![](/media/cache/profiles/8ad6635f33710af6a535e8fb8486975e.50x50_q85.jpg)
NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Sensors/Gyro_Acc/MPU6050.cpp
- Committer:
- maetugr
- Date:
- 2014-02-14
- Revision:
- 40:2ca410923691
File content as of revision 40:2ca410923691:
#include "MPU6050.h" MPU6050::MPU6050(PinName sda, PinName scl) : I2C_Sensor(sda, scl, MPU6050_I2C_ADDRESS) { // Turns on the MPU6050's gyro and initializes it // register datasheet: http://www.invensense.com/mems/gyro/documents/RM-MPU-6000A.pdf writeRegister(MPU6050_RA_PWR_MGMT_1, 0x01); // wake up from sleep and chooses Gyro X-Axis as Clock source (stadard sleeping and with inacurate clock is 0x40) writeRegister(MPU6050_RA_GYRO_CONFIG, 0x18); // scales gyros range to +-2000dps writeRegister(MPU6050_RA_ACCEL_CONFIG, 0x00); // scales accelerometers range to +-2g } void MPU6050::read() { readraw_gyro(); // read raw measurement data readraw_acc(); for (int i = 0; i < 3; i++) data_gyro[i] = (raw_gyro[i] - offset_gyro[i])*0.07; // subtract offset from calibration and multiply unit factor (datasheet s.10) for (int i = 0; i < 3; i++) data_acc[i] = raw_acc[i] - offset_acc[i]; // TODO: didn't care about units because IMU-algorithm just uses vector direction } int MPU6050::readTemp() { char buffer[2]; // 8-Bit pieces of temperature data readMultiRegister(MPU6050_RA_TEMP_OUT_H, buffer, 2); // read the sensors register for the temperature return (short) (buffer[0] << 8 | buffer[1]); } void MPU6050::readraw_gyro() { char buffer[6]; // 8-Bit pieces of axis data readMultiRegister(MPU6050_RA_GYRO_XOUT_H | (1 << 7), buffer, 6); // read axis registers using I2C // TODO: why?! | (1 << 7) raw_gyro[0] = (short) (buffer[0] << 8 | buffer[1]); // join 8-Bit pieces to 16-bit short integers raw_gyro[1] = (short) (buffer[2] << 8 | buffer[3]); raw_gyro[2] = (short) (buffer[4] << 8 | buffer[5]); } void MPU6050::readraw_acc() { char buffer[6]; // 8-Bit pieces of axis data readMultiRegister(MPU6050_RA_ACCEL_XOUT_H | (1 << 7), buffer, 6); // read axis registers using I2C // TODO: why?! | (1 << 7) raw_acc[0] = (short) (buffer[0] << 8 | buffer[1]); // join 8-Bit pieces to 16-bit short integers raw_acc[1] = (short) (buffer[2] << 8 | buffer[3]); raw_acc[2] = (short) (buffer[4] << 8 | buffer[5]); } void MPU6050::calibrate(int times, float separation_time) { // calibrate sensor with an average of count samples (result of calibration stored in offset[]) // Calibrate Gyroscope ---------------------------------- float calib_gyro[3] = {0,0,0}; // temporary array for the sum of calibration measurement for (int i = 0; i < times; i++) { // read 'times' times the data in a very short time readraw_gyro(); for (int j = 0; j < 3; j++) calib_gyro[j] += raw_gyro[j]; wait(separation_time); } for (int i = 0; i < 3; i++) offset_gyro[i] = calib_gyro[i]/times; // take the average of the calibration measurements // Calibrate Accelerometer ------------------------------- float calib_acc[3] = {0,0,0}; // temporary array for the sum of calibration measurement for (int i = 0; i < times; i++) { // read 'times' times the data in a very short time readraw_acc(); for (int j = 0; j < 3; j++) calib_acc[j] += raw_acc[j]; wait(separation_time); } for (int i = 0; i < 2; i++) offset_acc[i] = calib_acc[i]/times; // take the average of the calibration measurements }