Karim Azzouz / Mbed 2 deprecated A-Quad

A quadcopter control Software (Still in development). achieved single axis stability!!!!! released for others benefit. if you'd like to help co-develop this code, then please let me know

Dependencies:   MovingAverageFilter MyI2C PID RC mbed-rtos mbed

Currently on hold, due to the fact that i don't own a RX/TX system

MPU/MPU6050.h@1:e08a4f517989, 2013-08-27 (annotated)

Committer:
KarimAzzouz
Date:
Tue Aug 27 09:38:49 2013 +0000
Revision:
1:e08a4f517989
initial commit, achieved single axis stability

Who changed what in which revision?

UserRevisionLine numberNew contents of line
KarimAzzouz 1:e08a4f517989 1 #ifndef MPU6050_H
KarimAzzouz 1:e08a4f517989 2 #define MPU6050_H
KarimAzzouz 1:e08a4f517989 3
KarimAzzouz 1:e08a4f517989 4 #include "mbed.h"
KarimAzzouz 1:e08a4f517989 5 #include "MyI2C.h"
KarimAzzouz 1:e08a4f517989 6 #include "MAF.h"
KarimAzzouz 1:e08a4f517989 7
KarimAzzouz 1:e08a4f517989 8 #define MPU_ADDRESS 0x68
KarimAzzouz 1:e08a4f517989 9 #define GyroScale 16.4f
KarimAzzouz 1:e08a4f517989 10 #define AccScale 4096
KarimAzzouz 1:e08a4f517989 11 #define ToRad(x) (x*0.01745329252) // *pi/180
KarimAzzouz 1:e08a4f517989 12 #define ToDeg(x) (x*57.2957795131) // *180/pi
KarimAzzouz 1:e08a4f517989 13
KarimAzzouz 1:e08a4f517989 14 extern MyI2C I2C0;
KarimAzzouz 1:e08a4f517989 15
KarimAzzouz 1:e08a4f517989 16 class MPU6050
KarimAzzouz 1:e08a4f517989 17 {
KarimAzzouz 1:e08a4f517989 18
KarimAzzouz 1:e08a4f517989 19 public:
KarimAzzouz 1:e08a4f517989 20
KarimAzzouz 1:e08a4f517989 21 MPU6050(void);
KarimAzzouz 1:e08a4f517989 22 float filtered_Gyro[3],filtered_Acc[3];
KarimAzzouz 1:e08a4f517989 23 float Scaled_GyroX,Scaled_GyroY,Scaled_GyroZ;
KarimAzzouz 1:e08a4f517989 24 float Scaled_AccX,Scaled_AccY,Scaled_AccZ;
KarimAzzouz 1:e08a4f517989 25 int Raw_AccX,Raw_AccY,Raw_AccZ;
KarimAzzouz 1:e08a4f517989 26 float GyroOffset[3],AccOffset[3];
KarimAzzouz 1:e08a4f517989 27 float accangle[2];
KarimAzzouz 1:e08a4f517989 28 float Acceleration_Magnitude;
KarimAzzouz 1:e08a4f517989 29 bool Panic;
KarimAzzouz 1:e08a4f517989 30
KarimAzzouz 1:e08a4f517989 31
KarimAzzouz 1:e08a4f517989 32 bool CheckConnection(void);
KarimAzzouz 1:e08a4f517989 33
KarimAzzouz 1:e08a4f517989 34 void MPU_Setup(void);
KarimAzzouz 1:e08a4f517989 35
KarimAzzouz 1:e08a4f517989 36 void ScaledGyro(void);
KarimAzzouz 1:e08a4f517989 37
KarimAzzouz 1:e08a4f517989 38 void ScaledAcc(void);
KarimAzzouz 1:e08a4f517989 39
KarimAzzouz 1:e08a4f517989 40 void RawAcc(void);
KarimAzzouz 1:e08a4f517989 41
KarimAzzouz 1:e08a4f517989 42 void CalibrateGyro(void);
KarimAzzouz 1:e08a4f517989 43
KarimAzzouz 1:e08a4f517989 44 void CalibrateAcc(void);
KarimAzzouz 1:e08a4f517989 45
KarimAzzouz 1:e08a4f517989 46 void GyroRate(void);
KarimAzzouz 1:e08a4f517989 47
KarimAzzouz 1:e08a4f517989 48 void Acc(void);
KarimAzzouz 1:e08a4f517989 49
KarimAzzouz 1:e08a4f517989 50 void filterGyro(void);
KarimAzzouz 1:e08a4f517989 51
KarimAzzouz 1:e08a4f517989 52 void filterAcc(void);
KarimAzzouz 1:e08a4f517989 53
KarimAzzouz 1:e08a4f517989 54 void AccAngle(void);
KarimAzzouz 1:e08a4f517989 55
KarimAzzouz 1:e08a4f517989 56 private:
KarimAzzouz 1:e08a4f517989 57
KarimAzzouz 1:e08a4f517989 58 MAF filter_AccX,filter_AccY,filter_AccZ; // Moving Average Filter Initiallization
KarimAzzouz 1:e08a4f517989 59
KarimAzzouz 1:e08a4f517989 60 MAF filter_GyroX,filter_GyroY,filter_GyroZ;
KarimAzzouz 1:e08a4f517989 61
KarimAzzouz 1:e08a4f517989 62 void write(char reg,char data);
KarimAzzouz 1:e08a4f517989 63
KarimAzzouz 1:e08a4f517989 64 int read (char reg);
KarimAzzouz 1:e08a4f517989 65
KarimAzzouz 1:e08a4f517989 66 };
KarimAzzouz 1:e08a4f517989 67
KarimAzzouz 1:e08a4f517989 68 #endif