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ST2CMV
Dependencies: mbed MPU6050 ledControl2
Diff: main.cpp
- Revision:
- 0:9203a021a0be
- Child:
- 2:497faa1563ea
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Thu Jul 09 12:14:59 2015 +0000 @@ -0,0 +1,87 @@ +/* MPU6050 example with I2C interface on LPC1768 +* +* @author: Baser Kandehir +* @date: July 9, 2015 +* @license: Use this code however you'd like +* +* @description of the program: +* +* First of all most of the credits goes to Kris Winer for his useful MPU6050 code. +* 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. +* +* @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 +* VOUT (3.3 V) --> VCC of MPU6050 +*--------------------------------------------------------------- +* Note: For any mistakes or comments, please contact me. +*/ + +#include "mbed.h" +#include "MPU6050.h" +#include "ledControl.h" + +/* */ + +/* 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 +Ticker toggler1; + +void toggle_led1(); +void toggle_led2(); + +int main() +{ + ftdi.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"); + wait(0.5); + mpu6050.init(); // Initialize the sensor + wait(1); + ftdi.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"); + + wait(2.5); + } +} + +void toggle_led1() {ledToggle(1);} +void toggle_led2() {ledToggle(2);}