Coreonetech / Mbed 2 deprecated CORE-1000_MPU6050

MPU6050 sensor test for the CORE-1000

Dependencies:   MPU6050 ledControl2 mbed

main.cpp@4:33fef1998fc8, 2015-07-16 (annotated)

Committer:
BaserK
Date:
Thu Jul 16 13:58:38 2015 +0000
Revision:
4:33fef1998fc8
Parent:
3:88737ad5c803
Child:
5:a6a235d5442d
The main program now uses complementary filter as a function to calculate pitch and roll angles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 4:33fef1998fc8 1 /* Getting Pitch and Roll Angles from MPU6050
BaserK 0:9203a021a0be 2 *
BaserK 0:9203a021a0be 3 * @author: Baser Kandehir
BaserK 4:33fef1998fc8 4 * @date: July 16, 2015
BaserK 0:9203a021a0be 5 * @license: Use this code however you'd like
BaserK 0:9203a021a0be 6 *
BaserK 0:9203a021a0be 7 * @description of the program:
BaserK 0:9203a021a0be 8 *
BaserK 2:497faa1563ea 9 * First of all most of the credit goes to Kris Winer for his useful MPU6050 code.
BaserK 0:9203a021a0be 10 * I rewrite the code in my way using class prototypes and my comments. This program
BaserK 0:9203a021a0be 11 * can be a starter point for more advanced projects including quadcopters, balancing
BaserK 0:9203a021a0be 12 * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
BaserK 4:33fef1998fc8 13 * and calibrates them for better results. Then uses this data is to obtain pitch and roll
BaserK 4:33fef1998fc8 14 * angles and writes these angles to the terminal which mbed is connected to.
BaserK 0:9203a021a0be 15 *
BaserK 0:9203a021a0be 16 * @connections:
BaserK 0:9203a021a0be 17 *--------------------------------------------------------------
BaserK 0:9203a021a0be 18 * |LPC1768| |Peripherals|
BaserK 0:9203a021a0be 19 * Pin 9 ---------> SDA of MPU6050
BaserK 0:9203a021a0be 20 * Pin 10 --------> SCL of MPU6050
BaserK 4:33fef1998fc8 21 * GND -----------> GND of MPU6050
BaserK 0:9203a021a0be 22 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 0:9203a021a0be 23 *---------------------------------------------------------------
BaserK 0:9203a021a0be 24 * Note: For any mistakes or comments, please contact me.
BaserK 0:9203a021a0be 25 */
BaserK 0:9203a021a0be 26
BaserK 0:9203a021a0be 27 #include "mbed.h"
BaserK 0:9203a021a0be 28 #include "MPU6050.h"
BaserK 0:9203a021a0be 29 #include "ledControl.h"
BaserK 0:9203a021a0be 30
BaserK 0:9203a021a0be 31 /* */
BaserK 0:9203a021a0be 32
BaserK 0:9203a021a0be 33 /* Defined in the MPU6050.cpp file */
BaserK 0:9203a021a0be 34 // I2C i2c(p9,p10); // setup i2c (SDA,SCL)
BaserK 0:9203a021a0be 35
BaserK 4:33fef1998fc8 36 Serial pc(USBTX,USBRX); // default baud rate: 9600
BaserK 4:33fef1998fc8 37 MPU6050 mpu6050; // class: MPU6050, object: mpu6050
BaserK 0:9203a021a0be 38 Ticker toggler1;
BaserK 3:88737ad5c803 39 Ticker filter;
BaserK 0:9203a021a0be 40
BaserK 0:9203a021a0be 41 void toggle_led1();
BaserK 0:9203a021a0be 42 void toggle_led2();
BaserK 3:88737ad5c803 43 void compFilter();
BaserK 3:88737ad5c803 44
BaserK 3:88737ad5c803 45 float pitchAngle = 0;
BaserK 3:88737ad5c803 46 float rollAngle = 0;
BaserK 0:9203a021a0be 47
BaserK 0:9203a021a0be 48 int main()
BaserK 0:9203a021a0be 49 {
BaserK 4:33fef1998fc8 50 pc.baud(9600); // baud rate: 9600
BaserK 0:9203a021a0be 51 i2c.frequency(400000); // fast i2c: 400 kHz
BaserK 0:9203a021a0be 52 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:9203a021a0be 53 wait(1);
BaserK 0:9203a021a0be 54 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 4:33fef1998fc8 55 pc.printf("Calibration is completed. \r\n");
BaserK 0:9203a021a0be 56 wait(0.5);
BaserK 0:9203a021a0be 57 mpu6050.init(); // Initialize the sensor
BaserK 0:9203a021a0be 58 wait(1);
BaserK 4:33fef1998fc8 59 pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:9203a021a0be 60 wait_ms(500);
BaserK 0:9203a021a0be 61
BaserK 0:9203a021a0be 62 while(1)
BaserK 0:9203a021a0be 63 {
BaserK 4:33fef1998fc8 64
BaserK 4:33fef1998fc8 65 /* Uncomment below if you want to see accel and gyro data */
BaserK 4:33fef1998fc8 66
BaserK 4:33fef1998fc8 67 // pc.printf(" _____________________________________________________________ \r\n");
BaserK 4:33fef1998fc8 68 // pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
BaserK 4:33fef1998fc8 69 // pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
BaserK 4:33fef1998fc8 70 // pc.printf("|_____________________________________________________________ \r\n\r\n");
BaserK 3:88737ad5c803 71 //
BaserK 3:88737ad5c803 72 // wait(2.5);
BaserK 3:88737ad5c803 73
BaserK 3:88737ad5c803 74 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:9203a021a0be 75
BaserK 4:33fef1998fc8 76 pc.printf(" _______________\r\n");
BaserK 4:33fef1998fc8 77 pc.printf("| Pitch: %.3f \r\n",pitchAngle);
BaserK 4:33fef1998fc8 78 pc.printf("| Roll: %.3f \r\n",rollAngle);
BaserK 4:33fef1998fc8 79 pc.printf("|_______________\r\n\r\n");
BaserK 0:9203a021a0be 80
BaserK 3:88737ad5c803 81 wait(1);
BaserK 4:33fef1998fc8 82
BaserK 0:9203a021a0be 83 }
BaserK 0:9203a021a0be 84 }
BaserK 0:9203a021a0be 85
BaserK 0:9203a021a0be 86 void toggle_led1() {ledToggle(1);}
BaserK 0:9203a021a0be 87 void toggle_led2() {ledToggle(2);}
BaserK 3:88737ad5c803 88
BaserK 3:88737ad5c803 89 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 4:33fef1998fc8 90 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}