ST2CMV
Dependencies: mbed MPU6050 ledControl2
main.cpp@3:88737ad5c803, 2015-07-13 (annotated)
- Committer:
- BaserK
- Date:
- Mon Jul 13 13:19:08 2015 +0000
- Revision:
- 3:88737ad5c803
- Parent:
- 2:497faa1563ea
- Child:
- 4:33fef1998fc8
Complementary filter and pitch, roll angles are added
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 | 3:88737ad5c803 | 43 | Ticker filter; |
BaserK | 0:9203a021a0be | 44 | |
BaserK | 0:9203a021a0be | 45 | void toggle_led1(); |
BaserK | 0:9203a021a0be | 46 | void toggle_led2(); |
BaserK | 3:88737ad5c803 | 47 | void complementaryFilter(float* pitch, float* roll); |
BaserK | 3:88737ad5c803 | 48 | void compFilter(); |
BaserK | 3:88737ad5c803 | 49 | |
BaserK | 3:88737ad5c803 | 50 | float pitchAngle = 0; |
BaserK | 3:88737ad5c803 | 51 | float rollAngle = 0; |
BaserK | 0:9203a021a0be | 52 | |
BaserK | 0:9203a021a0be | 53 | int main() |
BaserK | 0:9203a021a0be | 54 | { |
BaserK | 0:9203a021a0be | 55 | ftdi.baud(9600); // baud rate: 9600 |
BaserK | 0:9203a021a0be | 56 | i2c.frequency(400000); // fast i2c: 400 kHz |
BaserK | 0:9203a021a0be | 57 | mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading |
BaserK | 0:9203a021a0be | 58 | wait(1); |
BaserK | 0:9203a021a0be | 59 | mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers |
BaserK | 0:9203a021a0be | 60 | ftdi.printf("Calibration is completed. \r\n"); |
BaserK | 0:9203a021a0be | 61 | wait(0.5); |
BaserK | 0:9203a021a0be | 62 | mpu6050.init(); // Initialize the sensor |
BaserK | 0:9203a021a0be | 63 | wait(1); |
BaserK | 0:9203a021a0be | 64 | ftdi.printf("MPU6050 is initialized for operation.. \r\n\r\n"); |
BaserK | 0:9203a021a0be | 65 | wait_ms(500); |
BaserK | 0:9203a021a0be | 66 | |
BaserK | 0:9203a021a0be | 67 | while(1) |
BaserK | 0:9203a021a0be | 68 | { |
BaserK | 3:88737ad5c803 | 69 | // /* Get actual acc value */ |
BaserK | 3:88737ad5c803 | 70 | // mpu6050.readAccelData(accelData); |
BaserK | 3:88737ad5c803 | 71 | // mpu6050.getAres(); |
BaserK | 3:88737ad5c803 | 72 | // ax = accelData[0]*aRes - accelBias[0]; |
BaserK | 3:88737ad5c803 | 73 | // ay = accelData[1]*aRes - accelBias[1]; |
BaserK | 3:88737ad5c803 | 74 | // az = accelData[2]*aRes - accelBias[2]; |
BaserK | 3:88737ad5c803 | 75 | // |
BaserK | 3:88737ad5c803 | 76 | // /* Get actual gyro value */ |
BaserK | 3:88737ad5c803 | 77 | // mpu6050.readGyroData(gyroData); |
BaserK | 3:88737ad5c803 | 78 | // mpu6050.getGres(); |
BaserK | 3:88737ad5c803 | 79 | // gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i] |
BaserK | 3:88737ad5c803 | 80 | // gy = gyroData[1]*gRes; // - gyroBias[1]; |
BaserK | 3:88737ad5c803 | 81 | // gz = gyroData[2]*gRes; // - gyroBias[2]; |
BaserK | 3:88737ad5c803 | 82 | // |
BaserK | 3:88737ad5c803 | 83 | // ftdi.printf(" _____________________________________________________________ \r\n"); |
BaserK | 3:88737ad5c803 | 84 | // ftdi.printf("| Accelerometer(g) | ax=%.3f | ay=%.3f | az=%.3f \r\n",ax,ay,az); |
BaserK | 3:88737ad5c803 | 85 | // ftdi.printf("| Gyroscope(deg/s) | gx=%.3f | gy=%.3f | gz=%.3f \r\n",gx,gy,gz); |
BaserK | 3:88737ad5c803 | 86 | // ftdi.printf("|_____________________________________________________________ \r\n\r\n"); |
BaserK | 3:88737ad5c803 | 87 | // |
BaserK | 3:88737ad5c803 | 88 | // wait(2.5); |
BaserK | 3:88737ad5c803 | 89 | |
BaserK | 3:88737ad5c803 | 90 | filter.attach(&compFilter, 0.005); // Call the complementaryFilter func. every 5 ms (200 Hz sampling period) |
BaserK | 0:9203a021a0be | 91 | |
BaserK | 3:88737ad5c803 | 92 | ftdi.printf(" _______________\r\n"); |
BaserK | 3:88737ad5c803 | 93 | ftdi.printf("| Pitch: %.3f \r\n",pitchAngle); |
BaserK | 3:88737ad5c803 | 94 | ftdi.printf("| Roll: %.3f \r\n",rollAngle); |
BaserK | 3:88737ad5c803 | 95 | ftdi.printf("|_______________\r\n\r\n"); |
BaserK | 0:9203a021a0be | 96 | |
BaserK | 3:88737ad5c803 | 97 | wait(1); |
BaserK | 0:9203a021a0be | 98 | } |
BaserK | 0:9203a021a0be | 99 | } |
BaserK | 0:9203a021a0be | 100 | |
BaserK | 0:9203a021a0be | 101 | void toggle_led1() {ledToggle(1);} |
BaserK | 0:9203a021a0be | 102 | void toggle_led2() {ledToggle(2);} |
BaserK | 3:88737ad5c803 | 103 | |
BaserK | 3:88737ad5c803 | 104 | /* This function is created to avoid address error that caused from Ticker.attach func */ |
BaserK | 3:88737ad5c803 | 105 | void compFilter() {complementaryFilter(&pitchAngle, &rollAngle);} |
BaserK | 3:88737ad5c803 | 106 | |
BaserK | 3:88737ad5c803 | 107 | void complementaryFilter(float* pitch, float* roll) |
BaserK | 3:88737ad5c803 | 108 | { |
BaserK | 3:88737ad5c803 | 109 | /* Get actual acc value */ |
BaserK | 3:88737ad5c803 | 110 | mpu6050.readAccelData(accelData); |
BaserK | 3:88737ad5c803 | 111 | mpu6050.getAres(); |
BaserK | 3:88737ad5c803 | 112 | ax = accelData[0]*aRes - accelBias[0]; |
BaserK | 3:88737ad5c803 | 113 | ay = accelData[1]*aRes - accelBias[1]; |
BaserK | 3:88737ad5c803 | 114 | az = accelData[2]*aRes - accelBias[2]; |
BaserK | 3:88737ad5c803 | 115 | |
BaserK | 3:88737ad5c803 | 116 | /* Get actual gyro value */ |
BaserK | 3:88737ad5c803 | 117 | mpu6050.readGyroData(gyroData); |
BaserK | 3:88737ad5c803 | 118 | mpu6050.getGres(); |
BaserK | 3:88737ad5c803 | 119 | gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i] |
BaserK | 3:88737ad5c803 | 120 | gy = gyroData[1]*gRes; // - gyroBias[1]; |
BaserK | 3:88737ad5c803 | 121 | gz = gyroData[2]*gRes; // - gyroBias[2]; |
BaserK | 3:88737ad5c803 | 122 | |
BaserK | 3:88737ad5c803 | 123 | float pitchAcc, rollAcc; |
BaserK | 3:88737ad5c803 | 124 | |
BaserK | 3:88737ad5c803 | 125 | /* Integrate the gyro data(deg/s) over time to get angle */ |
BaserK | 3:88737ad5c803 | 126 | *pitch += gx * dt; // Angle around the X-axis |
BaserK | 3:88737ad5c803 | 127 | *roll -= gy * dt; // Angle around the Y-axis |
BaserK | 3:88737ad5c803 | 128 | |
BaserK | 3:88737ad5c803 | 129 | /* Turning around the X-axis results in a vector on the Y-axis |
BaserK | 3:88737ad5c803 | 130 | whereas turning around the Y-axis results in a vector on the X-axis. */ |
BaserK | 3:88737ad5c803 | 131 | pitchAcc = atan2f((float)accelData[1], (float)accelData[2])*180/PI; |
BaserK | 3:88737ad5c803 | 132 | rollAcc = atan2f((float)accelData[0], (float)accelData[2])*180/PI; |
BaserK | 3:88737ad5c803 | 133 | |
BaserK | 3:88737ad5c803 | 134 | /* Apply Complementary Filter */ |
BaserK | 3:88737ad5c803 | 135 | *pitch = *pitch * 0.98 + pitchAcc * 0.02; |
BaserK | 3:88737ad5c803 | 136 | *roll = *roll * 0.98 + rollAcc * 0.02; |
BaserK | 3:88737ad5c803 | 137 | } |