James Lam / Mbed 2 deprecated zumy_mbed

Zumy code for sending struct data

Dependencies:   MPU6050IMU QEI RPCInterface mbed

Fork of zumy_mbed by David McPherson

main.cpp@8:1e47a6b49537, 2016-02-17 (annotated)

Committer:
jlamyi
Date:
Wed Feb 17 03:45:51 2016 +0000
Revision:
8:1e47a6b49537
Parent:
7:50b807559e1a
Child:
9:6bff048c3b49
added reset RPCFunction

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