Coreonetech / Mbed 2 deprecated CORE-1000_MPU6050

MPU6050 sensor test for the CORE-1000

Dependencies:   MPU6050 ledControl2 mbed

main.cpp@3:88737ad5c803, 2015-07-13 (annotated)

Committer:
BaserK
Date:
Mon Jul 13 13:19:08 2015 +0000
Revision:
3:88737ad5c803
Parent:
2:497faa1563ea
Child:
4:33fef1998fc8
Complementary filter and pitch, roll angles are added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:9203a021a0be 1 /* MPU6050 example with I2C interface on LPC1768
BaserK 0:9203a021a0be 2 *
BaserK 0:9203a021a0be 3 * @author: Baser Kandehir
BaserK 0:9203a021a0be 4 * @date: July 9, 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 0:9203a021a0be 13 * and calibrates them for better results. And writes accel and gyro x,y,z data to the
BaserK 0:9203a021a0be 14 * terminal. I will use this code later on for sensor fusion with a compass to get pitch,
BaserK 0:9203a021a0be 15 * roll and yaw angles. After that I am planning to use some filtering algorithms like
BaserK 0:9203a021a0be 16 * Kalman Filter and Complementary filter. I will keep updating the code as I write them.
BaserK 0:9203a021a0be 17 *
BaserK 0:9203a021a0be 18 * @connections:
BaserK 0:9203a021a0be 19 *--------------------------------------------------------------
BaserK 0:9203a021a0be 20 * |LPC1768| |Peripherals|
BaserK 0:9203a021a0be 21 * Pin 9 ---------> SDA of MPU6050
BaserK 0:9203a021a0be 22 * Pin 10 --------> SCL of MPU6050
BaserK 0:9203a021a0be 23 * Pin 13 --------> (TX) RX pin of the FTDI or Bluetooth etc.
BaserK 0:9203a021a0be 24 * Pin 14 --------> (RX) TX pin of the FTDI or Bluetooth etc.
BaserK 0:9203a021a0be 25 * GND -----------> GND of any peripheral
BaserK 0:9203a021a0be 26 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 0:9203a021a0be 27 *---------------------------------------------------------------
BaserK 0:9203a021a0be 28 * Note: For any mistakes or comments, please contact me.
BaserK 0:9203a021a0be 29 */
BaserK 0:9203a021a0be 30
BaserK 0:9203a021a0be 31 #include "mbed.h"
BaserK 0:9203a021a0be 32 #include "MPU6050.h"
BaserK 0:9203a021a0be 33 #include "ledControl.h"
BaserK 0:9203a021a0be 34
BaserK 0:9203a021a0be 35 /* */
BaserK 0:9203a021a0be 36
BaserK 0:9203a021a0be 37 /* Defined in the MPU6050.cpp file */
BaserK 0:9203a021a0be 38 // I2C i2c(p9,p10); // setup i2c (SDA,SCL)
BaserK 0:9203a021a0be 39
BaserK 0:9203a021a0be 40 Serial ftdi(p13,p14); // default baud rate: 9600
BaserK 0:9203a021a0be 41 MPU6050 mpu6050; // class: MPU6050, object: mpu6050
BaserK 0:9203a021a0be 42 Ticker toggler1;
BaserK 3:88737ad5c803 43 Ticker filter;
BaserK 0:9203a021a0be 44
BaserK 0:9203a021a0be 45 void toggle_led1();
BaserK 0:9203a021a0be 46 void toggle_led2();
BaserK 3:88737ad5c803 47 void complementaryFilter(float* pitch, float* roll);
BaserK 3:88737ad5c803 48 void compFilter();
BaserK 3:88737ad5c803 49
BaserK 3:88737ad5c803 50 float pitchAngle = 0;
BaserK 3:88737ad5c803 51 float rollAngle = 0;
BaserK 0:9203a021a0be 52
BaserK 0:9203a021a0be 53 int main()
BaserK 0:9203a021a0be 54 {
BaserK 0:9203a021a0be 55 ftdi.baud(9600); // baud rate: 9600
BaserK 0:9203a021a0be 56 i2c.frequency(400000); // fast i2c: 400 kHz
BaserK 0:9203a021a0be 57 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:9203a021a0be 58 wait(1);
BaserK 0:9203a021a0be 59 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 0:9203a021a0be 60 ftdi.printf("Calibration is completed. \r\n");
BaserK 0:9203a021a0be 61 wait(0.5);
BaserK 0:9203a021a0be 62 mpu6050.init(); // Initialize the sensor
BaserK 0:9203a021a0be 63 wait(1);
BaserK 0:9203a021a0be 64 ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:9203a021a0be 65 wait_ms(500);
BaserK 0:9203a021a0be 66
BaserK 0:9203a021a0be 67 while(1)
BaserK 0:9203a021a0be 68 {
BaserK 3:88737ad5c803 69 // /* Get actual acc value */
BaserK 3:88737ad5c803 70 // mpu6050.readAccelData(accelData);
BaserK 3:88737ad5c803 71 // mpu6050.getAres();
BaserK 3:88737ad5c803 72 // ax = accelData[0]*aRes - accelBias[0];
BaserK 3:88737ad5c803 73 // ay = accelData[1]*aRes - accelBias[1];
BaserK 3:88737ad5c803 74 // az = accelData[2]*aRes - accelBias[2];
BaserK 3:88737ad5c803 75 //
BaserK 3:88737ad5c803 76 // /* Get actual gyro value */
BaserK 3:88737ad5c803 77 // mpu6050.readGyroData(gyroData);
BaserK 3:88737ad5c803 78 // mpu6050.getGres();
BaserK 3:88737ad5c803 79 // gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
BaserK 3:88737ad5c803 80 // gy = gyroData[1]*gRes; // - gyroBias[1];
BaserK 3:88737ad5c803 81 // gz = gyroData[2]*gRes; // - gyroBias[2];
BaserK 3:88737ad5c803 82 //
BaserK 3:88737ad5c803 83 // ftdi.printf(" _____________________________________________________________ \r\n");
BaserK 3:88737ad5c803 84 // ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
BaserK 3:88737ad5c803 85 // ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
BaserK 3:88737ad5c803 86 // ftdi.printf("|_____________________________________________________________ \r\n\r\n");
BaserK 3:88737ad5c803 87 //
BaserK 3:88737ad5c803 88 // wait(2.5);
BaserK 3:88737ad5c803 89
BaserK 3:88737ad5c803 90 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:9203a021a0be 91
BaserK 3:88737ad5c803 92 ftdi.printf(" _______________\r\n");
BaserK 3:88737ad5c803 93 ftdi.printf("| Pitch: %.3f \r\n",pitchAngle);
BaserK 3:88737ad5c803 94 ftdi.printf("| Roll: %.3f \r\n",rollAngle);
BaserK 3:88737ad5c803 95 ftdi.printf("|_______________\r\n\r\n");
BaserK 0:9203a021a0be 96
BaserK 3:88737ad5c803 97 wait(1);
BaserK 0:9203a021a0be 98 }
BaserK 0:9203a021a0be 99 }
BaserK 0:9203a021a0be 100
BaserK 0:9203a021a0be 101 void toggle_led1() {ledToggle(1);}
BaserK 0:9203a021a0be 102 void toggle_led2() {ledToggle(2);}
BaserK 3:88737ad5c803 103
BaserK 3:88737ad5c803 104 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 3:88737ad5c803 105 void compFilter() {complementaryFilter(&pitchAngle, &rollAngle);}
BaserK 3:88737ad5c803 106
BaserK 3:88737ad5c803 107 void complementaryFilter(float* pitch, float* roll)
BaserK 3:88737ad5c803 108 {
BaserK 3:88737ad5c803 109 /* Get actual acc value */
BaserK 3:88737ad5c803 110 mpu6050.readAccelData(accelData);
BaserK 3:88737ad5c803 111 mpu6050.getAres();
BaserK 3:88737ad5c803 112 ax = accelData[0]*aRes - accelBias[0];
BaserK 3:88737ad5c803 113 ay = accelData[1]*aRes - accelBias[1];
BaserK 3:88737ad5c803 114 az = accelData[2]*aRes - accelBias[2];
BaserK 3:88737ad5c803 115
BaserK 3:88737ad5c803 116 /* Get actual gyro value */
BaserK 3:88737ad5c803 117 mpu6050.readGyroData(gyroData);
BaserK 3:88737ad5c803 118 mpu6050.getGres();
BaserK 3:88737ad5c803 119 gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
BaserK 3:88737ad5c803 120 gy = gyroData[1]*gRes; // - gyroBias[1];
BaserK 3:88737ad5c803 121 gz = gyroData[2]*gRes; // - gyroBias[2];
BaserK 3:88737ad5c803 122
BaserK 3:88737ad5c803 123 float pitchAcc, rollAcc;
BaserK 3:88737ad5c803 124
BaserK 3:88737ad5c803 125 /* Integrate the gyro data(deg/s) over time to get angle */
BaserK 3:88737ad5c803 126 *pitch += gx * dt; // Angle around the X-axis
BaserK 3:88737ad5c803 127 *roll -= gy * dt; // Angle around the Y-axis
BaserK 3:88737ad5c803 128
BaserK 3:88737ad5c803 129 /* Turning around the X-axis results in a vector on the Y-axis
BaserK 3:88737ad5c803 130 whereas turning around the Y-axis results in a vector on the X-axis. */
BaserK 3:88737ad5c803 131 pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI;
BaserK 3:88737ad5c803 132 rollAcc = atan2f((float)accelData[0], (float)accelData[2])*180/PI;
BaserK 3:88737ad5c803 133
BaserK 3:88737ad5c803 134 /* Apply Complementary Filter */
BaserK 3:88737ad5c803 135 *pitch = *pitch * 0.98 + pitchAcc * 0.02;
BaserK 3:88737ad5c803 136 *roll = *roll * 0.98 + rollAcc * 0.02;
BaserK 3:88737ad5c803 137 }