Diff: main.cpp

Revision:

0:cf17b1f16335

diff -r 000000000000 -r cf17b1f16335 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 24 20:12:54 2017 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "ST7735_TFT.h"
+#include "Arial24x23i.h"
+#include "Arial11x11.h"
+#include "Arial9x9.h"
+#include "MPU6050.h"
+#include "MMA8451Q.h"
+
+#define MMA8451_I2C_ADDRESS (0x1d<<1)
+
+Serial pc(USBTX, USBRX); // tx, rx default baud rate: 9600
+ 
+void compFilter();
+void preparePeriferals();
+
+MPU6050 mpu6050;           // class: MPU6050, object: mpu6050 
+PinName const SDA = PTE25;
+PinName const SCL = PTE24;
+MMA8451Q acc(SDA, SCL, MMA8451_I2C_ADDRESS); //on-board accelerometer
+//ST7735_TFT lcd(PTD6, NC, PTD5, PTA13, PTD2, PTD4, "TFT"); // TFT; sda, miso (not connected), sck, cs, AO(rs), reset
+Ticker systick; 
+
+float pitchAngle = 0;
+float rollAngle = 0;
+float rollX = 0;
+float pitchY = 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);
+    systick.attach(&compFilter, 0.005);    // calls the complementaryFilter func. every 5 ms (200 Hz sampling period)             
+    while (true) 
+    {
+        atan (ax);
+        //pc.printf("Accelerometer (onboard)   X = %1.2f, Y = %1.2f, Z = %1.2f\r\n", acc.getAccX(), acc.getAccY(), acc.getAccZ());
+        pc.printf("Accelerometer MPU6050(g)  X = %.3f,  Y = %.3f,  Z = %.3f\r\n", ax, ay, az);
+        pc.printf("Gyroscope MPU6050(deg/s) gx = %.3f, gy = %.3f,  gz = %.3f\r\n", gx, gy, gz);
+        pc.printf("Gyroscope MPU6050(deg/s) roll = %.3f, pitch = %.3f\r\n",rollAngle, pitchAngle);
+        wait(1.0f);     
+                                                               
+    }    
+}
+void compFilter() {
+    mpu6050.complementaryFilter(&pitchAngle, &rollAngle);
+}