Final project for CS335 By Maxwell Poster and Jeffrey Resnik
Dependencies: mbed MPU6050_template ledControl2 USBDevice
main.cpp
- Committer:
- BaserK
- Date:
- 2015-07-13
- Revision:
- 3:88737ad5c803
- Parent:
- 2:497faa1563ea
- Child:
- 4:33fef1998fc8
File content as of revision 3:88737ad5c803:
/* MPU6050 example with I2C interface on LPC1768 * * @author: Baser Kandehir * @date: July 9, 2015 * @license: Use this code however you'd like * * @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. And writes accel and gyro x,y,z data to the * terminal. I will use this code later on for sensor fusion with a compass to get pitch, * roll and yaw angles. After that I am planning to use some filtering algorithms like * Kalman Filter and Complementary filter. I will keep updating the code as I write them. * * @connections: *-------------------------------------------------------------- * |LPC1768| |Peripherals| * Pin 9 ---------> SDA of MPU6050 * Pin 10 --------> SCL of MPU6050 * Pin 13 --------> (TX) RX pin of the FTDI or Bluetooth etc. * Pin 14 --------> (RX) TX pin of the FTDI or Bluetooth etc. * GND -----------> GND of any peripheral * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- * Note: For any mistakes or comments, please contact me. */ #include "mbed.h" #include "MPU6050.h" #include "ledControl.h" /* */ /* Defined in the MPU6050.cpp file */ // I2C i2c(p9,p10); // setup i2c (SDA,SCL) Serial ftdi(p13,p14); // default baud rate: 9600 MPU6050 mpu6050; // class: MPU6050, object: mpu6050 Ticker toggler1; Ticker filter; void toggle_led1(); void toggle_led2(); void complementaryFilter(float* pitch, float* roll); void compFilter(); float pitchAngle = 0; float rollAngle = 0; int main() { ftdi.baud(9600); // baud rate: 9600 i2c.frequency(400000); // fast i2c: 400 kHz mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading wait(1); mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers ftdi.printf("Calibration is completed. \r\n"); wait(0.5); mpu6050.init(); // Initialize the sensor wait(1); ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n"); wait_ms(500); while(1) { // /* Get actual acc value */ // mpu6050.readAccelData(accelData); // mpu6050.getAres(); // ax = accelData[0]*aRes - accelBias[0]; // ay = accelData[1]*aRes - accelBias[1]; // az = accelData[2]*aRes - accelBias[2]; // // /* Get actual gyro value */ // mpu6050.readGyroData(gyroData); // mpu6050.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]; // // ftdi.printf(" _____________________________________________________________ \r\n"); // ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); // ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); // ftdi.printf("|_____________________________________________________________ \r\n\r\n"); // // wait(2.5); filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) ftdi.printf(" _______________\r\n"); ftdi.printf("| Pitch: %.3f \r\n",pitchAngle); ftdi.printf("| Roll: %.3f \r\n",rollAngle); ftdi.printf("|_______________\r\n\r\n"); wait(1); } } 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() {complementaryFilter(&pitchAngle, &rollAngle);} void complementaryFilter(float* pitch, float* roll) { /* Get actual acc value */ mpu6050.readAccelData(accelData); mpu6050.getAres(); ax = accelData[0]*aRes - accelBias[0]; ay = accelData[1]*aRes - accelBias[1]; az = accelData[2]*aRes - accelBias[2]; /* Get actual gyro value */ mpu6050.readGyroData(gyroData); mpu6050.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]; float pitchAcc, rollAcc; /* Integrate the gyro data(deg/s) over time to get angle */ *pitch += gx * dt; // Angle around the X-axis *roll -= gy * dt; // Angle around the Y-axis /* Turning around the X-axis results in a vector on the Y-axis whereas turning around the Y-axis results in a vector on the X-axis. */ pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI; rollAcc = atan2f((float)accelData[0], (float)accelData[2])*180/PI; /* Apply Complementary Filter */ *pitch = *pitch * 0.98 + pitchAcc * 0.02; *roll = *roll * 0.98 + rollAcc * 0.02; }