IMU for turtle robot project
Dependencies: ST_401_84MHZ mbed
Fork of MPU9250AHRS by
Revision 3:0d58dbc24178, committed 2018-01-24
- Comitter:
- worasuchad
- Date:
- Wed Jan 24 08:44:45 2018 +0000
- Parent:
- 2:4e59a37182df
- Child:
- 4:5002036c82df
- Commit message:
- comment lcd lib, change delay to wait_ms
Changed in this revision
--- a/MPU9250.h Tue Aug 05 01:37:23 2014 +0000 +++ b/MPU9250.h Wed Jan 24 08:44:45 2018 +0000 @@ -625,7 +625,7 @@ // Configure the accelerometer for self-test writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s - delay(25); // Delay a while to let the device stabilize + wait_ms(25); // Delay a while to let the device stabilize for( int ii = 0; ii < 200; ii++) { // get average self-test values of gyro and acclerometer @@ -648,7 +648,7 @@ // Configure the gyro and accelerometer for normal operation writeByte(MPU9250_ADDRESS, ACCEL_CONFIG, 0x00); writeByte(MPU9250_ADDRESS, GYRO_CONFIG, 0x00); - delay(25); // Delay a while to let the device stabilize + wait_ms(25); // Delay a while to let the device stabilize // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg selfTest[0] = readByte(MPU9250_ADDRESS, SELF_TEST_X_ACCEL); // X-axis accel self-test results
--- a/N5110.lib Tue Aug 05 01:37:23 2014 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/onehorse/code/Adfs/#28c629d0b0d0
--- a/main.cpp Tue Aug 05 01:37:23 2014 +0000 +++ b/main.cpp Wed Jan 24 08:44:45 2018 +0000 @@ -30,7 +30,7 @@ //F401_init84 myinit(0); #include "mbed.h" #include "MPU9250.h" -#include "N5110.h" +//#include "N5110.h" // Using NOKIA 5110 monochrome 84 x 48 pixel display // pin 9 - Serial clock out (SCLK) @@ -51,7 +51,7 @@ Serial pc(USBTX, USBRX); // tx, rx // VCC, SCE, RST, D/C, MOSI,S CLK, LED - N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7); +// N5110 lcd(PA_8, PB_10, PA_9, PA_6, PA_7, PA_5, PC_7); @@ -66,7 +66,7 @@ t.start(); - lcd.init(); +// lcd.init(); // lcd.setBrightness(0.05); @@ -78,11 +78,11 @@ { pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami); pc.printf("MPU9250 is online...\n\r"); - lcd.clear(); - lcd.printString("MPU9250 is", 0, 0); +// lcd.clear(); +// lcd.printString("MPU9250 is", 0, 0); sprintf(buffer, "0x%x", whoami); - lcd.printString(buffer, 0, 1); - lcd.printString("shoud be 0x71", 0, 2); +// lcd.printString(buffer, 0, 1); +// lcd.printString("shoud be 0x71", 0, 2); wait(1); mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration @@ -118,11 +118,11 @@ pc.printf("Could not connect to MPU9250: \n\r"); pc.printf("%#x \n", whoami); - lcd.clear(); - lcd.printString("MPU9250", 0, 0); - lcd.printString("no connection", 0, 1); +// lcd.clear(); +// lcd.printString("MPU9250", 0, 0); +// lcd.printString("no connection", 0, 1); sprintf(buffer, "WHO_AM_I 0x%x", whoami); - lcd.printString(buffer, 0, 2); +// lcd.printString(buffer, 0, 2); while(1) ; // Loop forever if communication doesn't happen }
--- a/mbed.bld Tue Aug 05 01:37:23 2014 +0000 +++ b/mbed.bld Wed Jan 24 08:44:45 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/0b3ab51c8877 \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/7130f322cb7e \ No newline at end of file