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@9:ef46e12b4560, 2017-08-14 (annotated)

Committer:
mbedoguz
Date:
Mon Aug 14 14:09:50 2017 +0000
Revision:
9:ef46e12b4560
Parent:
8:b9206956f396
Child:
10:e7fffe32c12c
This is a bluepill(stm32f103) version of MPU9250-dmp library.

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 8:b9206956f396 5
mbedoguz 9:ef46e12b4560 6 Serial pc(SERIAL_TX,SERIAL_RX);
mbedoguz 0:c6daf7016b8c 7 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 8 MPU9250_DMP imu;
mbedoguz 4:9d706f783b5a 9 unsigned char whoami[1]={0};
mbedoguz 4:9d706f783b5a 10 unsigned char fifo_count[2]={32,32};
mbedoguz 4:9d706f783b5a 11 unsigned char temp[1]={32};
mbedoguz 4:9d706f783b5a 12 unsigned char outbuff[4];
mbedoguz 5:3a9280cea2ff 13 unsigned char inbuff[4];
mbedoguz 4:9d706f783b5a 14 unsigned char regadd;
mbedoguz 5:3a9280cea2ff 15 char registeradress[5];
mbedoguz 4:9d706f783b5a 16 unsigned char registerdata[]={33};
mbedoguz 4:9d706f783b5a 17 void printIMUData(void);
mbedoguz 0:c6daf7016b8c 18 int main()
mbedoguz 0:c6daf7016b8c 19 {
mbedoguz 0:c6daf7016b8c 20 pc.baud(115200);
mbedoguz 0:c6daf7016b8c 21 pc.printf("Hello World\n");
mbedoguz 4:9d706f783b5a 22 imu_init();
mbedoguz 4:9d706f783b5a 23 stamper_init();
mbedoguz 5:3a9280cea2ff 24 #if 1//Regular program
mbedoguz 0:c6daf7016b8c 25 // Call imu.begin() to verify communication and initialize
mbedoguz 0:c6daf7016b8c 26 if (imu.begin() != INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 27 while (1){
mbedoguz 0:c6daf7016b8c 28 pc.printf("Unable to communicate with MPU-9250");
mbedoguz 0:c6daf7016b8c 29 pc.printf("Check connections, and try again.\n");
mbedoguz 0:c6daf7016b8c 30 wait_ms(5000);
mbedoguz 0:c6daf7016b8c 31 }
mbedoguz 0:c6daf7016b8c 32 }
mbedoguz 5:3a9280cea2ff 33 pc.printf("imu.begin() suceeded\n");
mbedoguz 4:9d706f783b5a 34
mbedoguz 4:9d706f783b5a 35 if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
mbedoguz 0:c6daf7016b8c 36 DMP_FEATURE_GYRO_CAL, // Use gyro calibration
mbedoguz 9:ef46e12b4560 37 10)==INV_ERROR){ // Set DMP FIFO rate to 150 Hz
mbedoguz 4:9d706f783b5a 38 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 39 }
mbedoguz 4:9d706f783b5a 40 else{
mbedoguz 4:9d706f783b5a 41 pc.printf("imu.dmpBegin() suceeded\n");
mbedoguz 4:9d706f783b5a 42 }
mbedoguz 8:b9206956f396 43 pc.printf("$GETEU,*\n");
mbedoguz 4:9d706f783b5a 44 #endif
mbedoguz 5:3a9280cea2ff 45 #if 0//this scope is only for debugging purposes of mbed_i2c_read and write functions
mbedoguz 4:9d706f783b5a 46 mbed_i2c_read(0x68,0x75,1,whoami);
mbedoguz 4:9d706f783b5a 47 pc.printf("whoami=%d\n",whoami[0]);
mbedoguz 5:3a9280cea2ff 48 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 49 pc.printf("Buffer=%d-%d\n",inbuff[0],inbuff[1]);
mbedoguz 5:3a9280cea2ff 50 outbuff[0]=inbuff[0]&0x01;
mbedoguz 5:3a9280cea2ff 51 outbuff[1]=inbuff[1]&0x02;
mbedoguz 5:3a9280cea2ff 52 pc.printf("updated buffer=%d-%d\n",outbuff[0],outbuff[1]);
mbedoguz 4:9d706f783b5a 53 mbed_i2c_write(0x68,0x23,2,outbuff);
mbedoguz 5:3a9280cea2ff 54 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 55 pc.printf("new out buffer=%d-%d(if zero, write function still needs to be fixed)\n",inbuff[0],inbuff[1]);
mbedoguz 4:9d706f783b5a 56 #endif
mbedoguz 0:c6daf7016b8c 57 while(1){
mbedoguz 4:9d706f783b5a 58 if(pc.readable()){
mbedoguz 4:9d706f783b5a 59 pc.scanf("%s",&registeradress);
mbedoguz 4:9d706f783b5a 60 regadd=(registeradress[0]-48)*100+(registeradress[1]-48)*10+(registeradress[2]-48);
mbedoguz 4:9d706f783b5a 61 mbed_i2c_read(0x68,(unsigned)regadd,1,registerdata);
mbedoguz 4:9d706f783b5a 62 pc.printf("%d is gotten from serial port, data at that register is %d\n",regadd,registerdata[0]);
mbedoguz 4:9d706f783b5a 63 }
mbedoguz 9:ef46e12b4560 64 // Check for new data in the FIFO
mbedoguz 9:ef46e12b4560 65 if (imu.fifoAvailable()){//fifo is not being available
mbedoguz 9:ef46e12b4560 66 led=0;
mbedoguz 9:ef46e12b4560 67 wait_ms(1);
mbedoguz 9:ef46e12b4560 68 led=1;
mbedoguz 9:ef46e12b4560 69 wait_ms(1);
mbedoguz 9:ef46e12b4560 70 // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
mbedoguz 9:ef46e12b4560 71 if ( imu.dmpUpdateFifo() == INV_SUCCESS){
mbedoguz 9:ef46e12b4560 72 // computeEulerAngles can be used -- after updating the
mbedoguz 9:ef46e12b4560 73 // quaternion values -- to estimate roll, pitch, and yaw
mbedoguz 9:ef46e12b4560 74 imu.computeEulerAngles();
mbedoguz 9:ef46e12b4560 75 printIMUData();
mbedoguz 9:ef46e12b4560 76 }
mbedoguz 9:ef46e12b4560 77 }
mbedoguz 5:3a9280cea2ff 78 else{
mbedoguz 9:ef46e12b4560 79 led=0;
mbedoguz 0:c6daf7016b8c 80 }
mbedoguz 0:c6daf7016b8c 81 }
mbedoguz 0:c6daf7016b8c 82 return 0;
mbedoguz 0:c6daf7016b8c 83 }
mbedoguz 0:c6daf7016b8c 84
mbedoguz 0:c6daf7016b8c 85 void printIMUData(void)
mbedoguz 0:c6daf7016b8c 86 {
mbedoguz 0:c6daf7016b8c 87 // After calling dmpUpdateFifo() the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 88 // are all updated.
mbedoguz 0:c6daf7016b8c 89 // Quaternion values are, by default, stored in Q30 long
mbedoguz 0:c6daf7016b8c 90 // format. calcQuat turns them into a float between -1 and 1
mbedoguz 0:c6daf7016b8c 91 float q0 = imu.calcQuat(imu.qw);
mbedoguz 0:c6daf7016b8c 92 float q1 = imu.calcQuat(imu.qx);
mbedoguz 0:c6daf7016b8c 93 float q2 = imu.calcQuat(imu.qy);
mbedoguz 0:c6daf7016b8c 94 float q3 = imu.calcQuat(imu.qz);
mbedoguz 0:c6daf7016b8c 95
mbedoguz 8:b9206956f396 96 pc.printf("$,%.4lf,%.4lf,%.4lf,*\n", imu.yaw,imu.pitch,imu.roll);
mbedoguz 0:c6daf7016b8c 97 }