takuya ichise / TI_MPU6050

Library receiving values from MPU6050

Dependencies:   MPU6050

Dependents:   TI_MPU6050_SAMPLE

  1. include "mbed.h"
  2. include "TI_MPU6050.h"

Example

include the mbed library with this snippet

TI_MPU6050 mpu6050;

DigitalOut led1(LED1);

int main() {
    mpu6050.setSleepEnabled(false);
    
    while(1) {
        if (mpu6050.isHorizontal()) {
            led1 = 1;
        } else {
            led1 = 0;
        }
        
        int verticalAngle = mpu6050.getVerticalAngle();
        printf("verticalAngle is %d\n\r", verticalAngle);
    }
}

TI_MPU6050.cpp@1:bc1e8a435c95, 2018-06-04 (annotated)

Committer:
tichise
Date:
Mon Jun 04 22:41:56 2018 +0000
Revision:
1:bc1e8a435c95
Parent:
IS_MPU6050.cpp@0:81e5563b1ea1 
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tichise 1:bc1e8a435c95 1 #include "TI_MPU6050.h"
tichise 0:81e5563b1ea1 2 #include "mbed.h"
tichise 0:81e5563b1ea1 3
tichise 1:bc1e8a435c95 4 TI_MPU6050::TI_MPU6050()
tichise 0:81e5563b1ea1 5 {
tichise 0:81e5563b1ea1 6 _mpu.initialize();
tichise 0:81e5563b1ea1 7
tichise 0:81e5563b1ea1 8 bool result = _mpu.testConnection();
tichise 0:81e5563b1ea1 9
tichise 0:81e5563b1ea1 10 if (result) {
tichise 0:81e5563b1ea1 11 // printf("MPU6050 Test Connection passed\n\r");
tichise 0:81e5563b1ea1 12 } else {
tichise 0:81e5563b1ea1 13 // printf("MPU6050 Test Connection failed\n\r");
tichise 0:81e5563b1ea1 14 }
tichise 0:81e5563b1ea1 15 }
tichise 0:81e5563b1ea1 16
tichise 1:bc1e8a435c95 17 int TI_MPU6050::getVerticalAngle()
tichise 0:81e5563b1ea1 18 {
tichise 0:81e5563b1ea1 19 int16_t ax, ay, az;
tichise 0:81e5563b1ea1 20 int16_t gx, gy, gz;
tichise 0:81e5563b1ea1 21
tichise 0:81e5563b1ea1 22 int i = 0;
tichise 0:81e5563b1ea1 23 long x = 0;
tichise 0:81e5563b1ea1 24 long y = 0;
tichise 0:81e5563b1ea1 25 long z = 0;
tichise 0:81e5563b1ea1 26
tichise 0:81e5563b1ea1 27 int repeatCount = 100;
tichise 0:81e5563b1ea1 28
tichise 0:81e5563b1ea1 29 // 各データを100回読み込んで平均化
tichise 0:81e5563b1ea1 30 for (i = 0; i < repeatCount; ++i) {
tichise 0:81e5563b1ea1 31 _mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
tichise 0:81e5563b1ea1 32
tichise 0:81e5563b1ea1 33 // printf("x:%d; y:%d; z:%d;\n\r",ax,ay,az);
tichise 0:81e5563b1ea1 34
tichise 0:81e5563b1ea1 35 x = x + ax; // Ｘ軸を読み込む
tichise 0:81e5563b1ea1 36 y = y + ay; // Ｙ軸を読み込む
tichise 0:81e5563b1ea1 37 z = z + az; // Ｙ軸を読み込む
tichise 0:81e5563b1ea1 38 }
tichise 0:81e5563b1ea1 39
tichise 0:81e5563b1ea1 40 double avX = x / repeatCount;
tichise 0:81e5563b1ea1 41 double avY = y / repeatCount;
tichise 0:81e5563b1ea1 42
tichise 0:81e5563b1ea1 43 int verticalAngle = atan2(avX - 507, avY - 520) / 3.14159 * 180.0;
tichise 0:81e5563b1ea1 44
tichise 0:81e5563b1ea1 45 return verticalAngle;
tichise 0:81e5563b1ea1 46 }
tichise 0:81e5563b1ea1 47
tichise 1:bc1e8a435c95 48 bool TI_MPU6050::isHorizontal()
tichise 0:81e5563b1ea1 49 {
tichise 0:81e5563b1ea1 50 int verticalAngle = getVerticalAngle();
tichise 0:81e5563b1ea1 51
tichise 0:81e5563b1ea1 52 int baseAngle = 90;
tichise 0:81e5563b1ea1 53 bool isHorizontal;
tichise 0:81e5563b1ea1 54
tichise 0:81e5563b1ea1 55 if (verticalAngle < (baseAngle - 20)) {
tichise 0:81e5563b1ea1 56 // printf("vertical Angle : %d;\n\r", verticalAngle);
tichise 0:81e5563b1ea1 57
tichise 0:81e5563b1ea1 58 isHorizontal = false;
tichise 0:81e5563b1ea1 59 } else if ((baseAngle + 20) < verticalAngle) {
tichise 0:81e5563b1ea1 60 // printf("vertical Angle : %d;\n\r", verticalAngle);
tichise 0:81e5563b1ea1 61
tichise 0:81e5563b1ea1 62 isHorizontal = false;
tichise 0:81e5563b1ea1 63 } else {
tichise 0:81e5563b1ea1 64 isHorizontal = true;
tichise 0:81e5563b1ea1 65 }
tichise 0:81e5563b1ea1 66
tichise 0:81e5563b1ea1 67 return isHorizontal;
tichise 0:81e5563b1ea1 68 }
tichise 0:81e5563b1ea1 69
tichise 1:bc1e8a435c95 70 void TI_MPU6050::setSleepEnabled(bool enabled)
tichise 0:81e5563b1ea1 71 {
tichise 0:81e5563b1ea1 72 _mpu.setSleepEnabled(enabled);
tichise 0:81e5563b1ea1 73 }