main_imu, MPU6050 , racolta_dati sono per il funzionamento dell' accelerometro. my_img_sd è una libreria per gestire i dati su un sd sulla quale vengono forniti solamente le funzioni di lettura e scrittura a blocchi i file trasmetti sono la definizione e implementazione delle funzioni del protoccolo per la gestione dell' invio dei dati con il relativo formato
Dependencies: mbed
main_imu.h@0:a9753886e1e0, 2017-11-05 (annotated)
- Committer:
- rattokiller
- Date:
- Sun Nov 05 14:20:26 2017 +0000
- Revision:
- 0:a9753886e1e0
librerie utili
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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rattokiller | 0:a9753886e1e0 | 1 | /* MPU6050 Basic Example Code |
rattokiller | 0:a9753886e1e0 | 2 | by: Kris Winer |
rattokiller | 0:a9753886e1e0 | 3 | date: May 1, 2014 |
rattokiller | 0:a9753886e1e0 | 4 | license: Beerware - Use this code however you'd like. If you |
rattokiller | 0:a9753886e1e0 | 5 | find it useful you can buy me a beer some time. |
rattokiller | 0:a9753886e1e0 | 6 | |
rattokiller | 0:a9753886e1e0 | 7 | Demonstrate MPU-6050 basic functionality including initialization, accelerometer trimming, sleep mode functionality as well as |
rattokiller | 0:a9753886e1e0 | 8 | parameterizing the register addresses. Added display functions to allow display to on breadboard monitor. |
rattokiller | 0:a9753886e1e0 | 9 | No DMP use. We just want to get out the accelerations, temperature, and gyro readings. |
rattokiller | 0:a9753886e1e0 | 10 | |
rattokiller | 0:a9753886e1e0 | 11 | SDA and SCL should have external pull-up resistors (to 3.3V). |
rattokiller | 0:a9753886e1e0 | 12 | 10k resistors worked for me. They should be on the breakout |
rattokiller | 0:a9753886e1e0 | 13 | board. |
rattokiller | 0:a9753886e1e0 | 14 | |
rattokiller | 0:a9753886e1e0 | 15 | Hardware setup: |
rattokiller | 0:a9753886e1e0 | 16 | MPU6050 Breakout --------- Arduino |
rattokiller | 0:a9753886e1e0 | 17 | 3.3V --------------------- 3.3V |
rattokiller | 0:a9753886e1e0 | 18 | SDA ----------------------- A4 |
rattokiller | 0:a9753886e1e0 | 19 | SCL ----------------------- A5 |
rattokiller | 0:a9753886e1e0 | 20 | GND ---------------------- GND |
rattokiller | 0:a9753886e1e0 | 21 | |
rattokiller | 0:a9753886e1e0 | 22 | Note: The MPU6050 is an I2C sensor and uses the Arduino Wire library. |
rattokiller | 0:a9753886e1e0 | 23 | Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or a 3.3 V Teensy 3.1. |
rattokiller | 0:a9753886e1e0 | 24 | We have disabled the internal pull-ups used by the Wire library in the Wire.h/twi.c utility file. |
rattokiller | 0:a9753886e1e0 | 25 | We are also using the 400 kHz fast I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file. |
rattokiller | 0:a9753886e1e0 | 26 | */ |
rattokiller | 0:a9753886e1e0 | 27 | #include "MPU6050.h" |
rattokiller | 0:a9753886e1e0 | 28 | void calcola_dati(); |
rattokiller | 0:a9753886e1e0 | 29 | float sum = 0; |
rattokiller | 0:a9753886e1e0 | 30 | uint32_t sumCount = 0; |
rattokiller | 0:a9753886e1e0 | 31 | |
rattokiller | 0:a9753886e1e0 | 32 | MPU6050 mpu6050; |
rattokiller | 0:a9753886e1e0 | 33 | Timer t; |
rattokiller | 0:a9753886e1e0 | 34 | |
rattokiller | 0:a9753886e1e0 | 35 | Thread calcolo_q; |
rattokiller | 0:a9753886e1e0 | 36 | |
rattokiller | 0:a9753886e1e0 | 37 | //void pc_trasmisione(int n,char* s); |
rattokiller | 0:a9753886e1e0 | 38 | bool inPosition=true; |
rattokiller | 0:a9753886e1e0 | 39 | |
rattokiller | 0:a9753886e1e0 | 40 | |
rattokiller | 0:a9753886e1e0 | 41 | #include "racolta_dati.h" |
rattokiller | 0:a9753886e1e0 | 42 | char buffer[100]; |
rattokiller | 0:a9753886e1e0 | 43 | |
rattokiller | 0:a9753886e1e0 | 44 | |
rattokiller | 0:a9753886e1e0 | 45 | void main_imu() // prendere tutto questo main e meterno in main_imu, rinominarlo e aviorlo da qui. |
rattokiller | 0:a9753886e1e0 | 46 | { |
rattokiller | 0:a9753886e1e0 | 47 | // char n; pacco posta; |
rattokiller | 0:a9753886e1e0 | 48 | |
rattokiller | 0:a9753886e1e0 | 49 | using namespace mydati; |
rattokiller | 0:a9753886e1e0 | 50 | |
rattokiller | 0:a9753886e1e0 | 51 | dati_imu myimu; |
rattokiller | 0:a9753886e1e0 | 52 | |
rattokiller | 0:a9753886e1e0 | 53 | |
rattokiller | 0:a9753886e1e0 | 54 | |
rattokiller | 0:a9753886e1e0 | 55 | |
rattokiller | 0:a9753886e1e0 | 56 | |
rattokiller | 0:a9753886e1e0 | 57 | |
rattokiller | 0:a9753886e1e0 | 58 | //Set up I2C |
rattokiller | 0:a9753886e1e0 | 59 | i2c.frequency(100000); // use fast (400 kHz) I2C |
rattokiller | 0:a9753886e1e0 | 60 | t.start(); |
rattokiller | 0:a9753886e1e0 | 61 | |
rattokiller | 0:a9753886e1e0 | 62 | |
rattokiller | 0:a9753886e1e0 | 63 | |
rattokiller | 0:a9753886e1e0 | 64 | |
rattokiller | 0:a9753886e1e0 | 65 | wait_ms(350); |
rattokiller | 0:a9753886e1e0 | 66 | |
rattokiller | 0:a9753886e1e0 | 67 | inPosition=pul;//vero se non è premuto |
rattokiller | 0:a9753886e1e0 | 68 | if(inPosition)pc.printf("pulsante premuto!"); |
rattokiller | 0:a9753886e1e0 | 69 | |
rattokiller | 0:a9753886e1e0 | 70 | // Read the WHO_AM_I register, this is a good test of communication |
rattokiller | 0:a9753886e1e0 | 71 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
rattokiller | 0:a9753886e1e0 | 72 | pc.printf("\t\tI AM 0x%x\n\n\r", whoami); pc.printf("I SHOULD BE 0x68\n\r"); |
rattokiller | 0:a9753886e1e0 | 73 | |
rattokiller | 0:a9753886e1e0 | 74 | |
rattokiller | 0:a9753886e1e0 | 75 | if (whoami == 0x68) // WHO_AM_I should always be 0x68 |
rattokiller | 0:a9753886e1e0 | 76 | { |
rattokiller | 0:a9753886e1e0 | 77 | pc.printf("MPU6050 is online..."); |
rattokiller | 0:a9753886e1e0 | 78 | wait_ms(50); |
rattokiller | 0:a9753886e1e0 | 79 | |
rattokiller | 0:a9753886e1e0 | 80 | |
rattokiller | 0:a9753886e1e0 | 81 | |
rattokiller | 0:a9753886e1e0 | 82 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
rattokiller | 0:a9753886e1e0 | 83 | pc.printf("x-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[0]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 84 | pc.printf("y-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[1]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 85 | pc.printf("z-axis self test: acceleration trim within : "); pc.printf("%d", SelfTest[2]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 86 | pc.printf("x-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[3]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 87 | pc.printf("y-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[4]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 88 | pc.printf("z-axis self test: gyration trim within : "); pc.printf("%d", SelfTest[5]); pc.printf("% of factory value \n\r"); |
rattokiller | 0:a9753886e1e0 | 89 | wait(1); |
rattokiller | 0:a9753886e1e0 | 90 | |
rattokiller | 0:a9753886e1e0 | 91 | if(inPosition && SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) |
rattokiller | 0:a9753886e1e0 | 92 | { |
rattokiller | 0:a9753886e1e0 | 93 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
rattokiller | 0:a9753886e1e0 | 94 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
rattokiller | 0:a9753886e1e0 | 95 | mpu6050.initMPU6050(); pc.printf("MPU6050 initialized for active data mode....\n\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
rattokiller | 0:a9753886e1e0 | 96 | |
rattokiller | 0:a9753886e1e0 | 97 | |
rattokiller | 0:a9753886e1e0 | 98 | wait(2); |
rattokiller | 0:a9753886e1e0 | 99 | pc.printf("set acc : x= %f\t,y= %f\tz= %f\r\n;",accelBias[0],accelBias[1],accelBias[2]); |
rattokiller | 0:a9753886e1e0 | 100 | } |
rattokiller | 0:a9753886e1e0 | 101 | else |
rattokiller | 0:a9753886e1e0 | 102 | { |
rattokiller | 0:a9753886e1e0 | 103 | pc.printf("Device did not the pass self-test!\n\r"); |
rattokiller | 0:a9753886e1e0 | 104 | |
rattokiller | 0:a9753886e1e0 | 105 | |
rattokiller | 0:a9753886e1e0 | 106 | } |
rattokiller | 0:a9753886e1e0 | 107 | } |
rattokiller | 0:a9753886e1e0 | 108 | else |
rattokiller | 0:a9753886e1e0 | 109 | { |
rattokiller | 0:a9753886e1e0 | 110 | pc.printf("Could not connect to MPU6050: \n\n\r"); |
rattokiller | 0:a9753886e1e0 | 111 | pc.printf("%#x \n", whoami); |
rattokiller | 0:a9753886e1e0 | 112 | |
rattokiller | 0:a9753886e1e0 | 113 | |
rattokiller | 0:a9753886e1e0 | 114 | |
rattokiller | 0:a9753886e1e0 | 115 | while(1) ; // Loop forever if communication doesn't happen |
rattokiller | 0:a9753886e1e0 | 116 | } |
rattokiller | 0:a9753886e1e0 | 117 | |
rattokiller | 0:a9753886e1e0 | 118 | |
rattokiller | 0:a9753886e1e0 | 119 | |
rattokiller | 0:a9753886e1e0 | 120 | calcolo_q.start(calcola_dati); |
rattokiller | 0:a9753886e1e0 | 121 | |
rattokiller | 0:a9753886e1e0 | 122 | while(1) { |
rattokiller | 0:a9753886e1e0 | 123 | |
rattokiller | 0:a9753886e1e0 | 124 | wait_ms(100); |
rattokiller | 0:a9753886e1e0 | 125 | |
rattokiller | 0:a9753886e1e0 | 126 | sprintf(buffer,"\tax = %6.1f\tay = %6.1f\taz = %6.1f\t\t", 1000*ax,1000*ay,1000*az); |
rattokiller | 0:a9753886e1e0 | 127 | //sprintf(buffer,"ciao"); |
rattokiller | 0:a9753886e1e0 | 128 | wait_ms(10); |
rattokiller | 0:a9753886e1e0 | 129 | |
rattokiller | 0:a9753886e1e0 | 130 | #if test |
rattokiller | 0:a9753886e1e0 | 131 | |
rattokiller | 0:a9753886e1e0 | 132 | |
rattokiller | 0:a9753886e1e0 | 133 | //sprintf(buffer,"\tax = %6.1f\tay = %6.1f\taz = %6.1f mg\t\t", 1000*ax,100*ay,100*az); |
rattokiller | 0:a9753886e1e0 | 134 | |
rattokiller | 0:a9753886e1e0 | 135 | |
rattokiller | 0:a9753886e1e0 | 136 | pc.printf("\tax = %6.1f", 1000*ax); |
rattokiller | 0:a9753886e1e0 | 137 | pc.printf(" ay = %6.1f", 1000*ay); |
rattokiller | 0:a9753886e1e0 | 138 | pc.printf(" az = %6.1f mg\t\t", 1000*az); |
rattokiller | 0:a9753886e1e0 | 139 | |
rattokiller | 0:a9753886e1e0 | 140 | pc.printf("gx = %6.1f", gx); |
rattokiller | 0:a9753886e1e0 | 141 | pc.printf(" gy = %6.1f", gy); |
rattokiller | 0:a9753886e1e0 | 142 | pc.printf(" gz = %6.1f deg/s\t", gz); |
rattokiller | 0:a9753886e1e0 | 143 | // pc.printf("Yaw: %.2f , Pitch: %.2f, Roll: %.2f", yaw, pitch, roll); |
rattokiller | 0:a9753886e1e0 | 144 | pc.printf("\t temperature = %.2f C\n\r", temperature); |
rattokiller | 0:a9753886e1e0 | 145 | // pc.printf("q0 = %f\tq1 = %f\tq2 = %f\tq3 = %f\n\r", q[0],q[1],q[2],q[3]); |
rattokiller | 0:a9753886e1e0 | 146 | |
rattokiller | 0:a9753886e1e0 | 147 | n=strlen(buffer); |
rattokiller | 0:a9753886e1e0 | 148 | posta.n=n+1; |
rattokiller | 0:a9753886e1e0 | 149 | |
rattokiller | 0:a9753886e1e0 | 150 | posta.txt=buffer; |
rattokiller | 0:a9753886e1e0 | 151 | |
rattokiller | 0:a9753886e1e0 | 152 | // telemetria.ins_in_coda(&posta); |
rattokiller | 0:a9753886e1e0 | 153 | |
rattokiller | 0:a9753886e1e0 | 154 | wait_ms(1); |
rattokiller | 0:a9753886e1e0 | 155 | // telemetria.invio(); |
rattokiller | 0:a9753886e1e0 | 156 | wait_ms(1); |
rattokiller | 0:a9753886e1e0 | 157 | |
rattokiller | 0:a9753886e1e0 | 158 | // pc.printf("q0 = %f\tq1 = %f\tq2 = %f\tq3 = %f\n\r", q[0],q[1],q[2],q[3]); |
rattokiller | 0:a9753886e1e0 | 159 | |
rattokiller | 0:a9753886e1e0 | 160 | #endif |
rattokiller | 0:a9753886e1e0 | 161 | |
rattokiller | 0:a9753886e1e0 | 162 | |
rattokiller | 0:a9753886e1e0 | 163 | myimu.set_all(ax,ay,az,gx,gy,gz,0,0,0,temperature); |
rattokiller | 0:a9753886e1e0 | 164 | wait_ms(2); |
rattokiller | 0:a9753886e1e0 | 165 | myimu.invia(); |
rattokiller | 0:a9753886e1e0 | 166 | wait_ms(2); |
rattokiller | 0:a9753886e1e0 | 167 | //da sostituire con la funzione della classe sensore imu |
rattokiller | 0:a9753886e1e0 | 168 | |
rattokiller | 0:a9753886e1e0 | 169 | |
rattokiller | 0:a9753886e1e0 | 170 | |
rattokiller | 0:a9753886e1e0 | 171 | //myled= !myled; |
rattokiller | 0:a9753886e1e0 | 172 | } |
rattokiller | 0:a9753886e1e0 | 173 | |
rattokiller | 0:a9753886e1e0 | 174 | } |
rattokiller | 0:a9753886e1e0 | 175 |