//*****************************************************************************
//
// MPU9150 Sensor callback function. Called at the end of MPU9150 sensor
// driver transactions. This is called from I2C interrupt context.
//
//*****************************************************************************
void MotionCallback(void* pvCallbackData, uint_fast8_t ui8Status)
{
//
// If the transaction succeeded set the data flag to indicate to
// application that this transaction is complete and data may be ready.
//
if(ui8Status == I2CM_STATUS_SUCCESS)
{
//
// Set the motion event flag to show that we have completed the
// i2c transfer
//
HWREGBITW(&g_ui32Events, MOTION_EVENT) = 1;
if(g_ui8MotionState == MOTION_STATE_RUN);
{
//
// Get local copies of the raw motion sensor data.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, g_pfAccel, g_pfAccel + 1,
g_pfAccel + 2);
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, g_pfGyro, g_pfGyro + 1,
g_pfGyro + 2);
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, g_pfMag, g_pfMag + 1,
g_pfMag + 2);
//
// Update the DCM. Do this in the ISR so that timing between the
// calls is consistent and accurate.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, g_pfMag[0], g_pfMag[1],
g_pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, g_pfAccel[0], g_pfAccel[1],
g_pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -g_pfGyro[0], -g_pfGyro[1],
-g_pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
}
else
{
//
// An Error occurred in the I2C transaction.
//
HWREGBITW(&g_ui32Events, MOTION_ERROR_EVENT) = 1;
g_ui8MotionState = MOTION_STATE_ERROR;
}
//
// Store the most recent status in case it was an error condition
//
g_vui8ErrorFlag = ui8Status;
}
int sensor(void)
{
ui32CompDCMStarted = 0;
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
// currentSpeed=i32IPart[9]; how to get velocity from speed
}
return pitch= i32IPart[9];
}
void MPU9150AppCallback(void *pvCallbackData, unsigned int ui8Status)
{
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//unsigned char tempString[30]={0};
if(ui8Status == I2CM_STATUS_SUCCESS&&sensorTurn==4)
{
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
// //
// // Print the acceleration numbers in the table.
// //
// sprintf(tempString,"\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
// CLI_Write(tempString);
// //
// // Print the angular velocities in the table.
// //
// sprintf(tempString,"\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
// CLI_Write(tempString);
// //
// // Print the magnetic data in the table.
// //
// sprintf(tempString,"\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
// CLI_Write(tempString);
// //
// // Print the Eulers in a table.
// //
// sprintf(tempString,"\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
// CLI_Write(tempString);
// //
// // Print the quaternions in a table format.
// //
// sprintf(tempString,"\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
// CLI_Write(tempString);
// sprintf(tempString,"\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
// CLI_Write(tempString);
// CLI_Write("\n\r");
sensorTurn=(sensorTurn+1)%NumberOfSensor;
TimerEnable(TIMER1_BASE, TIMER_A);
}
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int
main(void)
{
int_fast32_t i32IPart[16], i32FPart[16];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[16];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ |
SYSCTL_OSC_MAIN);
//
// Enable port B used for motion interrupt.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
// Initialize the UART.
//
ConfigureUART();
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x0000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
//
// The I2C3 peripheral must be enabled before use.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
GPIOPinConfigure(GPIO_PD0_I2C3SCL);
GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
IntEnable(INT_GPIOB);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
SysCtlPeripheralClockGating(true);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.6f, 0.2f);
UARTprintf("\033[2J\033[H");
UARTprintf("MPU9150 9-Axis Simple Data Application Example\n\n");
UARTprintf("\033[20GX\033[31G|\033[43GY\033[54G|\033[66GZ\n\n");
UARTprintf("Accel\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Gyro\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("Mag\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[20GRoll\033[31G|\033[43GPitch\033[54G|\033[66GYaw\n\n");
UARTprintf("Eulers\033[8G|\033[31G|\033[54G|\n\n");
UARTprintf("\n\033[17GQ1\033[26G|\033[35GQ2\033[44G|\033[53GQ3\033[62G|"
"\033[71GQ4\n\n");
UARTprintf("Q\033[8G|\033[26G|\033[44G|\033[62G|\n\n");
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for(ui32Idx = 0; ui32Idx < 16; ui32Idx++)
{
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx] -
(i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if(i32FPart[ui32Idx] < 0)
{
i32FPart[ui32Idx] *= -1;
}
}
//
// Print the acceleration numbers in the table.
//
UARTprintf("\033[5;17H%3d.%03d", i32IPart[0], i32FPart[0]);
UARTprintf("\033[5;40H%3d.%03d", i32IPart[1], i32FPart[1]);
UARTprintf("\033[5;63H%3d.%03d", i32IPart[2], i32FPart[2]);
//
// Print the angular velocities in the table.
//
UARTprintf("\033[7;17H%3d.%03d", i32IPart[3], i32FPart[3]);
UARTprintf("\033[7;40H%3d.%03d", i32IPart[4], i32FPart[4]);
UARTprintf("\033[7;63H%3d.%03d", i32IPart[5], i32FPart[5]);
//
// Print the magnetic data in the table.
//
UARTprintf("\033[9;17H%3d.%03d", i32IPart[6], i32FPart[6]);
UARTprintf("\033[9;40H%3d.%03d", i32IPart[7], i32FPart[7]);
UARTprintf("\033[9;63H%3d.%03d", i32IPart[8], i32FPart[8]);
//
// Print the Eulers in a table.
//
UARTprintf("\033[14;17H%3d.%03d", i32IPart[9], i32FPart[9]);
UARTprintf("\033[14;40H%3d.%03d", i32IPart[10], i32FPart[10]);
UARTprintf("\033[14;63H%3d.%03d", i32IPart[11], i32FPart[11]);
//
// Print the quaternions in a table format.
//
UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
//*****************************************************************************
//
// Main function to handler motion events that are triggered by the MPU9150
// data ready interrupt.
//
//*****************************************************************************
void
MotionMain(void)
{
switch(g_ui8MotionState)
{
//
// This is our initial data set from the MPU9150, start the DCM.
//
case MOTION_STATE_INIT:
{
//
// Check the read data buffer of the MPU9150 to see if the
// Magnetometer data is ready and present. This may not be the case
// for the first few data captures.
//
if(g_sMPU9150Inst.pui8Data[14] & AK8975_ST1_DRDY)
{
//
// Get local copy of Accel and Mag data to feed to the DCM
// start.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, g_pfAccel,
g_pfAccel + 1, g_pfAccel + 2);
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, g_pfMag,
g_pfMag + 1, g_pfMag + 2);
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, g_pfGyro,
g_pfGyro + 1, g_pfGyro + 2);
//
// Feed the initial measurements to the DCM and start it.
// Due to the structure of our MotionMagCallback function,
// the floating point magneto data is already in the local
// data buffer.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, g_pfMag[0], g_pfMag[1],
g_pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, g_pfAccel[0], g_pfAccel[1],
g_pfAccel[2]);
CompDCMStart(&g_sCompDCMInst);
//
// Proceed to the run state.
//
g_ui8MotionState = MOTION_STATE_RUN;
}
//
// Turn off the LED to show we are done processing motion data.
//
g_pui32RGBColors[RED] = 0;
RGBColorSet(g_pui32RGBColors);
//
// Finished
//
break;
}
//
// DCM has been started and we are ready for normal operations.
//
case MOTION_STATE_RUN:
{
//
// Get the latest Euler data from the DCM. DCMUpdate is done
// inside the interrupt routine to insure it is not skipped and
// that the timing is consistent.
//
CompDCMComputeEulers(&g_sCompDCMInst, g_pfEulers,
g_pfEulers + 1, g_pfEulers + 2);
//
// Pass the latest sensor data back to the Gesture system for
// classification. What state do i think i am in?
//
GestureEmitClassify(&g_sGestureInst, g_pfEulers, g_pfAccel, g_pfGyro);
//
// Update best guess state based on past history and current
// estimate.
//
GestureUpdate(&g_sGestureInst, g_sGestureInst.ui16Emit);
//
// Turn off the LED to show we are done processing motion data.
//
g_pui32RGBColors[RED] = 0;
RGBColorSet(g_pui32RGBColors);
//
// Finished
//
break;
}
//
// An I2C error has occurred at some point. Usually these are due to
// asynchronous resets of the main MCU and the I2C peripherals. This
// can cause the slave to hold the bus and the MCU to think it cannot
// send. In practice there are ways to clear this condition. They are
// not implemented here. To clear power cycle the board.
//
case MOTION_STATE_ERROR:
{
//
// Our tick counter and blink mechanism may not be safe across
// rollovers of the g_ui32SysTickCount variable. This rollover
// only occurs after 1.3+ years of continuous operation.
//
if(g_ui32SysTickCount > (g_ui32RGBMotionBlinkCounter + 20))
{
//
// 20 ticks have expired since we last toggled so turn off the
// LED and reset the counter.
//
g_ui32RGBMotionBlinkCounter = g_ui32SysTickCount;
g_pui32RGBColors[RED] = 0;
RGBColorSet(g_pui32RGBColors);
}
else if(g_ui32SysTickCount == (g_ui32RGBMotionBlinkCounter + 10))
{
//
// 10 ticks have expired since the last counter reset. turn
// on the RED LED.
//
g_pui32RGBColors[RED] = 0xFFFF;
RGBColorSet(g_pui32RGBColors);
}
break;
}
}
}
//*****************************************************************************
//
// Main function to handler motion events that are triggered by the MPU9150
// data ready interrupt.
//
//*****************************************************************************
void
MotionMain(void)
{
switch(g_ui8MotionState) {
//
// This is our initial data set from the MPU9150, start the DCM.
//
case MOTION_STATE_INIT: {
//
// Check the read data buffer of the MPU9150 to see if the
// Magnetometer data is ready and present. This may not be the case
// for the first few data captures.
//
if(g_sMPU9150Inst.pui8Data[14] & AK8975_ST1_DRDY) {
//
// Get local copy of Accel and Mag data to feed to the DCM
// start.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, g_pfAccel,
g_pfAccel + 1, g_pfAccel + 2);
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, g_pfMag,
g_pfMag + 1, g_pfMag + 2);
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, g_pfGyro,
g_pfGyro + 1, g_pfGyro + 2);
//
// Feed the initial measurements to the DCM and start it.
// Due to the structure of our MotionMagCallback function,
// the floating point magneto data is already in the local
// data buffer.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, g_pfMag[0], g_pfMag[1],
g_pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, g_pfAccel[0], g_pfAccel[1],
g_pfAccel[2]);
CompDCMStart(&g_sCompDCMInst);
//
// Proceed to the run state.
//
g_ui8MotionState = MOTION_STATE_RUN;
}
//
// Finished
//
break;
}
//
// DCM has been started and we are ready for normal operations.
//
case MOTION_STATE_RUN: {
//
// Get the latest Euler data from the DCM. DCMUpdate is done
// inside the interrupt routine to insure it is not skipped and
// that the timing is consistent.
//
CompDCMComputeEulers(&g_sCompDCMInst, g_pfEulers,
g_pfEulers + 1, g_pfEulers + 2);
//
// Pass the latest sensor data back to the Gesture system for
// classification. What state do i think i am in?
//
GestureEmitClassify(&g_sGestureInst, g_pfEulers, g_pfAccel,
g_pfGyro);
//
// Update best guess state based on past history and current
// estimate.
//
GestureUpdate(&g_sGestureInst, g_sGestureInst.ui16Emit);
//
// This tick counter and blink mechanism may not be safe across
// rollovers of the g_ui32SysTickCount variable. This rollover
// only occurs after 1.3+ years of continuous operation.
//
if(g_ui32SysTickCount > (g_ui32MotionBlinkCounter + 10)) {
//
// 10 ticks have expired since we last toggled so toggle the
// blue LED and reset the counter.
//
g_ui32MotionBlinkCounter = g_ui32SysTickCount;
MAP_GPIOPinWrite(GPIO_PORTQ_BASE, GPIO_PIN_4,
((GPIOPinRead(GPIO_PORTQ_BASE, GPIO_PIN_4)) ^
GPIO_PIN_4));
}
//
// Finished
//
break;
}
//
// An I2C error has occurred at some point. Usually these are due to
// asynchronous resets of the main MCU and the I2C peripherals. This
// can cause the slave to hold the bus and the MCU to think it cannot
// send. In practice there are ways to clear this condition. They are
// not implemented here. To clear power cycle the board.
//
case MOTION_STATE_ERROR: {
//
// Display this error and how to clear.
//
DpyRectFill(g_sContext.psDisplay, &g_sUserInfoRect, ClrBlack);
GrContextForegroundSet(&g_sContext, ClrGray);
GrContextFontSet(&g_sContext, g_psFontCmss16b);
GrStringDraw(&g_sContext, "I2C Error has occurred. Power cycle",
-1, 10, 140, 1);
GrStringDraw(&g_sContext, "board to clear this error.", -1, 10,
160, 1);
GrContextForegroundSet(&g_sContext, ClrWhite);
GrContextFontSet(&g_sContext, g_psFontCm18b);
break;
}
}
}
//*****************************************************************************
//
// Main application entry point.
//
//*****************************************************************************
int main(void) {
int_fast32_t i32IPart[17], i32FPart[17];
uint_fast32_t ui32Idx, ui32CompDCMStarted;
float pfData[17];
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
float *direction;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = pfData;
pfGyro = pfData + 3;
pfMag = pfData + 6;
pfEulers = pfData + 9;
pfQuaternion = pfData + 12;
direction = pfData + 16;
//
// Setup the system clock to run at 40 Mhz from PLL with crystal reference
//
ROM_SysCtlClockSet(
SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_XTAL_16MHZ
| SYSCTL_OSC_MAIN);
//
// Enable port E used for motion interrupt.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//
// Enable port F used for calibration.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
// Initialize the UART.
//
ConfigureUART();
/* EEPROM SETTINGS */
SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0); // EEPROM activate
EEPROMInit(); // EEPROM start
//
// Print the welcome message to the terminal.
//
UARTprintf("\033[2JMPU9150 Raw Example\n");
//
// Set the color to a purple approximation.
//
g_pui32Colors[RED] = 0x8000;
g_pui32Colors[BLUE] = 0x8000;
g_pui32Colors[GREEN] = 0x8000;
//
// Initialize RGB driver.
//
RGBInit(0);
RGBColorSet(g_pui32Colors);
RGBIntensitySet(0.5f);
RGBEnable();
// Initialize BGLib
bglib_output = output;
ConfigureBLE();
//
// The I2C3 peripheral must be enabled before use.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
ROM_GPIOPinConfigure(GPIO_PD0_I2C3SCL);
ROM_GPIOPinConfigure(GPIO_PD1_I2C3SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
ROM_GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//
ROM_GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2);
GPIOIntEnable(GPIO_PORTE_BASE, GPIO_PIN_2);
ROM_GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_2, GPIO_FALLING_EDGE);
ROM_IntEnable(INT_GPIOE);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOE is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
ROM_SysCtlPeripheralClockGating(true);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOE);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER0);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_TIMER1);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C3);
ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_WTIMER5);
//
// Enable interrupts to the processor.
//
ROM_IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
I2CMInit(&g_sI2CInst, I2C3_BASE, INT_I2C3, 0xff, 0xff,
ROM_SysCtlClockGet());
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the sampling rate to 1000 Hz / (1+24).
//
g_sMPU9150Inst.pui8Data[0] = 24;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_SMPLRT_DIV, g_sMPU9150Inst.pui8Data,
1, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_94_98;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ
| MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
// g_sMPU9150Inst.pui8Data[2] = MPU9150_ACCEL_CONFIG_AFS_SEL_2G;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL
| MPU9150_INT_PIN_CFG_INT_RD_CLEAR
| MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 40 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 40.0f, 0.2f, 0.6f, 0.2f);
//
// Enable blinking indicates config finished successfully
//
RGBBlinkRateSet(1.0f);
//
// Configure and Enable the GPIO interrupt. Used for calibration
//
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
ROM_GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA,
GPIO_PIN_TYPE_STD_WPU);
ROM_IntEnable(INT_GPIOF);
ROM_GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_FALLING_EDGE);
GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_4);
g_calibrationState = 0;
ui32CompDCMStarted = 0;
// Configure the white noise, read the error from EEPROM
EEPROMRead((uint32_t *) zeroErrorAccel,
EEPROM_ZERO_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) linearErrorAccel,
EEPROM_LINEAR_ERROR_ACCELERATION_ADDRESS, 12);
EEPROMRead((uint32_t *) zeroErrorGyro, EEPROM_ZERO_ERROR_GYROSCOPE_ADDRESS,
12);
while (1) {
//
// Go to sleep mode while waiting for data ready.
//
while (!g_vui8I2CDoneFlag) {
//ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
if (g_calibrationState == 2) {
zeroErrorAccel[0] = (pfAccel[0]
+ zeroErrorAccel[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorAccel[1] = (pfAccel[1]
+ zeroErrorAccel[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[2] = (pfAccel[2]
+ accelAtGravity[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[0] = (pfGyro[0]
+ zeroErrorGyro[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[1] = (pfGyro[1]
+ zeroErrorGyro[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
zeroErrorGyro[2] = (pfGyro[2]
+ zeroErrorGyro[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 4) {
zeroErrorAccel[2] = (pfAccel[2]
+ zeroErrorAccel[2] * g_calibrationCount)
/ (g_calibrationCount + 1);
accelAtGravity[1] = (pfAccel[1]
+ accelAtGravity[1] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
} else if (g_calibrationState == 6) {
accelAtGravity[0] = (pfAccel[0]
+ accelAtGravity[0] * g_calibrationCount)
/ (g_calibrationCount + 1);
g_calibrationCount++;
if (g_calibrationCount > 500) {
Calibration();
}
continue;
}
// Cancel out white noise
// pfAccel[0] = pfAccel[0] - zeroErrorAccel[0];
// pfAccel[1] = pfAccel[1] - zeroErrorAccel[1];
// pfAccel[2] = pfAccel[2] - zeroErrorAccel[2];
// pfGyro[0] = pfGyro[0] - zeroErrorGyro[0];
// pfGyro[1] = pfGyro[1] - zeroErrorGyro[1];
// pfGyro[2] = pfGyro[2] - zeroErrorGyro[2];
// // Straighten out linear noise
// pfAccel[0] = pfAccel[0] * (1 + linearErrorAccel[0]);
// pfAccel[1] = pfAccel[1] * (1 + linearErrorAccel[1]);
// pfAccel[2] = pfAccel[2] * (1 + linearErrorAccel[2]);
//
// Check if this is our first data ever.
//
if (ui32CompDCMStarted == 0) {
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1], pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
} else {
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1], pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if (g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT) {
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if (pfEulers[2] < 0) {
pfEulers[2] += 360.0f;
}
// Use pfMag to display degrees of the Magnetomer's x-axis
// (y-axis of accelerometer and gyroscope) to the east of
// magnetic north pole
// direction[0] = 0;
// if (pfMag[1] == 0) {
// if (pfMag[0] > 0) {
// direction[0] = 0;
// } else {
// direction[0] = 180;
// }
// } else if (pfMag[1] > 0) {
// direction[0] = 90 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// } else if (pfMag[1] < 0) {
// direction[0] = 270 - atan2f(pfMag[0], pfMag[1]) * 180 / 3.14159265359;
// }
//
// Now drop back to using the data as a single array for the
// purpose of decomposing the float into a integer part and a
// fraction (decimal) part.
//
for (ui32Idx = 0; ui32Idx < 17; ui32Idx++) {
//
// Conver float value to a integer truncating the decimal part.
//
i32IPart[ui32Idx] = (int32_t) pfData[ui32Idx];
//
// Multiply by 1000 to preserve first three decimal values.
// Truncates at the 3rd decimal place.
//
i32FPart[ui32Idx] = (int32_t) (pfData[ui32Idx] * 1000.0f);
//
// Subtract off the integer part from this newly formed decimal
// part.
//
i32FPart[ui32Idx] = i32FPart[ui32Idx]
- (i32IPart[ui32Idx] * 1000);
//
// make the decimal part a positive number for display.
//
if (i32FPart[ui32Idx] < 0) {
i32FPart[ui32Idx] *= -1;
}
}
if (g_bleUserFlag == 1) {
g_bleFlag = 0;
ble_cmd_attributes_write(58, 0, 12, (uint8_t*)pfEuler);
while (g_bleFlag == 0) {
}
} else if (g_bleDisconnectFlag == 1) {
ConfigureBLE();
}
//
// Print the acceleration numbers in the table.
//
// UARTprintf("%3d.%03d, ", i32IPart[0], i32FPart[0]);
// UARTprintf("%3d.%03d, ", i32IPart[1], i32FPart[1]);
// UARTprintf("%3d.%03d\n", i32IPart[2], i32FPart[2]);
//
// //
// // Print the angular velocities in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[3], i32FPart[3]);
// UARTprintf("%3d.%03d, ", i32IPart[4], i32FPart[4]);
// UARTprintf("%3d.%03d\n", i32IPart[5], i32FPart[5]);
//
// //
// // Print the magnetic data in the table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[6], i32FPart[6]);
// UARTprintf("%3d.%03d, ", i32IPart[7], i32FPart[7]);
// UARTprintf("%3d.%03d\n", i32IPart[8], i32FPart[8]);
//
// //
// // Print the direction in the table.
// //
// UARTprintf("%3d.%03d\n", i32IPart[16], i32FPart[16]);
// //
// // Print the Eulers in a table.
// //
// UARTprintf("%3d.%03d, ", i32IPart[9], i32FPart[9]);
// UARTprintf("%3d.%03d, ", i32IPart[10], i32FPart[10]);
// UARTprintf("%3d.%03d\n", i32IPart[11], i32FPart[11]);
//
// //
// // Print the quaternions in a table format.
// //
// UARTprintf("\033[19;14H%3d.%03d", i32IPart[12], i32FPart[12]);
// UARTprintf("\033[19;32H%3d.%03d", i32IPart[13], i32FPart[13]);
// UARTprintf("\033[19;50H%3d.%03d", i32IPart[14], i32FPart[14]);
// UARTprintf("\033[19;68H%3d.%03d", i32IPart[15], i32FPart[15]);
}
}
}
//*****************************************************************************
//
// Takes in data array [16], compute dcm data and update the array
//
// Created by Bill Yiqiu Wang on 26July15
//
//*****************************************************************************
void
CompDCM(float data[]) {
float *pfAccel, *pfGyro, *pfMag, *pfEulers, *pfQuaternion;
//
// Initialize convenience pointers that clean up and clarify the code
// meaning. We want all the data in a single contiguous array so that
// we can make our pretty printing easier later.
//
pfAccel = data;
pfGyro = data + 3;
pfMag = data + 6;
pfEulers = data + 9;
pfQuaternion = data + 12;
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
pfAccel + 2);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, pfGyro, pfGyro + 1,
pfGyro + 2);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, pfMag, pfMag + 1,
pfMag + 2);
//
// Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, pfEulers, pfEulers + 1,
pfEulers + 2);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
}
