Johan Beverini
/
Project_5A_J_B_A
projet 5A ensil Johan Bouthayna Annas
main.cpp@2:f89067092cef, 2018-01-18 (annotated)
- Committer:
- JohanBeverini
- Date:
- Thu Jan 18 13:50:34 2018 +0000
- Revision:
- 2:f89067092cef
- Parent:
- 1:8f6591373cfd
version apres noel
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JohanBeverini | 0:1d41bd249237 | 1 | #include "mbed.h" |
JohanBeverini | 0:1d41bd249237 | 2 | #include "MPU6050.h" |
JohanBeverini | 0:1d41bd249237 | 3 | |
JohanBeverini | 0:1d41bd249237 | 4 | Serial PC(SERIAL_TX, SERIAL_RX); |
JohanBeverini | 2:f89067092cef | 5 | Serial BT(PA_9, PA_10); |
JohanBeverini | 0:1d41bd249237 | 6 | MPU6050 mpu6050; |
JohanBeverini | 1:8f6591373cfd | 7 | Ticker t; |
JohanBeverini | 2:f89067092cef | 8 | Timer t1; |
JohanBeverini | 0:1d41bd249237 | 9 | |
JohanBeverini | 0:1d41bd249237 | 10 | DigitalOut myled(LED1); |
JohanBeverini | 0:1d41bd249237 | 11 | |
JohanBeverini | 2:f89067092cef | 12 | float alpha, betaa, gammaa, R11, R12, R13, R21, R22, R23, R31, R32, R33, poidx, poidy, poidz, periode, sumCount, sum; |
JohanBeverini | 1:8f6591373cfd | 13 | |
JohanBeverini | 1:8f6591373cfd | 14 | void recup_MPU(void){ |
JohanBeverini | 0:1d41bd249237 | 15 | |
JohanBeverini | 0:1d41bd249237 | 16 | if(mpu6050.readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) { // check if data ready interrupt |
JohanBeverini | 0:1d41bd249237 | 17 | mpu6050.readAccelData(accelCount); // Read the x/y/z adc values |
JohanBeverini | 0:1d41bd249237 | 18 | mpu6050.getAres(); |
JohanBeverini | 0:1d41bd249237 | 19 | |
JohanBeverini | 0:1d41bd249237 | 20 | // Now we'll calculate the accleration value into actual g's |
JohanBeverini | 0:1d41bd249237 | 21 | ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set |
JohanBeverini | 0:1d41bd249237 | 22 | ay = (float)accelCount[1]*aRes - accelBias[1]; |
JohanBeverini | 0:1d41bd249237 | 23 | az = (float)accelCount[2]*aRes - accelBias[2]; |
JohanBeverini | 0:1d41bd249237 | 24 | |
JohanBeverini | 0:1d41bd249237 | 25 | mpu6050.readGyroData(gyroCount); // Read the x/y/z adc values |
JohanBeverini | 0:1d41bd249237 | 26 | mpu6050.getGres(); |
JohanBeverini | 0:1d41bd249237 | 27 | |
JohanBeverini | 0:1d41bd249237 | 28 | // Calculate the gyro value into actual degrees per second |
JohanBeverini | 0:1d41bd249237 | 29 | gx = (float)gyroCount[0]*gRes; // - gyroBias[0]; // get actual gyro value, this depends on scale being set |
JohanBeverini | 0:1d41bd249237 | 30 | gy = (float)gyroCount[1]*gRes; // - gyroBias[1]; |
JohanBeverini | 0:1d41bd249237 | 31 | gz = (float)gyroCount[2]*gRes; // - gyroBias[2]; |
JohanBeverini | 0:1d41bd249237 | 32 | |
JohanBeverini | 0:1d41bd249237 | 33 | tempCount = mpu6050.readTempData(); // Read the adc values |
JohanBeverini | 0:1d41bd249237 | 34 | temperature = (tempCount) / 340. + 36.53; // Temperature in degrees Centigrade |
JohanBeverini | 0:1d41bd249237 | 35 | } |
JohanBeverini | 0:1d41bd249237 | 36 | |
JohanBeverini | 2:f89067092cef | 37 | Now = t1.read_us(); |
JohanBeverini | 0:1d41bd249237 | 38 | deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update |
JohanBeverini | 0:1d41bd249237 | 39 | lastUpdate = Now; |
JohanBeverini | 0:1d41bd249237 | 40 | |
JohanBeverini | 0:1d41bd249237 | 41 | sum += deltat; |
JohanBeverini | 0:1d41bd249237 | 42 | sumCount++; |
JohanBeverini | 0:1d41bd249237 | 43 | |
JohanBeverini | 0:1d41bd249237 | 44 | if(lastUpdate - firstUpdate > 10000000.0f) { |
JohanBeverini | 0:1d41bd249237 | 45 | beta = 0.04; // decrease filter gain after stabilized |
JohanBeverini | 0:1d41bd249237 | 46 | zeta = 0.015; // increasey bias drift gain after stabilized |
JohanBeverini | 0:1d41bd249237 | 47 | } |
JohanBeverini | 0:1d41bd249237 | 48 | |
JohanBeverini | 0:1d41bd249237 | 49 | // Pass gyro rate as rad/s |
JohanBeverini | 0:1d41bd249237 | 50 | mpu6050.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
JohanBeverini | 0:1d41bd249237 | 51 | |
JohanBeverini | 2:f89067092cef | 52 | (gx,gy,gz)=(gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f); |
JohanBeverini | 0:1d41bd249237 | 53 | |
JohanBeverini | 0:1d41bd249237 | 54 | //sensorX <= accelCount[0]; |
JohanBeverini | 0:1d41bd249237 | 55 | //sensorY <= accelCount[1]; |
JohanBeverini | 0:1d41bd249237 | 56 | //sensorZ <= accelCount[2]; |
JohanBeverini | 0:1d41bd249237 | 57 | |
JohanBeverini | 0:1d41bd249237 | 58 | PC.printf("acceleration in X = %u, or %f g\n", (unsigned int)accelCount[0], ax); |
JohanBeverini | 0:1d41bd249237 | 59 | PC.printf("acceleration in Y = %u, or %f g\n", (unsigned int)accelCount[1], ay); |
JohanBeverini | 0:1d41bd249237 | 60 | PC.printf("acceleration in Z = %u, or %f g\n", (unsigned int)accelCount[2], az); |
JohanBeverini | 0:1d41bd249237 | 61 | |
JohanBeverini | 2:f89067092cef | 62 | PC.printf("gyroscope in X = %u, or %f rad/s\n", (unsigned int)gyroCount[0], gx); |
JohanBeverini | 2:f89067092cef | 63 | PC.printf("gyroscope in Y = %u, or %f rad/s\n", (unsigned int)gyroCount[1], gy); |
JohanBeverini | 2:f89067092cef | 64 | PC.printf("gyroscope in Z = %u, or %f rad/s\n", (unsigned int)gyroCount[2], gz); |
JohanBeverini | 0:1d41bd249237 | 65 | |
JohanBeverini | 0:1d41bd249237 | 66 | PC.printf("temperature = %u, or %f C\n", (unsigned int)tempCount, temperature); |
JohanBeverini | 1:8f6591373cfd | 67 | } |
JohanBeverini | 1:8f6591373cfd | 68 | |
JohanBeverini | 2:f89067092cef | 69 | |
JohanBeverini | 2:f89067092cef | 70 | |
JohanBeverini | 2:f89067092cef | 71 | |
JohanBeverini | 2:f89067092cef | 72 | |
JohanBeverini | 1:8f6591373cfd | 73 | void boucle(void){ |
JohanBeverini | 1:8f6591373cfd | 74 | recup_MPU(); |
JohanBeverini | 1:8f6591373cfd | 75 | alpha+=gx*periode; |
JohanBeverini | 2:f89067092cef | 76 | betaa+=gy*periode; |
JohanBeverini | 2:f89067092cef | 77 | gammaa+=gz*periode; |
JohanBeverini | 1:8f6591373cfd | 78 | |
JohanBeverini | 2:f89067092cef | 79 | BT.printf("acceleration in X = %u, or %f g\n", (unsigned int)accelCount[0], ax); |
JohanBeverini | 2:f89067092cef | 80 | |
JohanBeverini | 2:f89067092cef | 81 | myled!=myled; |
JohanBeverini | 1:8f6591373cfd | 82 | |
JohanBeverini | 1:8f6591373cfd | 83 | } |
JohanBeverini | 1:8f6591373cfd | 84 | |
JohanBeverini | 2:f89067092cef | 85 | |
JohanBeverini | 2:f89067092cef | 86 | |
JohanBeverini | 2:f89067092cef | 87 | |
JohanBeverini | 2:f89067092cef | 88 | |
JohanBeverini | 1:8f6591373cfd | 89 | int main() |
JohanBeverini | 1:8f6591373cfd | 90 | { |
JohanBeverini | 1:8f6591373cfd | 91 | PC.baud(9600); |
JohanBeverini | 1:8f6591373cfd | 92 | PC.printf("Hello World !\n"); |
JohanBeverini | 2:f89067092cef | 93 | BT.baud(38400); |
JohanBeverini | 1:8f6591373cfd | 94 | BT.printf("Connection BT\n"); |
JohanBeverini | 1:8f6591373cfd | 95 | |
JohanBeverini | 2:f89067092cef | 96 | periode=1; |
JohanBeverini | 1:8f6591373cfd | 97 | |
JohanBeverini | 1:8f6591373cfd | 98 | alpha=0.0; |
JohanBeverini | 2:f89067092cef | 99 | betaa=0.0; |
JohanBeverini | 2:f89067092cef | 100 | gammaa=0.0; |
JohanBeverini | 2:f89067092cef | 101 | |
JohanBeverini | 2:f89067092cef | 102 | |
JohanBeverini | 2:f89067092cef | 103 | |
JohanBeverini | 2:f89067092cef | 104 | |
JohanBeverini | 2:f89067092cef | 105 | |
JohanBeverini | 2:f89067092cef | 106 | ///////////////////////////////////////////////////////////////////////////////////////////////// |
JohanBeverini | 2:f89067092cef | 107 | // Read the WHO_AM_I register, this is a good test of communication |
JohanBeverini | 2:f89067092cef | 108 | uint8_t whoami = mpu6050.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050 |
JohanBeverini | 2:f89067092cef | 109 | PC.printf("I AM 0x%x\n\r", whoami); |
JohanBeverini | 2:f89067092cef | 110 | PC.printf("I SHOULD BE 0x68\n\r"); |
JohanBeverini | 2:f89067092cef | 111 | |
JohanBeverini | 2:f89067092cef | 112 | if (whoami == 0x68) // WHO_AM_I should always be 0x68 |
JohanBeverini | 2:f89067092cef | 113 | { |
JohanBeverini | 2:f89067092cef | 114 | PC.printf("MPU6050 is online..."); |
JohanBeverini | 2:f89067092cef | 115 | wait(1); |
JohanBeverini | 2:f89067092cef | 116 | |
JohanBeverini | 2:f89067092cef | 117 | mpu6050.MPU6050SelfTest(SelfTest); // Start by performing self test and reporting values |
JohanBeverini | 2:f89067092cef | 118 | PC.printf("x-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[0]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 119 | PC.printf("y-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[1]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 120 | PC.printf("z-axis self test: acceleration trim within : "); PC.printf("%f", SelfTest[2]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 121 | PC.printf("x-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[3]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 122 | PC.printf("y-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[4]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 123 | PC.printf("z-axis self test: gyration trim within : "); PC.printf("%f", SelfTest[5]); PC.printf("% of factory value \n\r"); |
JohanBeverini | 2:f89067092cef | 124 | wait(1); |
JohanBeverini | 2:f89067092cef | 125 | |
JohanBeverini | 2:f89067092cef | 126 | 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) |
JohanBeverini | 2:f89067092cef | 127 | { |
JohanBeverini | 2:f89067092cef | 128 | mpu6050.resetMPU6050(); // Reset registers to default in preparation for device calibration |
JohanBeverini | 2:f89067092cef | 129 | mpu6050.calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers |
JohanBeverini | 2:f89067092cef | 130 | mpu6050.initMPU6050(); PC.printf("MPU6050 initialized for active data mode....\n\r"); // Initialize device for active mode read of acclerometer, gyroscope, and temperature |
JohanBeverini | 2:f89067092cef | 131 | |
JohanBeverini | 2:f89067092cef | 132 | wait(2); |
JohanBeverini | 2:f89067092cef | 133 | } |
JohanBeverini | 2:f89067092cef | 134 | else |
JohanBeverini | 2:f89067092cef | 135 | { |
JohanBeverini | 2:f89067092cef | 136 | PC.printf("Device did not the pass self-test!\n\r"); |
JohanBeverini | 2:f89067092cef | 137 | |
JohanBeverini | 2:f89067092cef | 138 | } |
JohanBeverini | 2:f89067092cef | 139 | } |
JohanBeverini | 2:f89067092cef | 140 | else |
JohanBeverini | 2:f89067092cef | 141 | { |
JohanBeverini | 2:f89067092cef | 142 | PC.printf("Could not connect to MPU6050: \n\r"); |
JohanBeverini | 2:f89067092cef | 143 | PC.printf("%#x \n", whoami); |
JohanBeverini | 2:f89067092cef | 144 | |
JohanBeverini | 2:f89067092cef | 145 | while(1) ; // Loop forever if communication doesn't happen |
JohanBeverini | 2:f89067092cef | 146 | } |
JohanBeverini | 2:f89067092cef | 147 | |
JohanBeverini | 2:f89067092cef | 148 | PC.printf("init sensor done\n"); |
JohanBeverini | 2:f89067092cef | 149 | ///////////////////////////////////////////////////////////////////////////////////// |
JohanBeverini | 2:f89067092cef | 150 | |
JohanBeverini | 2:f89067092cef | 151 | |
JohanBeverini | 2:f89067092cef | 152 | |
JohanBeverini | 2:f89067092cef | 153 | |
JohanBeverini | 2:f89067092cef | 154 | |
JohanBeverini | 2:f89067092cef | 155 | t1.start(); |
JohanBeverini | 1:8f6591373cfd | 156 | |
JohanBeverini | 1:8f6591373cfd | 157 | recup_MPU(); |
JohanBeverini | 1:8f6591373cfd | 158 | poidx=ax; |
JohanBeverini | 1:8f6591373cfd | 159 | poidy=ay; |
JohanBeverini | 1:8f6591373cfd | 160 | poidz=az; |
JohanBeverini | 1:8f6591373cfd | 161 | |
JohanBeverini | 1:8f6591373cfd | 162 | |
JohanBeverini | 1:8f6591373cfd | 163 | t.attach(&boucle, periode); |
JohanBeverini | 1:8f6591373cfd | 164 | |
JohanBeverini | 1:8f6591373cfd | 165 | |
JohanBeverini | 1:8f6591373cfd | 166 | |
JohanBeverini | 2:f89067092cef | 167 | |
JohanBeverini | 1:8f6591373cfd | 168 | while(1) { |
JohanBeverini | 1:8f6591373cfd | 169 | |
JohanBeverini | 2:f89067092cef | 170 | char c = BT.getc(); |
JohanBeverini | 2:f89067092cef | 171 | |
JohanBeverini | 2:f89067092cef | 172 | if(c == 'a') { |
JohanBeverini | 2:f89067092cef | 173 | BT.printf("\nOK\n"); |
JohanBeverini | 2:f89067092cef | 174 | } |
JohanBeverini | 1:8f6591373cfd | 175 | |
JohanBeverini | 0:1d41bd249237 | 176 | } |
JohanBeverini | 0:1d41bd249237 | 177 | } |