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main.cpp
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main.cpp
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/***************************************************
6-DOF IMU - v1.0
------> http://www.easymcu.ir
Check out the links above for our tutorials and wiring diagrams
Redistributed by Saleh Jamali(SalehJG) for EasyMCU
All text above must be included in any redistribution
****************************************************/
#include "headers.h"
IMU imu;
MPU6050 * mpu = new MPU6050(1);
#define TRACE(x) serial1.print(x);
#define TRACEln(x) serial1.println(x);
int main()
{
int ii;
//-----------------------------------------------------------------------------------------
//unsigned long baudrate = 9600, uint8_t databits = 8, uint8_t parity = 0, uint8_t stopbits = 1
serial1.init(115200,8,0,1);
TRACE("Balancing Robot V1.0\n");
TRACE((mpu->test()==0) ? "i2c has failed...\n\n" : "MPU Project V1.0\n\n");
TRACE("\t=>Restarting MPU6050...");
mpu->reset();
TRACE((mpu->test()==0) ? "i2c has failed...\n" : "OK\n");
//-----------------------------------------------------------------------------------------
mpu->init();
for(ii=0;ii<10;ii++)
{
io.toggle(LED3);
delay.ms(100);
}
//mpu->Get_Accel_Offset();
mpu->getGyroOffset();
mpu->getAccelVal();
imu.HADXL_P[0] = mpu->Accel_In_g[X]; //x;
imu.HADXL_P[1] = mpu->Accel_In_g[Y]; //y;
imu.HADXL_P[2] = mpu->Accel_In_g[Z]; //z;
for(ii=0;ii<10;ii++)
{
io.toggle(LED3);
delay.ms(50);
}
uint32_t routin_100HZ_start = timer.millis();
uint32_t routin_90ms_start = timer.millis();
while(1)
{
if(timer.deltaTmillis(routin_100HZ_start)>9) // --------> execute every 10ms -> 100Hz routin
{
routin_100HZ_start = timer.millis();
mpu->getAccelVal();
imu.interval = 10;//timer.deltaTmillis(gyro.getLastTime());
mpu->getGyroVal();
imu.calculate(
radians(mpu->GyroRate_Val[X]),
radians(mpu->GyroRate_Val[Y]),
radians(mpu->GyroRate_Val[Z]),
mpu->Accel_In_g[X],
mpu->Accel_In_g[Y],
mpu->Accel_In_g[Z]
);
imu.update();
} // End of 100Hz routin
/*******************************************************************/
if(timer.deltaTmillis(routin_90ms_start)>150) // --------> execute every 10ms -> 100Hz routin
{
TRACE("Interval: "); TRACEln(imu.interval);
TRACE("Roll: "); TRACEln(imu.roll);
TRACE("Pitch: "); TRACEln(imu.pitch);
TRACE("Yaw: "); TRACEln(imu.yaw);
TRACEln();
routin_90ms_start = millis();
}
}
}