James Lam / Mbed 2 deprecated zumy_mbed

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MPU6050IMU QEI RPCInterface mbed

Fork of zumy_mbed by David McPherson

main.cpp@10:089fa57a0a23, 2016-02-20 (annotated)

Committer:
jlamyi
Date:
Sat Feb 20 00:25:21 2016 +0000
Revision:
10:089fa57a0a23
Parent:
9:6bff048c3b49
Child:
11:090042660f15
fixed and disabled debug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MichaelW 0:78952cd3935b 1 #include "mbed.h"
abuchan 3:8b5700499eb8 2 #include "SerialRPCInterface.h"
abuchan 2:2c0cd1aaae83 3 #include "MPU6050.h"
DavidMcP555 4:b8eeb59b62d4 4 #include "QEI.h"
abuchan 2:2c0cd1aaae83 5
jlamyi 10:089fa57a0a23 6 bool debug = false;
jlamyi 9:6bff048c3b49 7
jlamyi 8:1e47a6b49537 8 extern "C" void mbed_reset();
jlamyi 6:18183b8b08f1 9
abuchan 3:8b5700499eb8 10 SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
jlamyi 9:6bff048c3b49 11
jlamyi 7:50b807559e1a 12 void GetSensorData(char* input, char* output);
jlamyi 7:50b807559e1a 13 RPCFunction gsd(&GetSensorData, "gsd");
jlamyi 8:1e47a6b49537 14 void Reset(char* input, char* output);
jlamyi 8:1e47a6b49537 15 RPCFunction rst(&Reset, "rst");
abuchan 3:8b5700499eb8 16
jlamyi 8:1e47a6b49537 17 float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
jlamyi 8:1e47a6b49537 18 int r_enc, l_enc;
jlamyi 6:18183b8b08f1 19
DavidMcP555 4:b8eeb59b62d4 20 QEI l_wheel (p29, p30, NC, 624);
DavidMcP555 4:b8eeb59b62d4 21 QEI r_wheel (p11, p12, NC, 624);
abuchan 2:2c0cd1aaae83 22
abuchan 2:2c0cd1aaae83 23 MPU6050 mpu6050;
abuchan 2:2c0cd1aaae83 24
abuchan 2:2c0cd1aaae83 25 DigitalOut init_done(LED1);
abuchan 2:2c0cd1aaae83 26 DigitalOut imu_good(LED2);
abuchan 2:2c0cd1aaae83 27 DigitalOut main_loop(LED3);
abuchan 2:2c0cd1aaae83 28
MichaelW 0:78952cd3935b 29 int main() {
abuchan 2:2c0cd1aaae83 30 init_done = 0;
abuchan 2:2c0cd1aaae83 31 imu_good = 0;
abuchan 2:2c0cd1aaae83 32 main_loop = 0;
abuchan 2:2c0cd1aaae83 33
abuchan 2:2c0cd1aaae83 34 //Set up I2C
abuchan 2:2c0cd1aaae83 35 i2c.frequency(400000); // use fast (400 kHz) I2C
abuchan 2:2c0cd1aaae83 36
abuchan 3:8b5700499eb8 37 volatile bool imu_ready = false;
abuchan 3:8b5700499eb8 38
abuchan 3:8b5700499eb8 39 wait_ms(100);
abuchan 2:2c0cd1aaae83 40
abuchan 2:2c0cd1aaae83 41 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
abuchan 2:2c0cd1aaae83 42
abuchan 2:2c0cd1aaae83 43 if (whoami == 0x68) // WHO_AM_I should always be 0x68
abuchan 2:2c0cd1aaae83 44 {
abuchan 2:2c0cd1aaae83 45 mpu6050.MPU6050SelfTest(SelfTest);
abuchan 2:2c0cd1aaae83 46 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) {
abuchan 2:2c0cd1aaae83 47 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
abuchan 2:2c0cd1aaae83 48 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
abuchan 2:2c0cd1aaae83 49 mpu6050.initMPU6050();
abuchan 2:2c0cd1aaae83 50 mpu6050.getAres();
abuchan 2:2c0cd1aaae83 51 mpu6050.getGres();
abuchan 2:2c0cd1aaae83 52 imu_ready = true;
abuchan 2:2c0cd1aaae83 53 imu_good = 1;
abuchan 2:2c0cd1aaae83 54 }
abuchan 2:2c0cd1aaae83 55 }
abuchan 2:2c0cd1aaae83 56
abuchan 2:2c0cd1aaae83 57 init_done = 1;
abuchan 3:8b5700499eb8 58 uint8_t loop_count = 10;
MichaelW 0:78952cd3935b 59 while(1) {
abuchan 3:8b5700499eb8 60 wait_ms(10);
abuchan 2:2c0cd1aaae83 61
DavidMcP555 4:b8eeb59b62d4 62 // Handle the encoders
jlamyi 8:1e47a6b49537 63 r_enc = r_wheel.getPulses();
jlamyi 8:1e47a6b49537 64 l_enc = l_wheel.getPulses();
jlamyi 10:089fa57a0a23 65 if(debug) SerialRPC.pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
DavidMcP555 4:b8eeb59b62d4 66
abuchan 3:8b5700499eb8 67 if (!(--loop_count)) {
abuchan 3:8b5700499eb8 68 loop_count = 10;
abuchan 3:8b5700499eb8 69 main_loop = !main_loop;
abuchan 3:8b5700499eb8 70 }
abuchan 2:2c0cd1aaae83 71
abuchan 3:8b5700499eb8 72 if (imu_ready) {
abuchan 2:2c0cd1aaae83 73
abuchan 2:2c0cd1aaae83 74 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
abuchan 2:2c0cd1aaae83 75 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 76 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 77
abuchan 2:2c0cd1aaae83 78 // Now we'll calculate the accleration value into actual g's
jlamyi 8:1e47a6b49537 79 accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
jlamyi 8:1e47a6b49537 80 accel_y = (float)accelCount[1]*aRes - accelBias[1];
jlamyi 8:1e47a6b49537 81 accel_z = (float)accelCount[2]*aRes - accelBias[2];
jlamyi 6:18183b8b08f1 82
abuchan 2:2c0cd1aaae83 83 // Calculate the gyro value into actual degrees per second
jlamyi 8:1e47a6b49537 84 gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
jlamyi 8:1e47a6b49537 85 gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];
jlamyi 8:1e47a6b49537 86 gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
abuchan 2:2c0cd1aaae83 87 }
abuchan 2:2c0cd1aaae83 88 }
MichaelW 0:78952cd3935b 89 }
MichaelW 0:78952cd3935b 90 }
jlamyi 6:18183b8b08f1 91
jlamyi 6:18183b8b08f1 92 void GetSensorData(char* input, char* output){
jlamyi 8:1e47a6b49537 93 sprintf(output, "%f,%f,%f,%f,%f,%f,%i,%i", accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, l_enc, r_enc);
jlamyi 6:18183b8b08f1 94 }
jlamyi 8:1e47a6b49537 95
jlamyi 8:1e47a6b49537 96 void Reset(char* input, char* output){
jlamyi 8:1e47a6b49537 97 mbed_reset();
jlamyi 8:1e47a6b49537 98 }