Diff: main.cpp

Revision:

4:33fef1998fc8

Parent:

3:88737ad5c803

Child:

5:a6a235d5442d

--- a/main.cpp	Mon Jul 13 13:19:08 2015 +0000
+++ b/main.cpp	Thu Jul 16 13:58:38 2015 +0000
@@ -1,7 +1,7 @@
-/*   MPU6050 example with I2C interface on LPC1768 
+/*   Getting Pitch and Roll Angles from MPU6050
 *
 *    @author: Baser Kandehir 
-*    @date: July 9, 2015
+*    @date: July 16, 2015
 *    @license: Use this code however you'd like
 *   
 *    @description of the program: 
@@ -10,19 +10,15 @@
 *    I rewrite the code in my way using class prototypes and my comments. This program
 *    can be a starter point for more advanced projects including quadcopters, balancing
 *    robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
-*    and calibrates them for better results. And writes accel and gyro x,y,z data to the
-*    terminal. I will use this code later on for sensor fusion with a compass to get pitch,
-*    roll and yaw angles. After that I am planning to use some filtering algorithms like
-*    Kalman Filter and Complementary filter. I will keep updating the code as I write them.
+*    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. 
 *   
 *    @connections:
 *-------------------------------------------------------------- 
 *    |LPC1768|        |Peripherals|
 *    Pin 9 ---------> SDA of MPU6050
 *    Pin 10 --------> SCL of MPU6050
-*    Pin 13 --------> (TX) RX pin of the FTDI or Bluetooth etc.
-*    Pin 14 --------> (RX) TX pin of the FTDI or Bluetooth etc.
-*    GND -----------> GND of any peripheral
+*    GND -----------> GND of MPU6050
 *    VOUT (3.3 V) --> VCC of MPU6050
 *---------------------------------------------------------------
 *   Note: For any mistakes or comments, please contact me.
@@ -37,14 +33,13 @@
 /* Defined in the MPU6050.cpp file  */
 // I2C i2c(p9,p10);         // setup i2c (SDA,SCL)  
 
-Serial ftdi(p13,p14);    // default baud rate: 9600
-MPU6050 mpu6050;         // class: MPU6050, object: mpu6050 
+Serial pc(USBTX,USBRX);    // default baud rate: 9600
+MPU6050 mpu6050;           // class: MPU6050, object: mpu6050 
 Ticker toggler1;
 Ticker filter;           
 
 void toggle_led1();
 void toggle_led2();
-void complementaryFilter(float* pitch, float* roll);
 void compFilter();
 
 float pitchAngle = 0;
@@ -52,49 +47,39 @@
 
 int main() 
 {
-    ftdi.baud(9600);                            // baud rate: 9600
+    pc.baud(9600);                              // baud rate: 9600
     i2c.frequency(400000);                      // fast i2c: 400 kHz
     mpu6050.whoAmI();                           // Communication test: WHO_AM_I register reading 
     wait(1);
     mpu6050.calibrate(accelBias,gyroBias);      // Calibrate MPU6050 and load biases into bias registers
-    ftdi.printf("Calibration is completed. \r\n");
+    pc.printf("Calibration is completed. \r\n");
     wait(0.5);
     mpu6050.init();                             // Initialize the sensor
     wait(1);
-    ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n");
+    pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
     wait_ms(500);
     
     while(1) 
     {
-//        /* Get actual acc value */
-//        mpu6050.readAccelData(accelData);
-//        mpu6050.getAres();
-//        ax = accelData[0]*aRes - accelBias[0];
-//        ay = accelData[1]*aRes - accelBias[1];
-//        az = accelData[2]*aRes - accelBias[2]; 
-//        
-//        /* Get actual gyro value */
-//        mpu6050.readGyroData(gyroData);
-//        mpu6050.getGres();     
-//        gx = gyroData[0]*gRes;  // - gyroBias[0];      // Results are better without extracting gyroBias[i]
-//        gy = gyroData[1]*gRes;  // - gyroBias[1]; 
-//        gz = gyroData[2]*gRes;  // - gyroBias[2]; 
-//        
-//        ftdi.printf(" _____________________________________________________________  \r\n");
-//        ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f                \r\n",ax,ay,az);
-//        ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f                \r\n",gx,gy,gz);
-//        ftdi.printf("|_____________________________________________________________  \r\n\r\n");
+     
+     /* Uncomment below if you want to see accel and gyro data */
+        
+//        pc.printf(" _____________________________________________________________  \r\n");
+//        pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f                \r\n",ax,ay,az);
+//        pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f                \r\n",gx,gy,gz);
+//        pc.printf("|_____________________________________________________________  \r\n\r\n");
 //        
 //        wait(2.5);
                 
         filter.attach(&compFilter, 0.005);    // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
         
-        ftdi.printf(" _______________\r\n");
-        ftdi.printf("| Pitch: %.3f   \r\n",pitchAngle);
-        ftdi.printf("| Roll:  %.3f   \r\n",rollAngle);
-        ftdi.printf("|_______________\r\n\r\n");
+        pc.printf(" _______________\r\n");
+        pc.printf("| Pitch: %.3f   \r\n",pitchAngle);
+        pc.printf("| Roll:  %.3f   \r\n",rollAngle);
+        pc.printf("|_______________\r\n\r\n");
         
         wait(1);
+     
     }
 }
 
@@ -102,36 +87,4 @@
 void toggle_led2() {ledToggle(2);}
 
 /* This function is created to avoid address error that caused from Ticker.attach func */ 
-void compFilter() {complementaryFilter(&pitchAngle, &rollAngle);}
-
-void complementaryFilter(float* pitch, float* roll)
-{
-    /* Get actual acc value */
-    mpu6050.readAccelData(accelData);
-    mpu6050.getAres();
-    ax = accelData[0]*aRes - accelBias[0];
-    ay = accelData[1]*aRes - accelBias[1];
-    az = accelData[2]*aRes - accelBias[2]; 
-
-    /* Get actual gyro value */
-    mpu6050.readGyroData(gyroData);
-    mpu6050.getGres();     
-    gx = gyroData[0]*gRes;  // - gyroBias[0];      // Results are better without extracting gyroBias[i]
-    gy = gyroData[1]*gRes;  // - gyroBias[1]; 
-    gz = gyroData[2]*gRes;  // - gyroBias[2]; 
-
-    float pitchAcc, rollAcc;
-
-    /* Integrate the gyro data(deg/s) over time to get angle */
-    *pitch += gx * dt;  // Angle around the X-axis
-    *roll -=  gy * dt;  // Angle around the Y-axis
-    
-    /* Turning around the X-axis results in a vector on the Y-axis
-    whereas turning around the Y-axis results in a vector on the X-axis. */
-    pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI;
-    rollAcc  = atan2f((float)accelData[0], (float)accelData[2])*180/PI;
-    
-    /* Apply Complementary Filter */
-    *pitch = *pitch * 0.98 + pitchAcc * 0.02;
-    *roll  = *roll  * 0.98 + rollAcc  * 0.02;   
-}
\ No newline at end of file
+void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}