imu.cpp
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00001 /* -*- mode: C++ -*- */
00002 /*********************************************************************
00003 *
00004 * Software License Agreement (BSD License)
00005 *
00006 *  Copyright (C) 2015, Jack O'Quin
00007 *  All rights reserved.
00008 *
00009 *  Redistribution and use in source and binary forms, with or without
00010 *  modification, are permitted provided that the following conditions
00011 *  are met:
00012 *
00013 *   * Redistributions of source code must retain the above copyright
00014 *     notice, this list of conditions and the following disclaimer.
00015 *   * Redistributions in binary form must reproduce the above
00016 *     copyright notice, this list of conditions and the following
00017 *     disclaimer in the documentation and/or other materials provided
00018 *     with the distribution.
00019 *   * Neither the name of the authors nor other contributors may be
00020 *     used to endorse or promote products derived from this software
00021 *     without specific prior written permission.
00022 *
00023 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034 *  POSSIBILITY OF SUCH DAMAGE.
00035 *********************************************************************/
00036 
00043 #include <Arduino.h>
00044 #include <imu.h>
00045 
00046 #include <Wire.h>
00047 #include "I2Cdev.h"
00048 #include "MPU9150Lib.h"
00049 #include "CalLib.h"
00050 #include <dmpKey.h>
00051 #include <dmpmap.h>
00052 #include <inv_mpu.h>
00053 #include <inv_mpu_dmp_motion_driver.h>
00054 #include <EEPROM.h>
00055 
00056 #define DEVICE_TO_USE 0                 ///< use the device at 0x68
00057 MPU9150Lib MPU;                         
00058 
00061 #define MPU_UPDATE_RATE  (20)
00062 
00066 #define MAG_UPDATE_RATE  (10)
00067 
00072 #define  MPU_MAG_MIX_GYRO_AND_MAG       10 ///< a good mix value 
00073 
00075 #define MPU_LPF_RATE   40
00076 
00078 Imu::Imu(): ArduinoDevice(1000/MPU_LPF_RATE)
00079 {
00080   Wire.begin();
00081   MPU.selectDevice(DEVICE_TO_USE);
00082 
00083   // start the device
00084   MPU.init(MPU_UPDATE_RATE,
00085            MPU_MAG_MIX_GYRO_AND_MAG,
00086            MAG_UPDATE_RATE,
00087            MPU_LPF_RATE);
00088 }
00089 
00095 void Imu::poll(void)
00096 {
00097   // only needed if device has changed since init but good form anyway:
00098   MPU.selectDevice(DEVICE_TO_USE);
00099   if (MPU.read())                  // get the latest data if ready yet
00100     {
00101       Serial.print("I");
00102       Serial.print(DEVICE_TO_USE);
00103       Serial.print(" accel ");
00104 
00105       // print the calibrated acceleration data
00106       MPU.printVector(MPU.m_calAccel);
00107       Serial.println();
00108   }
00109 }


segbot_firmware
Author(s): Jose Bigio, Jack O'Quin, Tim Eckel (NewPing library)
autogenerated on Fri Aug 28 2015 13:02:53