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@4:9d706f783b5a, 2017-08-10 (annotated)

Committer:
mbedoguz
Date:
Thu Aug 10 14:45:40 2017 +0000
Revision:
4:9d706f783b5a
Parent:
3:740f15b45cb8
Child:
5:3a9280cea2ff
Main function edited to find the error, and primary error is found at mdcompat.h (mbed_i2c_write) and fixed. But still dmpBegin fails at memcmp under dmpLoad. Will continue to search for it.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 0:c6daf7016b8c 1 #include "SparkFunMPU9250-DMP.h"
mbedoguz 2:7be1ac6eb8cb 2 #include "mdcompat.h"
mbedoguz 0:c6daf7016b8c 3
mbedoguz 0:c6daf7016b8c 4 Serial pc(USBTX,USBRX);
mbedoguz 0:c6daf7016b8c 5 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 6 MPU9250_DMP imu;
mbedoguz 4:9d706f783b5a 7 unsigned char whoami[1]={0};
mbedoguz 4:9d706f783b5a 8 unsigned char fifo_count[2]={32,32};
mbedoguz 4:9d706f783b5a 9 unsigned char temp[1]={32};
mbedoguz 4:9d706f783b5a 10 unsigned char outbuff[4];
mbedoguz 0:c6daf7016b8c 11 long DEBUG[]={2,2,2,2};
mbedoguz 4:9d706f783b5a 12 unsigned long tamper;
mbedoguz 4:9d706f783b5a 13 unsigned char regadd;
mbedoguz 4:9d706f783b5a 14 char registeradress[20];
mbedoguz 4:9d706f783b5a 15 unsigned char registerdata[]={33};
mbedoguz 4:9d706f783b5a 16 void printIMUData(void);
mbedoguz 0:c6daf7016b8c 17 int main()
mbedoguz 0:c6daf7016b8c 18 {
mbedoguz 0:c6daf7016b8c 19 pc.baud(115200);
mbedoguz 0:c6daf7016b8c 20 pc.printf("Hello World\n");
mbedoguz 4:9d706f783b5a 21 imu_init();
mbedoguz 4:9d706f783b5a 22 stamper_init();
mbedoguz 4:9d706f783b5a 23 #if 1
mbedoguz 0:c6daf7016b8c 24 // Call imu.begin() to verify communication and initialize
mbedoguz 0:c6daf7016b8c 25 if (imu.begin() != INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 26 while (1){
mbedoguz 0:c6daf7016b8c 27 pc.printf("Unable to communicate with MPU-9250");
mbedoguz 0:c6daf7016b8c 28 pc.printf("Check connections, and try again.\n");
mbedoguz 0:c6daf7016b8c 29 wait_ms(5000);
mbedoguz 0:c6daf7016b8c 30 }
mbedoguz 0:c6daf7016b8c 31 }
mbedoguz 0:c6daf7016b8c 32 pc.printf("imu.begin() suceeded\n");
mbedoguz 4:9d706f783b5a 33
mbedoguz 4:9d706f783b5a 34 if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
mbedoguz 0:c6daf7016b8c 35 DMP_FEATURE_GYRO_CAL, // Use gyro calibration
mbedoguz 4:9d706f783b5a 36 20)==INV_ERROR){ // Set DMP FIFO rate to 20 Hz
mbedoguz 4:9d706f783b5a 37 pc.printf("imu.dmpBegin have failed\n");//dmpLoad function under it fails which is caused by memcmp(firmware+ii, cur, this_write) (it is located at row 2871 of inv_mpu.c)
mbedoguz 4:9d706f783b5a 38 }
mbedoguz 4:9d706f783b5a 39 else{
mbedoguz 4:9d706f783b5a 40 pc.printf("imu.dmpBegin() suceeded\n");
mbedoguz 4:9d706f783b5a 41 }
mbedoguz 4:9d706f783b5a 42 #endif
mbedoguz 4:9d706f783b5a 43 #if 0//processes here is not important if imu.dmpBegin is not working -> 0 if dmpBegin fails
mbedoguz 4:9d706f783b5a 44 mbed_i2c_read(0x68,0x75,1,whoami);
mbedoguz 4:9d706f783b5a 45 pc.printf("whoami=%d\n",whoami[0]);
mbedoguz 4:9d706f783b5a 46 mbed_i2c_read(0x68,0x23,1,outbuff);
mbedoguz 4:9d706f783b5a 47 pc.printf("out buffer=%d\n",outbuff[0]);
mbedoguz 4:9d706f783b5a 48 outbuff[0]|=1;
mbedoguz 4:9d706f783b5a 49 pc.printf("updated out buffer=%d\n",outbuff[0]);
mbedoguz 4:9d706f783b5a 50 mbed_i2c_write(0x68,0x23,2,outbuff);
mbedoguz 4:9d706f783b5a 51 mbed_i2c_read(0x68,0x23,1,outbuff);
mbedoguz 4:9d706f783b5a 52 pc.printf("new out buffer=%d(if zero, write function still needs to be fixed)\n",outbuff[0]);
mbedoguz 4:9d706f783b5a 53 #endif
mbedoguz 0:c6daf7016b8c 54 while(1){
mbedoguz 4:9d706f783b5a 55 if(pc.readable()){
mbedoguz 4:9d706f783b5a 56 pc.scanf("%s",&registeradress);
mbedoguz 4:9d706f783b5a 57 regadd=(registeradress[0]-48)*100+(registeradress[1]-48)*10+(registeradress[2]-48);
mbedoguz 4:9d706f783b5a 58 mbed_i2c_read(0x68,(unsigned)regadd,1,registerdata);
mbedoguz 4:9d706f783b5a 59 pc.printf("%d is gotten from serial port, data at that register is %d\n",regadd,registerdata[0]);
mbedoguz 4:9d706f783b5a 60 }
mbedoguz 4:9d706f783b5a 61 /*unsigned char buff[2]={0x38,0x39};
mbedoguz 4:9d706f783b5a 62 pc.printf("trial-%s-%s\n",buff,(const char*)buff);*/
mbedoguz 4:9d706f783b5a 63 /*imu.updateTemperature();
mbedoguz 4:9d706f783b5a 64 temp[0]=imu.temperature;
mbedoguz 4:9d706f783b5a 65 get_ms(&tamper);
mbedoguz 4:9d706f783b5a 66 pc.printf("%d-%d\n",temp[0],tamper);*/
mbedoguz 0:c6daf7016b8c 67 // Check for new data in the FIFO
mbedoguz 3:740f15b45cb8 68 if (imu.fifoAvailable()){//fifo is not being available
mbedoguz 0:c6daf7016b8c 69 led=0;
mbedoguz 4:9d706f783b5a 70 wait_ms(500);
mbedoguz 0:c6daf7016b8c 71 led=1;
mbedoguz 4:9d706f783b5a 72 wait_ms(500);
mbedoguz 0:c6daf7016b8c 73 // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 74 if ( imu.dmpUpdateFifo(DEBUG) == INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 75 // computeEulerAngles can be used -- after updating the
mbedoguz 0:c6daf7016b8c 76 // quaternion values -- to estimate roll, pitch, and yaw
mbedoguz 0:c6daf7016b8c 77 imu.computeEulerAngles();
mbedoguz 0:c6daf7016b8c 78 //printIMUData();
mbedoguz 3:740f15b45cb8 79 pc.printf("dmpUpdateFifo sucesfully occured\n");
mbedoguz 0:c6daf7016b8c 80 #if 1
mbedoguz 0:c6daf7016b8c 81 pc.printf("%lf",DEBUG[0]);
mbedoguz 0:c6daf7016b8c 82 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 83 pc.printf("%lf",DEBUG[1]);
mbedoguz 0:c6daf7016b8c 84 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 85 pc.printf("%lf",DEBUG[2]);
mbedoguz 0:c6daf7016b8c 86 pc.printf("\t");
mbedoguz 0:c6daf7016b8c 87 pc.printf("%lf\n ",DEBUG[3]);
mbedoguz 0:c6daf7016b8c 88 #endif
mbedoguz 0:c6daf7016b8c 89 }
mbedoguz 0:c6daf7016b8c 90 }
mbedoguz 4:9d706f783b5a 91 else{
mbedoguz 4:9d706f783b5a 92 led=1;
mbedoguz 4:9d706f783b5a 93 wait_ms(100);
mbedoguz 4:9d706f783b5a 94 led=0;
mbedoguz 4:9d706f783b5a 95 wait_ms(100);
mbedoguz 4:9d706f783b5a 96 }
mbedoguz 0:c6daf7016b8c 97 }
mbedoguz 0:c6daf7016b8c 98 return 0;
mbedoguz 0:c6daf7016b8c 99 }
mbedoguz 0:c6daf7016b8c 100
mbedoguz 0:c6daf7016b8c 101 void printIMUData(void)
mbedoguz 0:c6daf7016b8c 102 {
mbedoguz 0:c6daf7016b8c 103 // After calling dmpUpdateFifo() the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 104 // are all updated.
mbedoguz 0:c6daf7016b8c 105 // Quaternion values are, by default, stored in Q30 long
mbedoguz 0:c6daf7016b8c 106 // format. calcQuat turns them into a float between -1 and 1
mbedoguz 0:c6daf7016b8c 107 float q0 = imu.calcQuat(imu.qw);
mbedoguz 0:c6daf7016b8c 108 float q1 = imu.calcQuat(imu.qx);
mbedoguz 0:c6daf7016b8c 109 float q2 = imu.calcQuat(imu.qy);
mbedoguz 0:c6daf7016b8c 110 float q3 = imu.calcQuat(imu.qz);
mbedoguz 0:c6daf7016b8c 111
mbedoguz 0:c6daf7016b8c 112 pc.printf("R:%lf P:%lf Y:%lf \n", imu.roll,imu.pitch,imu.yaw);
mbedoguz 0:c6daf7016b8c 113 }