From 80a7c93586f74def4dc4108633ad7479c8b71889 Mon Sep 17 00:00:00 2001 From: samitha lakshan Date: Fri, 28 Oct 2022 22:34:48 +0530 Subject: [PATCH] calculations done --- .vs/GccApplication1/v14/.atsuo | Bin 32768 -> 30720 bytes GccApplication1.atsln | 1 - GccApplication1/GccApplication1.cproj | 2 +- GccApplication1/MPU6050_cal.h | 25 ----------------- GccApplication1/main.c | 37 ++++---------------------- 5 files changed, 6 insertions(+), 59 deletions(-) delete mode 100644 GccApplication1/MPU6050_cal.h diff --git a/.vs/GccApplication1/v14/.atsuo b/.vs/GccApplication1/v14/.atsuo index e8bf32c8ceaac1683547a99c5ba15200f61ae02b..f4fb90db7cba8d46bef294f8fbe91dee769c95ee 100644 GIT binary patch delta 1500 zcmbtUO-vI}5boRVvRzoU&;k`3M5T&|(gJErN(4(3L7-Iv2qGd8#bDG}j2eZFF_9RI z(up@sv|cnJ8rgWJ2_F1O6r%@CJZQYAA&~ElR#+Q73JKwxFZ{~Y%swkW? z&MrB#I74ih4Tc5yN%l-M8YR|GwJ$3DJftDu{!0iWz*eejv9HCb>G zkAPP15^!=!a9s35g`5{E<>9L_+by9l0WlA;5`nR!D{x*E`zD(P9lAEgEyZ~tVB-^K z=WO|xwfcIRtuY@ATC;>AG*aN1HQl!14_lIvyB=U6u1hMdulP|-Z>$m#-G8k_w3kpN zbfP}=iYQB}C<#HCQVddsDxyJE%?B568EA2vbuvEfEYx0$ybkB}2sgrmC`P0r?gp$Z zlxSx&P=--<%c?g~BWRoXiRc&Qr-e1oC_voh3$v#dE0qPM_(oHLn8-4 z<3FO-NCt)x(h+)SK?@C&md7&HS%@yW5g4^bY(&JP6CDT0c{8;hPo#|U z)FX3;Sw{a&aqDl2Q@DWb5G*?!P$RZd7S84%9Bfn@GtMyc&Pz?uocwy``IFY8OU^xR zhFWhLdCe^a&mP@+ac_%bas9=y+&6vbu&GK$)1SA5H*w}C?U&E{Zh_(51IHKl8T)(H zY#(RgHHo1jUrh0GW)d-*c)Iy|K~I0U!W1g@Nm_GJ z_v^~4!Qy@v-o}OUM%0na5;jzSR#eZHc^FLZGJ~?gu722$bsW@H<_%R1GH7ea zXXWs=>Y;k9y3$BG-H7;&YI41oW%)6-K3egEZjt^9=;mm^@DUeOHx!y0pVG}E(bwPx zr6UKs$7W#or@KR=wVwz^P=`Cpm>M~8+XzF)Qv_->2{P@u@TuDaTYCcVttSLmdv?Kv V-lK4>iig3RSK{HW&i1xo=XY}=?Gpe1 delta 2126 zcmb_cUrbwN6u;kXSK87#{*0AD+cBt631zob8ABMQ?Hw@wb^M(PFbWibz<{;IG0@dz z#{D5?-19P*Ek;a?zUc5SW+pyV#)D3c%^fk9ZJ`M#;?JurhnG_Y#x%QB6wCn@eB+{2env zNOg+M!5ZJJHsD7E2sm1?2LwJDPAKZ(rphikmGGOwl0kkgLWM9QbOyLv!ULRi@j|G=!^LrkV7vtn;9^)nBDzn0xu@ycy6|n*cnVP_zSqX2yXp-lr zh8VnNn~}0SYHH6GD+ob@5mMS@`c1%UTeF7Ik*Bkfs4)cFn<@H2u~ss>AE}rISXN={ z4tmuj9O~`H1~qdF<+_DJexX)PO?oFXqJT)NQ!+0JXmo@*W=_@%IP2CXSCx*^P#Tm2jbZ0)<|!BOn(?^B zQujX5VH3p?a?}5ps>Q*g=tw&94IM-de03RcrPczGajRiJw+~NFG1tQRxlx3V3*dcL zj*eF|m>hI&DNV*hZ>PX}wobTAHRc;WR@~pQ*{az$wNl>R^eaO}b;lH?%e@Y%9dlGr z@U>LJ)sAa$uQLUtf?E0P - + diff --git a/GccApplication1/MPU6050_cal.h b/GccApplication1/MPU6050_cal.h deleted file mode 100644 index 548d55b..0000000 --- a/GccApplication1/MPU6050_cal.h +++ /dev/null @@ -1,25 +0,0 @@ -#define F_CPU 16000000UL - -#include -#include - -void calibrateMpu6050() -{ - int max_samples = 2000; - - for (int i = 0; i < max_samples; i++) { - // readSensor(); - - // gyro_offset[X] += gyro_raw[X]; - // gyro_offset[Y] += gyro_raw[Y]; - // gyro_offset[Z] += gyro_raw[Z]; - - // Just wait a bit before next loop - //delay(3); - } - - // Calculate average offsets - // gyro_offset[X] /= max_samples; - //gyro_offset[Y] /= max_samples; - //gyro_offset[Z] /= max_samples; -} \ No newline at end of file diff --git a/GccApplication1/main.c b/GccApplication1/main.c index 1a6fcdb..e2cf427 100644 --- a/GccApplication1/main.c +++ b/GccApplication1/main.c @@ -5,7 +5,6 @@ #include /* Include standard library file */ #include /* Include standard library file */ #include "MPU6050.h" /* Include MPU6050 register define file */ -#include "MPU6050_cal.h" /* Include MPU6050 Functions */ #include "I2C.h" /* Include I2C Functions */ #include "USART.h" /* Include USART Functions */ @@ -86,43 +85,17 @@ int main(){ Zg = Gyro_z/16.4; - rollangle=atan2(Ya,Za)*180/PI; // FORMULA FOUND ON INTERNET - pitchangle=atan2(Xa,sqrt(Ya*Ya+Za*Za))*256/PI; //FORMULA FOUND ON INTERNET + rollangle=atan2(Ya,Za)*180/PI; + pitchangle=atan2(Xa,sqrt(Ya*Ya+Za*Za))*256/PI; - //Using Complemetary Filter - roll=A*(roll+Xg*dt)+(1-A)*rollangle;// - pitch=A*(pitch+Yg*dt)+(1-A)*pitchangle; + //Using Complementary Filter + roll=A*(roll+Xg*dt)+(1-A)*rollangle;// + pitch=A*(pitch+Yg*dt)+(1-A)*pitchangle; dtostrf( pitch, 3, 2, float_ ); sprintf(buffer,"Pitch = %s\n",float_); USART_SendString(buffer); printf("\n"); -/* - dtostrf( Xa, 3, 2, float_ ); - sprintf(buffer," Ax = %s g\t",float_); - USART_SendString(buffer); - - dtostrf( Ya, 3, 2, float_ ); - sprintf(buffer," Ay = %s g\t",float_); - USART_SendString(buffer); - - dtostrf( Za, 3, 2, float_ ); - sprintf(buffer," Az = %s g\t",float_); - USART_SendString(buffer); - - dtostrf( Xg, 3, 2, float_ ); - sprintf(buffer," Gx = %s%c/s\t",float_,0xF8); - USART_SendString(buffer); - - dtostrf( Yg, 3, 2, float_ ); - sprintf(buffer," Gy = %s%c/s\t",float_,0xF8); - USART_SendString(buffer); - - dtostrf( Zg, 3, 2, float_ ); - sprintf(buffer," Gz = %s%c/s\t\n",float_,0xF8); - USART_SendString(buffer); - - */ } }