Diff: main.cpp

Revision:

0:966d81803039

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 31 16:37:13 2016 +0000
@@ -0,0 +1,89 @@
+#include "mbed.h"
+#include "SerialRPCInterface.h"
+#include "MPU6050.h"
+#include "QEI.h"
+ 
+SerialRPCInterface SerialRPC(USBTX, USBRX, 115200);
+ 
+float accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z;
+int r_enc, l_enc;
+ 
+RPCVariable<float> rpc_accel_x(&accel_x, "accel_x");
+RPCVariable<float> rpc_accel_y(&accel_y, "accel_y");
+RPCVariable<float> rpc_accel_z(&accel_z, "accel_z");
+RPCVariable<float> rpc_gryo_x(&gyro_x, "gyro_x");
+RPCVariable<float> rpc_gryo_y(&gyro_y, "gyro_y");
+RPCVariable<float> rpc_gryo_z(&gyro_z, "gyro_z");
+RPCVariable<int>   rpc_r_enc(&r_enc, "r_enc");
+RPCVariable<int>   rpc_l_enc(&l_enc, "l_enc");
+QEI l_wheel (p29, p30, NC, 624);
+QEI r_wheel (p11, p12, NC, 624);
+ 
+MPU6050 mpu6050;
+ 
+DigitalOut init_done(LED1);
+DigitalOut imu_good(LED2);
+DigitalOut main_loop(LED3);
+ 
+int main() {
+    init_done = 0;
+    imu_good = 0;
+    main_loop = 0;
+    
+    //Set up I2C
+    i2c.frequency(400000);  // use fast (400 kHz) I2C
+    
+    volatile bool imu_ready = false;
+    
+    wait_ms(100);
+    
+    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
+    
+    if (whoami == 0x68) // WHO_AM_I should always be 0x68
+    {
+        mpu6050.MPU6050SelfTest(SelfTest);
+        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();
+            mpu6050.getAres();
+            mpu6050.getGres();
+            imu_ready = true;
+            imu_good = 1;
+        }
+    }
+    
+    init_done = 1;
+    uint8_t loop_count = 10;
+    while(1) {
+        wait_ms(10);
+        
+        // Handle the encoders
+        r_enc=r_wheel.getPulses();
+        l_enc=l_wheel.getPulses();
+        //pc.printf("Pulses are: %i, %i\r\n", l_enc,r_enc);
+        
+        if (!(--loop_count)) {
+            loop_count = 10;
+            main_loop = !main_loop;
+        }
+        
+        if (imu_ready) {
+            
+            if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+                mpu6050.readAccelData(accelCount);  // Read the x/y/z adc values
+                mpu6050.readGyroData(gyroCount);  // Read the x/y/z adc values
+ 
+                // Now we'll calculate the accleration value into actual g's
+                accel_x = (float)accelCount[0]*aRes - accelBias[0];  // get actual g value, this depends on scale being set
+                accel_y = (float)accelCount[1]*aRes - accelBias[1];   
+                accel_z = (float)accelCount[2]*aRes - accelBias[2];  
+               
+                // Calculate the gyro value into actual degrees per second
+                gyro_x = (float)gyroCount[0]*gRes - gyroBias[0];  // get actual gyro value, this depends on scale being set
+                gyro_y = (float)gyroCount[1]*gRes - gyroBias[1];  
+                gyro_z = (float)gyroCount[2]*gRes - gyroBias[2];
+            }
+        }
+    }
+}
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