void update_IMU()
{
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) mpu.resetFIFO();
// otherwise, check for DMP data ready interrupt (this should happen frequently)
else if (mpuIntStatus & 0x02)
{
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
mpu.dmpGetGyro(gyroRate,fifoBuffer);
gyro_rate_float[0] = (float)gyroRate[0]/2147483648*2000*0.41;
gyro_rate_float[1] = (float)gyroRate[1]/2147483648*2000*0.41;
gyro_rate_float[2] = (float)gyroRate[2]/2147483648*2000*0.41;
}
}
void loop() {
while(1){
mpuInterrupt = false;
// char buf[10]={0};
//
// UART_TX((uint8_t *)buf, sprintf(buf,"%u\r\n", HAL_GetTick()));
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// cnt++;
// time_now = HAL_GetTick();
// if((time_now-time_old) >= 1000){
// time_old = time_now;
// char buffer[10]={0};
// UART_TX((uint8_t *)buffer, sprintf(buffer,"%u\r\n", (int)cnt ));
// UART_TX((uint8_t*)"\r\n", sizeof("\r\n"));
// cnt=0;
// }
// UART_TX((uint8_t*)"x=", sizeof("x="));
// UART_Float_TX( (ypr[2] * 180/M_PI) );
//
// UART_TX((uint8_t*)"y=", sizeof("y="));
// UART_Float_TX( (ypr[1] * 180/M_PI) );
//
// UART_TX((uint8_t*)"z=", sizeof("z="));
// UART_Float_TX( (ypr[0] * 180/M_PI) );
// UART_TX((uint8_t*)"\n\r", sizeof("\n\r"));
// BSP_LED_Toggle(LED4);
// UART_TX((uint8_t*)"MAIN\r\n", sizeof("MAIN\r\n"));
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus == 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
UART_TX((uint8_t*)"FIFO Overflow\r\n", sizeof("FIFO Overflow\r\n"));
BSP_LED_Toggle(LED5);
}
// otherwise, check for DMP data ready interrupt (this should happen frequently)
else if(mpuIntStatus == 0x01) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
// trace_printf("ypr\t");
// trace_printf("%f", ypr[0] * 180/M_PI);
// trace_printf("\t");
// trace_printf("%d", ypr[1] * 180/M_PI);
// trace_printf("\t");
// trace_printf("%d\n", ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
// BSP_LED_Toggle(LED3);
}
}
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
Serial.println("fireeer!");
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
// harry: try to reset here
Serial.println("hang? reset!");
mpu.reset();
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println("FIFO overflow!");
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);;
Serial.print("\t");
Serial.println(q.z);
quaternionW = q.w;
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
void loop()
{
// if programming failed, don't try to do anything
if (!b_dmp_ready)
return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && uh_fifo_count < uh_packet_size)
{
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
ua_mpu_interrupt_status = mpu.getIntStatus();
// get current FIFO count
uh_fifo_count = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((ua_mpu_interrupt_status & 0x10) || uh_fifo_count == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
send_status(FIFO_OVERFLOW, ua_mpu_interrupt_status);
// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (ua_mpu_interrupt_status & 0x02)
{
uint8_t ua_idx, ua_nb = 0;
uint8_t ua_data_len = 1;
uint8_t ua_types = 0;
uint8_t *pua_buf, *pua_data_buf, *pua_data_start;
// wait for correct available data length, should be a VERY short wait
while (uh_fifo_count < uh_packet_size)
{
uh_fifo_count = mpu.getFIFOCount();
}
// read a packet from FIFO
mpu.getFIFOBytes(ua_fifo_buffer, uh_packet_size);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
uh_fifo_count -= uh_packet_size;
#ifdef OUTPUT_BUFFER
ua_data_len += BUFFER_SIZE;
ua_types |= OUTPUT_BUFFER;
#else
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&s_quaternion, ua_fifo_buffer);
#endif
#ifdef OUTPUT_QUATERNION
ua_data_len += 4 * sizeof(float);
ua_types |= OUTPUT_QUATERNION;
#endif
#ifdef OUTPUT_EULER
mpu.dmpGetEuler(rf_euler, &s_quaternion);
ua_data_len += 3 * sizeof(float);
ua_types |= OUTPUT_EULER;
#endif
#if defined(OUTPUT_YAWPITCHROLL) || defined(OUTPUT_REALACCEL) || defined(OUTPUT_WORLDACCEL)
mpu.dmpGetGravity(&s_gravity, &s_quaternion);
#endif
#ifdef OUTPUT_YAWPITCHROLL
mpu.dmpGetYawPitchRoll(rf_ypr, &s_quaternion, &s_gravity);
ua_data_len += 3 * sizeof(float);
ua_types |= OUTPUT_YAWPITCHROLL;
#endif
#if defined(OUTPUT_REALACCEL) || defined(OUTPUT_WORLDACCEL)
// display real acceleration, adjusted to remove gravity
mpu.dmpGetAccel(&s_acceleration, ua_fifo_buffer);
mpu.dmpGetLinearAccel(&s_acceleration_real, &s_acceleration, &s_gravity);
#endif
#ifdef OUTPUT_REALACCEL
ua_data_len += 3 * sizeof(float);
ua_types |= OUTPUT_REALACCEL;
#endif
#ifdef OUTPUT_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
mpu.dmpGetLinearAccelInWorld(&s_acceleration_world, &s_acceleration_real, &s_quaternion);
ua_data_len += 3 * sizeof(float);
ua_types |= OUTPUT_WORLDACCEL;
#endif
// allocate the buffe to store the values
pua_data_start = (uint8_t*)malloc(ua_data_len);
// Store the start of the buffer
pua_data_buf = pua_data_start;
// Setup type of data expected
*pua_data_buf++ = ua_types;
#ifdef OUTPUT_BUFFER
*pua_data_buf++ = ua_fifo_buffer[0];
*pua_data_buf++ = ua_fifo_buffer[1];
*pua_data_buf++ = ua_fifo_buffer[4];
*pua_data_buf++ = ua_fifo_buffer[5];
*pua_data_buf++ = ua_fifo_buffer[8];
*pua_data_buf++ = ua_fifo_buffer[9];
*pua_data_buf++ = ua_fifo_buffer[12];
*pua_data_buf++ = ua_fifo_buffer[13];
#endif
#ifdef OUTPUT_QUATERNION
pua_data_buf += store_float32(pua_data_buf, s_quaternion.w);
pua_data_buf += store_float32(pua_data_buf, s_quaternion.x);
pua_data_buf += store_float32(pua_data_buf, s_quaternion.y);
pua_data_buf += store_float32(pua_data_buf, s_quaternion.z);
#endif
#ifdef OUTPUT_EULER
pua_data_buf += store_float32(pua_data_buf, rf_euler[0] * 180/M_PI);
pua_data_buf += store_float32(pua_data_buf, rf_euler[1] * 180/M_PI);
pua_data_buf += store_float32(pua_data_buf, rf_euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_YAWPITCHROLL
pua_data_buf += store_float32(pua_data_buf, rf_ypr[0] * 180/M_PI);
pua_data_buf += store_float32(pua_data_buf, rf_ypr[1] * 180/M_PI);
pua_data_buf += store_float32(pua_data_buf, rf_ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_REALACCEL
pua_data_buf += store_float32(pua_data_buf, s_acceleration_real.x);
pua_data_buf += store_float32(pua_data_buf, s_acceleration_real.y);
pua_data_buf += store_float32(pua_data_buf, s_acceleration_real.z);
#endif
#ifdef OUTPUT_WORLDACCEL
pua_data_buf += store_float32(pua_data_buf, s_acceleration_world.x);
pua_data_buf += store_float32(pua_data_buf, s_acceleration_world.y);
pua_data_buf += store_float32(pua_data_buf, s_acceleration_world.z);
#endif
// send the result
pua_buf = frame_get((uint8_t*)pua_data_start, ua_data_len);
if (pua_buf != NULL)
{
Serial.write(pua_buf, FULL_SIZE + ua_data_len);
free(pua_buf);
}
free(pua_data_start);
// blink LED to indicate activity
b_blink_state = !b_blink_state;
digitalWrite(LED_PIN, b_blink_state);
}
}
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// get current FIFO count
fifoCount = mpu.getFIFOCount();
if (fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
printf("FIFO overflow!\n");
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (fifoCount >= 42) {
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
printf("quat %7.2f %7.2f %7.2f %7.2f ", q.w,q.x,q.y,q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
printf("euler %7.2f %7.2f %7.2f ", euler[0] * 180/M_PI, euler[1] * 180/M_PI, euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
printf("ypr %7.2f %7.2f %7.2f ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
printf("areal %6d %6d %6d ", aaReal.x, aaReal.y, aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
printf("aworld %6d %6d %6d ", aaWorld.x, aaWorld.y, aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
printf("\n");
}
}
