Tom Rasmussen / Mbed 2 deprecated NucleoCube1

Dependencies:   BNO055_fusion_tom FastPWM mbed

Fork of NucleoCube1 by Will Church

main.cpp@9:6a83e2777d24, 2017-04-09 (annotated)

Committer:
wchurch
Date:
Sun Apr 09 19:52:02 2017 +0000
Revision:
9:6a83e2777d24
Parent:
8:1011786787a4
Child:
10:69eb22acaea3
temp d2r conversion;

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 9:6a83e2777d24 31 double Kbt = .54;
wchurch 8:1011786787a4 32 double Kbv = 0.23;
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 8:1011786787a4 44 P1 = r1;
wchurch 7:1be7e6735fe2 45 //P2 = (euler_angles.r/360.0);
wchurch 7:1be7e6735fe2 46 //P3 = (euler_angles.p/360.0);
wchurch 6:f2c930a90873 47
wchurch 6:f2c930a90873 48 }
wchurch 6:f2c930a90873 49
wchurch 6:f2c930a90873 50 void eventFunction() {
wchurch 7:1be7e6735fe2 51
wchurch 6:f2c930a90873 52 if(!isPressed) {
wchurch 9:6a83e2777d24 53 pwmint.attach(&pwmupdate, .005);
wchurch 9:6a83e2777d24 54 EN1 = 1;
wchurch 6:f2c930a90873 55 isPressed=1;
wchurch 7:1be7e6735fe2 56
wchurch 6:f2c930a90873 57 } else {
wchurch 6:f2c930a90873 58 pwmint.detach();
wchurch 7:1be7e6735fe2 59 P1 = 0;
wchurch 8:1011786787a4 60 myled = 0;
wchurch 9:6a83e2777d24 61 EN1 = 0;
wchurch 7:1be7e6735fe2 62 //P2 = 0;
wchurch 7:1be7e6735fe2 63 //P3 = 0;
wchurch 6:f2c930a90873 64 isPressed=0;
wchurch 6:f2c930a90873 65 }
wchurch 6:f2c930a90873 66 }
wchurch 6:f2c930a90873 67
wchurch 6:f2c930a90873 68 int main()
wchurch 6:f2c930a90873 69 {
wchurch 0:604ceafb7bb3 70
wchurch 0:604ceafb7bb3 71 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
wchurch 0:604ceafb7bb3 72 if (imu.chip_ready() == 0){
wchurch 4:ae9e664301dd 73 pc.printf("Bosch BNO055 is NOT available!!\r\n");
wchurch 0:604ceafb7bb3 74 }
wchurch 6:f2c930a90873 75
wchurch 0:604ceafb7bb3 76 imu.read_id_inf(&bno055_id_inf);
wchurch 6:f2c930a90873 77
wchurch 7:1be7e6735fe2 78 //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 79 // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
wchurch 7:1be7e6735fe2 80 // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
wchurch 6:f2c930a90873 81
wchurch 9:6a83e2777d24 82 P1.period(0.0002); //Set PWM frequency
wchurch 7:1be7e6735fe2 83
wchurch 6:f2c930a90873 84 isPressed=0;
wchurch 9:6a83e2777d24 85 button.rise(&eventFunction); //Enable Closed Loop
wchurch 6:f2c930a90873 86
wchurch 6:f2c930a90873 87
wchurch 0:604ceafb7bb3 88
wchurch 0:604ceafb7bb3 89 while(1) {
wchurch 6:f2c930a90873 90
wchurch 6:f2c930a90873 91
wchurch 9:6a83e2777d24 92 pc.printf("Heading:%+6.4f [deg], R1%+6.4f [PWM] \r\n", //, Pitch:%+6.4f [deg]\r\n",
wchurch 9:6a83e2777d24 93 euler_angles.h, r1, euler_angles.p);
wchurch 7:1be7e6735fe2 94
wchurch 6:f2c930a90873 95 imu.get_Euler_Angles(&euler_angles);
wchurch 6:f2c930a90873 96
wchurch 0:604ceafb7bb3 97
wchurch 8:1011786787a4 98 //wait(0.2);
wchurch 0:604ceafb7bb3 99 }
wchurch 0:604ceafb7bb3 100 }