Karim Azzouz
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
Diff: MPU/MPU6050.h
- Revision:
- 1:e08a4f517989
diff -r 54b67cd15a5b -r e08a4f517989 MPU/MPU6050.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU/MPU6050.h Tue Aug 27 09:38:49 2013 +0000
@@ -0,0 +1,68 @@
+#ifndef MPU6050_H
+#define MPU6050_H
+
+#include "mbed.h"
+#include "MyI2C.h"
+#include "MAF.h"
+
+#define MPU_ADDRESS 0x68
+#define GyroScale 16.4f
+#define AccScale 4096
+#define ToRad(x) (x*0.01745329252) // *pi/180
+#define ToDeg(x) (x*57.2957795131) // *180/pi
+
+extern MyI2C I2C0;
+
+class MPU6050
+{
+
+public:
+
+ MPU6050(void);
+float filtered_Gyro[3],filtered_Acc[3];
+float Scaled_GyroX,Scaled_GyroY,Scaled_GyroZ;
+float Scaled_AccX,Scaled_AccY,Scaled_AccZ;
+int Raw_AccX,Raw_AccY,Raw_AccZ;
+float GyroOffset[3],AccOffset[3];
+float accangle[2];
+float Acceleration_Magnitude;
+bool Panic;
+
+
+bool CheckConnection(void);
+
+void MPU_Setup(void);
+
+void ScaledGyro(void);
+
+void ScaledAcc(void);
+
+void RawAcc(void);
+
+void CalibrateGyro(void);
+
+void CalibrateAcc(void);
+
+void GyroRate(void);
+
+void Acc(void);
+
+void filterGyro(void);
+
+void filterAcc(void);
+
+void AccAngle(void);
+
+private:
+
+MAF filter_AccX,filter_AccY,filter_AccZ; // Moving Average Filter Initiallization
+
+MAF filter_GyroX,filter_GyroY,filter_GyroZ;
+
+void write(char reg,char data);
+
+int read (char reg);
+
+};
+
+#endif
\ No newline at end of file