Johan Beverini
/
Project_5A_J_B_A
projet 5A ensil Johan Bouthayna Annas
main.cpp
- Committer:
- JohanBeverini
- Date:
- 2018-01-18
- Revision:
- 2:f89067092cef
- Parent:
- 1:8f6591373cfd
File content as of revision 2:f89067092cef:
#include "mbed.h" #include "MPU6050.h" Serial PC(SERIAL_TX, SERIAL_RX); Serial BT(PA_9, PA_10); MPU6050 mpu6050; Ticker t; Timer t1; DigitalOut myled(LED1); float alpha, betaa, gammaa, R11, R12, R13, R21, R22, R23, R31, R32, R33, poidx, poidy, poidz, periode, sumCount, sum; void recup_MPU(void){ 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 = t1.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); (gx,gy,gz)=(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 rad/s\n", (unsigned int)gyroCount[0], gx); PC.printf("gyroscope in Y = %u, or %f rad/s\n", (unsigned int)gyroCount[1], gy); PC.printf("gyroscope in Z = %u, or %f rad/s\n", (unsigned int)gyroCount[2], gz); PC.printf("temperature = %u, or %f C\n", (unsigned int)tempCount, temperature); } void boucle(void){ recup_MPU(); alpha+=gx*periode; betaa+=gy*periode; gammaa+=gz*periode; BT.printf("acceleration in X = %u, or %f g\n", (unsigned int)accelCount[0], ax); myled!=myled; } int main() { PC.baud(9600); PC.printf("Hello World !\n"); BT.baud(38400); BT.printf("Connection BT\n"); periode=1; alpha=0.0; betaa=0.0; gammaa=0.0; ///////////////////////////////////////////////////////////////////////////////////////////////// // Read the WHO_AM_I register, this is a good test of communication uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 PC.printf("I AM 0x%x\n\r", whoami); PC.printf("I SHOULD BE 0x68\n\r"); if (whoami == 0x68) // WHO_AM_I should always be 0x68 { PC.printf("MPU6050 is online..."); wait(1); mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values PC.printf("x-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[0]); PC.printf("% of factory value \n\r"); PC.printf("y-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[1]); PC.printf("% of factory value \n\r"); PC.printf("z-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[2]); PC.printf("% of factory value \n\r"); PC.printf("x-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[3]); PC.printf("% of factory value \n\r"); PC.printf("y-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[4]); PC.printf("% of factory value \n\r"); PC.printf("z-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[5]); PC.printf("% of factory value \n\r"); wait(1); 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) { mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers mpu6050.initMPU6050(); PC.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature wait(2); } else { PC.printf("Device did not the pass self-test!\n\r"); } } else { PC.printf("Could not connect to MPU6050: \n\r"); PC.printf("%#x \n", whoami); while(1) ; // Loop forever if communication doesn't happen } PC.printf("init sensor done\n"); ///////////////////////////////////////////////////////////////////////////////////// t1.start(); recup_MPU(); poidx=ax; poidy=ay; poidz=az; t.attach(&boucle, periode); while(1) { char c = BT.getc(); if(c == 'a') { BT.printf("\nOK\n"); } } }