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UART with mainboard works

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- the sideboard can now send and receive Serial data from the mainboard
- fixed Processing sketch
This commit is contained in:
EmanuelFeru
2020-03-01 09:42:48 +01:00
parent 0f3bd3f7d9
commit f088bd6a87
14 changed files with 88 additions and 81 deletions
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32
Src/mpu6050.c
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@@ -3231,19 +3231,19 @@ void mpu_start_self_test(void)
#elif defined (MPU6050) || defined (MPU9150)
result = mpu_run_self_test(gyro, accel);
#endif
#ifdef SERIAL_DEBUG
log_i("accel: %ld %ld %ld\n",
accel[0],
accel[1],
accel[2]);
log_i("gyro: %ld %ld %ld\n",
gyro[0],
gyro[1],
gyro[2]);
#endif
if (result == 0x7) {
#ifdef SERIAL_DEBUG
consoleLog("Passed!\n");
log_i("accel: %ld %ld %ld\n",
accel[0],
accel[1],
accel[2]);
log_i("gyro: %ld %ld %ld\n",
gyro[0],
gyro[1],
gyro[2]);
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#endif
consoleLog("Passed!\n");
/* Test passed. We can trust the gyro data here, so now we need to update calibrated data*/
#ifdef USE_CAL_HW_REGISTERS
/*
@@ -3640,10 +3640,10 @@ void mpu_calc_euler_angles(void) {
float yaw, pitch, roll;
// Convert quaternions[q30] to quaternion[float]
w = (float)mpu.quat.w / 1073741824; // 1073741824 = 2^30
x = (float)mpu.quat.x / 1073741824;
y = (float)mpu.quat.y / 1073741824;
z = (float)mpu.quat.z / 1073741824;
w = (float)mpu.quat.w / q30; // q30 = 2^30
x = (float)mpu.quat.x / q30;
y = (float)mpu.quat.y / q30;
z = (float)mpu.quat.z / q30;
// Calculate Euler angles: source <https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles>
roll = atan2(2*(w*x + y*z), 1 - 2*(x*x + y*y)); // roll (x-axis rotation)