Revision 7:e4e02c9c1381, committed 2016-11-03

Comitter:

kfforex

Date:

Thu Nov 03 17:14:54 2016 +0000

Parent:

6:5b90f2b5e6d9

Commit message:

before publishing

Changed in this revision

--- a/MPU6050.cpp	Wed Aug 05 13:15:07 2015 +0000
+++ b/MPU6050.cpp	Thu Nov 03 17:14:54 2016 +0000
@@ -3,38 +3,13 @@
 *    @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.
-*
 */
 
-// Most of the code is adapted from Kris Winer's MPU6050 library
 
 #include "MPU6050.h"
 
-/* For LPC1768 board */
-//I2C i2c(p9,p10);         // setup i2c (SDA,SCL)  
-
 /* For NUCLEO-F411RE board */
-static I2C i2c(D14,D15);         // setup i2c (SDA,SCL)
+static I2C i2c(D4,D5);         // setup i2c (SDA,SCL)
 
 /* Set initial input parameters */
 
@@ -147,12 +122,10 @@
     if(whoAmI==0x68)
     {
         pc.printf("MPU6050 is online... \r\n");  
-        led2=1;
     }
     else
     {
         pc.printf("Could not connect to MPU6050 \r\nCheck the connections... \r\n");  
-        toggler1.attach(&toggle_led1,0.1);     // toggles led1 every 100 ms
     }  
 }
 
@@ -359,9 +332,9 @@
     /* Get actual gyro value */
     readGyroData(gyroData);
     getGres();     
-    gx = gyroData[0]*gRes;  // - gyroBias[0];      // Results are better without extracting gyroBias[i]
-    gy = gyroData[1]*gRes;  // - gyroBias[1]; 
-    gz = gyroData[2]*gRes;  // - gyroBias[2]; 
+    gx = gyroData[0]*gRes;       // Results are better without extracting gyroBias[i]
+    gy = gyroData[1]*gRes;  
+    gz = gyroData[2]*gRes;   
 
     float pitchAcc, rollAcc;
 

--- a/MPU6050.h	Wed Aug 05 13:15:07 2015 +0000
+++ b/MPU6050.h	Thu Nov 03 17:14:54 2016 +0000
@@ -30,8 +30,8 @@
 #include "math.h"
 #include "MPU6050RegDef.h"
 
-#define PI 3.14159265359    // This value will be used when calculating angles
-#define dt 0.005            // 200 Hz sampling period
+#define PI 3.141592   // This value will be used when calculating angles
+#define dt 0.01            
 
 extern float aRes, gRes;