Diff: main.cpp

Revision:

0:1221112820f7

Child:

1:4f9708c81c3a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 18 17:04:36 2018 +0000
@@ -0,0 +1,127 @@
+/*#################################################################################
+
+Program Name    : MPU6050 Hello World 
+Author          : Crispin Mukalay
+Date Modified   : 17/10/2018
+Compiler        : ARMmbed
+Tested On       : NUCLEO-F446RE
+
+Description     : Demonstrates the use of the MPU6050 gryroscope/accelerometer/temperature
+                  sensor to read gyroscope 3-axis angular velocities(°/s) and accelerometer
+                  3-axis accelerations (°).
+                  
+Requirements    : * NUCLEO-F446RE Board
+                  * MPU6050 Module
+              
+Circuit         : * The MPU6050 module is connected as follows:
+                    VCC                      -   3.3V
+                    GND                      -   GND
+                    SCL                      -   PB10 (I2C2_SCL pin)
+                    SDA                      -   PB3 (I2C2_SDA pin)
+
+####################################################################################*/
+
+#include "mbed.h"
+#include "MPU6050.h"
+#include <math.h>
+#define pi 3.141592654
+
+MPU6050 AccGyro(PB_3, PB_10); // Create an MPU object called AccGyro
+
+Serial pc(SERIAL_TX, SERIAL_RX);    //To use the PC as a console (display output)
+
+int16_t Ax, Ay, Az, Gx, Gy, Gz;
+float Ax_f, Ay_f, Az_f;
+double Gx_f, Gy_f, Gz_f;
+float Ax_f_sum, Ay_f_sum, Az_f_sum, Gx_f_sum, Gy_f_sum, Gz_f_sum;
+float roll, pitch, yaw;
+
+int main() {
+    
+    uint16_t AccelReadings[3] = {0, 0, 0};
+    uint16_t GyroReadings[3] = {0, 0, 0};
+    uint8_t DevId;
+
+    pc.printf("Starting MPU6050 test...\n");
+    DevId = AccGyro.getWhoAmI();
+    
+    if(DevId == 0x68){
+        pc.printf("\n");
+        pc.printf("MPU6050 detected...\n");
+        pc.printf("Device ID is: 0x%02x\n", DevId);
+        pc.printf("\n");
+    }else{
+        pc.printf("\n");
+        pc.printf("MPU6050 not found...\n");
+        while(1);
+    }
+    
+    // The device will come up in sleep mode upon power-up.
+    AccGyro.setPowerCtl_1(0x00, 0x00, 0x00, 0x00, INT_8MHz_OSC);    // Disable sleep mode
+    wait(.001);
+    
+    // Full scale, +/-2000°/s, 16.4LSB°/s.
+    AccGyro.setGyroConfig(GYRO_ST_OFF, GFS_2000dps); // Accelerometer elf-test trigger off.
+    wait(.001);
+    
+    // Full scale, +/-16g, 2048LSB/g.
+    AccGyro.setAccelConfig(ACC_ST_OFF, AFS_16g);    // Gyroscope self-test trigger off.
+    wait(.001);
+        
+    while (true) {
+        
+       wait(0.2);
+       
+       Ax_f_sum = 0;
+       Ay_f_sum = 0;
+       Az_f_sum = 0;
+       Gx_f_sum = 0;
+       Gy_f_sum = 0;
+       Gz_f_sum = 0;
+       
+       for(int i = 0; i < 10; i = i + 1)    // Take ten analog input readings
+       {
+            AccGyro.readAccel(AccelReadings);   // Extract accelerometer measurements
+            AccGyro.readGyro(GyroReadings);     // Extract gyroscope measurements
+            
+            // 2s complement acclerometer and gyroscope values 
+            Ax = AccelReadings[0];
+            Ay = AccelReadings[1];
+            Az = AccelReadings[2]; 
+            Gx = GyroReadings[0];
+            Gy = GyroReadings[1];
+            Gz = GyroReadings[2];
+                        
+            // Add every reading to the sum variables     
+            Ax_f_sum = Ax_f_sum + (float)Ax;
+            Ay_f_sum = Ay_f_sum + (float)Ay;
+            Az_f_sum = Az_f_sum + (float)Az;
+            Gx_f_sum = Gx_f_sum + (float)Gx;
+            Gy_f_sum = Gy_f_sum + (float)Gy;
+            Gz_f_sum = Gz_f_sum + (float)Gz;
+        }
+        
+        // Divide by 10 to get the averaged value
+        Ax_f = Ax_f_sum / 10;
+        Ay_f = Ay_f_sum / 10;
+        Az_f = Az_f_sum / 10;
+        Gx_f = Gx_f_sum / 10;
+        Gy_f = Gy_f_sum / 10;
+        Gz_f = Gz_f_sum / 10;
+         
+        // 1. Calculate actual roll, pitch and yaw angles in degrees
+        // 2. Calibrate readings by adding or substracting the off-set
+        roll = (180/pi)*(atan(Ax_f/(sqrt((Ay_f*Ay_f)+(Az_f*Az_f))))) - 4.36;
+        pitch = (180/pi)*(atan(Ay_f/(sqrt((Ax_f*Ax_f)+(Az_f*Az_f))))) - 0.063;
+        yaw = (180/pi)*(atan((sqrt((Ax_f*Ax_f)+(Ay_f*Ay_f)))/Az_f)) - 3.93;
+        
+        // Convert gyroscope readings into degrees/s
+        Gx_f = Gx_f / 131.0;
+        Gy_f = Gy_f / 131.0;
+        Gz_f = Gz_f / 131.0;
+                
+        pc.printf("Gyro(deg/s) X: %.3f Y: %.3f Z: %.3f || Accel(deg) Roll: %.3f, Pitch: %.3f, Yaw: %.3f \n", Gx_f, Gy_f, Gz_f, roll, pitch, yaw);
+        
+    }
+}
+