Hello Ti Forum,
I just wasted three whole days to figure that Problem by myself - i so try to find someone who may can help us.
First: I have the Launchpad STellaris and ist Boosterpack SensorHub, it is working! I try to get our MPU9150 on our PCB working, i use the same code as in "compdcm_mpu9150" Example of the BoosterPack.
My Pin Configuration:
I2C1: SDA on PA7, SCL on PA6
IntMotion: GPIOA3
The actual Problem: I do not get any computed Euler Coordinates.
The data of magnetos are always 0.0 (after MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, &pfMag[0], &pfMag[1], &pfMag[2]);)
if i put filter Settings of the MPU9150 to
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_260_165;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_2000;
i get Data!! also Euler and Magnetos coming in. BUT: there are changing steadily and convergencing from 0.0 to the endvalue and repeating this..
So I have no idea what is wrong :( i have set stacksize to 4096, no heap, included the driverlib/sensorlib in the ARMLinker like in the example.
Do you have any experience?
I guess ist something with a Signal or a Timing Problem which overruns itself, but even Debugging brings no clear solution. And yes, i tried with another HW already! Must be some configurations settings
THANK YOU & happy eastern
//
// Setup the system clock to run at 80 Mhz from PLL with crystal reference
//
SysCtlClockSet(SYSCTL_SYSDIV_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ); // SYSCTL_XTAL_16MHZ);
clockRate = SysCtlClockGet();
//
// Enable port B used for motion interrupt.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// The I2C3 peripheral must be enabled before use.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
//
// Configure the pin muxing for I2C3 functions on port D0 and D1.
//
GPIOPinConfigure(GPIO_PA6_I2C1SCL);
GPIOPinConfigure(GPIO_PA7_I2C1SDA);
//
// Select the I2C function for these pins. This function will also
// configure the GPIO pins pins for I2C operation, setting them to
// open-drain operation with weak pull-ups. Consult the data sheet
// to see which functions are allocated per pin.
//
GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_6);
GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_7);
//
// Configure and Enable the GPIO interrupt. Used for INT signal from the
// MPU9150
//GPIOIntRegister(GPIO_PORTA_BASE, IntGPIOa);
GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOIntEnable(GPIO_PORTA_BASE, GPIO_PIN_3);
GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_3, GPIO_FALLING_EDGE);
IntEnable(INT_GPIOA);
//
// Keep only some parts of the systems running while in sleep mode.
// GPIOB is for the MPU9150 interrupt pin.
// UART0 is the virtual serial port
// TIMER0, TIMER1 and WTIMER5 are used by the RGB driver
// I2C3 is the I2C interface to the ISL29023
//
SysCtlPeripheralClockGating(true);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_I2C1);
SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_GPIOA);
//
// Enable interrupts to the processor.
//
IntMasterEnable();
//
// Initialize I2C3 peripheral.
//
//I2CIntRegister(I2C1_BASE, MPU9150I2CIntHandler);
I2CMInit(&g_sI2CInst, I2C1_BASE, INT_I2C1, 0xff, 0xff,
clockRate);
//
// Initialize the MPU9150 Driver.
//
MPU9150Init(&g_sMPU9150Inst, &g_sI2CInst, MPU9150_I2C_ADDRESS,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Write application specifice sensor configuration such as filter settings
// and sensor range settings.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_CONFIG_DLPF_CFG_;
g_sMPU9150Inst.pui8Data[1] = MPU9150_GYRO_CONFIG_FS_SEL_250;
g_sMPU9150Inst.pui8Data[2] = (MPU9150_ACCEL_CONFIG_ACCEL_HPF_5HZ |
MPU9150_ACCEL_CONFIG_AFS_SEL_2G);
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_CONFIG, g_sMPU9150Inst.pui8Data, 3,
MPU9150AppCallback, &g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Configure the data ready interrupt pin output of the MPU9150.
//
g_sMPU9150Inst.pui8Data[0] = MPU9150_INT_PIN_CFG_INT_LEVEL |
MPU9150_INT_PIN_CFG_INT_RD_CLEAR |
MPU9150_INT_PIN_CFG_LATCH_INT_EN;
g_sMPU9150Inst.pui8Data[1] = MPU9150_INT_ENABLE_DATA_RDY_EN;
MPU9150Write(&g_sMPU9150Inst, MPU9150_O_INT_PIN_CFG,
g_sMPU9150Inst.pui8Data, 2, MPU9150AppCallback,
&g_sMPU9150Inst);
//
// Wait for transaction to complete
//
MPU9150AppI2CWait(__FILE__, __LINE__);
//
// Initialize the DCM system. 50 hz sample rate.
// accel weight = .2, gyro weight = .8, mag weight = .2
//
CompDCMInit(&g_sCompDCMInst, 1.0f / 50.0f, 0.2f, 0.8f, 0.0f);
//
// Enable blinking indicates config finished successfully
//
ui32CompDCMStarted = 0;
while(1)
{
//
// Go to sleep mode while waiting for data ready.
//
while(!g_vui8I2CDoneFlag)
{
//ROM_SysCtlSleep();
}
//
// Clear the flag
//
g_vui8I2CDoneFlag = 0;
//
// Get floating point version of the Accel Data in m/s^2.
//
MPU9150DataAccelGetFloat(&g_sMPU9150Inst, &pfAccel[0], &pfAccel[1],
&pfAccel[2]);
//
// Get floating point version of angular velocities in rad/sec
//
MPU9150DataGyroGetFloat(&g_sMPU9150Inst, &pfGyro[0], &pfGyro[1],
&pfGyro[2]);
//
// Get floating point version of magnetic fields strength in tesla
//
MPU9150DataMagnetoGetFloat(&g_sMPU9150Inst, &pfMag[0], &pfMag[1], &pfMag[2]);
//
// Check if this is our first data ever.
//
if(ui32CompDCMStarted == 0)
{
//
// Set flag indicating that DCM is started.
// Perform the seeding of the DCM with the first data set.
//
ui32CompDCMStarted = 1;
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, pfGyro[0], pfGyro[1],
pfGyro[2]);
CompDCMStart(&g_sCompDCMInst);
}
else
{
//
// DCM Is already started. Perform the incremental update.
//
CompDCMMagnetoUpdate(&g_sCompDCMInst, pfMag[0], pfMag[1],
pfMag[2]);
CompDCMAccelUpdate(&g_sCompDCMInst, pfAccel[0], pfAccel[1],
pfAccel[2]);
CompDCMGyroUpdate(&g_sCompDCMInst, -pfGyro[0], -pfGyro[1],
-pfGyro[2]);
CompDCMUpdate(&g_sCompDCMInst);
}
//
// Increment the skip counter. Skip counter is used so we do not
// overflow the UART with data.
//
g_ui32PrintSkipCounter++;
if(g_ui32PrintSkipCounter >= PRINT_SKIP_COUNT)
{
//
// Reset skip counter.
//
g_ui32PrintSkipCounter = 0;
//
// Get Euler data. (Roll Pitch Yaw)
//
CompDCMComputeEulers(&g_sCompDCMInst, &pfEulers[0], &pfEulers[1],
&pfEulers[2]);
//
// Get Quaternions.
//
CompDCMComputeQuaternion(&g_sCompDCMInst, pfQuaternion);
//
// convert mag data to micro-tesla for better human interpretation.
//
pfMag[0] *= 1e6;
pfMag[1] *= 1e6;
pfMag[2] *= 1e6;
//
// Convert Eulers to degrees. 180/PI = 57.29...
// Convert Yaw to 0 to 360 to approximate compass headings.
//
pfEulers[0] *= 57.295779513082320876798154814105f;
pfEulers[1] *= 57.295779513082320876798154814105f;
pfEulers[2] *= 57.295779513082320876798154814105f;
if(pfEulers[2] < 0)
{
pfEulers[2] += 360.0f;
}
