![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
ST2CMV
Dependencies: mbed MPU6050 ledControl2
main.cpp
- Committer:
- remig
- Date:
- 2020-10-21
- Revision:
- 8:7b491d7b6d9d
- Parent:
- 7:3e1e78b34e1a
File content as of revision 8:7b491d7b6d9d:
/* Getting Pitch and Roll Angles from MPU6050 * * @author: Baser Kandehir * @date: July 16, 2015 * @license: MIT license * * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * @description of the program: * * First of all most of the credit 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. 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 * GND -----------> GND of MPU6050 * VOUT (3.3 V) --> VCC of MPU6050 *--------------------------------------------------------------- *-------------------------------------------------------------- * |NUCLEO F411RE| |Peripherals| * D14 -----------> SDA of MPU6050 * D15 -----------> SCL of MPU6050 * GND -----------> GND of MPU6050 * 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" //! Variable debug #define DEBUG /* */ /* Defined in the MPU6050.cpp file */ // I2C i2c(p9,p10); // setup i2c (SDA,SCL) //! Instance pc de classe Serial Serial pc(USBTX,USBRX); // default baud rate: 9600 //! Instance mpu6050 de classe MPU6050 MPU6050 mpu6050; // class: MPU6050, object: mpu6050 //! instance toggler1 de classe Ticker //! instance filer de classe Ticker // Ticker // A Ticker is used to call a function at a recurring interval. // You can use as many separate Ticker objects as you require. Ticker toggler1; Ticker filter; void toggle_led1(); void toggle_led2(); void compFilter(); float pitchAngle = 0; float rollAngle = 0; int main() { pc.baud(9600); // baud rate: 9600 mpu6050.whoAmI(); // Communication test: WHO_AM_I register reading wait(1); mpu6050.calibrate(accelBias,gyroBias); // Calibrate MPU6050 and load biases into bias registers pc.printf("Calibration is completed. \r\n"); wait(0.5); mpu6050.init(); // Initialize the sensor wait(1); pc.printf("MPU6050 is initialized for operation.. \r\n\r\n"); wait_ms(500); while(1) { /* 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) #ifdef DEBUG pc.printf(" [Debug On] \r\n"); mpu6050.complementaryFilter(&pitchAngle, &rollAngle); #endif 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); } } void toggle_led1() {ledToggle(1);} void toggle_led2() {ledToggle(2);} /* This function is created to avoid address error that caused from Ticker.attach func */ void compFilter() {mpu6050.complementaryFilter(&pitchAngle, &rollAngle);}