Tests Yaw angle
Dependencies: MPU6050IMU mbed
main.cpp@0:98f7c7d55051, 2015-02-15 (annotated)
- Committer:
- joshwilkins2013
- Date:
- Sun Feb 15 17:40:56 2015 +0000
- Revision:
- 0:98f7c7d55051
- Child:
- 2:8b8ea2b74666
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
joshwilkins2013 | 0:98f7c7d55051 | 1 | // SDA --- A4 |
joshwilkins2013 | 0:98f7c7d55051 | 2 | // SCL --- A5 |
joshwilkins2013 | 0:98f7c7d55051 | 3 | |
joshwilkins2013 | 0:98f7c7d55051 | 4 | #include "mbed.h" |
joshwilkins2013 | 0:98f7c7d55051 | 5 | #include "MPU6050.h" |
joshwilkins2013 | 0:98f7c7d55051 | 6 | |
joshwilkins2013 | 0:98f7c7d55051 | 7 | float sum = 0; |
joshwilkins2013 | 0:98f7c7d55051 | 8 | uint32_t sumCount = 0; |
joshwilkins2013 | 0:98f7c7d55051 | 9 | |
joshwilkins2013 | 0:98f7c7d55051 | 10 | MPU6050 mpu6050; |
joshwilkins2013 | 0:98f7c7d55051 | 11 | Timer t; |
joshwilkins2013 | 0:98f7c7d55051 | 12 | Serial pc(USBTX, USBRX); // tx, rx |
joshwilkins2013 | 0:98f7c7d55051 | 13 | |
joshwilkins2013 | 0:98f7c7d55051 | 14 | int main(){ |
joshwilkins2013 | 0:98f7c7d55051 | 15 | pc.baud(9600); |
joshwilkins2013 | 0:98f7c7d55051 | 16 | |
joshwilkins2013 | 0:98f7c7d55051 | 17 | //Set up I2C |
joshwilkins2013 | 0:98f7c7d55051 | 18 | i2c.frequency(400000); // use fast (400 kHz) I2C |
joshwilkins2013 | 0:98f7c7d55051 | 19 | t.start(); |
joshwilkins2013 | 0:98f7c7d55051 | 20 | |
joshwilkins2013 | 0:98f7c7d55051 | 21 | // Read the WHO_AM_I register, this is a good test of communication |
joshwilkins2013 | 0:98f7c7d55051 | 22 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
joshwilkins2013 | 0:98f7c7d55051 | 23 | pc.printf("I AM 0x%x\n\r", whoami); |
joshwilkins2013 | 0:98f7c7d55051 | 24 | pc.printf("I SHOULD BE 0x68\n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 25 | |
joshwilkins2013 | 0:98f7c7d55051 | 26 | if (whoami == 0x68){ |
joshwilkins2013 | 0:98f7c7d55051 | 27 | pc.printf("MPU6050 is online..."); |
joshwilkins2013 | 0:98f7c7d55051 | 28 | wait(1); |
joshwilkins2013 | 0:98f7c7d55051 | 29 | |
joshwilkins2013 | 0:98f7c7d55051 | 30 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
joshwilkins2013 | 0:98f7c7d55051 | 31 | pc.printf("x-axis self test: acceleration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 32 | pc.printf("%f", SelfTest[0]); |
joshwilkins2013 | 0:98f7c7d55051 | 33 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 34 | pc.printf("y-axis self test: acceleration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 35 | pc.printf("%f", SelfTest[1]); |
joshwilkins2013 | 0:98f7c7d55051 | 36 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 37 | pc.printf("z-axis self test: acceleration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 38 | pc.printf("%f", SelfTest[2]); |
joshwilkins2013 | 0:98f7c7d55051 | 39 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 40 | pc.printf("x-axis self test: gyration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 41 | pc.printf("%f", SelfTest[3]); |
joshwilkins2013 | 0:98f7c7d55051 | 42 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 43 | pc.printf("y-axis self test: gyration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 44 | pc.printf("%f", SelfTest[4]); |
joshwilkins2013 | 0:98f7c7d55051 | 45 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 46 | pc.printf("z-axis self test: gyration trim within : "); |
joshwilkins2013 | 0:98f7c7d55051 | 47 | pc.printf("%f", SelfTest[5]); |
joshwilkins2013 | 0:98f7c7d55051 | 48 | pc.printf("% of factory value \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 49 | wait(1); |
joshwilkins2013 | 0:98f7c7d55051 | 50 | |
joshwilkins2013 | 0:98f7c7d55051 | 51 | 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) { |
joshwilkins2013 | 0:98f7c7d55051 | 52 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
joshwilkins2013 | 0:98f7c7d55051 | 53 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
joshwilkins2013 | 0:98f7c7d55051 | 54 | mpu6050.initMPU6050(); |
joshwilkins2013 | 0:98f7c7d55051 | 55 | pc.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
joshwilkins2013 | 0:98f7c7d55051 | 56 | |
joshwilkins2013 | 0:98f7c7d55051 | 57 | pc.printf("\nMPU6050 passed self test... Initializing"); |
joshwilkins2013 | 0:98f7c7d55051 | 58 | wait(2); |
joshwilkins2013 | 0:98f7c7d55051 | 59 | } else pc.printf("\nDevice did not the pass self-test!\n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 60 | } else { |
joshwilkins2013 | 0:98f7c7d55051 | 61 | pc.printf("Could not connect to MPU6050: \n\r"); |
joshwilkins2013 | 0:98f7c7d55051 | 62 | pc.printf("%#x \n", whoami); |
joshwilkins2013 | 0:98f7c7d55051 | 63 | while(1) ; // Loop forever if communication doesn't happen |
joshwilkins2013 | 0:98f7c7d55051 | 64 | } |
joshwilkins2013 | 0:98f7c7d55051 | 65 | |
joshwilkins2013 | 0:98f7c7d55051 | 66 | while(1) { |
joshwilkins2013 | 0:98f7c7d55051 | 67 | |
joshwilkins2013 | 0:98f7c7d55051 | 68 | // If data ready bit set, all data registers have new data |
joshwilkins2013 | 0:98f7c7d55051 | 69 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
joshwilkins2013 | 0:98f7c7d55051 | 70 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
joshwilkins2013 | 0:98f7c7d55051 | 71 | mpu6050.getAres(); |
joshwilkins2013 | 0:98f7c7d55051 | 72 | |
joshwilkins2013 | 0:98f7c7d55051 | 73 | // Now we'll calculate the accleration value into actual g's |
joshwilkins2013 | 0:98f7c7d55051 | 74 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
joshwilkins2013 | 0:98f7c7d55051 | 75 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
joshwilkins2013 | 0:98f7c7d55051 | 76 | az = (float)accelCount[2]*aRes - accelBias[2]; |
joshwilkins2013 | 0:98f7c7d55051 | 77 | |
joshwilkins2013 | 0:98f7c7d55051 | 78 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
joshwilkins2013 | 0:98f7c7d55051 | 79 | mpu6050.getGres(); |
joshwilkins2013 | 0:98f7c7d55051 | 80 | |
joshwilkins2013 | 0:98f7c7d55051 | 81 | // Calculate the gyro value into actual degrees per second |
joshwilkins2013 | 0:98f7c7d55051 | 82 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
joshwilkins2013 | 0:98f7c7d55051 | 83 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
joshwilkins2013 | 0:98f7c7d55051 | 84 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
joshwilkins2013 | 0:98f7c7d55051 | 85 | |
joshwilkins2013 | 0:98f7c7d55051 | 86 | tempCount = mpu6050.readTempData(); // Read the x/y/z adc values |
joshwilkins2013 | 0:98f7c7d55051 | 87 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
joshwilkins2013 | 0:98f7c7d55051 | 88 | } |
joshwilkins2013 | 0:98f7c7d55051 | 89 | |
joshwilkins2013 | 0:98f7c7d55051 | 90 | Now = t.read_us(); |
joshwilkins2013 | 0:98f7c7d55051 | 91 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
joshwilkins2013 | 0:98f7c7d55051 | 92 | lastUpdate = Now; |
joshwilkins2013 | 0:98f7c7d55051 | 93 | |
joshwilkins2013 | 0:98f7c7d55051 | 94 | sum += deltat; |
joshwilkins2013 | 0:98f7c7d55051 | 95 | sumCount++; |
joshwilkins2013 | 0:98f7c7d55051 | 96 | |
joshwilkins2013 | 0:98f7c7d55051 | 97 | if(lastUpdate - firstUpdate > 10000000.0f) { |
joshwilkins2013 | 0:98f7c7d55051 | 98 | beta = 0.04; // decrease filter gain after stabilized |
joshwilkins2013 | 0:98f7c7d55051 | 99 | zeta = 0.015; // increasey bias drift gain after stabilized |
joshwilkins2013 | 0:98f7c7d55051 | 100 | } |
joshwilkins2013 | 0:98f7c7d55051 | 101 | |
joshwilkins2013 | 0:98f7c7d55051 | 102 | // Pass gyro rate as rad/s |
joshwilkins2013 | 0:98f7c7d55051 | 103 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
joshwilkins2013 | 0:98f7c7d55051 | 104 | |
joshwilkins2013 | 0:98f7c7d55051 | 105 | // Serial print and/or display at 0.5 s rate independent of data rates |
joshwilkins2013 | 0:98f7c7d55051 | 106 | delt_t = t.read_ms() - count; |
joshwilkins2013 | 0:98f7c7d55051 | 107 | if (delt_t > 500) { // update LCD once per half-second independent of read rate |
joshwilkins2013 | 0:98f7c7d55051 | 108 | |
joshwilkins2013 | 0:98f7c7d55051 | 109 | 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]); |
joshwilkins2013 | 0:98f7c7d55051 | 110 | pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2])); |
joshwilkins2013 | 0:98f7c7d55051 | 111 | 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]); |
joshwilkins2013 | 0:98f7c7d55051 | 112 | pitch *= 180.0f / PI; |
joshwilkins2013 | 0:98f7c7d55051 | 113 | yaw *= 180.0f / PI; |
joshwilkins2013 | 0:98f7c7d55051 | 114 | roll *= 180.0f / PI; |
joshwilkins2013 | 0:98f7c7d55051 | 115 | |
joshwilkins2013 | 0:98f7c7d55051 | 116 | pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll); |
joshwilkins2013 | 0:98f7c7d55051 | 117 | pc.printf("average rate = %f\n\r", (float) sumCount/sum); |
joshwilkins2013 | 0:98f7c7d55051 | 118 | |
joshwilkins2013 | 0:98f7c7d55051 | 119 | count = t.read_ms(); |
joshwilkins2013 | 0:98f7c7d55051 | 120 | sum = 0; |
joshwilkins2013 | 0:98f7c7d55051 | 121 | sumCount = 0; |
joshwilkins2013 | 0:98f7c7d55051 | 122 | } |
joshwilkins2013 | 0:98f7c7d55051 | 123 | } |
joshwilkins2013 | 0:98f7c7d55051 | 124 | |
joshwilkins2013 | 0:98f7c7d55051 | 125 | } |