template for jeff
Dependencies: mbed MPU6050_template ledControl2 USBDevice
main.cpp@2:497faa1563ea, 2015-07-09 (annotated)
- Committer:
- BaserK
- Date:
- Thu Jul 09 12:28:26 2015 +0000
- Revision:
- 2:497faa1563ea
- Parent:
- 0:9203a021a0be
- Child:
- 3:88737ad5c803
Comment update;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 0:9203a021a0be | 1 | /* MPU6050 example with I2C interface on LPC1768 |
BaserK | 0:9203a021a0be | 2 | * |
BaserK | 0:9203a021a0be | 3 | * @author: Baser Kandehir |
BaserK | 0:9203a021a0be | 4 | * @date: July 9, 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 | 0:9203a021a0be | 13 | * and calibrates them for better results. And writes accel and gyro x,y,z data to the |
BaserK | 0:9203a021a0be | 14 | * terminal. I will use this code later on for sensor fusion with a compass to get pitch, |
BaserK | 0:9203a021a0be | 15 | * roll and yaw angles. After that I am planning to use some filtering algorithms like |
BaserK | 0:9203a021a0be | 16 | * Kalman Filter and Complementary filter. I will keep updating the code as I write them. |
BaserK | 0:9203a021a0be | 17 | * |
BaserK | 0:9203a021a0be | 18 | * @connections: |
BaserK | 0:9203a021a0be | 19 | *-------------------------------------------------------------- |
BaserK | 0:9203a021a0be | 20 | * |LPC1768| |Peripherals| |
BaserK | 0:9203a021a0be | 21 | * Pin 9 ---------> SDA of MPU6050 |
BaserK | 0:9203a021a0be | 22 | * Pin 10 --------> SCL of MPU6050 |
BaserK | 0:9203a021a0be | 23 | * Pin 13 --------> (TX) RX pin of the FTDI or Bluetooth etc. |
BaserK | 0:9203a021a0be | 24 | * Pin 14 --------> (RX) TX pin of the FTDI or Bluetooth etc. |
BaserK | 0:9203a021a0be | 25 | * GND -----------> GND of any peripheral |
BaserK | 0:9203a021a0be | 26 | * VOUT (3.3 V) --> VCC of MPU6050 |
BaserK | 0:9203a021a0be | 27 | *--------------------------------------------------------------- |
BaserK | 0:9203a021a0be | 28 | * Note: For any mistakes or comments, please contact me. |
BaserK | 0:9203a021a0be | 29 | */ |
BaserK | 0:9203a021a0be | 30 | |
BaserK | 0:9203a021a0be | 31 | #include "mbed.h" |
BaserK | 0:9203a021a0be | 32 | #include "MPU6050.h" |
BaserK | 0:9203a021a0be | 33 | #include "ledControl.h" |
BaserK | 0:9203a021a0be | 34 | |
BaserK | 0:9203a021a0be | 35 | /* */ |
BaserK | 0:9203a021a0be | 36 | |
BaserK | 0:9203a021a0be | 37 | /* Defined in the MPU6050.cpp file */ |
BaserK | 0:9203a021a0be | 38 | // I2C i2c(p9,p10); // setup i2c (SDA,SCL) |
BaserK | 0:9203a021a0be | 39 | |
BaserK | 0:9203a021a0be | 40 | Serial ftdi(p13,p14); // default baud rate: 9600 |
BaserK | 0:9203a021a0be | 41 | MPU6050 mpu6050; // class: MPU6050, object: mpu6050 |
BaserK | 0:9203a021a0be | 42 | Ticker toggler1; |
BaserK | 0:9203a021a0be | 43 | |
BaserK | 0:9203a021a0be | 44 | void toggle_led1(); |
BaserK | 0:9203a021a0be | 45 | void toggle_led2(); |
BaserK | 0:9203a021a0be | 46 | |
BaserK | 0:9203a021a0be | 47 | int main() |
BaserK | 0:9203a021a0be | 48 | { |
BaserK | 0:9203a021a0be | 49 | ftdi.baud(9600); // baud rate: 9600 |
BaserK | 0:9203a021a0be | 50 | i2c.frequency(400000); // fast i2c: 400 kHz |
BaserK | 0:9203a021a0be | 51 | mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading |
BaserK | 0:9203a021a0be | 52 | wait(1); |
BaserK | 0:9203a021a0be | 53 | mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers |
BaserK | 0:9203a021a0be | 54 | ftdi.printf("Calibration is completed. \r\n"); |
BaserK | 0:9203a021a0be | 55 | wait(0.5); |
BaserK | 0:9203a021a0be | 56 | mpu6050.init(); // Initialize the sensor |
BaserK | 0:9203a021a0be | 57 | wait(1); |
BaserK | 0:9203a021a0be | 58 | ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n"); |
BaserK | 0:9203a021a0be | 59 | wait_ms(500); |
BaserK | 0:9203a021a0be | 60 | |
BaserK | 0:9203a021a0be | 61 | while(1) |
BaserK | 0:9203a021a0be | 62 | { |
BaserK | 0:9203a021a0be | 63 | /* Get actual acc value */ |
BaserK | 0:9203a021a0be | 64 | mpu6050.readAccelData(accelData); |
BaserK | 0:9203a021a0be | 65 | mpu6050.getAres(); |
BaserK | 0:9203a021a0be | 66 | ax = accelData[0]*aRes - accelBias[0]; |
BaserK | 0:9203a021a0be | 67 | ay = accelData[1]*aRes - accelBias[1]; |
BaserK | 0:9203a021a0be | 68 | az = accelData[2]*aRes - accelBias[2]; |
BaserK | 0:9203a021a0be | 69 | |
BaserK | 0:9203a021a0be | 70 | /* Get actual gyro value */ |
BaserK | 0:9203a021a0be | 71 | mpu6050.readGyroData(gyroData); |
BaserK | 0:9203a021a0be | 72 | mpu6050.getGres(); |
BaserK | 0:9203a021a0be | 73 | gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i] |
BaserK | 0:9203a021a0be | 74 | gy = gyroData[1]*gRes; // - gyroBias[1]; |
BaserK | 0:9203a021a0be | 75 | gz = gyroData[2]*gRes; // - gyroBias[2]; |
BaserK | 0:9203a021a0be | 76 | |
BaserK | 0:9203a021a0be | 77 | ftdi.printf(" _____________________________________________________________ \r\n"); |
BaserK | 0:9203a021a0be | 78 | ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); |
BaserK | 0:9203a021a0be | 79 | ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); |
BaserK | 0:9203a021a0be | 80 | ftdi.printf("|_____________________________________________________________ \r\n\r\n"); |
BaserK | 0:9203a021a0be | 81 | |
BaserK | 0:9203a021a0be | 82 | wait(2.5); |
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);} |