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);}