File content as of revision 3:029450d064bb:

#include "mbed.h"
#include "config.h"
#include "CAN.h"
#include "MPU6050.h"
#include "ultrasonic.h"
#include "QEI.h"

#include <ros.h>
#include <ros/time.h>
#include <sensor_msgs/Imu.h>
#include <std_msgs/Int16.h>
#include <geometry_msgs/Quaternion.h>
#include <std_msgs/Bool.h> 
#include <sensor_msgs/BatteryState.h>

//=========define function title===================
void dmpDataUpdate();
bool pcf8574_write(uint8_t data,uint8_t address);
bool pcf8574_read(uint8_t* data,uint8_t address);
int DO_write(uint8_t value,uint8_t address);
int DI_read(uint8_t address);
void dist(int distance);

//=======define pin user definition============
I2C dio_i2c(PB_11, PB_10);
MPU6050 mpu6050;
QEI encoder2( PA_0, PA_1, NC, 1000, QEI::X4_ENCODING);
QEI encoder1( PA_8, PA_9, NC, 1000, QEI::X4_ENCODING);
Timer t;   // timer for polling
Ticker IMU_flipper;
Ticker Sensor_flipper;
ultrasonic dis1(D3, D4, .01, .05, &dist);    //Set the trigger pin to D8 and the echo pin to D9


//==============================ROS==================================
    ros::NodeHandle  nh;
    char frameid[] = "/imu";
    sensor_msgs::Imu imu_msg;
    ros::Publisher imu_pub("imu_msgs", &imu_msg);
    std_msgs::Int16 DI;
    ros::Publisher DI_pub("DI_pub", &DI);
    
    geometry_msgs::Vector3 encoder;
    ros::Publisher Enc_pub("wheel_encoder", &encoder); 
    
    std_msgs::Int16 sonar_msg;
    ros::Publisher pub_sonar("sonar", &sonar_msg);
    
    geometry_msgs::Quaternion odom_quat;

    std_msgs::Int16 DO;
    void DOActionCb(const std_msgs::Int16 &msg){
        DO_write(msg.data, PCF8574_ADDR_1);
    }
    ros::Subscriber<std_msgs::Int16> ACT_sub("DO_data", &DOActionCb);
    ros::Time current_time,last_time;
    
    std_msgs::Bool flag_reset_encoder;
    void reset_encoderCb(const std_msgs::Bool &msg){
        if (msg.data == 1) {
            encoder1.reset();
            encoder2.reset();
        } 
    }
    ros::Subscriber<std_msgs::Bool> resetEncoder_sub("resetEncoder", &reset_encoderCb);
//======================================================================

//=========define function ===================
bool pcf8574_write(uint8_t data,uint8_t address){
    return dio_i2c.write(address, (char*) &data, 1, 0) == 0;
}

bool pcf8574_read(uint8_t* data,uint8_t address){
    return dio_i2c.read(address, (char*) data, 1, 0) == 0;
}

int DO_write(uint8_t value,uint8_t address){
    int ret;
  
    ret = pcf8574_write(value,address);

    return ret;
}

int DI_read(uint8_t address){
    int ret;
    uint8_t data=0;

    ret = pcf8574_read(&data,address);
    if(!ret) return -2;
    
    return data;
}
void dist(int distance)
{
    sonar_msg.data = distance;
    pub_sonar.publish( &sonar_msg );
}

//==========define parameter===================
    //=======encoder================
    long _PreviousLeftEncoderCounts = 0;
    long _PreviousRightEncoderCounts = 0;
    double x;
    double y;
    double th;
    
    //=======imu_msgs================
    float sum = 0;
    uint32_t sumCount = 0;


    //=======ultrsonic
    int sonar_count;
    

//=====================================================
int main()
{
    //Set up I2C
    myled = !myled;
    wait_ms(100);
    nh.initNode();
    nh.advertise(imu_pub);
    
    nh.advertise(DI_pub);
    nh.advertise(Enc_pub);
    nh.advertise(pub_sonar);
    
    nh.subscribe(ACT_sub);
    nh.subscribe(resetEncoder_sub);
    dis1.startUpdates();//start mesuring the distance
    
    i2c.frequency(400000);  // use fast (400 kHz) I2C   
    IMU_flipper.attach(&dmpDataUpdate, 0.06);
    t.start();        
  
    // Read the WHO_AM_I register, this is a good test of communication
    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
//    pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r");
  
    if (whoami == 0x68) // WHO_AM_I should always be 0x68
    {  
//        pc.printf("MPU6050 is online...");
        wait(1);
    
        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
        wait(1);

        if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) 
        {
            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers  
            mpu6050.initMPU6050(); 
            wait(2);
        }
        else
        {
//            pc.printf("Device did not the pass self-test!\n\r");
        }
    }
    else
    {
//        pc.printf("Could not connect to MPU6050: \n\r");
//        pc.printf("%#x \n",  whoami);
        while(1) ; // Loop forever if communication doesn't happen
    }

    while(1) 
    {
        dis1.checkDistance();         

        DI.data = DI_read(PCF8574_ADDR_2);
        DI_pub.publish( &DI );

        nh.spinOnce();
        wait_ms(100);

    }
}

void dmpDataUpdate() {
       // If data ready bit set, all data registers have new data
        if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) 
        {  // check if data ready interrupt
            mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
            mpu6050.getAres();
    
            // Now we'll calculate the accleration value into actual g's
            ax = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
            ay = (float)accelCount[1]*aRes - accelBias[1];   
            az = (float)accelCount[2]*aRes - accelBias[2];  
       
            mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
            mpu6050.getGres();
     
            // Calculate the gyro value into actual degrees per second
            gx = (float)gyroCount[0]*gRes; // - gyroBias[0];  // get actual gyro value, this depends on scale being set
            gy = (float)gyroCount[1]*gRes; // - gyroBias[1];  
            gz = (float)gyroCount[2]*gRes; // - gyroBias[2];   
    
            tempCount = mpu6050.readTempData();  // Read the x/y/z adc values
            temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
        }  
        Now = t.read_us();
        deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
        lastUpdate = Now;
        
        sum += deltat;
        sumCount++;
        
        if(lastUpdate - firstUpdate > 10000000.0f) 
        {
            beta = 0.04;  // decrease filter gain after stabilized
            zeta = 0.015; // increasey bias drift gain after stabilized
        }
        
       // Pass gyro rate as rad/s
        mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f);

        // Serial print and/or display at 0.5 s rate independent of data rates
        delt_t = t.read_ms() - count;
        // update LCD once per half-second independent of read rate
        yaw   = atan2(2.1f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);   
        pitch = -asin(2.1f * (q[1] * q[3] - q[0] * q[2]));
        roll  = atan2(2.1f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
        pitch *= 180.0f / PI;
        yaw   *= 180.0f / PI; 
        roll  *= 180.0f / PI;

        imu_msg.header.frame_id = frameid;
        imu_msg.header.stamp = nh.now();
        imu_msg.linear_acceleration.x = ax*9.81;//dmpData.acc.x;
        imu_msg.linear_acceleration.y = ay*9.81;//dmpData.acc.y;
        imu_msg.linear_acceleration.z = az*9.81;//dmpData.acc.z;
        imu_msg.angular_velocity.x = gx/180*3.1415926;//dmpData.gyro.x;
        imu_msg.angular_velocity.y = gy/180*3.1415926;//dmpData.gyro.y;
        imu_msg.angular_velocity.z = gz/180*3.1415926;//dmpData.gyro.z;
        imu_msg.orientation.w = q[0];
        imu_msg.orientation.x = q[1];
        imu_msg.orientation.y = q[2];
        imu_msg.orientation.z = q[3];
        imu_msg.orientation_covariance[8] = 0;
        imu_msg.angular_velocity_covariance[8] = 0;
        imu_msg.linear_acceleration_covariance[8] = 0;
        imu_pub.publish( &imu_msg );  
        wait_ms(30);//must bigger then 30ms at 115200
        
        encoder.x = encoder1.getPulses();
        encoder.y = encoder2.getPulses();
        Enc_pub.publish(&encoder); 
        wait_ms(1);
        

        
        myled= !myled;
        count = t.read_ms(); 
        sum = 0;
        sumCount = 0; 
}