Maxwell Poster / Mbed 2 deprecated airMouseLib2

intergration2

Dependencies:   mbed airMouseWorkingLib ledControl2 USBDevice

main.cpp@12:7da972dc7317, 2020-11-28 (annotated)

Committer:
mposter
Date:
Sat Nov 28 18:30:03 2020 +0000
Revision:
12:7da972dc7317
Parent:
11:e0274f816403 
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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 5:a6a235d5442d 5 * @license: MIT license
BaserK 5:a6a235d5442d 6 *
BaserK 5:a6a235d5442d 7 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 5:a6a235d5442d 8 *
BaserK 5:a6a235d5442d 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 5:a6a235d5442d 10 * of this software and associated documentation files (the "Software"), to deal
BaserK 5:a6a235d5442d 11 * in the Software without restriction, including without limitation the rights
BaserK 5:a6a235d5442d 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 5:a6a235d5442d 13 * copies of the Software, and to permit persons to whom the Software is
BaserK 5:a6a235d5442d 14 * furnished to do so, subject to the following conditions:
BaserK 5:a6a235d5442d 15 *
BaserK 5:a6a235d5442d 16 * The above copyright notice and this permission notice shall be included in
BaserK 5:a6a235d5442d 17 * all copies or substantial portions of the Software.
BaserK 5:a6a235d5442d 18 *
BaserK 5:a6a235d5442d 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 5:a6a235d5442d 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 5:a6a235d5442d 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 5:a6a235d5442d 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 5:a6a235d5442d 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 5:a6a235d5442d 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 5:a6a235d5442d 25 * THE SOFTWARE.
BaserK 0:9203a021a0be 26 *
BaserK 0:9203a021a0be 27 * @description of the program:
BaserK 0:9203a021a0be 28 *
BaserK 2:497faa1563ea 29 * First of all most of the credit goes to Kris Winer for his useful MPU6050 code.
BaserK 0:9203a021a0be 30 * I rewrite the code in my way using class prototypes and my comments. This program
BaserK 0:9203a021a0be 31 * can be a starter point for more advanced projects including quadcopters, balancing
BaserK 0:9203a021a0be 32 * robots etc. Program takes accelerometer and gyroscope data from the MPU6050 registers
BaserK 4:33fef1998fc8 33 * and calibrates them for better results. Then uses this data is to obtain pitch and roll
BaserK 4:33fef1998fc8 34 * angles and writes these angles to the terminal which mbed is connected to.
BaserK 0:9203a021a0be 35 *
BaserK 0:9203a021a0be 36 * @connections:
BaserK 0:9203a021a0be 37 *--------------------------------------------------------------
BaserK 0:9203a021a0be 38 * |LPC1768| |Peripherals|
BaserK 0:9203a021a0be 39 * Pin 9 ---------> SDA of MPU6050
BaserK 0:9203a021a0be 40 * Pin 10 --------> SCL of MPU6050
BaserK 4:33fef1998fc8 41 * GND -----------> GND of MPU6050
BaserK 0:9203a021a0be 42 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 0:9203a021a0be 43 *---------------------------------------------------------------
BaserK 6:12ff524abb6a 44 *--------------------------------------------------------------
BaserK 6:12ff524abb6a 45 * |NUCLEO F411RE| |Peripherals|
BaserK 6:12ff524abb6a 46 * D14 -----------> SDA of MPU6050
BaserK 6:12ff524abb6a 47 * D15 -----------> SCL of MPU6050
BaserK 6:12ff524abb6a 48 * GND -----------> GND of MPU6050
BaserK 6:12ff524abb6a 49 * VOUT (3.3 V) --> VCC of MPU6050
BaserK 6:12ff524abb6a 50 *---------------------------------------------------------------
BaserK 6:12ff524abb6a 51
BaserK 6:12ff524abb6a 52
BaserK 0:9203a021a0be 53 * Note: For any mistakes or comments, please contact me.
BaserK 0:9203a021a0be 54 */
BaserK 0:9203a021a0be 55
BaserK 0:9203a021a0be 56 #include "mbed.h"
BaserK 0:9203a021a0be 57 #include "MPU6050.h"
BaserK 0:9203a021a0be 58 #include "ledControl.h"
BaserK 0:9203a021a0be 59
remig 8:7b491d7b6d9d 60 //! Variable debug
remig 8:7b491d7b6d9d 61 #define DEBUG
BaserK 0:9203a021a0be 62 /* */
mposter 10:c2cfa1a07fc4 63 #include "mbed.h"
mposter 10:c2cfa1a07fc4 64 #include "USBMouse.h"
BaserK 0:9203a021a0be 65
mposter 10:c2cfa1a07fc4 66 //create mouse object
mposter 10:c2cfa1a07fc4 67 USBMouse mouse;
BaserK 0:9203a021a0be 68 /* Defined in the MPU6050.cpp file */
BaserK 0:9203a021a0be 69 // I2C i2c(p9,p10); // setup i2c (SDA,SCL)
BaserK 0:9203a021a0be 70
remig 8:7b491d7b6d9d 71 //! Instance pc de classe Serial
BaserK 4:33fef1998fc8 72 Serial pc(USBTX,USBRX); // default baud rate: 9600
remig 8:7b491d7b6d9d 73 //! Instance mpu6050 de classe MPU6050
BaserK 4:33fef1998fc8 74 MPU6050 mpu6050; // class: MPU6050, object: mpu6050
remig 8:7b491d7b6d9d 75 //! instance toggler1 de classe Ticker
remig 8:7b491d7b6d9d 76 //! instance filer de classe Ticker
remig 8:7b491d7b6d9d 77 // Ticker
remig 8:7b491d7b6d9d 78 // A Ticker is used to call a function at a recurring interval.
remig 8:7b491d7b6d9d 79 // You can use as many separate Ticker objects as you require.
BaserK 0:9203a021a0be 80 Ticker toggler1;
BaserK 3:88737ad5c803 81 Ticker filter;
BaserK 0:9203a021a0be 82
BaserK 0:9203a021a0be 83 void toggle_led1();
BaserK 0:9203a021a0be 84 void toggle_led2();
BaserK 3:88737ad5c803 85 void compFilter();
BaserK 3:88737ad5c803 86
BaserK 3:88737ad5c803 87 float pitchAngle = 0;
BaserK 3:88737ad5c803 88 float rollAngle = 0;
BaserK 0:9203a021a0be 89
BaserK 0:9203a021a0be 90 int main()
BaserK 0:9203a021a0be 91 {
BaserK 4:33fef1998fc8 92 pc.baud(9600); // baud rate: 9600
BaserK 0:9203a021a0be 93 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading
BaserK 0:9203a021a0be 94 wait(1);
BaserK 0:9203a021a0be 95 mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers
BaserK 4:33fef1998fc8 96 pc.printf("Calibration is completed. \r\n");
BaserK 0:9203a021a0be 97 wait(0.5);
BaserK 0:9203a021a0be 98 mpu6050.init(); // Initialize the sensor
BaserK 0:9203a021a0be 99 wait(1);
BaserK 4:33fef1998fc8 100 pc.printf("MPU6050 is initialized for operation.. \r\n\r\n");
BaserK 0:9203a021a0be 101 wait_ms(500);
BaserK 0:9203a021a0be 102
mposter 11:e0274f816403 103 /*
mposter 10:c2cfa1a07fc4 104 gxDelta = 0
mposter 10:c2cfa1a07fc4 105 gyDelta = 0
mposter 10:c2cfa1a07fc4 106 gzDelta = 0
mposter 10:c2cfa1a07fc4 107
mposter 10:c2cfa1a07fc4 108 axDelta = 0
mposter 10:c2cfa1a07fc4 109 ayDelta = 0
mposter 10:c2cfa1a07fc4 110 azDelta = 0
mposter 10:c2cfa1a07fc4 111
mposter 10:c2cfa1a07fc4 112 prevgx = gx
mposter 10:c2cfa1a07fc4 113 prevgy = gy
mposter 10:c2cfa1a07fc4 114 prevgz = gz
mposter 10:c2cfa1a07fc4 115
mposter 10:c2cfa1a07fc4 116 prevax = ax
mposter 10:c2cfa1a07fc4 117 prevay = ay
mposter 10:c2cfa1a07fc4 118 prevaz = az
mposter 11:e0274f816403 119 */
mposter 10:c2cfa1a07fc4 120
mposter 11:e0274f816403 121 //deltaThreshold = 0.2
mposter 10:c2cfa1a07fc4 122
BaserK 0:9203a021a0be 123 while(1)
BaserK 0:9203a021a0be 124 {
BaserK 4:33fef1998fc8 125
BaserK 4:33fef1998fc8 126 /* Uncomment below if you want to see accel and gyro data */
BaserK 4:33fef1998fc8 127
remig 8:7b491d7b6d9d 128 pc.printf(" _____________________________________________________________ \r\n");
remig 8:7b491d7b6d9d 129 pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az);
remig 8:7b491d7b6d9d 130 pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz);
remig 8:7b491d7b6d9d 131 pc.printf("|_____________________________________________________________ \r\n\r\n");
BaserK 3:88737ad5c803 132 //
mposter 10:c2cfa1a07fc4 133 //wait(0.1);
BaserK 3:88737ad5c803 134
remig 8:7b491d7b6d9d 135 //filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period)
BaserK 0:9203a021a0be 136
remig 8:7b491d7b6d9d 137 #ifdef DEBUG
remig 8:7b491d7b6d9d 138 pc.printf(" [Debug On] \r\n");
remig 8:7b491d7b6d9d 139 mpu6050.complementaryFilter(&pitchAngle, &rollAngle);
remig 8:7b491d7b6d9d 140 #endif
mposter 10:c2cfa1a07fc4 141
mposter 10:c2cfa1a07fc4 142
mposter 10:c2cfa1a07fc4 143 //pc.printf(" _______________\r\n");
mposter 10:c2cfa1a07fc4 144 //pc.printf("| Pitch: %.3f \r\n",pitchAngle);
mposter 10:c2cfa1a07fc4 145 //pc.printf("| Roll: %.3f \r\n",rollAngle);
mposter 10:c2cfa1a07fc4 146 //pc.printf("|_______________\r\n\r\n");
mposter 10:c2cfa1a07fc4 147
mposter 10:c2cfa1a07fc4 148 //wait(1.1);
BaserK 0:9203a021a0be 149
mposter 11:e0274f816403 150 /*
mposter 10:c2cfa1a07fc4 151 gxDelta = gx - prevgx;
mposter 10:c2cfa1a07fc4 152 gyDelta = gy - prevgy;
mposter 10:c2cfa1a07fc4 153 gzDelta = gz - prevgz;
mposter 10:c2cfa1a07fc4 154
mposter 10:c2cfa1a07fc4 155 axDelta = ax - prevax;
mposter 10:c2cfa1a07fc4 156 ayDelta = ay - prevay;
mposter 10:c2cfa1a07fc4 157 azDelta = az - prevaz;
mposter 11:e0274f816403 158 */
mposter 10:c2cfa1a07fc4 159
mposter 10:c2cfa1a07fc4 160
BaserK 0:9203a021a0be 161 }
BaserK 0:9203a021a0be 162 }
BaserK 0:9203a021a0be 163
BaserK 0:9203a021a0be 164 void toggle_led1() {ledToggle(1);}
BaserK 0:9203a021a0be 165 void toggle_led2() {ledToggle(2);}
BaserK 3:88737ad5c803 166
BaserK 3:88737ad5c803 167 /* This function is created to avoid address error that caused from Ticker.attach func */
BaserK 4:33fef1998fc8 168 void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}