assignment Dogpremetter
Dependencies: A2_DogPreMetter1 SDFileSystem mbed
Fork of MPU6050IMU by
main.cpp@3:bf3448217248, 2015-12-05 (annotated)
- Committer:
- thanawatinges
- Date:
- Sat Dec 05 12:01:16 2015 +0000
- Revision:
- 3:bf3448217248
- Parent:
- 1:cea9d83b8636
- Child:
- 4:5be0ca4af5b7
IMU
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
onehorse | 1:cea9d83b8636 | 1 | #include "mbed.h" |
onehorse | 1:cea9d83b8636 | 2 | #include "MPU6050.h" |
onehorse | 0:65aa78c10981 | 3 | |
onehorse | 1:cea9d83b8636 | 4 | float sum = 0; |
onehorse | 1:cea9d83b8636 | 5 | uint32_t sumCount = 0; |
onehorse | 1:cea9d83b8636 | 6 | |
thanawatinges | 3:bf3448217248 | 7 | MPU6050 mpu6050; |
onehorse | 1:cea9d83b8636 | 8 | |
thanawatinges | 3:bf3448217248 | 9 | Timer t; |
onehorse | 1:cea9d83b8636 | 10 | |
thanawatinges | 3:bf3448217248 | 11 | Serial pc(USBTX, USBRX); // tx, rx |
thanawatinges | 3:bf3448217248 | 12 | |
onehorse | 1:cea9d83b8636 | 13 | int main() |
onehorse | 1:cea9d83b8636 | 14 | { |
thanawatinges | 3:bf3448217248 | 15 | pc.baud(9600); |
onehorse | 0:65aa78c10981 | 16 | |
thanawatinges | 3:bf3448217248 | 17 | //Set up I2C |
thanawatinges | 3:bf3448217248 | 18 | i2c.frequency(400000); // use fast (400 kHz) I2C |
onehorse | 0:65aa78c10981 | 19 | |
thanawatinges | 3:bf3448217248 | 20 | t.start(); |
onehorse | 0:65aa78c10981 | 21 | |
onehorse | 0:65aa78c10981 | 22 | |
thanawatinges | 3:bf3448217248 | 23 | // Read the WHO_AM_I register, this is a good test of communication |
thanawatinges | 3:bf3448217248 | 24 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
thanawatinges | 3:bf3448217248 | 25 | pc.printf("I AM 0x%x\n\r", whoami); |
thanawatinges | 3:bf3448217248 | 26 | pc.printf("I SHOULD BE 0x68\n\r"); |
thanawatinges | 3:bf3448217248 | 27 | |
thanawatinges | 3:bf3448217248 | 28 | if (whoami == 0x68) { // WHO_AM_I should always be 0x68 |
thanawatinges | 3:bf3448217248 | 29 | pc.printf("MPU6050 is online..."); |
thanawatinges | 3:bf3448217248 | 30 | wait(1); |
thanawatinges | 3:bf3448217248 | 31 | |
thanawatinges | 3:bf3448217248 | 32 | if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) { |
thanawatinges | 3:bf3448217248 | 33 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
thanawatinges | 3:bf3448217248 | 34 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
thanawatinges | 3:bf3448217248 | 35 | mpu6050.initMPU6050(); |
thanawatinges | 3:bf3448217248 | 36 | pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
onehorse | 0:65aa78c10981 | 37 | |
thanawatinges | 3:bf3448217248 | 38 | wait(2); |
thanawatinges | 3:bf3448217248 | 39 | } else { |
thanawatinges | 3:bf3448217248 | 40 | pc.printf("Device did not the pass self-test!\n\r"); |
thanawatinges | 3:bf3448217248 | 41 | } |
thanawatinges | 3:bf3448217248 | 42 | } else { |
thanawatinges | 3:bf3448217248 | 43 | pc.printf("Could not connect to MPU6050: \n\r"); |
thanawatinges | 3:bf3448217248 | 44 | pc.printf("%#x \n", whoami); |
thanawatinges | 3:bf3448217248 | 45 | |
thanawatinges | 3:bf3448217248 | 46 | while(1) ; // Loop forever if communication doesn't happen |
onehorse | 0:65aa78c10981 | 47 | } |
thanawatinges | 3:bf3448217248 | 48 | while(1) { |
thanawatinges | 3:bf3448217248 | 49 | |
thanawatinges | 3:bf3448217248 | 50 | // If data ready bit set, all data registers have new data |
thanawatinges | 3:bf3448217248 | 51 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
thanawatinges | 3:bf3448217248 | 52 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
thanawatinges | 3:bf3448217248 | 53 | mpu6050.getAres(); |
onehorse | 0:65aa78c10981 | 54 | |
thanawatinges | 3:bf3448217248 | 55 | // Now we'll calculate the accleration value into actual g's |
thanawatinges | 3:bf3448217248 | 56 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
thanawatinges | 3:bf3448217248 | 57 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
thanawatinges | 3:bf3448217248 | 58 | az = (float)accelCount[2]*aRes - accelBias[2]; |
onehorse | 1:cea9d83b8636 | 59 | |
thanawatinges | 3:bf3448217248 | 60 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
thanawatinges | 3:bf3448217248 | 61 | mpu6050.getGres(); |
onehorse | 0:65aa78c10981 | 62 | |
thanawatinges | 3:bf3448217248 | 63 | // Calculate the gyro value into actual degrees per second |
thanawatinges | 3:bf3448217248 | 64 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
thanawatinges | 3:bf3448217248 | 65 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
thanawatinges | 3:bf3448217248 | 66 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
thanawatinges | 3:bf3448217248 | 67 | |
thanawatinges | 3:bf3448217248 | 68 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
thanawatinges | 3:bf3448217248 | 69 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
thanawatinges | 3:bf3448217248 | 70 | } |
thanawatinges | 3:bf3448217248 | 71 | |
thanawatinges | 3:bf3448217248 | 72 | Now = t.read_us(); |
thanawatinges | 3:bf3448217248 | 73 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
thanawatinges | 3:bf3448217248 | 74 | lastUpdate = Now; |
thanawatinges | 3:bf3448217248 | 75 | |
thanawatinges | 3:bf3448217248 | 76 | sum += deltat; |
thanawatinges | 3:bf3448217248 | 77 | sumCount++; |
thanawatinges | 3:bf3448217248 | 78 | |
thanawatinges | 3:bf3448217248 | 79 | if(lastUpdate - firstUpdate > 10000000.0f) { |
thanawatinges | 3:bf3448217248 | 80 | beta = 0.04; // decrease filter gain after stabilized |
thanawatinges | 3:bf3448217248 | 81 | zeta = 0.015; // increasey bias drift gain after stabilized |
thanawatinges | 3:bf3448217248 | 82 | } |
onehorse | 0:65aa78c10981 | 83 | |
thanawatinges | 3:bf3448217248 | 84 | // Pass gyro rate as rad/s |
thanawatinges | 3:bf3448217248 | 85 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
onehorse | 0:65aa78c10981 | 86 | |
thanawatinges | 3:bf3448217248 | 87 | // Serial print and/or display at 0.5 s rate independent of data rates |
thanawatinges | 3:bf3448217248 | 88 | delt_t = t.read_ms() - count; |
thanawatinges | 3:bf3448217248 | 89 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
thanawatinges | 3:bf3448217248 | 90 | |
thanawatinges | 3:bf3448217248 | 91 | yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]); |
thanawatinges | 3:bf3448217248 | 92 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
thanawatinges | 3:bf3448217248 | 93 | roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]); |
thanawatinges | 3:bf3448217248 | 94 | pitch *= 180.0f / PI; |
thanawatinges | 3:bf3448217248 | 95 | yaw *= 180.0f / PI; |
thanawatinges | 3:bf3448217248 | 96 | roll *= 180.0f / PI; |
thanawatinges | 3:bf3448217248 | 97 | |
thanawatinges | 3:bf3448217248 | 98 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
thanawatinges | 3:bf3448217248 | 99 | // pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
thanawatinges | 3:bf3448217248 | 100 | |
thanawatinges | 3:bf3448217248 | 101 | myled= !myled; |
thanawatinges | 3:bf3448217248 | 102 | count = t.read_ms(); |
thanawatinges | 3:bf3448217248 | 103 | sum = 0; |
thanawatinges | 3:bf3448217248 | 104 | sumCount = 0; |
thanawatinges | 3:bf3448217248 | 105 | } |
thanawatinges | 3:bf3448217248 | 106 | } |
thanawatinges | 3:bf3448217248 | 107 | |
thanawatinges | 3:bf3448217248 | 108 | } |