Tom Rasmussen / Mbed 2 deprecated NucleoCube1

Dependencies:   BNO055_fusion_tom FastPWM mbed

Fork of NucleoCube1 by Will Church

main.cpp@10:69eb22acaea3, 2017-04-09 (annotated)

Committer:
wchurch
Date:
Sun Apr 09 19:56:14 2017 +0000
Revision:
10:69eb22acaea3
Parent:
9:6a83e2777d24
Child:
13:e41d32a48931
current limits

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wchurch 0:604ceafb7bb3 1 #include "mbed.h"
wchurch 0:604ceafb7bb3 2 #include "BNO055.h"
wchurch 0:604ceafb7bb3 3
wchurch 0:604ceafb7bb3 4
wchurch 0:604ceafb7bb3 5 //------------------------------------
wchurch 0:604ceafb7bb3 6 // Hyperterminal configuration
wchurch 0:604ceafb7bb3 7 // 9600 bauds, 8-bit data, no parity
wchurch 0:604ceafb7bb3 8 //------------------------------------
wchurch 0:604ceafb7bb3 9
wchurch 0:604ceafb7bb3 10 Serial pc(SERIAL_TX, SERIAL_RX);
wchurch 0:604ceafb7bb3 11
wchurch 5:9247f07a954a 12 Ticker pwmint;
wchurch 0:604ceafb7bb3 13 DigitalOut myled(LED1);
wchurch 6:f2c930a90873 14 InterruptIn button(USER_BUTTON);
wchurch 6:f2c930a90873 15
wchurch 1:d81f93d3f819 16 PwmOut P1(PE_9);
wchurch 9:6a83e2777d24 17 DigitalOut EN1(D0);
wchurch 9:6a83e2777d24 18
wchurch 7:1be7e6735fe2 19 //PwmOut P2(PE_11); 1D FOCUS FOR NOW
wchurch 7:1be7e6735fe2 20 //PwmOut P3(PE_13);
wchurch 0:604ceafb7bb3 21
wchurch 0:604ceafb7bb3 22 I2C i2c(PB_9, PB_8); // SDA, SCL
wchurch 0:604ceafb7bb3 23 BNO055 imu(i2c, PA_8); // Reset
wchurch 0:604ceafb7bb3 24
wchurch 0:604ceafb7bb3 25 BNO055_ID_INF_TypeDef bno055_id_inf;
wchurch 0:604ceafb7bb3 26 BNO055_EULER_TypeDef euler_angles;
wchurch 7:1be7e6735fe2 27
wchurch 7:1be7e6735fe2 28
wchurch 8:1011786787a4 29 //BNO055_EULER_TypeDef velocity; IN PROGRESS
wchurch 6:f2c930a90873 30
wchurch 10:69eb22acaea3 31 double Kbt = 5.4;
wchurch 10:69eb22acaea3 32 double Kbv = 0.33;
wchurch 8:1011786787a4 33 double Kwv = 0.124;
wchurch 8:1011786787a4 34 double r1;
wchurch 8:1011786787a4 35
wchurch 6:f2c930a90873 36 int isPressed;
wchurch 6:f2c930a90873 37
wchurch 6:f2c930a90873 38 void pwmupdate() {
wchurch 6:f2c930a90873 39
wchurch 6:f2c930a90873 40 myled = !myled;
wchurch 6:f2c930a90873 41
wchurch 9:6a83e2777d24 42 r1 = (Kbt*euler_angles.h*3.14/180.0);
wchurch 8:1011786787a4 43 r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output
wchurch 10:69eb22acaea3 44
wchurch 10:69eb22acaea3 45 //Limit PWM range
wchurch 10:69eb22acaea3 46 if (r1 > 1.0){
wchurch 10:69eb22acaea3 47 r1 = 1.0;
wchurch 10:69eb22acaea3 48 }
wchurch 10:69eb22acaea3 49 if (r1 < 0.0){
wchurch 10:69eb22acaea3 50 r1 = 0.0;
wchurch 10:69eb22acaea3 51 }
wchurch 8:1011786787a4 52 P1 = r1;
wchurch 7:1be7e6735fe2 53 //P2 = (euler_angles.r/360.0);
wchurch 7:1be7e6735fe2 54 //P3 = (euler_angles.p/360.0);
wchurch 6:f2c930a90873 55
wchurch 6:f2c930a90873 56 }
wchurch 6:f2c930a90873 57
wchurch 6:f2c930a90873 58 void eventFunction() {
wchurch 7:1be7e6735fe2 59
wchurch 6:f2c930a90873 60 if(!isPressed) {
wchurch 9:6a83e2777d24 61 pwmint.attach(&pwmupdate, .005);
wchurch 9:6a83e2777d24 62 EN1 = 1;
wchurch 6:f2c930a90873 63 isPressed=1;
wchurch 7:1be7e6735fe2 64
wchurch 6:f2c930a90873 65 } else {
wchurch 6:f2c930a90873 66 pwmint.detach();
wchurch 7:1be7e6735fe2 67 P1 = 0;
wchurch 8:1011786787a4 68 myled = 0;
wchurch 9:6a83e2777d24 69 EN1 = 0;
wchurch 7:1be7e6735fe2 70 //P2 = 0;
wchurch 7:1be7e6735fe2 71 //P3 = 0;
wchurch 6:f2c930a90873 72 isPressed=0;
wchurch 6:f2c930a90873 73 }
wchurch 6:f2c930a90873 74 }
wchurch 6:f2c930a90873 75
wchurch 6:f2c930a90873 76 int main()
wchurch 6:f2c930a90873 77 {
wchurch 0:604ceafb7bb3 78
wchurch 0:604ceafb7bb3 79 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
wchurch 0:604ceafb7bb3 80 if (imu.chip_ready() == 0){
wchurch 4:ae9e664301dd 81 pc.printf("Bosch BNO055 is NOT available!!\r\n");
wchurch 0:604ceafb7bb3 82 }
wchurch 6:f2c930a90873 83
wchurch 0:604ceafb7bb3 84 imu.read_id_inf(&bno055_id_inf);
wchurch 6:f2c930a90873 85
wchurch 7:1be7e6735fe2 86 //pc.printf("CHIP:0x%02x, ACC:0x%02x, MAG:0x%02x, GYR:0x%02x, , SW:0x%04x, , BL:0x%02x\r\n",
wchurch 7:1be7e6735fe2 87 // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
wchurch 7:1be7e6735fe2 88 // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
wchurch 6:f2c930a90873 89
wchurch 9:6a83e2777d24 90 P1.period(0.0002); //Set PWM frequency
wchurch 7:1be7e6735fe2 91
wchurch 6:f2c930a90873 92 isPressed=0;
wchurch 9:6a83e2777d24 93 button.rise(&eventFunction); //Enable Closed Loop
wchurch 6:f2c930a90873 94
wchurch 6:f2c930a90873 95
wchurch 0:604ceafb7bb3 96
wchurch 0:604ceafb7bb3 97 while(1) {
wchurch 6:f2c930a90873 98
wchurch 6:f2c930a90873 99
wchurch 9:6a83e2777d24 100 pc.printf("Heading:%+6.4f [deg], R1%+6.4f [PWM] \r\n", //, Pitch:%+6.4f [deg]\r\n",
wchurch 9:6a83e2777d24 101 euler_angles.h, r1, euler_angles.p);
wchurch 7:1be7e6735fe2 102
wchurch 6:f2c930a90873 103 imu.get_Euler_Angles(&euler_angles);
wchurch 6:f2c930a90873 104
wchurch 0:604ceafb7bb3 105
wchurch 8:1011786787a4 106 //wait(0.2);
wchurch 0:604ceafb7bb3 107 }
wchurch 0:604ceafb7bb3 108 }