Diff: main.cpp

Revision:

4:9d706f783b5a

Parent:

3:740f15b45cb8

Child:

5:3a9280cea2ff

--- a/main.cpp	Tue Aug 08 14:15:53 2017 +0000
+++ b/main.cpp	Thu Aug 10 14:45:40 2017 +0000
@@ -1,36 +1,28 @@
-/*#include "mbed.h"
-#include "inv_mpu.h"
-#include "mdcompat.h"
-Serial pc(USBTX,USBRX);
-DigitalOut led(LED1);
-int main()
-{
-    imu_init();
-    
-    while(1){
-        led=1;
-        wait_ms(100);
-        led=0;
-        wait_ms(100);
-    }  
-}*/
-
 #include "SparkFunMPU9250-DMP.h"
 #include "mdcompat.h"
 
 Serial pc(USBTX,USBRX);
 DigitalOut led(LED1);
 MPU9250_DMP imu;
-char whoami[1]={0};
+unsigned char whoami[1]={0};
+unsigned char fifo_count[2]={32,32};
+unsigned char temp[1]={32};
+unsigned char outbuff[4];
 long DEBUG[]={2,2,2,2};
+unsigned long tamper;
+unsigned char regadd;
+char registeradress[20];
+unsigned char registerdata[]={33};
+void printIMUData(void);
 int main() 
 {
   pc.baud(115200);
   pc.printf("Hello World\n");
+  imu_init();
+  stamper_init();
+#if 1
   // Call imu.begin() to verify communication and initialize
-    pc.printf("imu.begin() is being run\n");
   if (imu.begin() != INV_SUCCESS){
-    pc.printf("imu.begin() have failed");
     while (1){
       pc.printf("Unable to communicate with MPU-9250");
       pc.printf("Check connections, and try again.\n");
@@ -38,27 +30,46 @@
     }
   }
   pc.printf("imu.begin() suceeded\n");
-  imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
+  
+    if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
                DMP_FEATURE_GYRO_CAL, // Use gyro calibration
-              20); // Set DMP FIFO rate to 20 Hz
-  // DMP_FEATURE_LP_QUAT can also be used. It uses the 
-  // accelerometer in low-power mode to estimate quat's.
-  // DMP_FEATURE_LP_QUAT and 6X_LP_QUAT are mutually exclusive
-  pc.printf("imu.dmpBegin() suceeded\n");
-  mbed_i2c_read(0x68,0x75,1,whoami);
-  pc.printf("%d\n",whoami[0]);
+              20)==INV_ERROR){ // Set DMP FIFO rate to 20 Hz
+        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)
+              }
+    else{
+        pc.printf("imu.dmpBegin() suceeded\n");
+    }
+#endif
+#if 0//processes here is not important if imu.dmpBegin is not working -> 0 if dmpBegin fails
+    mbed_i2c_read(0x68,0x75,1,whoami);
+    pc.printf("whoami=%d\n",whoami[0]);
+    mbed_i2c_read(0x68,0x23,1,outbuff);
+    pc.printf("out buffer=%d\n",outbuff[0]);
+    outbuff[0]|=1;
+    pc.printf("updated out buffer=%d\n",outbuff[0]);
+    mbed_i2c_write(0x68,0x23,2,outbuff);
+    mbed_i2c_read(0x68,0x23,1,outbuff);
+    pc.printf("new out buffer=%d(if zero, write function still needs to be fixed)\n",outbuff[0]);
+#endif
 while(1){
+    if(pc.readable()){
+        pc.scanf("%s",&registeradress);
+        regadd=(registeradress[0]-48)*100+(registeradress[1]-48)*10+(registeradress[2]-48);
+        mbed_i2c_read(0x68,(unsigned)regadd,1,registerdata);
+        pc.printf("%d is gotten from serial port, data at that register is %d\n",regadd,registerdata[0]);
+    }
+    /*unsigned char buff[2]={0x38,0x39};
+    pc.printf("trial-%s-%s\n",buff,(const char*)buff);*/
+  /*imu.updateTemperature();
+  temp[0]=imu.temperature;
+  get_ms(&tamper);
+  pc.printf("%d-%d\n",temp[0],tamper);*/
   // Check for new data in the FIFO
-  led=1;
-  wait_ms(500);
-  led=0;
-  wait_ms(500);
   if (imu.fifoAvailable()){//fifo is not being available
     led=0;
-    wait_ms(100);
+    wait_ms(500);
     led=1;
-    wait_ms(100);
-    pc.printf("fifo sucesfully available\n");
+    wait_ms(500);
     // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
     if ( imu.dmpUpdateFifo(DEBUG) == INV_SUCCESS){
       // computeEulerAngles can be used -- after updating the
@@ -77,6 +88,12 @@
      #endif
     }
   }
+  else{
+    led=1;
+    wait_ms(100);
+    led=0;
+    wait_ms(100);      
+  }
 }
   return 0;
 }