Tom Rasmussen / Mbed 2 deprecated NucleoCube1

Dependencies:   BNO055_fusion_tom FastPWM mbed

Fork of NucleoCube1 by Will Church

main.cpp@8:1011786787a4, 2017-04-09 (annotated)

Committer:
wchurch
Date:
Sun Apr 09 19:28:56 2017 +0000
Revision:
8:1011786787a4
Parent:
7:1be7e6735fe2
Child:
9:6a83e2777d24
basic loop going

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 7:1be7e6735fe2 17 //PwmOut P2(PE_11); 1D FOCUS FOR NOW
wchurch 7:1be7e6735fe2 18 //PwmOut P3(PE_13);
wchurch 0:604ceafb7bb3 19
wchurch 0:604ceafb7bb3 20 I2C i2c(PB_9, PB_8); // SDA, SCL
wchurch 0:604ceafb7bb3 21 BNO055 imu(i2c, PA_8); // Reset
wchurch 0:604ceafb7bb3 22
wchurch 0:604ceafb7bb3 23 BNO055_ID_INF_TypeDef bno055_id_inf;
wchurch 0:604ceafb7bb3 24 BNO055_EULER_TypeDef euler_angles;
wchurch 7:1be7e6735fe2 25
wchurch 7:1be7e6735fe2 26
wchurch 8:1011786787a4 27 //BNO055_EULER_TypeDef velocity; IN PROGRESS
wchurch 6:f2c930a90873 28
wchurch 8:1011786787a4 29 double Kbt = 0.003;
wchurch 8:1011786787a4 30 double Kbv = 0.23;
wchurch 8:1011786787a4 31 double Kwv = 0.124;
wchurch 8:1011786787a4 32 double r1;
wchurch 8:1011786787a4 33
wchurch 6:f2c930a90873 34 int isPressed;
wchurch 6:f2c930a90873 35
wchurch 6:f2c930a90873 36 void pwmupdate() {
wchurch 6:f2c930a90873 37
wchurch 6:f2c930a90873 38 myled = !myled;
wchurch 6:f2c930a90873 39
wchurch 8:1011786787a4 40 r1 = (Kbt*euler_angles.h);
wchurch 8:1011786787a4 41 r1 = (r1 + 6.0)/12.0 ; //Normalize for PWM output
wchurch 8:1011786787a4 42 P1 = r1;
wchurch 7:1be7e6735fe2 43 //P2 = (euler_angles.r/360.0);
wchurch 7:1be7e6735fe2 44 //P3 = (euler_angles.p/360.0);
wchurch 6:f2c930a90873 45
wchurch 6:f2c930a90873 46 }
wchurch 6:f2c930a90873 47
wchurch 6:f2c930a90873 48 void eventFunction() {
wchurch 7:1be7e6735fe2 49
wchurch 6:f2c930a90873 50 if(!isPressed) {
wchurch 8:1011786787a4 51 pwmint.attach(&pwmupdate, .005);
wchurch 6:f2c930a90873 52 isPressed=1;
wchurch 7:1be7e6735fe2 53
wchurch 6:f2c930a90873 54 } else {
wchurch 6:f2c930a90873 55 pwmint.detach();
wchurch 7:1be7e6735fe2 56 P1 = 0;
wchurch 8:1011786787a4 57 myled = 0;
wchurch 7:1be7e6735fe2 58 //P2 = 0;
wchurch 7:1be7e6735fe2 59 //P3 = 0;
wchurch 6:f2c930a90873 60 isPressed=0;
wchurch 6:f2c930a90873 61 }
wchurch 6:f2c930a90873 62 }
wchurch 6:f2c930a90873 63
wchurch 6:f2c930a90873 64 int main()
wchurch 6:f2c930a90873 65 {
wchurch 0:604ceafb7bb3 66
wchurch 0:604ceafb7bb3 67 pc.printf("Bosch Sensortec BNO055 test program on " __DATE__ "/" __TIME__ "\r\n");
wchurch 0:604ceafb7bb3 68 if (imu.chip_ready() == 0){
wchurch 4:ae9e664301dd 69 pc.printf("Bosch BNO055 is NOT available!!\r\n");
wchurch 0:604ceafb7bb3 70 }
wchurch 6:f2c930a90873 71
wchurch 0:604ceafb7bb3 72 imu.read_id_inf(&bno055_id_inf);
wchurch 6:f2c930a90873 73
wchurch 7:1be7e6735fe2 74 //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 75 // bno055_id_inf.chip_id, bno055_id_inf.acc_id, bno055_id_inf.mag_id,
wchurch 7:1be7e6735fe2 76 // bno055_id_inf.gyr_id, bno055_id_inf.sw_rev_id, bno055_id_inf.bootldr_rev_id);
wchurch 6:f2c930a90873 77
wchurch 7:1be7e6735fe2 78 P1.period(0.0002);
wchurch 7:1be7e6735fe2 79
wchurch 6:f2c930a90873 80 isPressed=0;
wchurch 6:f2c930a90873 81 button.rise(&eventFunction);
wchurch 6:f2c930a90873 82
wchurch 6:f2c930a90873 83
wchurch 0:604ceafb7bb3 84
wchurch 0:604ceafb7bb3 85 while(1) {
wchurch 6:f2c930a90873 86
wchurch 6:f2c930a90873 87
wchurch 0:604ceafb7bb3 88 pc.printf("Heading:%+6.4f [deg], Roll:%+6.4f [deg], Pitch:%+6.4f [deg]\r\n",
wchurch 0:604ceafb7bb3 89 euler_angles.h, euler_angles.r, euler_angles.p);
wchurch 7:1be7e6735fe2 90
wchurch 6:f2c930a90873 91 imu.get_Euler_Angles(&euler_angles);
wchurch 6:f2c930a90873 92
wchurch 0:604ceafb7bb3 93
wchurch 8:1011786787a4 94 //wait(0.2);
wchurch 0:604ceafb7bb3 95 }
wchurch 0:604ceafb7bb3 96 }