Hi, I am trying to apply I2C and UART in a project. The problem comes when I try to apply the UART interrupt. I try to use the MPU9250 to have the ori...
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Hi, I am trying to apply I2C and UART in a project.
The problem comes when I try to apply the UART interrupt. I try to use the MPU9250 to have the orientation of a Robot and it works, however when I add the UART interrupt the data obtained by the MPU9250 varies too much.
I am using the TM4C129
#include <stdint.h>
#include <stdbool.h>
#include <math.h>
#include "inc/hw_memmap.h"
#include "driverlib/debug.h"
#include "driverlib/gpio.h"
#include "driverlib/sysctl.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "inc/hw_ints.h"
#include "inc/hw_i2c.h"
#include "inc/hw_types.h"
#include "driverlib/i2c.h"
#include "driverlib/pin_map.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/fpu.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"
#include "driverlib/pwm.h"
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define MPU_9250_ADDRESS 0x68
#define SMPLRT_DIV 0x19
#define PWR_MAGNT_1 0x6B
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define INT_ENABLE 0x38
int16_t Accel_X, Accel_Y, Accel_Z;
int16_t Gyro_X, Gyro_Y, Gyro_Z;
float Ax, Ay, Az, Gx, Gy, Gz;
char buffer[20];
float angulo;
int32_t g_ui32SysClock;
char data[20]="";
uint32_t w_left = 0;
uint32_t w_right = 0;
uint32_t pulses = 0;
uint32_t pulses2 = 0;
int32_t error = 0;
int32_t error2 = 0;
uint8_t w = 0;
uint8_t s = 0;
uint8_t l = 0;
uint8_t r = 0;
void
ConfigureUART(void)
{
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
MAP_GPIOPinConfigure(GPIO_PA0_U0RX);
MAP_GPIOPinConfigure(GPIO_PA1_U0TX);
MAP_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
UARTStdioConfig(0, 115200, g_ui32SysClock);
//
// Configure the UART for 115,200, 8-N-1 operation.
//
MAP_UARTConfigSetExpClk(UART0_BASE, g_ui32SysClock, 115200,
(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
UART_CONFIG_PAR_NONE));
MAP_IntEnable(INT_UART0);
MAP_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
}
void
UARTIntHandler(void)
{
uint32_t ui32Status;
ui32Status = MAP_UARTIntStatus(UART0_BASE, true);
uint8_t idx=0;
MAP_UARTIntClear(UART0_BASE, ui32Status);
while(MAP_UARTCharsAvail(UART0_BASE))
{
data[idx]=MAP_UARTCharGetNonBlocking(UART0_BASE);//tomamos el dato
MAP_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, GPIO_PIN_0);
SysCtlDelay(g_ui32SysClock / (1000 * 3));
MAP_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, 0);
idx++;
}
if(data[0]=='U' && data[1]=='P')
{
pulses = 0;
pulses2 = 0;
w_left = 100000;
w_right = 100000;
SysCtlDelay(g_ui32SysClock / (1000));
//MOTOR 1
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_1, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_2, GPIO_PIN_2);
//MOTOR 2
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_6, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_7, GPIO_PIN_7);
}
if(data[0]=='D' && data[1]=='O'&& data[2]=='W'&& data[3]=='N')
{
pulses = 0;
pulses2 = 0;
w_left = 100000;
w_right = 100000;
SysCtlDelay(g_ui32SysClock / (1000));
//MOTOR 1
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_1, GPIO_PIN_1);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_2, 0x00);
//MOTOR 2
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_6, GPIO_PIN_6);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_7, 0x00);
}
if(data[0]=='L' && data[1]=='E'&& data[2]=='F'&& data[3]=='T')
{
pulses = 0;
pulses2 = 0;
w_left = 100000;
w_right = 100000;
SysCtlDelay(g_ui32SysClock / (1000));
//MOTOR 1
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_1, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_2, GPIO_PIN_2);
//MOTOR 2
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_6, GPIO_PIN_6);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_7, 0x00);
}
if(data[0]=='R' && data[1]=='I'&& data[2]=='G'&& data[3]=='T'&& data[4]=='H') {
pulses = 0;
pulses2 = 0;
w_left = 100000;
w_right = 100000;
SysCtlDelay(g_ui32SysClock / (1000));
//MOTOR 1
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_1, GPIO_PIN_1);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_2, 0x00);
//MOTOR 2
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_6, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_7, GPIO_PIN_7);
}
if(data[0]=='S' && data[1]=='T'&& data[2]=='O'&& data[3]=='P') {
//MOTOR 1
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_1, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_2, 0x00);
//MOTOR 2
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_6, 0x00);
MAP_GPIOPinWrite(GPIO_PORTK_BASE, GPIO_PIN_7, 0x00);
SysCtlDelay(g_ui32SysClock / (1000 * 3));
w_left = 0;
w_right = 0;
}
}
void initI2C0(void)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
SysCtlPeripheralReset(SYSCTL_PERIPH_I2C0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// Configure the pin muxing for I2C0 functions on port B2 and B3.
GPIOPinConfigure(GPIO_PB2_I2C0SCL);
GPIOPinConfigure(GPIO_PB3_I2C0SDA);
// Select the I2C function for these pins.
GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
I2CMasterInitExpClk(I2C0_BASE, SysCtlClockGet(), false);
//clear I2C FIFOs
HWREG(I2C0_BASE + I2C_O_FIFOCTL) = 80008000;
}
uint8_t readI2C0(uint16_t device_address, uint16_t device_register)
{
I2CMasterSlaveAddrSet(I2C0_BASE, device_address, false);
I2CMasterDataPut(I2C0_BASE, device_register);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterSlaveAddrSet(I2C0_BASE, device_address, true);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);
while(I2CMasterBusy(I2C0_BASE));
return( I2CMasterDataGet(I2C0_BASE));
}
void writeI2C0(uint16_t device_address, uint16_t device_register, uint8_t device_data)
{
I2CMasterSlaveAddrSet(I2C0_BASE, device_address, false);
I2CMasterDataPut(I2C0_BASE, device_register);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
while(I2CMasterBusy(I2C0_BASE));
I2CMasterSlaveAddrSet(I2C0_BASE, device_address, true);
I2CMasterDataPut(I2C0_BASE, device_data);
I2CMasterControl(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
while(I2CMasterBusy(I2C0_BASE));
}
void MPU_9250_INIT()
{
writeI2C0(MPU_9250_ADDRESS,0x6B, 0x00);
writeI2C0(MPU_9250_ADDRESS, SMPLRT_DIV, 7);
writeI2C0(MPU_9250_ADDRESS, PWR_MAGNT_1, 1);
writeI2C0(MPU_9250_ADDRESS, CONFIG, 0);
writeI2C0(MPU_9250_ADDRESS, GYRO_CONFIG, 0x00); //antes 24
writeI2C0(MPU_9250_ADDRESS, INT_ENABLE, 1);
}
int16_t read_raw_data(uint16_t addr)
{
uint16_t high, low, value;
high = readI2C0(MPU_9250_ADDRESS, addr);
low = readI2C0(MPU_9250_ADDRESS, addr+1);
value = ((high<<8)|low);
if(value > 32768)
{
value = value - 65536;
}
return value;
}
void ConfigureTimer1A(void)
{
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
// se configura los timers en 32 bits
MAP_TimerConfigure(TIMER1_BASE, TIMER_CFG_PERIODIC);
MAP_TimerLoadSet(TIMER1_BASE, TIMER_A, g_ui32SysClock/10);
MAP_IntEnable(INT_TIMER1A);
MAP_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
MAP_TimerEnable(TIMER1_BASE, TIMER_A);
}
void
Timer1IntHandler(void)
{
MAP_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
//MAP_SysCtlPeripheralDisable(SYSCTL_PERIPH_GPION);
MAP_IntDisable(INT_UART0);
MAP_UARTIntDisable(UART0_BASE, UART_INT_RX | UART_INT_RT);
MAP_IntMasterDisable();
Accel_X = read_raw_data(ACCEL_XOUT_H);
Accel_Y = read_raw_data(ACCEL_YOUT_H);
Accel_Z = read_raw_data(ACCEL_ZOUT_H);
Gyro_X = read_raw_data(GYRO_XOUT_H);
Gyro_Y = read_raw_data(GYRO_YOUT_H);
Gyro_Z = read_raw_data(GYRO_ZOUT_H);
//MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
MAP_IntEnable(INT_UART0);
MAP_UARTIntEnable(UART0_BASE, UART_INT_RX | UART_INT_RT);
MAP_IntMasterEnable();
Ax = Accel_X/16384.0;
Ay = Accel_Y/16384.0;
Az = Accel_Z/16384.0;
Gx = Gyro_X/131.0;
Gy = Gyro_Y/131.0;
Gz = Gyro_Z/131.0;
angulo = angulo + Gz*0.1 - 0.046;
}
int main()
{
g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
SYSCTL_OSC_MAIN |
SYSCTL_USE_PLL |
SYSCTL_CFG_VCO_240), 120000000);
//
// Enable the GPIO port that is used for the on-board LED.
//
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
//pwm_config();
initI2C0();
MPU_9250_INIT();
ConfigureUART();
MAP_IntMasterEnable();
ConfigureTimer1A();
while (1)
{
//UARTprintf("%s\n", buffer);
int ang = (int)angulo;
UARTprintf("%d\n",ang);
SysCtlDelay(1000000);
}
}
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