File content as of revision 4:1bc3ca07a412:

/* Copyright (c) 2010-2011 mbed.org, MIT License
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
* and associated documentation files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include "mbed.h"
#include "FXOS8700Q.h"
#include "FXAS21000.h"
#include "kalman.c"

#define PI             3.1415926535897932384626433832795
#define Rad2Dree       57.295779513082320876798154814105

FXOS8700Q_acc combo_acc(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
FXOS8700Q_mag combo_mag(A5, A4, FXOS8700CQ_SLAVE_ADDR0);
FXAS21000 gyro(A5, A4);

Timer GlobalTime;
Timer ProgramTimer;

//PwmOut M1(PTB18);
PwmOut M1(D13);
PwmOut M2(D12);
PwmOut M3(D11);
PwmOut M4(D10);

Serial pc(USBTX, USBRX);

kalman filter_pitch; 
kalman filter_roll;

float R;
double angle[3];
unsigned long timer;
long loopStartTime;

int main()
{
    float gyro_data[3];
    MotionSensorDataUnits adata;
    MotionSensorDataUnits mdata;
    
    printf("\r\nStarting\r\n\r\n");
    
    GlobalTime.start();
    
    M1.period(0.02f);               //Comparten el mismo timer
    M1.pulsewidth(0.0006f);
    M2.pulsewidth(0.0006f);
    M3.pulsewidth(0.0006f);
    M4.pulsewidth(0.0006f);
    
    combo_acc.enable();
    combo_mag.enable();
    printf("FXOS8700 Combo = %X\r\n", combo_acc.whoAmI());
    printf("FXAS21000 Gyro = %X\r\n", gyro.getWhoAmI());
    
    kalman_init(&filter_pitch, R_matrix, Q_Gyro_matrix, Q_Accel_matrix); 
    kalman_init(&filter_roll, R_matrix, Q_Gyro_matrix, Q_Accel_matrix);
    
    wait(3);
    
    
    ProgramTimer.start();
    loopStartTime = ProgramTimer.read_us();
    timer = loopStartTime;
    
    while(1) {
        combo_acc.getAxis(adata);
        combo_mag.getAxis(mdata);
        gyro.ReadXYZ(gyro_data);
        
        R = sqrt(std::pow(adata.x, 2) + std::pow(adata.y, 2) + std::pow(adata.z, 2));
        
        kalman_predict(&filter_pitch, gyro_data[0],  (ProgramTimer.read_us() - timer)); 
        kalman_update(&filter_pitch, acos(adata.x/R));
        kalman_predict(&filter_roll, gyro_data[1],  (ProgramTimer.read_us() - timer)); 
        kalman_update(&filter_roll, acos(adata.y/R));
        
        angle[0] = kalman_get_angle(&filter_pitch);
        angle[1] = kalman_get_angle(&filter_roll);
        
        timer = ProgramTimer.read_us();
    
        printf("FXOS8700 Acc:   X:%6.3f Y:%6.3f Z:%6.3f\r\n", adata.x, adata.y, adata.z);
        printf("FXOS8700 Mag:   X:%6.2f Y:%6.2f Z:%6.2f\r\n", mdata.x, mdata.y, mdata.z);
        printf("FXAS21000 Gyro: X:%6.2f Y:%6.2f Z:%6.2f\r\n", gyro_data[0], gyro_data[1], gyro_data[2]);
        printf("Roll Angle X: %.6f   Pitch Angle Y: %.6f \n\r", Rad2Dree * angle[1], Rad2Dree * angle[0]);
        printf("\r\n");
        
        wait(0.5);
    }
}