bool MPU9250Init(DeviceIntrf * const pIntrF, Timer * const pTimer)
{
g_pSpi = (SPI*)pIntrF;
s_pTimer = pTimer;
bool res = g_Mpu9250.Init(s_AccelCfg, pIntrF, pTimer);
if (res == false)
return res;
g_Mpu9250.Init(s_GyroCfg, NULL);
g_Mpu9250.Init(s_MagCfg, NULL);
IOPinConfig(BLUEIO_TAG_EVIM_IMU_INT_PORT, BLUEIO_TAG_EVIM_IMU_INT_PIN, BLUEIO_TAG_EVIM_IMU_INT_PINOP,
IOPINDIR_INPUT, IOPINRES_PULLUP, IOPINTYPE_NORMAL);
IOPinEnableInterrupt(BLUEIO_TAG_EVIM_IMU_INT_NO, 6, BLUEIO_TAG_EVIM_IMU_INT_PORT,
BLUEIO_TAG_EVIM_IMU_INT_PIN, IOPINSENSE_LOW_TRANSITION,
MPU9250IntHandler);
// g_Mpu9250.Enable();
#if 0
while (1)
{
long l[3];
g_Mpu9250.UpdateData();
ACCELSENSOR_DATA accdata;
g_Mpu9250.Read(accdata);
l[0] = accdata.X;
l[1] = accdata.Y;
l[2] = accdata.Z;
inv_build_accel(l, 0, accdata.Timestamp);
}
#endif
s_Imu.Init(s_ImuCfg, &g_Mpu9250, &g_Mpu9250, &g_Mpu9250);
s_Imu.SetAxisAlignmentMatrix(g_AlignMatrix);
s_Imu.Quaternion(true, 6);
//s_Imu.Compass(true);
return true;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
SysTick_Config(SystemCoreClock / 1000);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_ResetBits(GPIOE, GPIO_Pin_2); //start with gps off to make sure it activates when wanted
GPIO_Start();
ADC_Start();
Flash_Start();
unsigned long tickey = getSysTick()+1000;
GPIO_ResetBits(GPIOA, GPIO_Pin_10); //LCD Reset must be held 10us
GPIO_SetBits(GPIOG, GPIO_Pin_3); //flash deselect
GPIO_SetBits(GPIOC, GPIO_Pin_8); //flash #hold off, we have dedicated pins
GPIO_SetBits(GPIOC, GPIO_Pin_1); //osc enable
GPIO_ResetBits(GPIOC, GPIO_Pin_11); //xbee reset
GPIO_SetBits(GPIOE, GPIO_Pin_6); //buck enable
while(getSysTick()<tickey);
GPIO_SetBits(GPIOE, GPIO_Pin_2); //gps on/off
GPIO_SetBits(GPIOC, GPIO_Pin_11); //xbee reset
GPIO_SetBits(GPIOA, GPIO_Pin_10); //LCD unreset
UART4_Start();
UART5_Start();
MPU_Start();
//========================BUTTONS====================
InitButton(&button1, GPIOE, GPIO_Pin_4);
#ifdef BOARD_V1
InitButton(&button2, GPIOE, GPIO_Pin_5);
#else
InitButton(&button2, GPIOA, GPIO_Pin_9);
#endif
//=======================END BUTTONS==================
/* LCD Configuration */
LCD_Config();
/* Enable The LCD */
LTDC_Cmd(ENABLE);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
GUI_ClearBackground();
int count = 0;
delay(20000);
#ifndef ORIGIN
GUI_InitNode(1, 72, 83, 0xe8ec);
GUI_InitNode(2, 86, 72, 0xfd20);
GUI_InitNode(3, 'R', 'F', 0x001f);
#endif
int screencount = 0;
#ifdef INSIDE
origin_state.lati=KRESGE_LAT;
origin_state.longi=KRESGE_LONG;
origin_state.gpslock=1;
#endif
unsigned long tickey2 = getSysTick()+2000; //2 second counter
unsigned long tickey3 = getSysTick()+4000; //4 second delay to check gps state
/* Infinite loop */
while (1)
{
UpdateButton(&button1);
UpdateButton(&button2);
if( buttonRisingEdge(&button1)){//right
GPIO_ToggleBits(GPIOC, GPIO_Pin_3);//yellow
//UART_Transmit(&huart4, gps_init_msg, cmdData1Len, 500);
origin_state.pingnum+=1;
origin_state.pingactive=1;
origin_state.whodunnit = origin_state.id;
origin_state.pingclearedby = 0;
}
if(buttonRisingEdge(&button2)){//left
//UART_Transmit(&huart4, gps_get_time_msg, cmdData2Len, 500);
GPIO_ToggleBits(GPIOA, GPIO_Pin_2); //green
if(origin_state.pingactive&&(origin_state.whodunnit != origin_state.id)){
origin_state.pingactive=0;
}
}
if(origin_state.gpson>2 &&(getSysTick()>tickey3)){
GPIO_ResetBits(GPIOE, GPIO_Pin_2);
delay(20000);
GPIO_SetBits(GPIOE, GPIO_Pin_2);
delay(20000);
char setme[80];
sprintf(setme, "%s%c%c", gps_init_msg, 0x0D, 0x0A);
UART_Transmit(UART4, setme, sizeof(setme)/sizeof(setme[0]), 5000);
origin_state.gpson=0;
tickey3+=4000;
}
if(getReset()){
NVIC_SystemReset();
}
#ifdef ORIGIN
// long actHeading=0;
// inv_get_sensor_type_heading(&actHeading, &headingAcc, &headingTime);
// degrees=((double)actHeading)/((double)65536.0);
// origin_state.heading=degrees;
long actHeading[3] = {0,0,0};
inv_get_sensor_type_euler(actHeading, &headingAcc, &headingTime);
degrees=((double)actHeading[2])/((double)65536.0);
//origin_state.heading=degrees;
long tempyraiture;
mpu_get_temperature(&tempyraiture, NULL);
// short garbage[3];
// mpu_get_compass_reg(garbage, NULL);
// double compass_angle = atan2(-garbage[0], -garbage[1])*180/3.1415;
// //origin_state.heading = .9*degrees + .1*compass_angle;
// origin_state.heading = compass_angle;
#endif
if(getSysTick()>tickey2){
tickey2 +=2000;
sendMessage();
}
processGPS();
processXbee();
if(getSysTick()>tickey){
tickey +=53;
GPIO_ToggleBits(GPIOC, GPIO_Pin_3);
#ifndef ORIGIN
GUI_UpdateNode(1, degrees*3.1415/180.0+3.14*1.25, screencount, (screencount>10), 0);
GUI_UpdateNode(2, degrees*3.1415/180.0+3.14, screencount, (screencount>30), 0);
GUI_UpdateNode(3, degrees*3.1415/180.0+0, screencount, (screencount>50), 0);
#else
GUI_UpdateNodes();
#endif
GUI_UpdateArrow(-degrees*3.1415/180.0);
GUI_UpdateBattery(getBatteryStatus());
GUI_DrawTime();
if (count > 50){
GUI_UpdateBottomButton(1, 0xe8ec);
} else {
GUI_UpdateBottomButton(0, 0);
}
GUI_Redraw();
screencount += 1;
#ifndef ORIGIN
degrees += 3.6;
if (screencount%100 == 0){
screencount = 0;
degrees = 0;
}
#else
if (screencount%100 == 0){
screencount = 0;
}
#endif
}
//Sensors_I2C_ReadRegister((unsigned char)0x68, (unsigned char)MPU_WHOAMI, 1, inImu);
//==================================IMU================================
unsigned long sensor_timestamp;
int new_data = 0;
get_tick_count(×tamp);
#ifdef COMPASS_ENABLED
/* We're not using a data ready interrupt for the compass, so we'll
* make our compass reads timer-based instead.
*/
if ((timestamp > hal.next_compass_ms) && !hal.lp_accel_mode &&
hal.new_gyro && (hal.sensors & COMPASS_ON)) {
hal.next_compass_ms = timestamp + COMPASS_READ_MS;
new_compass = 1;
}
#endif
/* Temperature data doesn't need to be read with every gyro sample.
* Let's make them timer-based like the compass reads.
*/
if (timestamp > hal.next_temp_ms) {
hal.next_temp_ms = timestamp + TEMP_READ_MS;
new_temp = 1;
}
if (hal.motion_int_mode) {
/* Enable motion interrupt. */
mpu_lp_motion_interrupt(500, 1, 5);
/* Notify the MPL that contiguity was broken. */
inv_accel_was_turned_off();
inv_gyro_was_turned_off();
inv_compass_was_turned_off();
inv_quaternion_sensor_was_turned_off();
/* Wait for the MPU interrupt. */
while (!hal.new_gyro) {}
/* Restore the previous sensor configuration. */
mpu_lp_motion_interrupt(0, 0, 0);
hal.motion_int_mode = 0;
}
if (!hal.sensors || !hal.new_gyro) {
continue;
}
if (hal.new_gyro && hal.lp_accel_mode) {
short accel_short[3];
long accel[3];
mpu_get_accel_reg(accel_short, &sensor_timestamp);
accel[0] = (long)accel_short[0];
accel[1] = (long)accel_short[1];
accel[2] = (long)accel_short[2];
inv_build_accel(accel, 0, sensor_timestamp);
new_data = 1;
hal.new_gyro = 0;
} else if (hal.new_gyro && hal.dmp_on) {
short gyro[3], accel_short[3], sensors;
unsigned char more;
long accel[3], quat[4], temperature;
/* 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_short, quat, &sensor_timestamp, &sensors, &more);
if (!more)
hal.new_gyro = 0;
if (sensors & INV_XYZ_GYRO) {
/* Push the new data to the MPL. */
inv_build_gyro(gyro, sensor_timestamp);
new_data = 1;
if (new_temp) {
new_temp = 0;
/* Temperature only used for gyro temp comp. */
mpu_get_temperature(&temperature, &sensor_timestamp);
inv_build_temp(temperature, sensor_timestamp);
}
}
if (sensors & INV_XYZ_ACCEL) {
accel[0] = (long)accel_short[0];
accel[1] = (long)accel_short[1];
accel[2] = (long)accel_short[2];
inv_build_accel(accel, 0, sensor_timestamp);
new_data = 1;
}
if (sensors & INV_WXYZ_QUAT) {
inv_build_quat(quat, 0, sensor_timestamp);
new_data = 1;
}
} else if (hal.new_gyro) {
short gyro[3], accel_short[3];
unsigned char sensors, more;
long accel[3], temperature;
/* This function gets new data from the FIFO. The FIFO can contain
* gyro, accel, both, or neither. The sensors parameter tells the
* caller which data fields were actually populated with new data.
* For example, if sensors == INV_XYZ_GYRO, then the FIFO isn't
* being filled with accel data. The more parameter is non-zero if
* there are leftover packets in the FIFO. The HAL can use this
* information to increase the frequency at which this function is
* called.
*/
hal.new_gyro = 0;
mpu_read_fifo(gyro, accel_short, &sensor_timestamp,
&sensors, &more);
if (more)
hal.new_gyro = 1;
if (sensors & INV_XYZ_GYRO) {
/* Push the new data to the MPL. */
inv_build_gyro(gyro, sensor_timestamp);
new_data = 1;
if (new_temp) {
new_temp = 0;
/* Temperature only used for gyro temp comp. */
mpu_get_temperature(&temperature, &sensor_timestamp);
inv_build_temp(temperature, sensor_timestamp);
}
}
if (sensors & INV_XYZ_ACCEL) {
accel[0] = (long)accel_short[0];
accel[1] = (long)accel_short[1];
accel[2] = (long)accel_short[2];
inv_build_accel(accel, 0, sensor_timestamp);
new_data = 1;
}
}
#ifdef COMPASS_ENABLED
if (new_compass) {
short compass_short[3];
long compass[3];
new_compass = 0;
/* For any MPU device with an AKM on the auxiliary I2C bus, the raw
* magnetometer registers are copied to special gyro registers.
*/
if (!mpu_get_compass_reg(compass_short, &sensor_timestamp)) {
compass[0] = (long)compass_short[0];
compass[1] = (long)compass_short[1];
compass[2] = (long)compass_short[2];
/* NOTE: If using a third-party compass calibration library,
* pass in the compass data in uT * 2^16 and set the second
* parameter to INV_CALIBRATED | acc, where acc is the
* accuracy from 0 to 3.
*/
inv_build_compass(compass, 0, sensor_timestamp);
}
new_data = 1;
}
#endif
if (new_data) {
inv_execute_on_data();
/* This function reads bias-compensated sensor data and sensor
* fusion outputs from the MPL. The outputs are formatted as seen
* in eMPL_outputs.c. This function only needs to be called at the
* rate requested by the host.
*/
read_from_mpl();
}
//========================================IMU==================================
}
}
