Oğuz Özdemir / Mbed 2 deprecated MPU9250-dmp Featured

MPU9250 library using dmp, it uses sparkfun arduino library and invensense Motion driver 6.1.

Dependencies:   MotionDriver_6_1 SparkFunMPU9250-DMP mbed

main.cpp@9:9045a44aff24, 2017-08-14 (annotated)

Committer:
mbedoguz
Date:
Mon Aug 14 14:18:23 2017 +0000
Branch:
Bluepill
Revision:
9:9045a44aff24
Parent:
8:b9206956f396 
Informative comments are added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 0:c6daf7016b8c 1 #include "SparkFunMPU9250-DMP.h"
mbedoguz 2:7be1ac6eb8cb 2 #include "mdcompat.h"
mbedoguz 9:9045a44aff24 3 //In order to compile, you should define MPU9250 in build macros
mbedoguz 9:9045a44aff24 4 //definitions
mbedoguz 9:9045a44aff24 5 #define DEBUG 0
mbedoguz 9:9045a44aff24 6 //classes
mbedoguz 8:b9206956f396 7 Serial pc(USBTX,USBRX);
mbedoguz 0:c6daf7016b8c 8 DigitalOut led(LED1);
mbedoguz 0:c6daf7016b8c 9 MPU9250_DMP imu;
mbedoguz 9:9045a44aff24 10
mbedoguz 9:9045a44aff24 11 //variables
mbedoguz 9:9045a44aff24 12 #if DEBUG
mbedoguz 9:9045a44aff24 13 unsigned char whoami[1]={0};
mbedoguz 9:9045a44aff24 14 unsigned char outbuff[4];
mbedoguz 9:9045a44aff24 15 unsigned char inbuff[4];
mbedoguz 9:9045a44aff24 16 #endif
mbedoguz 9:9045a44aff24 17
mbedoguz 4:9d706f783b5a 18 unsigned char regadd;
mbedoguz 5:3a9280cea2ff 19 char registeradress[5];
mbedoguz 4:9d706f783b5a 20 unsigned char registerdata[]={33};
mbedoguz 9:9045a44aff24 21
mbedoguz 9:9045a44aff24 22 //Prorotypes
mbedoguz 4:9d706f783b5a 23 void printIMUData(void);
mbedoguz 9:9045a44aff24 24
mbedoguz 0:c6daf7016b8c 25 int main()
mbedoguz 0:c6daf7016b8c 26 {
mbedoguz 0:c6daf7016b8c 27 pc.baud(115200);
mbedoguz 0:c6daf7016b8c 28 pc.printf("Hello World\n");
mbedoguz 4:9d706f783b5a 29 imu_init();
mbedoguz 4:9d706f783b5a 30 stamper_init();
mbedoguz 9:9045a44aff24 31 #if ~DEBUG//Regular program
mbedoguz 0:c6daf7016b8c 32 // Call imu.begin() to verify communication and initialize
mbedoguz 0:c6daf7016b8c 33 if (imu.begin() != INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 34 while (1){
mbedoguz 0:c6daf7016b8c 35 pc.printf("Unable to communicate with MPU-9250");
mbedoguz 0:c6daf7016b8c 36 pc.printf("Check connections, and try again.\n");
mbedoguz 0:c6daf7016b8c 37 wait_ms(5000);
mbedoguz 0:c6daf7016b8c 38 }
mbedoguz 0:c6daf7016b8c 39 }
mbedoguz 5:3a9280cea2ff 40 pc.printf("imu.begin() suceeded\n");
mbedoguz 4:9d706f783b5a 41
mbedoguz 4:9d706f783b5a 42 if(imu.dmpBegin(DMP_FEATURE_6X_LP_QUAT | // Enable 6-axis quat
mbedoguz 0:c6daf7016b8c 43 DMP_FEATURE_GYRO_CAL, // Use gyro calibration
mbedoguz 8:b9206956f396 44 150)==INV_ERROR){ // Set DMP FIFO rate to 150 Hz
mbedoguz 4:9d706f783b5a 45 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 46 }
mbedoguz 4:9d706f783b5a 47 else{
mbedoguz 4:9d706f783b5a 48 pc.printf("imu.dmpBegin() suceeded\n");
mbedoguz 4:9d706f783b5a 49 }
mbedoguz 8:b9206956f396 50 pc.printf("$GETEU,*\n");
mbedoguz 4:9d706f783b5a 51 #endif
mbedoguz 9:9045a44aff24 52 #if DEBUG //this scope is only for debugging purposes of mbed_i2c_read and write functions
mbedoguz 4:9d706f783b5a 53 mbed_i2c_read(0x68,0x75,1,whoami);
mbedoguz 4:9d706f783b5a 54 pc.printf("whoami=%d\n",whoami[0]);
mbedoguz 5:3a9280cea2ff 55 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 56 pc.printf("Buffer=%d-%d\n",inbuff[0],inbuff[1]);
mbedoguz 5:3a9280cea2ff 57 outbuff[0]=inbuff[0]&0x01;
mbedoguz 5:3a9280cea2ff 58 outbuff[1]=inbuff[1]&0x02;
mbedoguz 5:3a9280cea2ff 59 pc.printf("updated buffer=%d-%d\n",outbuff[0],outbuff[1]);
mbedoguz 4:9d706f783b5a 60 mbed_i2c_write(0x68,0x23,2,outbuff);
mbedoguz 5:3a9280cea2ff 61 mbed_i2c_read(0x68,0x23,2,inbuff);
mbedoguz 5:3a9280cea2ff 62 pc.printf("new out buffer=%d-%d(if zero, write function still needs to be fixed)\n",inbuff[0],inbuff[1]);
mbedoguz 4:9d706f783b5a 63 #endif
mbedoguz 0:c6daf7016b8c 64 while(1){
mbedoguz 4:9d706f783b5a 65 if(pc.readable()){
mbedoguz 4:9d706f783b5a 66 pc.scanf("%s",&registeradress);
mbedoguz 4:9d706f783b5a 67 regadd=(registeradress[0]-48)*100+(registeradress[1]-48)*10+(registeradress[2]-48);
mbedoguz 4:9d706f783b5a 68 mbed_i2c_read(0x68,(unsigned)regadd,1,registerdata);
mbedoguz 4:9d706f783b5a 69 pc.printf("%d is gotten from serial port, data at that register is %d\n",regadd,registerdata[0]);
mbedoguz 4:9d706f783b5a 70 }
mbedoguz 9:9045a44aff24 71
mbedoguz 0:c6daf7016b8c 72 // Check for new data in the FIFO
mbedoguz 3:740f15b45cb8 73 if (imu.fifoAvailable()){//fifo is not being available
mbedoguz 8:b9206956f396 74 led=0;
mbedoguz 8:b9206956f396 75 wait_ms(1);
mbedoguz 8:b9206956f396 76 led=1;
mbedoguz 8:b9206956f396 77 wait_ms(1);
mbedoguz 0:c6daf7016b8c 78 // Use dmpUpdateFifo to update the ax, gx, mx, etc. values
mbedoguz 5:3a9280cea2ff 79 if ( imu.dmpUpdateFifo() == INV_SUCCESS){
mbedoguz 0:c6daf7016b8c 80 // computeEulerAngles can be used -- after updating the
mbedoguz 0:c6daf7016b8c 81 // quaternion values -- to estimate roll, pitch, and yaw
mbedoguz 0:c6daf7016b8c 82 imu.computeEulerAngles();
mbedoguz 5:3a9280cea2ff 83 printIMUData();
mbedoguz 0:c6daf7016b8c 84 }
mbedoguz 0:c6daf7016b8c 85 }
mbedoguz 4:9d706f783b5a 86 else{
mbedoguz 9:9045a44aff24 87 led=0;
mbedoguz 4:9d706f783b5a 88 }
mbedoguz 0:c6daf7016b8c 89 }
mbedoguz 0:c6daf7016b8c 90 return 0;
mbedoguz 0:c6daf7016b8c 91 }
mbedoguz 0:c6daf7016b8c 92
mbedoguz 0:c6daf7016b8c 93 void printIMUData(void)
mbedoguz 0:c6daf7016b8c 94 {
mbedoguz 0:c6daf7016b8c 95 // After calling dmpUpdateFifo() the ax, gx, mx, etc. values
mbedoguz 0:c6daf7016b8c 96 // are all updated.
mbedoguz 0:c6daf7016b8c 97 // Quaternion values are, by default, stored in Q30 long
mbedoguz 0:c6daf7016b8c 98 // format. calcQuat turns them into a float between -1 and 1
mbedoguz 0:c6daf7016b8c 99 float q0 = imu.calcQuat(imu.qw);
mbedoguz 0:c6daf7016b8c 100 float q1 = imu.calcQuat(imu.qx);
mbedoguz 0:c6daf7016b8c 101 float q2 = imu.calcQuat(imu.qy);
mbedoguz 0:c6daf7016b8c 102 float q3 = imu.calcQuat(imu.qz);
mbedoguz 0:c6daf7016b8c 103
mbedoguz 8:b9206956f396 104 pc.printf("$,%.4lf,%.4lf,%.4lf,*\n", imu.yaw,imu.pitch,imu.roll);
mbedoguz 0:c6daf7016b8c 105 }