Bluepill version of mpu9250-dmp library of sparkfun
Dependencies: MotionDriver_6_1 SparkFunMPU9250-DMP mbed-STM32F103C8T6 mbed
Fork of MPU9250-dmp by
main.cpp
- Committer:
- mbedoguz
- Date:
- 2017-08-10
- Revision:
- 4:9d706f783b5a
- Parent:
- 3:740f15b45cb8
- Child:
- 5:3a9280cea2ff
File content as of revision 4:9d706f783b5a:
#include "SparkFunMPU9250-DMP.h" #include "mdcompat.h" Serial pc(USBTX,USBRX); DigitalOut led(LED1); MPU9250_DMP imu; 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 if (imu.begin() != INV_SUCCESS){ while (1){ pc.printf("Unable to communicate with MPU-9250"); pc.printf("Check connections, and try again.\n"); wait_ms(5000); } } pc.printf("imu.begin() suceeded\n"); 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) } 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",®isteradress); 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 if (imu.fifoAvailable()){//fifo is not being available led=0; wait_ms(500); led=1; 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 // quaternion values -- to estimate roll, pitch, and yaw imu.computeEulerAngles(); //printIMUData(); pc.printf("dmpUpdateFifo sucesfully occured\n"); #if 1 pc.printf("%lf",DEBUG[0]); pc.printf("\t"); pc.printf("%lf",DEBUG[1]); pc.printf("\t"); pc.printf("%lf",DEBUG[2]); pc.printf("\t"); pc.printf("%lf\n ",DEBUG[3]); #endif } } else{ led=1; wait_ms(100); led=0; wait_ms(100); } } return 0; } void printIMUData(void) { // After calling dmpUpdateFifo() the ax, gx, mx, etc. values // are all updated. // Quaternion values are, by default, stored in Q30 long // format. calcQuat turns them into a float between -1 and 1 float q0 = imu.calcQuat(imu.qw); float q1 = imu.calcQuat(imu.qx); float q2 = imu.calcQuat(imu.qy); float q3 = imu.calcQuat(imu.qz); pc.printf("R:%lf P:%lf Y:%lf \n", imu.roll,imu.pitch,imu.yaw); }