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Flex Glove implementado #8

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Flex Glove implementado #8

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c970925
IMU com fusion funcionando
bert799 May 2, 2022
1f82d3d
limpando código
rafaelcorsi May 2, 2022
59e86cf
Flex Glove exemplo
bert799 May 2, 2022
bb2bb85
Merge branch 'master' of github.com:bert799/SAME70-examples
bert799 May 2, 2022
b212edd
Merge branch 'Insper:master' into master
bert799 May 2, 2022
2b10482
Corrigindo importação errada do fusion
bert799 May 2, 2022
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20 changes: 10 additions & 10 deletions Sensores/IMU-MCU6050-I2C/IMU-MCU6050-I2C/src/main.c
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
/**
* Computa��o Embarcada
* Computação Embarcada
* Insper
* Rafael Corsi - [email protected]
* C�digo exemplo uso I2C
* Código exemplo uso I2C
* Abril - 2017
*
* Bug conhecido : spi read deve ser executado duas vezes ?
Expand All @@ -23,7 +23,7 @@

#include "asf.h"
#include "mpu6050.h"
#include "Fusion/Fusion.h"
#include "fusion/fusion.h"

/************************************************************************/
/* VAR globais */
Expand Down Expand Up @@ -197,7 +197,7 @@ int main(void){
/* Inicializa funcao de delay */
delay_init( sysclk_get_cpu_hz());

/* Inicializa Fun��o de fus�o */
/* Inicializa Função de fusão */
FusionAhrs ahrs;
FusionAhrsInitialise(&ahrs);

Expand All @@ -215,7 +215,7 @@ int main(void){
printf("[ERRO] [i2c] [read] \n");
}

// Por algum motivo a primeira leitura � errada.
// Por algum motivo a primeira leitura é errada.
if(bufferRX[0] != 0x68){
printf("[ERRO] [mcu] [Wrong device] [0x%2X] \n", bufferRX[0]);
}
Expand Down Expand Up @@ -246,16 +246,16 @@ int main(void){
rtn = mcu6050_i2c_bus_read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_ZOUT_H, &raw_acc_zHigh, 1);
rtn = mcu6050_i2c_bus_read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_ZOUT_L, &raw_acc_zLow, 1);

// Dados s�o do tipo complemento de dois
// Dados são do tipo complemento de dois
raw_acc_x = (raw_acc_xHigh << 8) | (raw_acc_xLow << 0);
raw_acc_y = (raw_acc_yHigh << 8) | (raw_acc_yLow << 0);
raw_acc_z = (raw_acc_zHigh << 8) | (raw_acc_zLow << 0);
proc_acc_x = (float)raw_acc_x/16384;
proc_acc_y = (float)raw_acc_y/16384;
proc_acc_z = (float)raw_acc_z/16384;

// Configura range gyroscopio para operar com 250 �/s
bufferTX[0] = 0x00; // 250 �/s
// Configura range gyroscopio para operar com 250 °/s
bufferTX[0] = 0x00; // 250 °/s
rtn = mcu6050_i2c_bus_write(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, bufferTX, 1);

// Le valor do gyr X High e Low
Expand All @@ -270,7 +270,7 @@ int main(void){
rtn = mcu6050_i2c_bus_read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &raw_gyr_zHigh, 1);
rtn = mcu6050_i2c_bus_read(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &raw_gyr_zLow, 1);

// Dados s�o do tipo complemento de dois
// Dados são do tipo complemento de dois
raw_gyr_x = (raw_gyr_xHigh << 8) | (raw_gyr_xLow << 0);
raw_gyr_y = (raw_gyr_yHigh << 8) | (raw_gyr_yLow << 0);
raw_gyr_z = (raw_gyr_zHigh << 8) | (raw_gyr_zLow << 0);
Expand All @@ -283,7 +283,7 @@ int main(void){
// replace this with actual accelerometer data in g
const FusionVector accelerometer = {proc_acc_x, proc_acc_y, proc_acc_z};

// calcula runtime do c�digo acima para definir delta t do programa
// calcula runtime do código acima para definir delta t do programa
int tick = rtt_read_timer_value(RTT);
float delta_time = (tick - tick_old)/1000.0;
tick_old = tick;
Expand Down
22 changes: 22 additions & 0 deletions Sensores/QWIIC-FLEX-GLOVE-I2C/.gitignore
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@@ -0,0 +1,22 @@
## Ignore Atmel Studio temporary files and build results
# https://www.microchip.com/mplab/avr-support/atmel-studio-7

# Atmel Studio is powered by an older version of Visual Studio,
# so most of the project and solution files are the same as VS files,
# only prefixed by an `at`.

#Build Directories
[Dd]ebug/
[Rr]elease/

#Build Results
*.o
*.d
*.eep
*.elf
*.hex
*.map
*.srec

#User Specific Files
*.atsuo
22 changes: 22 additions & 0 deletions Sensores/QWIIC-FLEX-GLOVE-I2C/bme280-i2c.atsln
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Microsoft Visual Studio Solution File, Format Version 12.00
# Atmel Studio Solution File, Format Version 11.00
VisualStudioVersion = 14.0.23107.0
MinimumVisualStudioVersion = 10.0.40219.1
Project("{54F91283-7BC4-4236-8FF9-10F437C3AD48}") = "bme280-i2c", "bme280-i2c.cproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|ARM = Debug|ARM
Release|ARM = Release|ARM
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|ARM.ActiveCfg = Debug|ARM
{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|ARM.Build.0 = Debug|ARM
{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|ARM.ActiveCfg = Release|ARM
{DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|ARM.Build.0 = Release|ARM
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
EndGlobal
4 changes: 4 additions & 0 deletions Sensores/QWIIC-FLEX-GLOVE-I2C/bme280-i2c.componentinfo.xml
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@@ -0,0 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<Store xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns="AtmelPackComponentManagement">
<ProjectComponents />
</Store>
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