Yihui Xiong
initial
Diff: main.cpp
- Revision:
- 0:638edba3adf6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 11 02:32:24 2016 +0000
@@ -0,0 +1,213 @@
+
+#include "mbed.h"
+#include "mbed_spi.h"
+#include "inv_mpu.h"
+#include "inv_mpu_dmp_motion_driver.h"
+#include "W25Q16BV.h"
+
+#ifdef DEBUG
+#define LOG(...) { printf(__VA_ARGS__); }
+#else
+#define LOG(...)
+#endif
+
+#define PIN_FLS_MOSI p19
+#define PIN_FLS_MISO p18
+#define PIN_FLS_SCLK p20
+#define PIN_FLS_CS p8 // v1.1.0
+//#define PIN_FLS_CS p21 // v1.0.0
+
+#define MPU9250_MISO p16
+#define MPU9250_MOSI p12
+#define MPU9250_SCLK p13
+#define MPU9250_CS p15
+#define MPU9250_INT p10
+
+/* Starting sampling rate. */
+#define DEFAULT_MPU_HZ (100)
+
+volatile uint8_t compass_event = 0;
+volatile uint8_t motion_event = 0;
+
+void compass_tick_handle(void)
+{
+ compass_event = 1;
+}
+
+
+void motion_interrupt_handle(void)
+{
+ motion_event = 1;
+}
+
+void tap_cb(unsigned char direction, unsigned char count)
+{
+ LOG("Tap motion detected\n");
+}
+
+void android_orient_cb(unsigned char orientation)
+{
+ LOG("Oriention changed\n");
+}
+
+void disable_uart(void)
+{
+ // diable uart
+ ((NRF_UART_Type *)UART_0)->ENABLE = 0;
+
+ // change uart pins' settings
+ NRF_GPIO->PIN_CNF[USBTX] = 0x02;
+ NRF_GPIO->PIN_CNF[USBRX] = 0x02;
+}
+
+int main(void)
+{
+#ifndef DEBUG
+ disable_uart();
+#else
+ Serial pc(USBTX, USBRX);
+ pc.baud(115200);
+ wait(1);
+ LOG("---- eMPL MPU library @ Seeed ----\n");
+#endif
+
+ W25Q16BV flash(PIN_FLS_MOSI, PIN_FLS_MISO, PIN_FLS_SCLK, PIN_FLS_CS);
+ flash.enterDeepPowerDown();
+
+ mbed_spi_init(MPU9250_MOSI, MPU9250_MISO, MPU9250_SCLK, MPU9250_CS);
+
+
+ if (mpu_init(0)) {
+ LOG("failed to initialize mpu9250\r\n");
+ }
+
+ /* Get/set hardware configuration. Start gyro. */
+ /* Wake up all sensors. */
+ mpu_set_sensors(INV_XYZ_ACCEL); // | INV_XYZ_GYRO | INV_XYZ_COMPASS);
+ /* Push both gyro and accel data into the FIFO. */
+ // mpu_configure_fifo(INV_XYZ_ACCEL | INV_XYZ_GYRO);
+ // mpu_set_sample_rate(DEFAULT_MPU_HZ);
+
+ // dmp_load_motion_driver_firmware();
+ // dmp_register_tap_cb(tap_cb);
+ // dmp_register_android_orient_cb(android_orient_cb);
+
+ // uint16_t dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
+ // DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
+ // DMP_FEATURE_GYRO_CAL;
+
+ // dmp_enable_feature(dmp_features);
+ // dmp_set_fifo_rate(DEFAULT_MPU_HZ);
+ // mpu_set_dmp_state(0);
+
+ // dmp_set_interrupt_mode(DMP_INT_CONTINUOUS);
+ // dmp_set_tap_thresh(TAP_XYZ, 50);
+
+ // mpu_lp_accel_mode(1);
+ mpu_lp_motion_interrupt(128, 1, 1);
+
+ InterruptIn motion_probe(MPU9250_INT);
+ motion_probe.mode(PullNone);
+ motion_probe.fall(motion_interrupt_handle);
+
+ // Ticker ticker;
+ // ticker.attach(compass_tick_handle, 0.1);
+
+ mbed_spi_disable();
+
+ int try_to_sleep = 1;
+ while (true) {
+#if 0
+ if (motion_event) {
+ try_to_sleep = 0;
+
+ unsigned long sensor_timestamp;
+ short gyro[3], accel[3], sensors;
+ long quat[4];
+ unsigned char more = 1;
+
+ mbed_spi_enable();
+ while (more) {
+ /* This function gets new data from the FIFO when the DMP is in
+ * use. The FIFO can contain any combination of gyro, accel,
+ * quaternion, and gesture data. The sensors parameter tells the
+ * caller which data fields were actually populated with new data.
+ * For example, if sensors == (INV_XYZ_GYRO | INV_WXYZ_QUAT), then
+ * the FIFO isn't being filled with accel data.
+ * The driver parses the gesture data to determine if a gesture
+ * event has occurred; on an event, the application will be notified
+ * via a callback (assuming that a callback function was properly
+ * registered). The more parameter is non-zero if there are
+ * leftover packets in the FIFO.
+ */
+ dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,
+ &more);
+ /* Gyro and accel data are written to the FIFO by the DMP in chip
+ * frame and hardware units. This behavior is convenient because it
+ * keeps the gyro and accel outputs of dmp_read_fifo and
+ * mpu_read_fifo consistent.
+ */
+ if (sensors & INV_XYZ_GYRO) {
+ LOG("gyro: %d, %d, %d\n", gyro[0], gyro[1], gyro[2]);
+ }
+ if (sensors & INV_XYZ_ACCEL) {
+ LOG("acc: %d, %d, %d\n", accel[0], accel[1], accel[2]);
+ }
+
+ /* Unlike gyro and accel, quaternions are written to the FIFO in
+ * the body frame, q30. The orientation is set by the scalar passed
+ * to dmp_set_orientation during initialization.
+ */
+ if (sensors & INV_WXYZ_QUAT) {
+ LOG("QUAT: %ld, %ld, %ld, %ld\n", quat[0], quat[1], quat[2], quat[3]);
+ }
+
+ }
+
+ mbed_spi_disable();
+
+ motion_event = 0;
+ }
+#else
+ if (motion_event) {
+ try_to_sleep = 0;
+ motion_event = 0;
+
+ unsigned long sensor_timestamp;
+ short accel[3];
+
+ mbed_spi_enable();
+ mpu_get_accel_reg(accel, &sensor_timestamp);
+ mbed_spi_disable();
+
+ LOG("acc: %d, %d, %d @ %ld\n", accel[0], accel[1], accel[2], sensor_timestamp);
+
+ }
+#endif
+
+ if (compass_event) {
+ try_to_sleep = 0;
+
+ unsigned long compass_timestamp = 0;
+ short compass[3];
+
+ mbed_spi_enable();
+ int retval = mpu_get_compass_reg(compass, &compass_timestamp);
+ mbed_spi_disable();
+ if (retval) {
+ LOG("read compass error: %d\n", retval);
+ } else {
+ LOG("compass: %d, %d, %d\n", compass[0], compass[1], compass[2]);
+ }
+
+ compass_event = 0;
+ }
+
+ if (try_to_sleep) {
+ sleep();
+ }
+
+ try_to_sleep = 1;
+ }
+}
+