Johan Beverini
/
Project_5A_J_B_A
projet 5A ensil Johan Bouthayna Annas
main.cpp
- Committer:
- JohanBeverini
- Date:
- 2017-11-24
- Revision:
- 0:1d41bd249237
- Child:
- 1:8f6591373cfd
File content as of revision 0:1d41bd249237:
#include "mbed.h" #include "MPU6050.h" Serial PC(SERIAL_TX, SERIAL_RX); Serial BT(PA_10, PA_9); MPU6050 mpu6050; DigitalOut myled(LED1); int main() { PC.baud(9600); PC.printf("Hello World !\n"); BT.baud(9600); BT.printf("Connection BT\n"); while(1) { if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt mpu6050.readAccelData(accelCount); // Read the x/y/z adc values mpu6050.getAres(); // Now we'll calculate the accleration value into actual g's ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set ay = (float)accelCount[1]*aRes - accelBias[1]; az = (float)accelCount[2]*aRes - accelBias[2]; mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values mpu6050.getGres(); // Calculate the gyro value into actual degrees per second gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; tempCount = mpu6050.readTempData(); // Read the adc values temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade } Now = t.read_us(); deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update lastUpdate = Now; sum += deltat; sumCount++; if(lastUpdate - firstUpdate > 10000000.0f) { beta = 0.04; // decrease filter gain after stabilized zeta = 0.015; // increasey bias drift gain after stabilized } // Pass gyro rate as rad/s mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); //sensorX <= accelCount[0]; //sensorY <= accelCount[1]; //sensorZ <= accelCount[2]; PC.printf("acceleration in X = %u, or %f g\n", (unsigned int)accelCount[0], ax); PC.printf("acceleration in Y = %u, or %f g\n", (unsigned int)accelCount[1], ay); PC.printf("acceleration in Z = %u, or %f g\n", (unsigned int)accelCount[2], az); PC.printf("gyroscope in X = %u, or %f dps\n", (unsigned int)gyroCount[0], gx); PC.printf("gyroscope in Y = %u, or %f dps\n", (unsigned int)gyroCount[1], gy); PC.printf("gyroscope in Z = %u, or %f dps\n", (unsigned int)gyroCount[2], gz); PC.printf("temperature = %u, or %f C\n", (unsigned int)tempCount, temperature); } }