Bluepill version of mpu9250-dmp library of sparkfun
Dependencies: MotionDriver_6_1 SparkFunMPU9250-DMP mbed-STM32F103C8T6 mbed
Fork of MPU9250-dmp by
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?
User | Revision | Line number | New 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",®isteradress); |
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 | } |