigitalOut imu_good(LED2); DigitalOut main_loop(LED3); DigitalOut main_loop2(LED4); // Simon's Watchdog code from // http://mbed.org/forum/mbed/topic/508/ /* class Watchdog { public: // Load timeout value in watchdog timer and enable void kick(float s) { LPC_WDT->WDCLKSEL = 0x1; // Set CLK src to PCLK uint32_t clk = SystemCoreClock / 16; // WD has a fixed /4 prescaler, PCLK default is /4 LPC_WDT->WDTC = s * (float)clk; LPC_WDT->WDMOD = 0x3; // Enabled and Reset kick(); } // "kick" or "feed" the dog - reset the watchdog timer // by writing this required bit pattern void kick() { LPC_WDT->WDFEED = 0xAA; LPC_WDT->WDFEED = 0x55; } }; */ // Setup the watchdog timer // Watchdog wdt; int main() { init_done = 0; imu_good = 0; main_loop = 0; //Set up I2C i2c.frequency(400000); // use fast (400 kHz) I2C volatile bool imu_ready = false; wait_ms(100); uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); if (whoami == 0x68) // WHO_AM_I should always be 0x68 { mpu6050.MPU6050SelfTest(SelfTest); if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) { mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers mpu6050.initMPU6050(); mpu6050.getAres(); mpu6050.getGres(); imu_ready = true; imu_good = 1; } } init_done = 1; uint8_t loop_count = 10; while(1) { wait_ms(10); // Handle the encoders r_enc = r_wheel.getPulses(); l_enc = l_wheel.getPulses(); //if(debug) SerialRPC.pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc); if (!(--loop_count)) { loop_count = 10; main_loop = !main_loop; } if (imu_ready) { if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt mpu6050.readAccelData(accelCount); // Read the x/y/z adc values mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values // Now we'll calculate the accleration value into actual g's accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set accel_y = (float)accelCount[1]*aRes - accelBias[1]; accel_z = (float)accelCount[2]*aRes - accelBias[2]; // Calculate the gyro value into actual degrees per second gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set gyro_y = (float)gyroCount[1]*gRes - gyroBias[1]; gyro_z = (float)gyroCount[2]*gRes - gyroBias[2]; } } // for testing where is the bug main_loop2 = main_loop; //SerialRPC.pc.printf("Data: %d,%d,%f,%f,%f,%f,%f,%f\r\n", l_enc, r_enc, accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z); } } // RPCFunction void GetSensorData(char* input, char* output){ sprintf(output, "%d,%d,%f,%f,%f,%f,%f,%f", l_enc, r_enc, accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z); } void Reset(char* input, char* output){ mbed_reset(); } /* void WD_init(char* input, char* output){ //wdt.kick(0.5); } */