Chen Huan / Mbed 2 deprecated mpu

平衡车的MPU6050驱动 C.H.

Dependencies:   mbed

Fork of MPU6050_Driver_Balance by Chen Huan

main.cpp@1:588d4df02e56, 2018-05-02 (annotated)

Committer:
heroistired
Date:
Wed May 02 01:32:39 2018 +0000
Revision:
1:588d4df02e56
Parent:
0:badebd32bd8b 
d

Who changed what in which revision?

UserRevisionLine numberNew contents of line
heroistired 0:badebd32bd8b 1 #include "mbed.h"
heroistired 0:badebd32bd8b 2 #include "mpu6050.h"
heroistired 0:badebd32bd8b 3
heroistired 0:badebd32bd8b 4
heroistired 0:badebd32bd8b 5 DigitalOut myled(LED1);
heroistired 0:badebd32bd8b 6 Serial pc(SERIAL_TX, SERIAL_RX);
heroistired 1:588d4df02e56 7 Ticker pid_ticker; //声明一个 Ticker 对象
heroistired 1:588d4df02e56 8
heroistired 1:588d4df02e56 9 void pid_calculator();
heroistired 1:588d4df02e56 10
heroistired 1:588d4df02e56 11 float pitch,roll,yaw; //欧拉角
heroistired 1:588d4df02e56 12 unsigned int filure_counter = 0;
heroistired 1:588d4df02e56 13 unsigned int SystemTick = 0;
heroistired 0:badebd32bd8b 14
heroistired 0:badebd32bd8b 15 int main() {
heroistired 1:588d4df02e56 16
heroistired 1:588d4df02e56 17 int time_now = 0;
heroistired 1:588d4df02e56 18
heroistired 1:588d4df02e56 19 pid_ticker.attach(&pid_calculator, 0.01); //中断跑在100Hz，因为6050也是以100Hz刷新
heroistired 1:588d4df02e56 20
heroistired 1:588d4df02e56 21
heroistired 0:badebd32bd8b 22 MPU_Init(); //初始化MPU6050
heroistired 0:badebd32bd8b 23 myled = 0;
heroistired 0:badebd32bd8b 24 while(mpu_dmp_init())
heroistired 0:badebd32bd8b 25 {
heroistired 0:badebd32bd8b 26 wait(0.2);
heroistired 0:badebd32bd8b 27 myled = !myled;
heroistired 0:badebd32bd8b 28 }
heroistired 0:badebd32bd8b 29 while(1)
heroistired 0:badebd32bd8b 30 {
heroistired 1:588d4df02e56 31 //检测读取数据失败的次数 如感觉6050读数存在问题运行此段代码检查 串口打印的是每1s内 数据获取失败的次数
heroistired 1:588d4df02e56 32 /*if((SystemTick - time_now) >= 100)
heroistired 1:588d4df02e56 33 {
heroistired 1:588d4df02e56 34 time_now = SystemTick;
heroistired 1:588d4df02e56 35 pc.printf("%d\r\n", filure_counter);
heroistired 1:588d4df02e56 36 filure_counter = 0;
heroistired 1:588d4df02e56 37 }*/
heroistired 1:588d4df02e56 38
heroistired 1:588d4df02e56 39
heroistired 0:badebd32bd8b 40 pc.printf("pitch: %.2f roll: %.2f yaw: %.2f\r\n", pitch,roll,yaw);
heroistired 0:badebd32bd8b 41 }
heroistired 0:badebd32bd8b 42 }
heroistired 1:588d4df02e56 43
heroistired 1:588d4df02e56 44 void pid_calculator() //更新当前姿态 运行PID算法
heroistired 1:588d4df02e56 45 {
heroistired 1:588d4df02e56 46 SystemTick++;
heroistired 1:588d4df02e56 47 if(SystemTick >= 5000)
heroistired 1:588d4df02e56 48 SystemTick = 0;
heroistired 1:588d4df02e56 49 if(mpu_dmp_get_data(&pitch,&roll,&yaw) != 0)
heroistired 1:588d4df02e56 50 filure_counter++;
heroistired 1:588d4df02e56 51 }