yaw added

Author: JasonKlm

Core/Inc/mpu9250.h

@@ -62,6 +62,7 @@ typedef struct {
 typedef struct {
     volatile float roll;
     volatile float pitch;
+    volatile float yaw;
 } IMU_Angles_t;
 
 

Core/Src/main.c

@@ -121,7 +121,7 @@ int main(void)
   HAL_TIM_Base_Start_IT(&htim2);  // Enable TIM2 interrupt
   char buffer[40] = {'\0'};
   mpu9250_setup();
-//  bmp388_setup();
+  bmp388_setup();
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -134,11 +134,11 @@ int main(void)
 		  timer_flag = 0;	//reset timer flag
 
 		  mpu9250_getProcessedAngle();
-//		  bmp388_getData();
+		  bmp388_getData();
 	  }
 
 	  //send data through UART
-	  //snprintf(buffer, sizeof(buffer), "%.4f,%.4f\n", pitch_angle, roll_angle);
+	  snprintf(buffer, sizeof(buffer), "%.4f,%.4f,%.4f\n", imu_angles.pitch, imu_angles.roll, imu_angles.yaw);
 	  //snprintf(buffer, sizeof(buffer), "%lu, %lu\n", bmp388_rawData.temperature, bmp388_rawData.pressure);
 	  //HAL_UART_Transmit(&huart2, (uint8_t*)buffer, strlen(buffer), HAL_MAX_DELAY);
 

Core/Src/mpu9250.c

@@ -180,9 +180,11 @@ void mpu9250_getProcessedAngle()
 	    /* Quternion to Euler */
 	  float radPitch = asinf(-2.0f * (quat[1] * quat[3] - quat[0] * quat[2]));
 	  float radRoll = atan2f(2.0f * (quat[0] * quat[1] + quat[2] * quat[3]), 2.0f * (quat[0] * quat[0] + quat[3] * quat[3]) - 1.0f);
+	  float radYaw =  atan2f(2.0f * (quat[0] * quat[3] + quat[1] * quat[2]), 2.0f * (quat[0] * quat[0] + quat[1] * quat[1]) - 1.0f);
 	    /* Radian to Degree*/
 	  imu_angles.pitch = radPitch * RAD_TO_DEG;
 	  imu_angles.roll = radRoll * RAD_TO_DEG;
+	  imu_angles.yaw = radYaw * RAD_TO_DEG;
 
 }
 

Debug/Core/Src/main.o

@@ -1,5 +1,5 @@
 ../Drivers/CMSIS/Include/core_cm7.h:2660:26:ITM_SendChar	16	static,ignoring_inline_asm
-../Core/Src/main.c:88:5:main	48	static
+../Core/Src/main.c:88:5:main	72	static
 ../Core/Src/main.c:156:6:SystemClock_Config	120	static
 ../Core/Src/main.c:216:13:MX_SPI1_Init	8	static
 ../Core/Src/main.c:264:13:MX_SPI2_Init	8	static

Debug/Core/Src/main.su

@@ -4,4 +4,4 @@
 ../Core/Src/mpu9250.c:64:6:mpu9250_init_ak8963	16	static
 ../Core/Src/mpu9250.c:114:6:mpu9250_calibrateGyro	32	static
 ../Core/Src/mpu9250.c:145:6:mpu9250_getRawData	16	static
-../Core/Src/mpu9250.c:160:6:mpu9250_getProcessedAngle	16	static
+../Core/Src/mpu9250.c:160:6:mpu9250_getProcessedAngle	24	static