Baser Kandehir / Mbed 2 deprecated i2c_MPU6050 Featured

Program takes accelerometer and gyroscope data from the MPU6050 registers and calibrates them for better results. Then uses this data is to obtain pitch and roll angles and writes these angles to the terminal which mbed is connected to.

Dependencies:   MPU6050 ledControl2 mbed

main.cpp@0:9203a021a0be, 2015-07-09 (annotated)

Committer:
BaserK
Date:
Thu Jul 09 12:14:59 2015 +0000
Revision:
0:9203a021a0be
Child:
2:497faa1563ea
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BaserK 0:9203a021a0be 1 /* MPU6050 example with I2C interface on LPC1768
BaserK 0:9203a021a0be 2 *
BaserK 0:9203a021a0be 3 * @author: Baser Kandehir
BaserK 0:9203a021a0be 4 * @date: July 9, 2015
BaserK 0:9203a021a0be 5 * @license: Use this code however you'd like
BaserK 0:9203a021a0be 6 *
BaserK 0:9203a021a0be 7 * @description of the program:
BaserK 0:9203a021a0be 8 *
BaserK 0:9203a021a0be 9 * First of all most of the credits goes to Kris Winer for his useful MPU6050 code.
BaserK 0:9203a021a0be 10 * I rewrite the code in my way using class prototypes and my comments. This program
BaserK 0:9203a021a0be 11 * can be a starter point for more advanced projects including quadcopters, balancing
BaserK 0:9203a021a0be 12 * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
BaserK 0:9203a021a0be 13 * and calibrates them for better results. And writes accel and gyro x,y,z data to the
BaserK 0:9203a021a0be 14 * terminal. I will use this code later on for sensor fusion with a compass to get pitch,
BaserK 0:9203a021a0be 15 * roll and yaw angles. After that I am planning to use some filtering algorithms like
BaserK 0:9203a021a0be 16 * Kalman Filter and Complementary filter. I will keep updating the code as I write them.
BaserK 0:9203a021a0be 17 *
BaserK 0:9203a021a0be 18 * @connections:
BaserK 0:9203a021a0be 19 *--------------------------------------------------------------
BaserK 0:9203a021a0be 20 * |LPC1768| |Peripherals|
BaserK 0:9203a021a0be 21 * Pin 9 ---------> SDA of MPU6050
BaserK 0:9203a021a0be 22 * Pin 10 --------> SCL of MPU6050
BaserK 0:9203a021a0be 23 * Pin 13 --------> (TX) RX pin of the FTDI or Bluetooth etc.
BaserK 0:9203a021a0be 24 * Pin 14 --------> (RX) TX pin of the FTDI or Bluetooth etc.
BaserK 0:9203a021a0be 25 * GND -----------> GND of any peripheral
BaserK 0:9203a021a0be 26 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 0:9203a021a0be 27 *---------------------------------------------------------------
BaserK 0:9203a021a0be 28 * Note: For any mistakes or comments, please contact me.
BaserK 0:9203a021a0be 29 */
BaserK 0:9203a021a0be 30
BaserK 0:9203a021a0be 31 #include "mbed.h"
BaserK 0:9203a021a0be 32 #include "MPU6050.h"
BaserK 0:9203a021a0be 33 #include "ledControl.h"
BaserK 0:9203a021a0be 34
BaserK 0:9203a021a0be 35 /* */
BaserK 0:9203a021a0be 36
BaserK 0:9203a021a0be 37 /* Defined in the MPU6050.cpp file */
BaserK 0:9203a021a0be 38 // I2C i2c(p9,p10); // setup i2c (SDA,SCL)
BaserK 0:9203a021a0be 39
BaserK 0:9203a021a0be 40 Serial ftdi(p13,p14); // default baud rate: 9600
BaserK 0:9203a021a0be 41 MPU6050 mpu6050; // class: MPU6050, object: mpu6050
BaserK 0:9203a021a0be 42 Ticker toggler1;
BaserK 0:9203a021a0be 43
BaserK 0:9203a021a0be 44 void toggle_led1();
BaserK 0:9203a021a0be 45 void toggle_led2();
BaserK 0:9203a021a0be 46
BaserK 0:9203a021a0be 47 int main()
BaserK 0:9203a021a0be 48 {
BaserK 0:9203a021a0be 49 ftdi.baud(9600); // baud rate: 9600
BaserK 0:9203a021a0be 50 i2c.frequency(400000); // fast i2c: 400 kHz
BaserK 0:9203a021a0be 51 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:9203a021a0be 52 wait(1);
BaserK 0:9203a021a0be 53 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 0:9203a021a0be 54 ftdi.printf("Calibration is completed. \r\n");
BaserK 0:9203a021a0be 55 wait(0.5);
BaserK 0:9203a021a0be 56 mpu6050.init(); // Initialize the sensor
BaserK 0:9203a021a0be 57 wait(1);
BaserK 0:9203a021a0be 58 ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:9203a021a0be 59 wait_ms(500);
BaserK 0:9203a021a0be 60
BaserK 0:9203a021a0be 61 while(1)
BaserK 0:9203a021a0be 62 {
BaserK 0:9203a021a0be 63 /* Get actual acc value */
BaserK 0:9203a021a0be 64 mpu6050.readAccelData(accelData);
BaserK 0:9203a021a0be 65 mpu6050.getAres();
BaserK 0:9203a021a0be 66 ax = accelData[0]*aRes - accelBias[0];
BaserK 0:9203a021a0be 67 ay = accelData[1]*aRes - accelBias[1];
BaserK 0:9203a021a0be 68 az = accelData[2]*aRes - accelBias[2];
BaserK 0:9203a021a0be 69
BaserK 0:9203a021a0be 70 /* Get actual gyro value */
BaserK 0:9203a021a0be 71 mpu6050.readGyroData(gyroData);
BaserK 0:9203a021a0be 72 mpu6050.getGres();
BaserK 0:9203a021a0be 73 gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i]
BaserK 0:9203a021a0be 74 gy = gyroData[1]*gRes; // - gyroBias[1];
BaserK 0:9203a021a0be 75 gz = gyroData[2]*gRes; // - gyroBias[2];
BaserK 0:9203a021a0be 76
BaserK 0:9203a021a0be 77 ftdi.printf(" _____________________________________________________________ \r\n");
BaserK 0:9203a021a0be 78 ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
BaserK 0:9203a021a0be 79 ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
BaserK 0:9203a021a0be 80 ftdi.printf("|_____________________________________________________________ \r\n\r\n");
BaserK 0:9203a021a0be 81
BaserK 0:9203a021a0be 82 wait(2.5);
BaserK 0:9203a021a0be 83 }
BaserK 0:9203a021a0be 84 }
BaserK 0:9203a021a0be 85
BaserK 0:9203a021a0be 86 void toggle_led1() {ledToggle(1);}
BaserK 0:9203a021a0be 87 void toggle_led2() {ledToggle(2);}