Oğuz Özdemir / Mbed 2 deprecated MPU9250-dmp-bluepill

Bluepill version of mpu9250-dmp library of sparkfun

Dependencies:   MotionDriver_6_1 SparkFunMPU9250-DMP mbed-STM32F103C8T6 mbed

Fork of MPU9250-dmp by Oğuz Özdemir

main.cpp@2:7be1ac6eb8cb, 2017-08-08 (annotated)

Committer:
mbedoguz
Date:
Tue Aug 08 08:39:57 2017 +0000
Revision:
2:7be1ac6eb8cb
Parent:
0:c6daf7016b8c
Child:
3:740f15b45cb8
Debug friendly code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 0:c6daf7016b8c 1 /*#include "mbed.h"
mbedoguz 0:c6daf7016b8c 2 #include "inv_mpu.h"
mbedoguz 0:c6daf7016b8c 3 #include "mdcompat.h"
mbedoguz 0:c6daf7016b8c 4 Serial pc(USBTX,USBRX);
mbedoguz 0:c6daf7016b8c 5 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 6 int main()
mbedoguz 0:c6daf7016b8c 7 {
mbedoguz 0:c6daf7016b8c 8 imu_init();
mbedoguz 0:c6daf7016b8c 9
mbedoguz 0:c6daf7016b8c 10 while(1){
mbedoguz 0:c6daf7016b8c 11 led=1;
mbedoguz 0:c6daf7016b8c 12 wait_ms(100);
mbedoguz 0:c6daf7016b8c 13 led=0;
mbedoguz 0:c6daf7016b8c 14 wait_ms(100);
mbedoguz 0:c6daf7016b8c 15 }
mbedoguz 0:c6daf7016b8c 16 }*/
mbedoguz 0:c6daf7016b8c 17
mbedoguz 0:c6daf7016b8c 18 #include "SparkFunMPU9250-DMP.h"
mbedoguz 2:7be1ac6eb8cb 19 #include "mdcompat.h"
mbedoguz 0:c6daf7016b8c 20
mbedoguz 0:c6daf7016b8c 21 Serial pc(USBTX,USBRX);
mbedoguz 0:c6daf7016b8c 22 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 23 MPU9250_DMP imu;
mbedoguz 2:7be1ac6eb8cb 24 char datax[1]={0};
mbedoguz 0:c6daf7016b8c 25 long DEBUG[]={2,2,2,2};
mbedoguz 0:c6daf7016b8c 26 int main()
mbedoguz 0:c6daf7016b8c 27 {
mbedoguz 0:c6daf7016b8c 28 pc.baud(115200);
mbedoguz 0:c6daf7016b8c 29 pc.printf("Hello World\n");
mbedoguz 0:c6daf7016b8c 30 // Call imu.begin() to verify communication and initialize
mbedoguz 0:c6daf7016b8c 31 pc.printf("imu.begin()is being run\n");
mbedoguz 0:c6daf7016b8c 32 if (imu.begin() != INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 33 pc.printf("imu.begin() have failed");
mbedoguz 0:c6daf7016b8c 34 while (1){
mbedoguz 0:c6daf7016b8c 35 pc.printf("Unable to communicate with MPU-9250");
mbedoguz 0:c6daf7016b8c 36 pc.printf("Check connections, and try again.\n");
mbedoguz 0:c6daf7016b8c 37 wait_ms(5000);
mbedoguz 0:c6daf7016b8c 38 }
mbedoguz 0:c6daf7016b8c 39 }
mbedoguz 0:c6daf7016b8c 40 pc.printf("imu.begin() suceeded\n");
mbedoguz 0:c6daf7016b8c 41 imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
mbedoguz 0:c6daf7016b8c 42 DMP_FEATURE_GYRO_CAL, // Use gyro calibration
mbedoguz 0:c6daf7016b8c 43 20); // Set DMP FIFO rate to 20 Hz
mbedoguz 0:c6daf7016b8c 44 // DMP_FEATURE_LP_QUAT can also be used. It uses the
mbedoguz 0:c6daf7016b8c 45 // accelerometer in low-power mode to estimate quat's.
mbedoguz 0:c6daf7016b8c 46 // DMP_FEATURE_LP_QUAT and 6X_LP_QUAT are mutually exclusive
mbedoguz 0:c6daf7016b8c 47 pc.printf("imu.dmpBegin() suceeded\n");
mbedoguz 0:c6daf7016b8c 48
mbedoguz 0:c6daf7016b8c 49 while(1){
mbedoguz 0:c6daf7016b8c 50 // Check for new data in the FIFO
mbedoguz 0:c6daf7016b8c 51 led=1;
mbedoguz 0:c6daf7016b8c 52 wait_ms(500);
mbedoguz 0:c6daf7016b8c 53 led=0;
mbedoguz 0:c6daf7016b8c 54 wait_ms(500);
mbedoguz 2:7be1ac6eb8cb 55 mbed_i2c_read((unsigned char)0x68,(unsigned char)0x75,1,datax);
mbedoguz 2:7be1ac6eb8cb 56 pc.printf("%d",datax[0]);
mbedoguz 0:c6daf7016b8c 57 if ( imu.fifoAvailable() ){//fifo is not being available
mbedoguz 0:c6daf7016b8c 58 led=0;
mbedoguz 0:c6daf7016b8c 59 wait_ms(100);
mbedoguz 0:c6daf7016b8c 60 led=1;
mbedoguz 0:c6daf7016b8c 61 wait_ms(100);
mbedoguz 0:c6daf7016b8c 62 // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 63 if ( imu.dmpUpdateFifo(DEBUG) == INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 64 // computeEulerAngles can be used -- after updating the
mbedoguz 0:c6daf7016b8c 65 // quaternion values -- to estimate roll, pitch, and yaw
mbedoguz 0:c6daf7016b8c 66 imu.computeEulerAngles();
mbedoguz 0:c6daf7016b8c 67 //printIMUData();
mbedoguz 0:c6daf7016b8c 68 #if 1
mbedoguz 0:c6daf7016b8c 69 pc.printf("%lf",DEBUG[0]);
mbedoguz 0:c6daf7016b8c 70 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 71 pc.printf("%lf",DEBUG[1]);
mbedoguz 0:c6daf7016b8c 72 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 73 pc.printf("%lf",DEBUG[2]);
mbedoguz 0:c6daf7016b8c 74 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 75 pc.printf("%lf\n ",DEBUG[3]);
mbedoguz 0:c6daf7016b8c 76 #endif
mbedoguz 0:c6daf7016b8c 77 }
mbedoguz 0:c6daf7016b8c 78 }
mbedoguz 0:c6daf7016b8c 79 }
mbedoguz 0:c6daf7016b8c 80 return 0;
mbedoguz 0:c6daf7016b8c 81 }
mbedoguz 0:c6daf7016b8c 82
mbedoguz 0:c6daf7016b8c 83 void printIMUData(void)
mbedoguz 0:c6daf7016b8c 84 {
mbedoguz 0:c6daf7016b8c 85 // After calling dmpUpdateFifo() the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 86 // are all updated.
mbedoguz 0:c6daf7016b8c 87 // Quaternion values are, by default, stored in Q30 long
mbedoguz 0:c6daf7016b8c 88 // format. calcQuat turns them into a float between -1 and 1
mbedoguz 0:c6daf7016b8c 89 float q0 = imu.calcQuat(imu.qw);
mbedoguz 0:c6daf7016b8c 90 float q1 = imu.calcQuat(imu.qx);
mbedoguz 0:c6daf7016b8c 91 float q2 = imu.calcQuat(imu.qy);
mbedoguz 0:c6daf7016b8c 92 float q3 = imu.calcQuat(imu.qz);
mbedoguz 0:c6daf7016b8c 93
mbedoguz 0:c6daf7016b8c 94 pc.printf("R:%lf P:%lf Y:%lf \n", imu.roll,imu.pitch,imu.yaw);
mbedoguz 0:c6daf7016b8c 95 }