Revision 1:588d4df02e56, committed 2018-05-02

Comitter:

heroistired

Date:

Wed May 02 01:32:39 2018 +0000

Parent:

0:badebd32bd8b

Commit message:

d

Changed in this revision

--- a/main.cpp	Mon Apr 09 14:34:45 2018 +0000
+++ b/main.cpp	Wed May 02 01:32:39 2018 +0000
@@ -4,10 +4,21 @@
 
 DigitalOut myled(LED1);
 Serial pc(SERIAL_TX, SERIAL_RX);
+Ticker pid_ticker;   //声明一个 Ticker 对象
+
+void pid_calculator();
+
+float pitch,roll,yaw;       //欧拉角
+unsigned int filure_counter = 0;
+unsigned int SystemTick = 0;
 
 int main() {
-    float pitch,roll,yaw;       //欧拉角
-
+    
+        int time_now = 0;
+    
+        pid_ticker.attach(&pid_calculator, 0.01);   //中断跑在100Hz，因为6050也是以100Hz刷新
+    
+    
     MPU_Init();                 //初始化MPU6050
     myled = 0;
     while(mpu_dmp_init())
@@ -17,9 +28,24 @@
     }    
     while(1)
     {
-        if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)//获取欧拉角
-        { 
+            //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
+            /*if((SystemTick - time_now) >= 100)   
+            {
+                time_now = SystemTick;
+                pc.printf("%d\r\n", filure_counter);
+                filure_counter = 0;
+            }*/
+            
+            
             pc.printf("pitch: %.2f roll: %.2f yaw: %.2f\r\n", pitch,roll,yaw);
-        }
     }   
 }
+
+void pid_calculator()   //更新当前姿态 运行PID算法 
+{
+    SystemTick++;
+    if(SystemTick >= 5000)
+        SystemTick = 0;
+    if(mpu_dmp_get_data(&pitch,&roll,&yaw) != 0)
+        filure_counter++;
+}

--- a/mpu6050.cpp	Mon Apr 09 14:34:45 2018 +0000
+++ b/mpu6050.cpp	Wed May 02 01:32:39 2018 +0000
@@ -239,7 +239,7 @@
 //MPU IIC 延时函数
 void MPU_IIC_Delay(void)
 {
-    delay_us(2);
+    //delay_us(2);
 }
 //初始化IIC
 void MPU_IIC_Init(void)