Diff: MPU6050_DMP6.cpp

Revision:

0:c3af3416e383

Child:

2:ff025b9c6c7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_DMP6.cpp	Tue Aug 28 07:09:21 2018 +0000
@@ -0,0 +1,342 @@
+#include "MPU6050_DMP6.h"
+
+// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
+// for both classes must be in the include path of your project
+
+//#include "MPU6050.h" // not necessary if using MotionApps include file
+
+
+
+/* =========================================================================
+NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
+depends on the MPU-6050's INT pin being connected to the Arduino's
+external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
+digital I/O pin 2.
+* ========================================================================= */
+
+// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
+// quaternion components in a [w, x, y, z] format (not best for parsing
+// on a remote host such as Processing or something though)
+//#define OUTPUT_READABLE_QUATERNION
+
+// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
+// (in degrees) calculated from the quaternions coming from the FIFO.
+// Note that Euler angles suffer from gimbal lock (for more info, see
+// http://en.wikipedia.org/wiki/Gimbal_lock)
+//#define OUTPUT_READABLE_EULER
+
+// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
+// pitch/roll angles (in degrees) calculated from the quaternions coming
+// from the FIFO. Note this also requires gravity vector calculations.
+// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
+// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
+#define OUTPUT_READABLE_YAWPITCHROLL
+
+// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
+// components with gravity removed. This acceleration reference frame is
+// not compensated for orientation, so +X is always +X according to the
+// sensor, just without the effects of gravity. If you want acceleration
+// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
+//#define OUTPUT_READABLE_REALACCEL
+
+// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
+// components with gravity removed and adjusted for the world frame of
+// reference (yaw is relative to initial orientation, since no magnetometer
+// is present in this case). Could be quite handy in some cases.
+//#define OUTPUT_READABLE_WORLDACCEL
+
+// uncomment "OUTPUT_TEAPOT" if you want output that matches the
+// format used for the InvenSense teapot demo
+//#define OUTPUT_TEAPOT
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+MPU6050DMP6::MPU6050DMP6(PinName intpin, RawSerial* serial_p)
+    :   
+    checkpin_p(new InterruptIn(intpin)),
+    checkpin(*checkpin_p),
+    pc_p(serial_p)
+{
+    initializeValue();
+}
+
+MPU6050DMP6::~MPU6050DMP6(){}
+
+void MPU6050DMP6::dmpDataReady()
+{
+    mpuInterrupt = true;
+}
+
+void MPU6050DMP6::transformeCoordinate_Skipper(Quaternion* q1, Quaternion* q2){
+    q2->w = q1->w;
+    q2->x = q1->y;
+    q2->y = - q1->x;
+    q2->z = q1->z;
+}
+
+
+int MPU6050DMP6::loopstarting(){
+    // if programming failed, don't try to do anything
+    if (!dmpReady) return -1;
+
+    // wait for MPU interrupt or extra packet(s) available
+    while (!mpuInterrupt && fifoCount < packetSize) {
+        // other program behavior stuff here
+        // .
+        // .
+        // .
+        // if you are really paranoid you can frequently test in between other
+        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
+        // while() loop to immediately process the MPU data
+        // .
+        // .
+        // .
+    }
+
+    // reset interrupt flag and get INT_STATUS byte
+    mpuInterrupt = false;
+    mpuIntStatus = mpu.getIntStatus();
+
+    // get current FIFO count
+    fifoCount = mpu.getFIFOCount();
+
+    // check for overflow (this should never happen unless our code is too inefficient)
+    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+        // reset so we can continue cleanly
+        mpu.resetFIFO();
+        //arduinoSerial.println(F("FIFO overflow!"));
+
+        // otherwise, check for DMP data ready interrupt (this should happen frequently)
+    } else if (mpuIntStatus & 0x02) {
+        // wait for correct available data length, should be a VERY short wait
+        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
+
+        // read a packet from FIFO
+        mpu.getFIFOBytes(fifoBuffer, packetSize);
+
+        // track FIFO count here in case there is > 1 packet available
+        // (this lets us immediately read more without waiting for an interrupt)
+        fifoCount -= packetSize;
+
+}
+
+
+}
+// ================================================================
+// ===                      INITIAL SETUP                       ===
+// ================================================================
+
+int MPU6050DMP6::setup()
+{
+    // initialize arduinoSerial communication
+    // (115200 chosen because it is required for Teapot Demo output, but it's
+    // really up to you depending on your project)
+    // initialize device
+    pc_p->printf("Initializing I2C devices...\r\n");
+    mpu.initialize();
+
+    // verify connection
+    pc_p->printf("Testing device connections...\r\n");
+
+    if(mpu.testConnection())    pc_p->printf("MPU6050 connection successful\r\n");
+    else    pc_p->printf("MPU6050 connection failed\r\n"); 
+
+    //arduinoSerial.println(F("Testing device connections..."));
+    //arduinoSerial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+
+    // wait for ready
+    // arduinoSerial.println(F("\nSend any character to begin DMP programming and demo: "));
+    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer
+    // while (!arduinoSerial.available());                 // wait for data
+    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer again
+
+    // load and configure the DMP
+    pc_p->printf("Initializing DMP...\r\n"); 
+    //arduinoSerial.println(F("Initializing DMP..."));
+    devStatus = mpu.dmpInitialize();
+
+    // supply your own gyro offsets here, scaled for min sensitivity
+    mpu.setXGyroOffset(220);
+    mpu.setYGyroOffset(76);
+    mpu.setZGyroOffset(-85);
+    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
+
+    // make sure it worked (returns 0 if so)
+    if (devStatus == 0) {
+        // turn on the DMP, now that it's ready
+        pc_p->printf("Enabling DMP...\r\n"); 
+ 
+        //arduinoSerial.println(F("Enabling DMP..."));
+        mpu.setDMPEnabled(true);
+
+        // enable Arduino interrupt detection
+        pc_p->printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n"); 
+        //arduinoSerial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
+        checkpin.rise(this, &MPU6050DMP6::dmpDataReady);
+        mpuIntStatus = mpu.getIntStatus();
+
+        // set our DMP Ready flag so the main loop() function knows it's okay to use it
+        pc_p->printf("DMP ready! Waiting for first interrupt...\r\n"); 
+        //arduinoSerial.println(F("DMP ready! Waiting for first interrupt..."));
+        dmpReady = true;
+
+        // get expected DMP packet size for later comparison
+        packetSize = mpu.dmpGetFIFOPacketSize();
+    } else {
+        // ERROR!
+        // 1 = initial memory load failed
+        // 2 = DMP configuration updates failed
+        // (if it's going to break, usually the code will be 1)
+        
+        pc_p->printf("DMP Initialization failed (code %d)\r\n",devStatus); 
+
+
+        //arduinoSerial.print(F("DMP Initialization failed (code "));
+        //arduinoSerial.print(devStatus);
+        //arduinoSerial.println(F(")"));
+        return -1;
+    }
+
+    return 0;
+}
+
+
+
+// ================================================================
+// ===                    MAIN PROGRAM LOOP                     ===
+// ================================================================
+
+void MPU6050DMP6::loop()
+{
+    loopstarting();
+
+#ifdef OUTPUT_READABLE_QUATERNION
+        // display quaternion values in easy matrix form: w x y z
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        /*
+        arduinoSerial.print("quat\t");
+        arduinoSerial.print(q.w);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(q.x);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(q.y);
+        arduinoSerial.print("\t");
+        arduinoSerial.println(q.z);
+        */
+#endif
+
+#ifdef OUTPUT_READABLE_EULER
+        // display Euler angles in degrees
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetEuler(euler, &q);
+        /*
+        arduinoSerial.print("euler\t");
+        arduinoSerial.print(euler[0] * 180/M_PI);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(euler[1] * 180/M_PI);
+        arduinoSerial.print("\t");
+        arduinoSerial.println(euler[2] * 180/M_PI);
+        */
+#endif
+
+#ifdef OUTPUT_READABLE_YAWPITCHROLL
+        // display Euler angles in degrees
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetGravity(&gravity, &q);
+        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+        /*
+        arduinoSerial.print("ypr\t");
+        arduinoSerial.print(ypr[0] * 180/M_PI);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(ypr[1] * 180/M_PI);
+        arduinoSerial.print("\t");
+        arduinoSerial.println(ypr[2] * 180/M_PI);
+        */
+#endif
+
+#ifdef OUTPUT_READABLE_REALACCEL
+        // display real acceleration, adjusted to remove gravity
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetAccel(&aa, fifoBuffer);
+        mpu.dmpGetGravity(&gravity, &q);
+        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+        /*
+        arduinoSerial.print("areal\t");
+        arduinoSerial.print(aaReal.x);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(aaReal.y);
+        arduinoSerial.print("\t");
+        arduinoSerial.println(aaReal.z);
+        */
+#endif
+
+#ifdef OUTPUT_READABLE_WORLDACCEL 
+        // display initial world-frame acceleration, adjusted to remove gravity
+        // and rotated based on known orientation from quaternion
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetAccel(&aa, fifoBuffer);
+        mpu.dmpGetGravity(&gravity, &q);
+        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+        mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
+        /*
+        arduinoSerial.print("aworld\t");
+        arduinoSerial.print(aaWorld.x);
+        arduinoSerial.print("\t");
+        arduinoSerial.print(aaWorld.y);
+        arduinoSerial.print("\t");
+        arduinoSerial.println(aaWorld.z);
+        */
+#endif
+
+#ifdef OUTPUT_TEAPOT
+        // display quaternion values in InvenSense Teapot demo format:
+        teapotPacket[2] = fifoBuffer[0];
+        teapotPacket[3] = fifoBuffer[1];
+        teapotPacket[4] = fifoBuffer[4];
+        teapotPacket[5] = fifoBuffer[5];
+        teapotPacket[6] = fifoBuffer[8];
+        teapotPacket[7] = fifoBuffer[9];
+        teapotPacket[8] = fifoBuffer[12];
+        teapotPacket[9] = fifoBuffer[13];
+        //arduinoSerial.write(teapotPacket, 14);
+        teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
+#endif
+
+}
+
+
+void MPU6050DMP6::getRollPitchYaw_Skipper(float rpy[3]){
+    float ypr[3];
+    loopstarting();
+    // display Euler angles in degrees
+    mpu.dmpGetQuaternion(&q, fifoBuffer);
+    transformeCoordinate_Skipper(&q, &q2);
+    mpu.dmpGetGravity(&gravity, &q2);
+    mpu.dmpGetYawPitchRoll(ypr, &q2, &gravity);
+    rpy[0] = ypr[2];
+    rpy[1] = ypr[1];
+    rpy[2] = ypr[0];
+}
+
+void MPU6050DMP6::initializeValue(){
+    dmpReady = false;
+    mpuInterrupt = false;
+
+    teapotPacket[0] = '$';
+    teapotPacket[1] = 0x20;
+    teapotPacket[2] = 0;
+    teapotPacket[3] = 0;
+    teapotPacket[4] = 0;
+    teapotPacket[5] = 0;
+    teapotPacket[6] = 0;
+    teapotPacket[7] = 0;
+    teapotPacket[8] = 0;
+    teapotPacket[9] = 0;
+    teapotPacket[10] = 0x00;
+    teapotPacket[11] = 0x00;
+    teapotPacket[12] = '\r';
+    teapotPacket[13] = '\n';
+
+}
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