智也 大野 / Mbed 2 deprecated MPU9250_edit

9軸センサー動作確認

Dependencies:   MPU9250_SPI mbed

Files at this revision

API Documentation at this revision

Revision 0:645f2b28239f, committed 2017-03-17

Comitter:
tomoya123
Date:
Fri Mar 17 08:42:47 2017 +0000
Commit message:
9axis

Changed in this revision

MPU9250.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU9250.lib	Fri Mar 17 08:42:47 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/kylongmu/code/MPU9250_SPI/#084e8ba240c1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 17 08:42:47 2017 +0000
@@ -0,0 +1,83 @@
+/*CODED by Qiyong Mu on 21/06/2014
+kylongmu@msn.com
+*/
+#include "mbed.h"
+#include "MPU9250.h"        //Include library
+
+Serial pc(USBTX, USBRX);
+Serial xbee(p9,p10); 
+DigitalOut myled(LED1);
+//Serial pc(USBTX, USBRX);
+SPI spi(p5, p6, p7);
+mpu9250_spi imu(spi,p8);   //define the mpu9250 object
+int main(){
+    //float mx,my,mz,F;
+    //float ax,ay,az,acc_roll,acc_pitch,calib_az,roll_deg;
+    //float mag_x,mag_y,Orient;
+    //int i;
+    pc.baud(115200);
+    //xbee.baud(115200);
+    if(imu.init(1,BITS_DLPF_CFG_188HZ)){  //INIT the mpu9250
+        printf("\nCouldn't initialize MPU9250 via SPI!");
+    }    
+    printf("\nWHOAMI=0x%2x\n",imu.whoami()); //output the I2C address to know if SPI is working, it should be 104
+    wait(1);    
+    printf("Gyro_scale=%u\n",imu.set_gyro_scale(BITS_FS_2000DPS));    //Set full scale range for gyros
+    wait(1);  
+    printf("Acc_scale=%u\n",imu.set_acc_scale(BITS_FS_16G));          //Set full scale range for accs
+    wait(1);
+    printf("AK8963 WHIAM=0x%2x\n",imu.AK8963_whoami());
+    wait(0.1);  
+    imu.AK8963_calib_Magnetometer();
+    imu.calib_acc();
+    pc.printf("good luck");
+    while(1) {
+     
+        wait(0.1);
+        
+        //imu.read_temp();
+        //imu.read_acc();
+        //imu.read_rot();
+        //imu.AK8963_read_Magnetometer();
+        
+        imu.read_all();
+    xbee.printf("%f,%f,%f\r\n", 
+            //imu.accelerometer_data[0],
+            //imu.accelerometer_data[1],
+            //imu.accelerometer_data[2],
+            imu.Magnetometer[0],
+            imu.Magnetometer[1],
+            imu.Magnetometer[2]
+            );
+           /* ax=ay=az=0;
+            for(i=0;i<100;i++){
+                ax = ax + imu.accelerometer_data[0];
+                ay = ay + imu.accelerometer_data[1];
+                az = az + imu.accelerometer_data[2];
+                }
+                wait(1.0);
+            ax=ax/100;
+            ay=ay/100;
+            az=az/100;
+           acc_roll = atan2(ay,az);
+           //roll_deg = acc_roll*180/3.1415;
+           calib_az = ay*sin(acc_roll)+az*cos(acc_roll);
+           acc_pitch = atan2(-ax,calib_az);
+           mag_x = (imu.Magnetometer[2]+13.755)*sin(acc_roll)-(imu.Magnetometer[1] - 20.469)*cos(acc_roll);
+           mag_y = (imu.Magnetometer[0] - 12.983)*cos(acc_pitch)
+                   +(imu.Magnetometer[1] - 20.469)*sin(acc_pitch)*sin(acc_roll)+(imu.Magnetometer[2]+13.755)*sin(acc_pitch)*cos(acc_roll);
+           Orient = atan2(mag_x,mag_y)*180/3.1415; 
+           printf("Orientation=%10.5f\n",Orient);*/       
+           //printf("roll=%10.5f,pitch=%10.5f\n",roll_deg,acc_pitch); 
+           
+          // mx = (imu.Magnetometer[0]- 12.983)*cos(7*3.1415/180);
+           //my = (imu.Magnetometer[1]- 20.469)*cos(7*3.1415/180);
+           //mz = imu.Magnetometer[2];
+         
+           // F = atan2(my,mx)*180/3.1415;
+          //printf("degree=%10.5f\n",F);
+        //myled = 0;*/
+        wait(0.5);
+    }
+}
+ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Mar 17 08:42:47 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/7c328cabac7e
\ No newline at end of file