Diff: main.cpp

Revision:

9:ef46e12b4560

Parent:

8:b9206956f396

Child:

10:e7fffe32c12c

--- a/main.cpp	Mon Aug 14 09:03:52 2017 +0000
+++ b/main.cpp	Mon Aug 14 14:09:50 2017 +0000
@@ -1,7 +1,9 @@
 #include "SparkFunMPU9250-DMP.h"
 #include "mdcompat.h"
+#include "stm32f103c8t6.h"
+//In order to compile, you should define MPU9250 in build macros
 
-Serial pc(USBTX,USBRX);
+Serial pc(SERIAL_TX,SERIAL_RX);
 DigitalOut led(LED1);
 MPU9250_DMP imu;
 unsigned char whoami[1]={0};
@@ -32,7 +34,7 @@
   
     if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
                DMP_FEATURE_GYRO_CAL, // Use gyro calibration
-              150)==INV_ERROR){ // Set DMP FIFO rate to 150 Hz
+              10)==INV_ERROR){ // Set DMP FIFO rate to 150 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{
@@ -59,31 +61,23 @@
         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]);
     }
-    /*if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
-               DMP_FEATURE_GYRO_CAL, // Use gyro calibration
-              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)
-              }
+  // Check for new data in the FIFO
+    if (imu.fifoAvailable()){//fifo is not being available
+        led=0;
+        wait_ms(1);
+        led=1;
+        wait_ms(1);
+        // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
+        if ( imu.dmpUpdateFifo() == INV_SUCCESS){
+          // computeEulerAngles can be used -- after updating the
+          // quaternion values -- to estimate roll, pitch, and yaw
+          imu.computeEulerAngles();
+          printIMUData();
+        }
+    }
     else{
-        pc.printf("imu.dmpBegin() suceeded\n");
-    }*/
-  // Check for new data in the FIFO
-  if (imu.fifoAvailable()){//fifo is not being available
-    led=0;
-    wait_ms(1);
-    led=1;
-    wait_ms(1);
-    // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
-    if ( imu.dmpUpdateFifo() == INV_SUCCESS){
-      // computeEulerAngles can be used -- after updating the
-      // quaternion values -- to estimate roll, pitch, and yaw
-      imu.computeEulerAngles();
-      printIMUData();
+          led=0;
     }
-  }
-  else{
-          led=0;
-  }
 }
   return 0;
 }