Coreonetech / Mbed 2 deprecated CORE-1000_MPU6050

MPU6050 sensor test for the CORE-1000

Dependencies:   MPU6050 ledControl2 mbed

main.cpp@5:a6a235d5442d, 2015-07-21 (annotated)

Committer:
BaserK
Date:
Tue Jul 21 08:19:59 2015 +0000
Revision:
5:a6a235d5442d
Parent:
4:33fef1998fc8
Child:
6:12ff524abb6a
MIT license is added

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 5:a6a235d5442d 5 * @license: MIT license
BaserK 5:a6a235d5442d 6 *
BaserK 5:a6a235d5442d 7 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 5:a6a235d5442d 8 *
BaserK 5:a6a235d5442d 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 5:a6a235d5442d 10 * of this software and associated documentation files (the "Software"), to deal
BaserK 5:a6a235d5442d 11 * in the Software without restriction, including without limitation the rights
BaserK 5:a6a235d5442d 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 5:a6a235d5442d 13 * copies of the Software, and to permit persons to whom the Software is
BaserK 5:a6a235d5442d 14 * furnished to do so, subject to the following conditions:
BaserK 5:a6a235d5442d 15 *
BaserK 5:a6a235d5442d 16 * The above copyright notice and this permission notice shall be included in
BaserK 5:a6a235d5442d 17 * all copies or substantial portions of the Software.
BaserK 5:a6a235d5442d 18 *
BaserK 5:a6a235d5442d 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 5:a6a235d5442d 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 5:a6a235d5442d 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 5:a6a235d5442d 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 5:a6a235d5442d 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 5:a6a235d5442d 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 5:a6a235d5442d 25 * THE SOFTWARE.
BaserK 0:9203a021a0be 26 *
BaserK 0:9203a021a0be 27 * @description of the program:
BaserK 0:9203a021a0be 28 *
BaserK 2:497faa1563ea 29 * First of all most of the credit goes to Kris Winer for his useful MPU6050 code.
BaserK 0:9203a021a0be 30 * I rewrite the code in my way using class prototypes and my comments. This program
BaserK 0:9203a021a0be 31 * can be a starter point for more advanced projects including quadcopters, balancing
BaserK 0:9203a021a0be 32 * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
BaserK 4:33fef1998fc8 33 * and calibrates them for better results. Then uses this data is to obtain pitch and roll
BaserK 4:33fef1998fc8 34 * angles and writes these angles to the terminal which mbed is connected to.
BaserK 0:9203a021a0be 35 *
BaserK 0:9203a021a0be 36 * @connections:
BaserK 0:9203a021a0be 37 *--------------------------------------------------------------
BaserK 0:9203a021a0be 38 * |LPC1768| |Peripherals|
BaserK 0:9203a021a0be 39 * Pin 9 ---------> SDA of MPU6050
BaserK 0:9203a021a0be 40 * Pin 10 --------> SCL of MPU6050
BaserK 4:33fef1998fc8 41 * GND -----------> GND of MPU6050
BaserK 0:9203a021a0be 42 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 0:9203a021a0be 43 *---------------------------------------------------------------
BaserK 0:9203a021a0be 44 * Note: For any mistakes or comments, please contact me.
BaserK 0:9203a021a0be 45 */
BaserK 0:9203a021a0be 46
BaserK 0:9203a021a0be 47 #include "mbed.h"
BaserK 0:9203a021a0be 48 #include "MPU6050.h"
BaserK 0:9203a021a0be 49 #include "ledControl.h"
BaserK 0:9203a021a0be 50
BaserK 0:9203a021a0be 51 /* */
BaserK 0:9203a021a0be 52
BaserK 0:9203a021a0be 53 /* Defined in the MPU6050.cpp file */
BaserK 0:9203a021a0be 54 // I2C i2c(p9,p10); // setup i2c (SDA,SCL)
BaserK 0:9203a021a0be 55
BaserK 4:33fef1998fc8 56 Serial pc(USBTX,USBRX); // default baud rate: 9600
BaserK 4:33fef1998fc8 57 MPU6050 mpu6050; // class: MPU6050, object: mpu6050
BaserK 0:9203a021a0be 58 Ticker toggler1;
BaserK 3:88737ad5c803 59 Ticker filter;
BaserK 0:9203a021a0be 60
BaserK 0:9203a021a0be 61 void toggle_led1();
BaserK 0:9203a021a0be 62 void toggle_led2();
BaserK 3:88737ad5c803 63 void compFilter();
BaserK 3:88737ad5c803 64
BaserK 3:88737ad5c803 65 float pitchAngle = 0;
BaserK 3:88737ad5c803 66 float rollAngle = 0;
BaserK 0:9203a021a0be 67
BaserK 0:9203a021a0be 68 int main()
BaserK 0:9203a021a0be 69 {
BaserK 4:33fef1998fc8 70 pc.baud(9600); // baud rate: 9600
BaserK 0:9203a021a0be 71 i2c.frequency(400000); // fast i2c: 400 kHz
BaserK 0:9203a021a0be 72 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:9203a021a0be 73 wait(1);
BaserK 0:9203a021a0be 74 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 4:33fef1998fc8 75 pc.printf("Calibration is completed. \r\n");
BaserK 0:9203a021a0be 76 wait(0.5);
BaserK 0:9203a021a0be 77 mpu6050.init(); // Initialize the sensor
BaserK 0:9203a021a0be 78 wait(1);
BaserK 4:33fef1998fc8 79 pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:9203a021a0be 80 wait_ms(500);
BaserK 0:9203a021a0be 81
BaserK 0:9203a021a0be 82 while(1)
BaserK 0:9203a021a0be 83 {
BaserK 4:33fef1998fc8 84
BaserK 4:33fef1998fc8 85 /* Uncomment below if you want to see accel and gyro data */
BaserK 4:33fef1998fc8 86
BaserK 4:33fef1998fc8 87 // pc.printf(" _____________________________________________________________ \r\n");
BaserK 4:33fef1998fc8 88 // pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
BaserK 4:33fef1998fc8 89 // pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
BaserK 4:33fef1998fc8 90 // pc.printf("|_____________________________________________________________ \r\n\r\n");
BaserK 3:88737ad5c803 91 //
BaserK 3:88737ad5c803 92 // wait(2.5);
BaserK 3:88737ad5c803 93
BaserK 3:88737ad5c803 94 filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:9203a021a0be 95
BaserK 4:33fef1998fc8 96 pc.printf(" _______________\r\n");
BaserK 4:33fef1998fc8 97 pc.printf("| Pitch: %.3f \r\n",pitchAngle);
BaserK 4:33fef1998fc8 98 pc.printf("| Roll: %.3f \r\n",rollAngle);
BaserK 4:33fef1998fc8 99 pc.printf("|_______________\r\n\r\n");
BaserK 0:9203a021a0be 100
BaserK 3:88737ad5c803 101 wait(1);
BaserK 4:33fef1998fc8 102
BaserK 0:9203a021a0be 103 }
BaserK 0:9203a021a0be 104 }
BaserK 0:9203a021a0be 105
BaserK 0:9203a021a0be 106 void toggle_led1() {ledToggle(1);}
BaserK 0:9203a021a0be 107 void toggle_led2() {ledToggle(2);}
BaserK 3:88737ad5c803 108
BaserK 3:88737ad5c803 109 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 4:33fef1998fc8 110 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}