Jeffrey Resnik
trying to make project work
Dependencies: mbed airMouseWorkingLib ledControl2 USBDevice
Revision 0:c490afad57f3, committed 2020-11-28
- Comitter:
- jresnik
- Date:
- Sat Nov 28 18:27:48 2020 +0000
- Commit message:
- Testing
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.mbed Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,2 @@ +ROOT=. +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU6050.lib Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mposter/code/airMouseWorkingLib/#2528350ee05b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/USBDevice/#53949e6131f6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ledControl.lib Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/BaserK/code/ledControl2/#1655ee0ec2ca
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Nov 28 18:27:48 2020 +0000
@@ -0,0 +1,169 @@
+/* Getting Pitch and Roll Angles from MPU6050
+*
+* @author: Baser Kandehir
+* @date: July 16, 2015
+* @license: MIT license
+*
+* Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy
+* of this software and associated documentation files (the "Software"), to deal
+* in the Software without restriction, including without limitation the rights
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+* copies of the Software, and to permit persons to whom the Software is
+* furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in
+* all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+* THE SOFTWARE.
+*
+* @description of the program:
+*
+* First of all most of the credit goes to Kris Winer for his useful MPU6050 code.
+* I rewrite the code in my way using class prototypes and my comments. This program
+* can be a starter point for more advanced projects including quadcopters, balancing
+* robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
+* and calibrates them for better results. Then uses this data is to obtain pitch and roll
+* angles and writes these angles to the terminal which mbed is connected to.
+*
+* @connections:
+*--------------------------------------------------------------
+* |LPC1768| |Peripherals|
+* Pin 9 ---------> SDA of MPU6050
+* Pin 10 --------> SCL of MPU6050
+* GND -----------> GND of MPU6050
+* VOUT (3.3 V) --> VCC of MPU6050
+*---------------------------------------------------------------
+*--------------------------------------------------------------
+* |NUCLEO F411RE| |Peripherals|
+* D14 -----------> SDA of MPU6050
+* D15 -----------> SCL of MPU6050
+* GND -----------> GND of MPU6050
+* VOUT (3.3 V) --> VCC of MPU6050
+*---------------------------------------------------------------
+
+
+* Note: For any mistakes or comments, please contact me.
+*/
+
+#include "MPU6050.h"
+#include "ledControl.h"
+
+//! Variable debug
+#define DEBUG
+/* */
+#include "mbed.h"
+#include "USBMouse.h"
+
+//create mouse object
+USBMouse mouse;
+/* Defined in the MPU6050.cpp file */
+// I2C i2c(p9,p10); // setup i2c (SDA,SCL)
+
+//! Instance pc de classe Serial
+Serial pc(USBTX,USBRX); // default baud rate: 9600
+//! Instance mpu6050 de classe MPU6050
+MPU6050 mpu6050; // class: MPU6050, object: mpu6050
+//! instance toggler1 de classe Ticker
+//! instance filer de classe Ticker
+// Ticker
+// A Ticker is used to call a function at a recurring interval.
+// You can use as many separate Ticker objects as you require.
+Ticker toggler1;
+Ticker filter;
+
+void toggle_led1();
+void toggle_led2();
+void compFilter();
+
+float pitchAngle = 0;
+float rollAngle = 0;
+
+int main()
+{
+ pc.baud(9600); // baud rate: 9600
+ 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);
+ pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
+ wait_ms(500);
+
+ /*
+ gxDelta = 0
+ gyDelta = 0
+ gzDelta = 0
+
+ axDelta = 0
+ ayDelta = 0
+ azDelta = 0
+
+ prevgx = gx
+ prevgy = gy
+ prevgz = gz
+
+ prevax = ax
+ prevay = ay
+ prevaz = az
+ */
+
+ //deltaThreshold = 0.2
+
+ while(1)
+ {
+
+ /* Uncomment below if you want to see accel and gyro data */
+
+ pc.printf(" _____________________________________________________________ \r\n");
+ pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
+ pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
+ pc.printf("|_____________________________________________________________ \r\n\r\n");
+//
+ wait(0.1);
+
+ filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
+
+ #ifdef DEBUG
+ pc.printf(" [Debug On] \r\n");
+ mpu6050.complementaryFilter(&pitchAngle, &rollAngle);
+ #endif
+
+
+ pc.printf(" _______________\r\n");
+ pc.printf("| Pitch: %.3f \r\n",pitchAngle);
+ pc.printf("| Roll: %.3f \r\n",rollAngle);
+ pc.printf("|_______________\r\n\r\n");
+
+ wait(1.1);
+
+ /*
+ gxDelta = gx - prevgx;
+ gyDelta = gy - prevgy;
+ gzDelta = gz - prevgz;
+
+ axDelta = ax - prevax;
+ ayDelta = ay - prevay;
+ azDelta = az - prevaz;
+ */
+
+
+ }
+}
+
+
+void toggle_led1() {ledToggle(1);}
+void toggle_led2() {ledToggle(2);}
+
+/* This function is created to avoid address error that caused from Ticker.attach func */
+void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed_config.h Sat Nov 28 18:27:48 2020 +0000 @@ -0,0 +1,56 @@ +/* + * mbed SDK + * Copyright (c) 2017 ARM Limited + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// Automatically generated configuration file. +// DO NOT EDIT, content will be overwritten. + +#ifndef __MBED_CONFIG_DATA__ +#define __MBED_CONFIG_DATA__ + +// Configuration parameters +#define MBED_CONF_PLATFORM_CRASH_CAPTURE_ENABLED 0 // set by library:platform +#define MBED_CONF_PLATFORM_CTHUNK_COUNT_MAX 8 // set by library:platform +#define MBED_CONF_PLATFORM_DEFAULT_SERIAL_BAUD_RATE 9600 // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_ALL_THREADS_INFO 0 // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_DECODE_HTTP_URL_STR "\nFor more info, visit: https://armmbed.github.io/mbedos-error/?error=0x%08X" // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_FILENAME_CAPTURE_ENABLED 0 // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_HIST_ENABLED 0 // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_HIST_SIZE 4 // set by library:platform +#define MBED_CONF_PLATFORM_ERROR_REBOOT_MAX 1 // set by library:platform +#define MBED_CONF_PLATFORM_FATAL_ERROR_AUTO_REBOOT_ENABLED 0 // set by library:platform +#define MBED_CONF_PLATFORM_FORCE_NON_COPYABLE_ERROR 0 // set by library:platform +#define MBED_CONF_PLATFORM_MAX_ERROR_FILENAME_LEN 16 // set by library:platform +#define MBED_CONF_PLATFORM_POLL_USE_LOWPOWER_TIMER 0 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_BAUD_RATE 9600 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_BUFFERED_SERIAL 0 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_CONVERT_NEWLINES 0 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_CONVERT_TTY_NEWLINES 0 // set by library:platform +#define MBED_CONF_PLATFORM_STDIO_FLUSH_AT_EXIT 1 // set by library:platform +#define MBED_CONF_PLATFORM_USE_MPU 1 // set by library:platform +#define MBED_CONF_TARGET_BOOT_STACK_SIZE 0x1000 // set by target:Target +#define MBED_CONF_TARGET_CONSOLE_UART 1 // set by target:Target +#define MBED_CONF_TARGET_DEEP_SLEEP_LATENCY 0 // set by target:Target +#define MBED_CONF_TARGET_DEFAULT_ADC_VREF NAN // set by target:Target +#define MBED_CONF_TARGET_INIT_US_TICKER_AT_BOOT 0 // set by target:Target +#define MBED_CONF_TARGET_MPU_ROM_END 0x0fffffff // set by target:Target +#define MBED_CONF_TARGET_NETWORK_DEFAULT_INTERFACE_TYPE ETHERNET // set by target:LPC1768 +#define MBED_CONF_TARGET_TICKLESS_FROM_US_TICKER 0 // set by target:Target +#define MBED_CONF_TARGET_US_TICKER_TIMER 3 // set by target:LPC1768 +#define MBED_CONF_TARGET_XIP_ENABLE 0 // set by target:Target + +#endif +