![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Bluepill version of mpu9250-dmp library of sparkfun
Dependencies: MotionDriver_6_1 SparkFunMPU9250-DMP mbed-STM32F103C8T6 mbed
Fork of MPU9250-dmp by
Revision 10:e7fffe32c12c, committed 2017-08-14
- Comitter:
- mbedoguz
- Date:
- Mon Aug 14 14:19:50 2017 +0000
- Parent:
- 9:ef46e12b4560
- Commit message:
- Several informative comments and macros added.
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Mon Aug 14 14:09:50 2017 +0000 +++ b/main.cpp Mon Aug 14 14:19:50 2017 +0000 @@ -2,26 +2,34 @@ #include "mdcompat.h" #include "stm32f103c8t6.h" //In order to compile, you should define MPU9250 in build macros - +//definitions +#define DEBUG 0 +//classes Serial pc(SERIAL_TX,SERIAL_RX); 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]; -unsigned char inbuff[4]; + +//variables +#if DEBUG + unsigned char whoami[1]={0}; + unsigned char outbuff[4]; + unsigned char inbuff[4]; +#endif + unsigned char regadd; char registeradress[5]; unsigned char registerdata[]={33}; + +//Prorotypes void printIMUData(void); + int main() { pc.baud(115200); pc.printf("Hello World\n"); imu_init(); stamper_init(); -#if 1//Regular program +#if ~DEBUG//Regular program // Call imu.begin() to verify communication and initialize if (imu.begin() != INV_SUCCESS){ while (1){ @@ -34,7 +42,7 @@ if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat DMP_FEATURE_GYRO_CAL, // Use gyro calibration - 10)==INV_ERROR){ // Set DMP FIFO rate to 150 Hz + 150)==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{ @@ -42,7 +50,7 @@ } pc.printf("$GETEU,*\n"); #endif -#if 0//this scope is only for debugging purposes of mbed_i2c_read and write functions +#if DEBUG //this scope is only for debugging purposes of mbed_i2c_read and write functions mbed_i2c_read(0x68,0x75,1,whoami); pc.printf("whoami=%d\n",whoami[0]); mbed_i2c_read(0x68,0x23,2,inbuff); @@ -61,23 +69,24 @@ 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]); } + // 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(); - } + 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{ - led=0; - } + } + else{ + led=0; + } } return 0; }