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Fixed MPU9250 Compatibility Issues on Arduino Due #21

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Merged
JLefebvre55 merged 1 commit into from
Jul 12, 2021
Merged

Fixed MPU9250 Compatibility Issues on Arduino Due #21

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14 changes: 4 additions & 10 deletions MPU9250/MPU9250.ino
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/*
* ## Note to Testers ##
*
* FFT is by default OFF
* FFT is by default ON (in this version)
* To turn FFT on, please refer to line 64 below,
* and refer to line 18-23 in src/MPU9250.h
*/
Expand All @@ -15,20 +15,13 @@
#define BAUDRATE 115200
#define THISARDUINO ARDUINO_ONE

// Objects for each sensor
MPU9250 mpu9250(THISARDUINO);
//...

Sensor* sensors[NUMSENSORS] = {
// Entry for each sensor object
&mpu9250,
//...
};
Sensor* sensors[NUMSENSORS];

// !#!#!#!--- EVERYTHING AFTER HERE DOES NOT NEED TO BE CHANGED FOR SENSOR IMPLEMENTATION ---!#!#!#!

void setup(){
Serial.begin(BAUDRATE);
sensors[0] = new MPU9250(THISARDUINO);

bool success = true;
for(int i = 0; i < NUMSENSORS; i++){
Expand Down Expand Up @@ -81,3 +74,4 @@ void loop(){
}
}
}

12 changes: 6 additions & 6 deletions MPU9250/src/MPU9250.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
#include "MPU9250.h"

const char *arr[10] = {"mg [X]", "mg [Y]", "mg [Z]", "deg/sec [X]", "deg/sec [Y]", "deg/sec [Z]", "mG [X]", "mG [Y]", "mG [Z]", "mg/Hz Peak [" FFT_AXIS "]"};
//TODO the last unit is hardcoded
const char *arr[10] = {"mg [X]", "mg [Y]", "mg [Z]", "deg/sec [X]", "deg/sec [Y]", "deg/sec [Z]", "mG [X]", "mG [Y]", "mG [Z]", "mg/Hz Peak [X]"};
t_datasetup datasetup = {10, arr};

arduinoFFT FFT = arduinoFFT();
Expand Down Expand Up @@ -97,7 +97,7 @@ double computeFFT(double vReal[]) {
// TODO Calibrate imu readings
errorlevel_t MPU9250::read(t_datum *data, uint8_t numdata) {
// NOTE: Convention - check that numdata given matches expected
if (numdata != 9)
if (numdata != 10)
{ //TODO: globally declare the array size instead of using the int value
return ERR_FAIL;
}
Expand All @@ -111,13 +111,13 @@ errorlevel_t MPU9250::read(t_datum *data, uint8_t numdata) {
// Can only be configured for one axis only, due to memory constraint
// For other axes, set FFT_AXIS 'x', 'y', 'z'
switch (FFT_AXIS) {
case "x":
case 'x':
vReal[count] = (double)mpu9250.ax;
break;
case "y":
case 'y':
vReal[count] = (double)mpu9250.ay;
break;
case "z":
case 'z':
vReal[count] = (double)mpu9250.az;
break;
}
Expand Down
4 changes: 2 additions & 2 deletions MPU9250/src/MPU9250.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,11 +11,11 @@
#define I2Cclock 400000 // Options: 100k, 400k
#define I2Cport Wire
#define MPU9250_ADDRESS 104 // I2C Address: 0x68
#define FFT_AXIS "x" // Can set FFT_AXIZ to 'x', 'y', or 'z'
#define FFT_AXIS 'x' // Can set FFT_AXIZ to 'x', 'y', or 'z'
#define SAMPLES 256 // Must be a power of 2
#define SAMPLING_FREQUENCY 1000

#define ENABLE_FFT false // Set to true for FFT calculations
#define ENABLE_FFT true // Set to true for FFT calculations
/**
* For FFT, set the last parameter to 1 in MPU9250 constructor in MPU9250.cpp on line 13
* Reason being that FFT requires 256 samples
Expand Down