Revision 8:150a9cb60210, committed 2014-09-16

Comitter:

janekm

Date:

Tue Sep 16 22:43:44 2014 +0000

Parent:

7:9a474d182e4b

Commit message:

I forgot

Changed in this revision

--- a/MPL6_1.lib	Mon Sep 08 23:17:06 2014 +0000
+++ b/MPL6_1.lib	Tue Sep 16 22:43:44 2014 +0000
@@ -1,1 +1,1 @@
-MPL6_1#61a7cadab29e
+http://mbed.org/users/janekm/code/MPL6_1/#6221b0518f94

--- a/TCS3472_I2C.lib	Mon Sep 08 23:17:06 2014 +0000
+++ b/TCS3472_I2C.lib	Tue Sep 16 22:43:44 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/karlmaxwell67/code/TCS3472_I2C/#2a240f6ca27a
+http://mbed.org/users/janekm/code/TCS3472_I2C/#2a240f6ca27a

--- a/main.cpp	Mon Sep 08 23:17:06 2014 +0000
+++ b/main.cpp	Tue Sep 16 22:43:44 2014 +0000
@@ -16,13 +16,10 @@
 
 #include "mbed.h"
 #include "BLEDevice.h"
-#include "MPU9250.h"
-#include "AHRS.h"
 #include "TCS3472_I2C.h"
-
+#include "mpu_hal.h"
 I2C i2c(p7, p6);
 TCS3472_I2C rgb_sensor(&i2c);
-MPU9250 mpu9250(&i2c);
 
 Timer t;
 
@@ -98,31 +95,7 @@
     i2c.frequency(100000);
     ticker.attach(periodicCallback, 0.3);
     t.start();
-
-    if (mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250) != 0x71) {
-        while (1);
-    }
-
-    mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
-    //led2 = 0;
-    wait(1);
-    mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values
-    //led1 = 0;
-    mpu9250.calibrateMPU9250(gyroBias, accelBias);
-    mpu9250.getAres(); // Get accelerometer sensitivity
-    mpu9250.getGres(); // Get gyro sensitivity
-    mpu9250.getMres(); // Get magnetometer sensitivity
-    //magbias[0] = +470.;  // User environmental x-axis correction in milliGauss, should be automatically calculated
-    //magbias[1] = +120.;  // User environmental x-axis correction in milliGauss
-    //magbias[2] = +125.;  // User environmental x-axis correction in milliGauss
-
-    led1 = 0;
-    //while (1);
-    wait(2);
-    mpu9250.initMPU9250();
-    mpu9250.initAK8963(magCalibration);
-    wait(1);
-    led2 = 0;
+    mpu_i2c_dev = &(i2c._i2c);
 
 
     ble.init();
@@ -168,17 +141,10 @@
                 if (current > max) max = current;
                 if (current < min) min = current;
             }
-            mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values
-                // 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];
             len = sprintf((char *)reading, "%d,%d,%d,%d", rgb_readings[0], rgb_readings[1], rgb_readings[2], rgb_readings[3]);
             ble.updateCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(),(uint8_t *) reading, len);
             len = sprintf((char *)reading, "%1.4f", (max - min) * 10.0);
             ble.updateCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(),(uint8_t *) reading, len);
-            len = sprintf((char *)reading, "%1.1f, %1.1f, %1.1f", mx, my, mz);
-            ble.updateCharacteristicValue(txCharacteristic.getValueAttribute().getHandle(),(uint8_t *) reading, len);
 
             //whoami = readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
             //len = sprintf((char *)reading, "%d", whoami);
@@ -205,76 +171,6 @@
                 led2 = 1.0;
                 led1 = 1;
             }
-        
-            // If intPin goes high, all data registers have new data
-            if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) {  // On interrupt, check if data ready interrupt
-                //led1 = !led1;
-                mpu9250.readAccelData(accelCount);  // Read the x/y/z adc values
-                // 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];
-
-                mpu9250.readGyroData(gyroCount);  // Read the x/y/z adc values
-                // 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];
-
-                mpu9250.readMagData(magCount);  // Read the x/y/z adc values
-                // Calculate the magnetometer values in milliGauss
-                // Include factory calibration per data sheet and user environmental corrections
-                mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0];  // get actual magnetometer value, this depends on scale being set
-                my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
-                mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
-
-
-                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++;
-
-                MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz, deltat, q);
-
-                // Serial print and/or display at 0.5 s rate independent of data rates
-                delt_t = t.read_ms() - count;
-                if (delt_t > 500) { // update LCD once per half-second independent of read rate
-
-
-                    tempCount = mpu9250.readTempData();  // Read the adc values
-                    temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
-
-                    // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
-                    // In this coordinate system, the positive z-axis is down toward Earth.
-                    // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
-                    // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
-                    // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
-                    // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
-                    // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
-                    // applied in the correct order which for this configuration is yaw, pitch, and then roll.
-                    // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
-                    yaw   = atan2(2.0f * (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(2.0f * (q[1] * q[3] - q[0] * q[2]));
-                    roll  = atan2(2.0f * (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;
-                    // yaw   -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
-                    roll  *= 180.0f / PI;
-
-                    count = t.read_ms();
-
-                    if(count > 1<<21) {
-                        t.start(); // start the timer over again if ~30 minutes has passed
-                        count = 0;
-                        deltat= 0;
-                        lastUpdate = t.read_us();
-                    }
-                    sum = 0;
-                    sumCount = 0;
-                }
-            }
         }
     }
 }

--- a/mbed-src-openwear.lib	Mon Sep 08 23:17:06 2014 +0000
+++ b/mbed-src-openwear.lib	Tue Sep 16 22:43:44 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/janekm/code/mbed-src-openwear/#1576dac518fb
+http://mbed.org/users/janekm/code/mbed-src-openwear/#6188e0254baa