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191 | #include <stdio.h>
#include "boards.h"
#include "app_util_platform.h"
#include "app_uart.h"
#include "app_error.h"
#include "nrf_drv_twi.h"
#include "nrf_delay.h"
#define UART_TX_BUF_SIZE 256
#define UART_RX_BUF_SIZE 1
#define DEVICEADDRESS_MPU9250 0x68
#define DEVICEADDRESS_MAG 0x0C
#define GYRO_FULL_SCALE_250_DPS 0x00
#define GYRO_FULL_SCALE_500_DPS 0x08
#define GYRO_FULL_SCALE_1000_DPS 0x10
#define GYRO_FULL_SCALE_2000_DPS 0x18
#define ACC_FULL_SCALE_2_G 0x00
#define ACC_FULL_SCALE_4_G 0x08
#define ACC_FULL_SCALE_8_G 0x10
#define ACC_FULL_SCALE_16_G 0x18
/* Indicates if reading operation from accelerometer has ended. */
static volatile bool m_xfer_done = true;
/* Indicates if setting mode operation has ended. */
static volatile bool m_set_mode_done = false;
/* TWI instance. */
static const nrf_drv_twi_t m_twi_mpu_9250 = NRF_DRV_TWI_INSTANCE(0);
static volatile uint8_t twi_number = 0;
static void uart_events_handler(app_uart_evt_t * p_event)
{
switch (p_event->evt_type)
{
case APP_UART_COMMUNICATION_ERROR:
APP_ERROR_HANDLER(p_event->data.error_communication);
break;
case APP_UART_FIFO_ERROR:
APP_ERROR_HANDLER(p_event->data.error_code);
break;
default:
break;
}
}
static void uart_config(void)
{
uint32_t err_code;
const app_uart_comm_params_t comm_params =
{
RX_PIN_NUMBER,
TX_PIN_NUMBER,
RTS_PIN_NUMBER,
CTS_PIN_NUMBER,
APP_UART_FLOW_CONTROL_DISABLED,
false,
UART_BAUDRATE_BAUDRATE_Baud38400
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_events_handler,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
}
void MPU9250_set_mode(void)
{
ret_code_t err_code;
uint8_t reg[2] = {GYRO_FULL_SCALE_2000_DPS,27};
err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MPU9250, reg, sizeof(reg), false);
APP_ERROR_CHECK(err_code);
nrf_delay_ms(10);
uint8_t reg2[2] = {ACC_FULL_SCALE_16_G,28};
err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MPU9250, reg2, sizeof(reg2), false);
nrf_delay_ms(10);
uint8_t reg3[2] = {0x37,0x02};
err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MPU9250, reg3, sizeof(reg3), false);
nrf_delay_ms(10);
while(m_set_mode_done == false);
}
void twi_handler(nrf_drv_twi_evt_t const * p_event, void * p_context)
{
ret_code_t err_code;
static uint8_t Buf[14];
static uint8_t Mag[6];
switch(p_event->type)
{
case NRF_DRV_TWI_EVT_DONE:
if ((p_event->type == NRF_DRV_TWI_EVT_DONE) &&
(p_event->xfer_desc.type == NRF_DRV_TWI_XFER_TX))
{
if(m_set_mode_done != true)
{
m_set_mode_done = true;
return;
}
m_xfer_done = false;
err_code = nrf_drv_twi_rx(&m_twi_mpu_9250, DEVICEADDRESS_MPU9250, (uint8_t*)&Buf, sizeof(Buf));
//err_code = nrf_drv_twi_rx(&m_twi_mpu_9250, DEVICEADDRESS_MAG, (uint8_t*)&Mag, sizeof(Mag));
APP_ERROR_CHECK(err_code);
// Accelerometer
int16_t ax=-(Buf[0]<<8 | Buf[1]);
int16_t ay=-(Buf[2]<<8 | Buf[3]);
int16_t az=Buf[4]<<8 | Buf[5];
// Gyroscope
int16_t gx=-(Buf[8]<<8 | Buf[9]);
int16_t gy=-(Buf[10]<<8 | Buf[11]);
int16_t gz=Buf[12]<<8 | Buf[13];
printf("Accelerometer\n\r");
printf("ax=%d \t ay=%d \t az=%d\n\r",ax,ay,az);
printf("Gyroscope\n\r");
printf("gx=%d \t gy=%d \t gz=%d\n\r",gx,gy,gz);
// Magnetometer
int16_t mx=-(Mag[3]<<8 | Mag[2]);
int16_t my=-(Mag[1]<<8 | Mag[0]);
int16_t mz=-(Mag[5]<<8 | Mag[4]);
printf("Magnetometer\n\r");
printf("mx=%d \t my=%d \t mz=%d\n\r",mx,my,mz);
}
else
{
m_xfer_done = true;
}
break;
default:
break;
}
}
void twi_init (void)
{
ret_code_t err_code;
const nrf_drv_twi_config_t twi_mpu_9250_config = {
.scl = ARDUINO_SCL_PIN,
.sda = ARDUINO_SDA_PIN,
.frequency = NRF_TWI_FREQ_100K,
.interrupt_priority = APP_IRQ_PRIORITY_HIGH
};
err_code = nrf_drv_twi_init(&m_twi_mpu_9250, &twi_mpu_9250_config, twi_handler, NULL);
APP_ERROR_CHECK(err_code);
nrf_drv_twi_enable(&m_twi_mpu_9250);
}
int main(void)
{
uart_config();
printf("\n\rFabo #202 9Aix Sample Beta\r\n");
twi_init();
MPU9250_set_mode();
ret_code_t err_code;
while(true)
{
nrf_delay_ms(1000);
do
{
__WFE();
}while(m_xfer_done == false);
uint8_t reg9 =0x3B;
err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MPU9250, ®9, sizeof(reg9), true);
//nrf_delay_ms(100);
//uint8_t reg7[2] ={0x0A,0x01};
//err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MAG, reg7, sizeof(reg7), true);
//nrf_delay_ms(100);
//uint8_t reg5 = 0x03;
//err_code = nrf_drv_twi_tx(&m_twi_mpu_9250, DEVICEADDRESS_MAG, ®5, sizeof(reg5), true);
m_xfer_done = false;
}
}
|