Revision 0:9ff166992591, committed 2015-03-31

Comitter:

joshwilkins2013

Date:

Tue Mar 31 22:32:22 2015 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 9ff166992591 MPU6050IMU.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050IMU.lib	Tue Mar 31 22:32:22 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/The-A-Team/code/MPU6050IMU/#5835b443885d

diff -r 000000000000 -r 9ff166992591 SDFileSystem.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem.lib	Tue Mar 31 22:32:22 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/SDFileSystem/#7b35d1709458

diff -r 000000000000 -r 9ff166992591 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 31 22:32:22 2015 +0000
@@ -0,0 +1,135 @@
+#include "MPU6050.h"
+#include "mbed.h"
+#include "SDFileSystem.h"
+
+SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd"); // MOSI, MISO, SCK, CS
+
+Serial pc(USBTX, USBRX);
+
+FILE *Data;   // Creates name of file
+char buffer[5000000];  // Buffer size (# of characters) for SD card
+
+MPU6050 mpu6050;
+Timer t;
+
+DigitalIn button(PTB9);
+
+float accx,accy,laccx=0,laccy=0;
+float vx,vy,lvx=0,lvy=0;
+float x,xx,y,yy;
+double dt, timer;
+
+bool closed = 1;    // Flag for sd card, to open and close with switch
+
+
+//================================================================================
+//=============               Sensor Initialization                  =============
+//================================================================================
+
+void gyro_init(){
+    i2c.frequency(400000);
+    
+    uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);  // Read WHO_AM_I register for MPU-6050
+    pc.printf("I AM 0x%x\n\r", whoami);
+    pc.printf("I SHOULD BE 0x68\n\r");
+
+    if (whoami == 0x68){
+        pc.printf("MPU6050 is online...");
+        wait(1);
+
+        mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values
+        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) {
+            mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration
+            mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
+            mpu6050.initMPU6050();
+            pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature
+
+            pc.printf("\nMPU6050 passed self test... Initializing");
+            wait(2); //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+        } else pc.printf("\nDevice did not the pass self-test!\n\r");
+    } else {
+        pc.printf("Could not connect to MPU6050: \n\r");
+        pc.printf("%#x \n",  whoami);
+        while(1) ; // Loop forever if communication doesn't happen
+    }
+}
+
+
+//================================================================================
+//=============                     Get Inputs                       =============
+//================================================================================
+
+void get_Rates(){
+    if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {  // check if data ready interrupt
+        mpu6050.readAccelData(accelCount);  // Read the x/y/z adc accel values
+        mpu6050.getAres();
+        accy = -(accelCount[0]*aRes - accelBias[0]); // g val
+        accx = accelCount[1]*aRes - accelBias[1];   
+        
+        accx /= 9.81;
+        accy /= 9.81;
+    }
+}
+
+
+//================================================================================
+//=============                 Main Program Start                   =============
+//================================================================================
+
+int main(){
+    pc.baud(115200);
+    
+    Data = fopen("/sd/Data.txt", "w");
+    closed = 0;
+    
+    gyro_init();
+    
+    t.start();
+    timer = t.read_us();
+
+    while(1) {
+        if(button) {
+            
+            if (closed){
+                Data = fopen("/sd/Data.txt", "w");
+                closed = 0;
+            }
+            
+            DigitalOut myled(LED1);
+                
+            get_Rates();  // Gyro rates
+
+            dt = (t.read_us() - timer) / 1000000.00;
+            timer = t.read_us();
+
+
+//================================================================================
+//=============                   Char Conversion                    =============
+//================================================================================
+
+            vx = ((laccx+accx)/2)*dt;
+            vy = ((laccy+accy)/2)*dt;
+            
+            laccx = accx;
+            laccy = accy;
+            
+            xx = ((lvx+vx)/2)*dt;
+            yy = ((lvy+vy)/2)*dt;
+            
+            lvx = vx;
+            lvy = vy;
+            
+            x += xx;
+            y += yy;
+            
+            if (Data == NULL) pc.printf("Unable to write the file \n");  // This chunk for writing to file on SD card
+            else fprintf(Data, "%f %f %f\r\n",x,y,timer);  // can read float or double not int (only checked these three types)
+                        
+        }else{
+            if(!closed){                                                                                                           
+                fclose(Data);
+                closed = 1;
+            }
+        }
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 9ff166992591 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Mar 31 22:32:22 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/487b796308b0
\ No newline at end of file