Yaroslav Krainyk
Work with MPU6050
Dependencies: MPU6050 BSP_DISCO_F746NG
Revision 0:2fb9436fa587, committed 2019-11-22
- Comitter:
- codebreaker7
- Date:
- Fri Nov 22 14:46:58 2019 +0000
- Commit message:
- Initial commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.hgignore Fri Nov 22 14:46:58 2019 +0000 @@ -0,0 +1,2 @@ +BUILD +mbed-os/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BSP_DISCO_F746NG.lib Fri Nov 22 14:46:58 2019 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/teams/ST/code/BSP_DISCO_F746NG/#1050c589b2ad
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Fri Nov 22 14:46:58 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/codebreaker7/code/MPU6050/#5e35d0f84d39
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 22 14:46:58 2019 +0000
@@ -0,0 +1,62 @@
+#include "mbed.h"
+#include "stm32746g_discovery_lcd.h"
+#include "MPU6050.h"
+#define MBED_RAM_START 0x20000000
+
+Serial pc(USBTX,USBRX); // default baud rate: 9600
+MPU6050 mpu6050; // class: MPU6050, object: mpu6050
+Ticker toggler1;
+Ticker filter;
+
+void toggle_led1();
+void toggle_led2();
+void compFilter();
+
+float pitchAngle = 0;
+float rollAngle = 0;
+
+int main()
+{
+ BSP_LCD_Init();
+ BSP_LCD_LayerDefaultInit(LTDC_ACTIVE_LAYER, LCD_FB_START_ADDRESS);
+ BSP_LCD_SelectLayer(LTDC_ACTIVE_LAYER);
+
+ mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
+ wait(1);
+ mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
+ pc.printf("Calibration is completed. \r\n");
+ wait(0.5);
+ mpu6050.init(); // Initialize the sensor
+ wait(1);
+
+ while (1) {
+ BSP_LCD_Clear(LCD_COLOR_BLACK);
+ BSP_LCD_SetFont(&LCD_DEFAULT_FONT);
+ BSP_LCD_SetBackColor(LCD_COLOR_WHITE);
+ BSP_LCD_SetTextColor(LCD_COLOR_DARKBLUE);
+
+ BSP_LCD_DisplayStringAt(0, 1, (uint8_t *)"MBED EXAMPLE", CENTER_MODE);
+ HAL_Delay(2000);
+
+ BSP_LCD_SetBackColor(LCD_COLOR_BLACK);
+ BSP_LCD_SetTextColor(LCD_COLOR_ORANGE);
+ BSP_LCD_DisplayStringAt(0, 100, (uint8_t *)"DISCOVERY STM32F746NG", CENTER_MODE);
+ HAL_Delay(2000);
+
+ BSP_LCD_Clear(LCD_COLOR_GREEN);
+ BSP_LCD_SetTextColor(LCD_COLOR_BLUE);
+ BSP_LCD_DrawRect(10, 20, 50, 50);
+ BSP_LCD_SetTextColor(LCD_COLOR_BROWN);
+ BSP_LCD_DrawCircle(80, 80, 50);
+ BSP_LCD_SetTextColor(LCD_COLOR_YELLOW);
+ BSP_LCD_DrawEllipse(150, 150, 50, 100);
+ BSP_LCD_SetTextColor(LCD_COLOR_RED);
+ BSP_LCD_FillCircle(200, 200, 40);
+ HAL_Delay(2000);
+
+ BSP_LCD_SetBackColor(LCD_COLOR_GREEN);
+ BSP_LCD_SetTextColor(LCD_COLOR_CYAN);
+ BSP_LCD_DisplayStringAt(0, 6, (uint8_t *)"HAVE FUN !!!", RIGHT_MODE);
+ HAL_Delay(2000);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Fri Nov 22 14:46:58 2019 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#699372421a3b388fe568e9be85b1a985749a438f