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@10:e7fffe32c12c, 2017-08-14 (annotated)

Committer:
mbedoguz
Date:
Mon Aug 14 14:19:50 2017 +0000
Revision:
10:e7fffe32c12c
Parent:
9:ef46e12b4560 
Several informative comments and macros added.

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 9:ef46e12b4560 3 #include "stm32f103c8t6.h"
mbedoguz 9:ef46e12b4560 4 //In order to compile, you should define MPU9250 in build macros
mbedoguz 10:e7fffe32c12c 5 //definitions
mbedoguz 10:e7fffe32c12c 6 #define DEBUG 0
mbedoguz 10:e7fffe32c12c 7 //classes
mbedoguz 9:ef46e12b4560 8 Serial pc(SERIAL_TX,SERIAL_RX);
mbedoguz 0:c6daf7016b8c 9 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 10 MPU9250_DMP imu;
mbedoguz 10:e7fffe32c12c 11
mbedoguz 10:e7fffe32c12c 12 //variables
mbedoguz 10:e7fffe32c12c 13 #if DEBUG
mbedoguz 10:e7fffe32c12c 14 unsigned char whoami[1]={0};
mbedoguz 10:e7fffe32c12c 15 unsigned char outbuff[4];
mbedoguz 10:e7fffe32c12c 16 unsigned char inbuff[4];
mbedoguz 10:e7fffe32c12c 17 #endif
mbedoguz 10:e7fffe32c12c 18
mbedoguz 4:9d706f783b5a 19 unsigned char regadd;
mbedoguz 5:3a9280cea2ff 20 char registeradress[5];
mbedoguz 4:9d706f783b5a 21 unsigned char registerdata[]={33};
mbedoguz 10:e7fffe32c12c 22
mbedoguz 10:e7fffe32c12c 23 //Prorotypes
mbedoguz 4:9d706f783b5a 24 void printIMUData(void);
mbedoguz 10:e7fffe32c12c 25
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 4:9d706f783b5a 30 imu_init();
mbedoguz 4:9d706f783b5a 31 stamper_init();
mbedoguz 10:e7fffe32c12c 32 #if ~DEBUG//Regular program
mbedoguz 0:c6daf7016b8c 33 // Call imu.begin() to verify communication and initialize
mbedoguz 0:c6daf7016b8c 34 if (imu.begin() != INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 35 while (1){
mbedoguz 0:c6daf7016b8c 36 pc.printf("Unable to communicate with MPU-9250");
mbedoguz 0:c6daf7016b8c 37 pc.printf("Check connections, and try again.\n");
mbedoguz 0:c6daf7016b8c 38 wait_ms(5000);
mbedoguz 0:c6daf7016b8c 39 }
mbedoguz 0:c6daf7016b8c 40 }
mbedoguz 5:3a9280cea2ff 41 pc.printf("imu.begin() suceeded\n");
mbedoguz 4:9d706f783b5a 42
mbedoguz 4:9d706f783b5a 43 if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
mbedoguz 0:c6daf7016b8c 44 DMP_FEATURE_GYRO_CAL, // Use gyro calibration
mbedoguz 10:e7fffe32c12c 45 150)==INV_ERROR){ // Set DMP FIFO rate to 150 Hz
mbedoguz 4:9d706f783b5a 46 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 47 }
mbedoguz 4:9d706f783b5a 48 else{
mbedoguz 4:9d706f783b5a 49 pc.printf("imu.dmpBegin() suceeded\n");
mbedoguz 4:9d706f783b5a 50 }
mbedoguz 8:b9206956f396 51 pc.printf("$GETEU,*\n");
mbedoguz 4:9d706f783b5a 52 #endif
mbedoguz 10:e7fffe32c12c 53 #if DEBUG //this scope is only for debugging purposes of mbed_i2c_read and write functions
mbedoguz 4:9d706f783b5a 54 mbed_i2c_read(0x68,0x75,1,whoami);
mbedoguz 4:9d706f783b5a 55 pc.printf("whoami=%d\n",whoami[0]);
mbedoguz 5:3a9280cea2ff 56 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 57 pc.printf("Buffer=%d-%d\n",inbuff[0],inbuff[1]);
mbedoguz 5:3a9280cea2ff 58 outbuff[0]=inbuff[0]&0x01;
mbedoguz 5:3a9280cea2ff 59 outbuff[1]=inbuff[1]&0x02;
mbedoguz 5:3a9280cea2ff 60 pc.printf("updated buffer=%d-%d\n",outbuff[0],outbuff[1]);
mbedoguz 4:9d706f783b5a 61 mbed_i2c_write(0x68,0x23,2,outbuff);
mbedoguz 5:3a9280cea2ff 62 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 63 pc.printf("new out buffer=%d-%d(if zero, write function still needs to be fixed)\n",inbuff[0],inbuff[1]);
mbedoguz 4:9d706f783b5a 64 #endif
mbedoguz 0:c6daf7016b8c 65 while(1){
mbedoguz 4:9d706f783b5a 66 if(pc.readable()){
mbedoguz 4:9d706f783b5a 67 pc.scanf("%s",&registeradress);
mbedoguz 4:9d706f783b5a 68 regadd=(registeradress[0]-48)*100+(registeradress[1]-48)*10+(registeradress[2]-48);
mbedoguz 4:9d706f783b5a 69 mbed_i2c_read(0x68,(unsigned)regadd,1,registerdata);
mbedoguz 4:9d706f783b5a 70 pc.printf("%d is gotten from serial port, data at that register is %d\n",regadd,registerdata[0]);
mbedoguz 4:9d706f783b5a 71 }
mbedoguz 10:e7fffe32c12c 72
mbedoguz 9:ef46e12b4560 73 // Check for new data in the FIFO
mbedoguz 10:e7fffe32c12c 74 if (imu.fifoAvailable()){//fifo is not being available
mbedoguz 10:e7fffe32c12c 75 led=0;
mbedoguz 10:e7fffe32c12c 76 wait_ms(1);
mbedoguz 10:e7fffe32c12c 77 led=1;
mbedoguz 10:e7fffe32c12c 78 wait_ms(1);
mbedoguz 10:e7fffe32c12c 79 // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
mbedoguz 10:e7fffe32c12c 80 if ( imu.dmpUpdateFifo() == INV_SUCCESS){
mbedoguz 10:e7fffe32c12c 81 // computeEulerAngles can be used -- after updating the
mbedoguz 10:e7fffe32c12c 82 // quaternion values -- to estimate roll, pitch, and yaw
mbedoguz 10:e7fffe32c12c 83 imu.computeEulerAngles();
mbedoguz 10:e7fffe32c12c 84 printIMUData();
mbedoguz 9:ef46e12b4560 85 }
mbedoguz 10:e7fffe32c12c 86 }
mbedoguz 10:e7fffe32c12c 87 else{
mbedoguz 10:e7fffe32c12c 88 led=0;
mbedoguz 10:e7fffe32c12c 89 }
mbedoguz 0:c6daf7016b8c 90 }
mbedoguz 0:c6daf7016b8c 91 return 0;
mbedoguz 0:c6daf7016b8c 92 }
mbedoguz 0:c6daf7016b8c 93
mbedoguz 0:c6daf7016b8c 94 void printIMUData(void)
mbedoguz 0:c6daf7016b8c 95 {
mbedoguz 0:c6daf7016b8c 96 // After calling dmpUpdateFifo() the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 97 // are all updated.
mbedoguz 0:c6daf7016b8c 98 // Quaternion values are, by default, stored in Q30 long
mbedoguz 0:c6daf7016b8c 99 // format. calcQuat turns them into a float between -1 and 1
mbedoguz 0:c6daf7016b8c 100 float q0 = imu.calcQuat(imu.qw);
mbedoguz 0:c6daf7016b8c 101 float q1 = imu.calcQuat(imu.qx);
mbedoguz 0:c6daf7016b8c 102 float q2 = imu.calcQuat(imu.qy);
mbedoguz 0:c6daf7016b8c 103 float q3 = imu.calcQuat(imu.qz);
mbedoguz 0:c6daf7016b8c 104
mbedoguz 8:b9206956f396 105 pc.printf("$,%.4lf,%.4lf,%.4lf,*\n", imu.yaw,imu.pitch,imu.roll);
mbedoguz 0:c6daf7016b8c 106 }