James Lam / Mbed 2 deprecated zumy_mbed

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Dependencies:   MPU6050IMU QEI RPCInterface mbed

Fork of zumy_mbed by David McPherson

main.cpp@9:6bff048c3b49, 2016-02-19 (annotated)

Committer:
jlamyi
Date:
Fri Feb 19 02:50:45 2016 +0000
Revision:
9:6bff048c3b49
Parent:
8:1e47a6b49537
Child:
10:089fa57a0a23
added debug mode

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 9:6bff048c3b49 6 bool debug = true;
jlamyi 9:6bff048c3b49 7 if(debug) Serial pc(USBTX, USBRX); // tx, rx
jlamyi 9:6bff048c3b49 8
jlamyi 8:1e47a6b49537 9 extern "C" void mbed_reset();
jlamyi 6:18183b8b08f1 10
abuchan 3:8b5700499eb8 11 SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
jlamyi 9:6bff048c3b49 12
jlamyi 7:50b807559e1a 13 void GetSensorData(char* input, char* output);
jlamyi 7:50b807559e1a 14 RPCFunction gsd(&GetSensorData, "gsd");
jlamyi 8:1e47a6b49537 15 void Reset(char* input, char* output);
jlamyi 8:1e47a6b49537 16 RPCFunction rst(&Reset, "rst");
abuchan 3:8b5700499eb8 17
jlamyi 8:1e47a6b49537 18 float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
jlamyi 8:1e47a6b49537 19 int r_enc, l_enc;
jlamyi 6:18183b8b08f1 20
DavidMcP555 4:b8eeb59b62d4 21 QEI l_wheel (p29, p30, NC, 624);
DavidMcP555 4:b8eeb59b62d4 22 QEI r_wheel (p11, p12, NC, 624);
abuchan 2:2c0cd1aaae83 23
abuchan 2:2c0cd1aaae83 24 MPU6050 mpu6050;
abuchan 2:2c0cd1aaae83 25
abuchan 2:2c0cd1aaae83 26 DigitalOut init_done(LED1);
abuchan 2:2c0cd1aaae83 27 DigitalOut imu_good(LED2);
abuchan 2:2c0cd1aaae83 28 DigitalOut main_loop(LED3);
abuchan 2:2c0cd1aaae83 29
MichaelW 0:78952cd3935b 30 int main() {
abuchan 2:2c0cd1aaae83 31 init_done = 0;
abuchan 2:2c0cd1aaae83 32 imu_good = 0;
abuchan 2:2c0cd1aaae83 33 main_loop = 0;
abuchan 2:2c0cd1aaae83 34
abuchan 2:2c0cd1aaae83 35 //Set up I2C
abuchan 2:2c0cd1aaae83 36 i2c.frequency(400000); // use fast (400 kHz) I2C
abuchan 2:2c0cd1aaae83 37
abuchan 3:8b5700499eb8 38 volatile bool imu_ready = false;
abuchan 3:8b5700499eb8 39
abuchan 3:8b5700499eb8 40 wait_ms(100);
abuchan 2:2c0cd1aaae83 41
abuchan 2:2c0cd1aaae83 42 uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
abuchan 2:2c0cd1aaae83 43
abuchan 2:2c0cd1aaae83 44 if (whoami == 0x68) // WHO_AM_I should always be 0x68
abuchan 2:2c0cd1aaae83 45 {
abuchan 2:2c0cd1aaae83 46 mpu6050.MPU6050SelfTest(SelfTest);
abuchan 2:2c0cd1aaae83 47 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 48 mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
abuchan 2:2c0cd1aaae83 49 mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
abuchan 2:2c0cd1aaae83 50 mpu6050.initMPU6050();
abuchan 2:2c0cd1aaae83 51 mpu6050.getAres();
abuchan 2:2c0cd1aaae83 52 mpu6050.getGres();
abuchan 2:2c0cd1aaae83 53 imu_ready = true;
abuchan 2:2c0cd1aaae83 54 imu_good = 1;
abuchan 2:2c0cd1aaae83 55 }
abuchan 2:2c0cd1aaae83 56 }
abuchan 2:2c0cd1aaae83 57
abuchan 2:2c0cd1aaae83 58 init_done = 1;
abuchan 3:8b5700499eb8 59 uint8_t loop_count = 10;
MichaelW 0:78952cd3935b 60 while(1) {
abuchan 3:8b5700499eb8 61 wait_ms(10);
abuchan 2:2c0cd1aaae83 62
DavidMcP555 4:b8eeb59b62d4 63 // Handle the encoders
jlamyi 8:1e47a6b49537 64 r_enc = r_wheel.getPulses();
jlamyi 8:1e47a6b49537 65 l_enc = l_wheel.getPulses();
jlamyi 9:6bff048c3b49 66 if(debug) pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
DavidMcP555 4:b8eeb59b62d4 67
abuchan 3:8b5700499eb8 68 if (!(--loop_count)) {
abuchan 3:8b5700499eb8 69 loop_count = 10;
abuchan 3:8b5700499eb8 70 main_loop = !main_loop;
abuchan 3:8b5700499eb8 71 }
abuchan 2:2c0cd1aaae83 72
abuchan 3:8b5700499eb8 73 if (imu_ready) {
abuchan 2:2c0cd1aaae83 74
abuchan 2:2c0cd1aaae83 75 if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt
abuchan 2:2c0cd1aaae83 76 mpu6050.readAccelData(accelCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 77 mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values
abuchan 2:2c0cd1aaae83 78
abuchan 2:2c0cd1aaae83 79 // Now we'll calculate the accleration value into actual g's
jlamyi 8:1e47a6b49537 80 accel_x = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
jlamyi 8:1e47a6b49537 81 accel_y = (float)accelCount[1]*aRes - accelBias[1];
jlamyi 8:1e47a6b49537 82 accel_z = (float)accelCount[2]*aRes - accelBias[2];
jlamyi 6:18183b8b08f1 83
abuchan 2:2c0cd1aaae83 84 // Calculate the gyro value into actual degrees per second
jlamyi 8:1e47a6b49537 85 gyro_x = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
jlamyi 8:1e47a6b49537 86 gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];
jlamyi 8:1e47a6b49537 87 gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
abuchan 2:2c0cd1aaae83 88 }
abuchan 2:2c0cd1aaae83 89 }
MichaelW 0:78952cd3935b 90 }
MichaelW 0:78952cd3935b 91 }
jlamyi 6:18183b8b08f1 92
jlamyi 6:18183b8b08f1 93 void GetSensorData(char* input, char* output){
jlamyi 8:1e47a6b49537 94 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 95 }
jlamyi 8:1e47a6b49537 96
jlamyi 8:1e47a6b49537 97 void Reset(char* input, char* output){
jlamyi 8:1e47a6b49537 98 mbed_reset();
jlamyi 8:1e47a6b49537 99 }