template for jeff
Dependencies: mbed MPU6050_template ledControl2 USBDevice
Diff: main.cpp
- Revision:
- 4:33fef1998fc8
- Parent:
- 3:88737ad5c803
- Child:
- 5:a6a235d5442d
diff -r 88737ad5c803 -r 33fef1998fc8 main.cpp --- a/main.cpp Mon Jul 13 13:19:08 2015 +0000 +++ b/main.cpp Thu Jul 16 13:58:38 2015 +0000 @@ -1,7 +1,7 @@ -/* MPU6050 example with I2C interface on LPC1768 +/* Getting Pitch and Roll Angles from MPU6050 * * @author: Baser Kandehir -* @date: July 9, 2015 +* @date: July 16, 2015 * @license: Use this code however you'd like * * @description of the program: @@ -10,19 +10,15 @@ * 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. +* and calibrates them for better results. Then uses this data is to obtain pitch and roll +* angles and writes these angles to the terminal which mbed is connected to. * * @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 +* GND -----------> GND of MPU6050 * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- * Note: For any mistakes or comments, please contact me. @@ -37,14 +33,13 @@ /* 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 +Serial pc(USBTX,USBRX); // 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; @@ -52,49 +47,39 @@ int main() { - ftdi.baud(9600); // baud rate: 9600 + pc.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"); + pc.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"); + pc.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"); + + /* Uncomment below if you want to see accel and gyro data */ + +// pc.printf(" _____________________________________________________________ \r\n"); +// pc.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); +// pc.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); +// pc.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"); + pc.printf(" _______________\r\n"); + pc.printf("| Pitch: %.3f \r\n",pitchAngle); + pc.printf("| Roll: %.3f \r\n",rollAngle); + pc.printf("|_______________\r\n\r\n"); wait(1); + } } @@ -102,36 +87,4 @@ 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; -} \ No newline at end of file +void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}