intergration2
Dependencies: mbed airMouseWorkingLib ledControl2 USBDevice
main.cpp@4:33fef1998fc8, 2015-07-16 (annotated)
- Committer:
- BaserK
- Date:
- Thu Jul 16 13:58:38 2015 +0000
- Revision:
- 4:33fef1998fc8
- Parent:
- 3:88737ad5c803
- Child:
- 5:a6a235d5442d
The main program now uses complementary filter as a function to calculate pitch and roll angles
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 4:33fef1998fc8 | 1 | /* Getting Pitch and Roll Angles from MPU6050 |
BaserK | 0:9203a021a0be | 2 | * |
BaserK | 0:9203a021a0be | 3 | * @author: Baser Kandehir |
BaserK | 4:33fef1998fc8 | 4 | * @date: July 16, 2015 |
BaserK | 0:9203a021a0be | 5 | * @license: Use this code however you'd like |
BaserK | 0:9203a021a0be | 6 | * |
BaserK | 0:9203a021a0be | 7 | * @description of the program: |
BaserK | 0:9203a021a0be | 8 | * |
BaserK | 2:497faa1563ea | 9 | * First of all most of the credit goes to Kris Winer for his useful MPU6050 code. |
BaserK | 0:9203a021a0be | 10 | * I rewrite the code in my way using class prototypes and my comments. This program |
BaserK | 0:9203a021a0be | 11 | * can be a starter point for more advanced projects including quadcopters, balancing |
BaserK | 0:9203a021a0be | 12 | * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers |
BaserK | 4:33fef1998fc8 | 13 | * and calibrates them for better results. Then uses this data is to obtain pitch and roll |
BaserK | 4:33fef1998fc8 | 14 | * angles and writes these angles to the terminal which mbed is connected to. |
BaserK | 0:9203a021a0be | 15 | * |
BaserK | 0:9203a021a0be | 16 | * @connections: |
BaserK | 0:9203a021a0be | 17 | *-------------------------------------------------------------- |
BaserK | 0:9203a021a0be | 18 | * |LPC1768| |Peripherals| |
BaserK | 0:9203a021a0be | 19 | * Pin 9 ---------> SDA of MPU6050 |
BaserK | 0:9203a021a0be | 20 | * Pin 10 --------> SCL of MPU6050 |
BaserK | 4:33fef1998fc8 | 21 | * GND -----------> GND of MPU6050 |
BaserK | 0:9203a021a0be | 22 | * VOUT (3.3 V) --> VCC of MPU6050 |
BaserK | 0:9203a021a0be | 23 | *--------------------------------------------------------------- |
BaserK | 0:9203a021a0be | 24 | * Note: For any mistakes or comments, please contact me. |
BaserK | 0:9203a021a0be | 25 | */ |
BaserK | 0:9203a021a0be | 26 | |
BaserK | 0:9203a021a0be | 27 | #include "mbed.h" |
BaserK | 0:9203a021a0be | 28 | #include "MPU6050.h" |
BaserK | 0:9203a021a0be | 29 | #include "ledControl.h" |
BaserK | 0:9203a021a0be | 30 | |
BaserK | 0:9203a021a0be | 31 | /* */ |
BaserK | 0:9203a021a0be | 32 | |
BaserK | 0:9203a021a0be | 33 | /* Defined in the MPU6050.cpp file */ |
BaserK | 0:9203a021a0be | 34 | // I2C i2c(p9,p10); // setup i2c (SDA,SCL) |
BaserK | 0:9203a021a0be | 35 | |
BaserK | 4:33fef1998fc8 | 36 | Serial pc(USBTX,USBRX); // default baud rate: 9600 |
BaserK | 4:33fef1998fc8 | 37 | MPU6050 mpu6050; // class: MPU6050, object: mpu6050 |
BaserK | 0:9203a021a0be | 38 | Ticker toggler1; |
BaserK | 3:88737ad5c803 | 39 | Ticker filter; |
BaserK | 0:9203a021a0be | 40 | |
BaserK | 0:9203a021a0be | 41 | void toggle_led1(); |
BaserK | 0:9203a021a0be | 42 | void toggle_led2(); |
BaserK | 3:88737ad5c803 | 43 | void compFilter(); |
BaserK | 3:88737ad5c803 | 44 | |
BaserK | 3:88737ad5c803 | 45 | float pitchAngle = 0; |
BaserK | 3:88737ad5c803 | 46 | float rollAngle = 0; |
BaserK | 0:9203a021a0be | 47 | |
BaserK | 0:9203a021a0be | 48 | int main() |
BaserK | 0:9203a021a0be | 49 | { |
BaserK | 4:33fef1998fc8 | 50 | pc.baud(9600); // baud rate: 9600 |
BaserK | 0:9203a021a0be | 51 | i2c.frequency(400000); // fast i2c: 400 kHz |
BaserK | 0:9203a021a0be | 52 | mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading |
BaserK | 0:9203a021a0be | 53 | wait(1); |
BaserK | 0:9203a021a0be | 54 | mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers |
BaserK | 4:33fef1998fc8 | 55 | pc.printf("Calibration is completed. \r\n"); |
BaserK | 0:9203a021a0be | 56 | wait(0.5); |
BaserK | 0:9203a021a0be | 57 | mpu6050.init(); // Initialize the sensor |
BaserK | 0:9203a021a0be | 58 | wait(1); |
BaserK | 4:33fef1998fc8 | 59 | pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); |
BaserK | 0:9203a021a0be | 60 | wait_ms(500); |
BaserK | 0:9203a021a0be | 61 | |
BaserK | 0:9203a021a0be | 62 | while(1) |
BaserK | 0:9203a021a0be | 63 | { |
BaserK | 4:33fef1998fc8 | 64 | |
BaserK | 4:33fef1998fc8 | 65 | /* Uncomment below if you want to see accel and gyro data */ |
BaserK | 4:33fef1998fc8 | 66 | |
BaserK | 4:33fef1998fc8 | 67 | // pc.printf(" _____________________________________________________________ \r\n"); |
BaserK | 4:33fef1998fc8 | 68 | // pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); |
BaserK | 4:33fef1998fc8 | 69 | // pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); |
BaserK | 4:33fef1998fc8 | 70 | // pc.printf("|_____________________________________________________________ \r\n\r\n"); |
BaserK | 3:88737ad5c803 | 71 | // |
BaserK | 3:88737ad5c803 | 72 | // wait(2.5); |
BaserK | 3:88737ad5c803 | 73 | |
BaserK | 3:88737ad5c803 | 74 | filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) |
BaserK | 0:9203a021a0be | 75 | |
BaserK | 4:33fef1998fc8 | 76 | pc.printf(" _______________\r\n"); |
BaserK | 4:33fef1998fc8 | 77 | pc.printf("| Pitch: %.3f \r\n",pitchAngle); |
BaserK | 4:33fef1998fc8 | 78 | pc.printf("| Roll: %.3f \r\n",rollAngle); |
BaserK | 4:33fef1998fc8 | 79 | pc.printf("|_______________\r\n\r\n"); |
BaserK | 0:9203a021a0be | 80 | |
BaserK | 3:88737ad5c803 | 81 | wait(1); |
BaserK | 4:33fef1998fc8 | 82 | |
BaserK | 0:9203a021a0be | 83 | } |
BaserK | 0:9203a021a0be | 84 | } |
BaserK | 0:9203a021a0be | 85 | |
BaserK | 0:9203a021a0be | 86 | void toggle_led1() {ledToggle(1);} |
BaserK | 0:9203a021a0be | 87 | void toggle_led2() {ledToggle(2);} |
BaserK | 3:88737ad5c803 | 88 | |
BaserK | 3:88737ad5c803 | 89 | /* This function is created to avoid address error that caused from Ticker.attach func */ |
BaserK | 4:33fef1998fc8 | 90 | void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);} |