Jesus Fausto
Yaw know when you need relative yaw u can use me
Revision 0:f463e270d211, committed 2018-07-19
- Comitter:
- jvfausto
- Date:
- Thu Jul 19 21:12:50 2018 +0000
- Commit message:
- Hello
Changed in this revision
diff -r 000000000000 -r f463e270d211 MPU9250.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU9250.lib Thu Jul 19 21:12:50 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/Edutech/code/MPU9250/#98a0cccbc509
diff -r 000000000000 -r f463e270d211 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jul 19 21:12:50 2018 +0000
@@ -0,0 +1,136 @@
+/* MPU9250 Basic Example Code
+ by: Kris Winer
+ date: April 1, 2014
+ license: Beerware - Use this code however you'd like. If you
+ find it useful you can buy me a beer some time.
+
+ Demonstrate basic MPU-9250 functionality including parameterizing the register addresses, initializing the sensor,
+ getting properly scaled accelerometer, gyroscope, and magnetometer data out. Added display functions to
+ allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and
+ Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.
+
+ SDA and SCL should have external pull-up resistors (to 3.3V).
+ 10k resistors are on the EMSENSR-9250 breakout board.
+
+ Hardware setup:
+ MPU9250 Breakout --------- Arduino
+ VDD ---------------------- 3.3V
+ VDDI --------------------- 3.3V
+ SDA ----------------------- A4
+ SCL ----------------------- A5
+ GND ---------------------- GND
+
+ Note: The MPU9250 is an I2C sensor and uses the Arduino Wire library.
+ Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1.
+ We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file.
+ We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
+ */
+
+//#include "ST_F401_84MHZ.h"
+//F401_init84 myinit(0);
+#include "mbed.h"
+#include "MPU9250.h"
+//#include "N5110.h"
+
+// Using NOKIA 5110 monochrome 84 x 48 pixel display
+// pin 9 - Serial clock out (SCLK)
+// pin 8 - Serial data out (DIN)
+// pin 7 - Data/Command select (D/C)
+// pin 5 - LCD chip select (CS)
+// pin 6 - LCD reset (RST)
+//Adafruit_PCD8544 display = Adafruit_PCD8544(9, 8, 7, 5, 6);
+
+float sum = 0;
+uint32_t sumCount = 0;
+int count = 0;
+float yaw = 0;
+float drift;
+MPU9250 imu(PTE25, PTE24); // SDA, SCL
+
+ Timer t;
+
+ Serial pc(USBTX, USBRX); // tx, rx
+
+ // VCC, SCE, RST, D/C, MOSI,S CLK, LED
+ // N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7);
+
+
+
+int main()
+{
+ pc.baud(9600);
+ pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
+
+ // Read the WHO_AM_I register, this is a good test of communication
+ uint8_t whoami = imu.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250); // Read WHO_AM_I register for MPU-9250
+ pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
+
+ if (whoami == 0x71) // WHO_AM_I should always be 0x68
+ {
+ pc.printf("MPU9250 is online...\n\r");
+
+ wait(1);
+
+ imu.resetMPU9250(); // Reset registers to default in preparation for device calibration
+ imu.calibrateMPU9250(imu.gyroBias, imu.accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+ imu.initMPU9250();
+ imu.initAK8963(imu.magCalibration);
+ wait(2);
+ }
+ else
+ {
+ pc.printf("Could not connect to MPU9250: \n\r");
+ pc.printf("%#x \n", whoami);
+
+ while(1) ; // Loop forever if communication doesn't happen
+ }
+
+ imu.getAres(); // Get accelerometer sensitivity
+ imu.getGres(); // Get gyro sensitivity
+ imu.getMres(); // Get magnetometer sensitivity
+ pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/imu.aRes);
+ pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/imu.gRes);
+ pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/imu.mRes);
+ imu.magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
+ imu.magbias[1] = +120.; // User environmental x-axis correction in milliGauss
+ imu.magbias[2] = +125.; // User environmental x-axis correction in milliGauss
+ t.start();
+
+ while(1) {
+
+ // If intPin goes high, all data registers have new data
+ if(imu.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
+
+ imu.readAccelData(imu.accelCount); // Read the x/y/z adc values
+ // Now we'll calculate the accleration value into actual g's
+ imu.ax = (float)imu.accelCount[0]*imu.aRes - imu.accelBias[0]; // get actual g value, this depends on scale being set
+ imu.ay = (float)imu.accelCount[1]*imu.aRes - imu.accelBias[1];
+ imu.az = (float)imu.accelCount[2]*imu.aRes - imu.accelBias[2];
+
+ imu.readGyroData(imu.gyroCount); // Read the x/y/z adc values
+ // Calculate the gyro value into actual degrees per second
+ imu.gx = (float)imu.gyroCount[0]*imu.gRes - imu.gyroBias[0]; // get actual gyro value, this depends on scale being set
+ imu.gy = (float)imu.gyroCount[1]*imu.gRes - imu.gyroBias[1];
+ imu.gz = (float)imu.gyroCount[2]*imu.gRes - imu.gyroBias[2];
+
+ imu.readMagData(imu.magCount); // Read the x/y/z adc values
+ // Calculate the magnetometer values in milliGauss
+ // Include factory calibration per data sheet and user environmental corrections
+ imu.mx = (float)imu.magCount[0]*imu.mRes*imu.magCalibration[0] - imu.magbias[0]; // get actual magnetometer value, this depends on scale being set
+ imu.my = (float)imu.magCount[1]*imu.mRes*imu.magCalibration[1] - imu.magbias[1];
+ imu.mz = (float)imu.magCount[2]*imu.mRes*imu.magCalibration[2] - imu.magbias[2];
+ }
+
+ if(imu.gz>.3 || imu.gz < -.3){
+ yaw = (yaw - t.read()*imu.gz+drift);
+ t.reset();
+ if(yaw > 360)
+ yaw -= 360;
+ if(yaw < 0)
+ yaw += 360;
+ pc.printf("Yaw: %f \n\r", yaw);
+ }
+
+}
+}
+
\ No newline at end of file
diff -r 000000000000 -r f463e270d211 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Jul 19 21:12:50 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539 \ No newline at end of file