SSSUP / 6-axis-sensor_MPU6050

加速度・ジャイロセンサ―

Fork of MPU-6050 by SSSRC 2016s

MPU6050.h@4:88b9eb734fca, 2016-05-15 (annotated)

Committer:
beingblock
Date:
Sun May 15 06:24:43 2016 +0000
Revision:
4:88b9eb734fca
Parent:
3:1e6e76e5348f
Child:
5:15198869706e
??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beingblock 0:64040ce140d9 1 #ifndef MPU6050_H
beingblock 0:64040ce140d9 2 #define MPU6050_H
beingblock 0:64040ce140d9 3
beingblock 0:64040ce140d9 4 #include "mbed.h"
beingblock 0:64040ce140d9 5
beingblock 0:64040ce140d9 6 // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
beingblock 0:64040ce140d9 7 // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
beingblock 0:64040ce140d9 8 #define ADO 0
beingblock 0:64040ce140d9 9 #if ADO
beingblock 0:64040ce140d9 10 #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
beingblock 0:64040ce140d9 11 #else
beingblock 0:64040ce140d9 12 #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0
beingblock 0:64040ce140d9 13 #endif
beingblock 0:64040ce140d9 14
beingblock 0:64040ce140d9 15 float deltat = 0.0f; // integration interval for both filter schemes
beingblock 0:64040ce140d9 16 /** MPU6050
beingblock 0:64040ce140d9 17 *
beingblock 0:64040ce140d9 18 * 三軸加速度&ジャイロセンサー
beingblock 0:64040ce140d9 19 * 説明用に最低限のドキュメントを作成
beingblock 0:64040ce140d9 20 */
beingblock 0:64040ce140d9 21 class MPU6050
beingblock 0:64040ce140d9 22 {
beingblock 0:64040ce140d9 23 protected:
beingblock 0:64040ce140d9 24
beingblock 0:64040ce140d9 25 public:
beingblock 0:64040ce140d9 26 // Set initial input parameters
beingblock 0:64040ce140d9 27 enum Ascale {
beingblock 0:64040ce140d9 28 AFS_2G = 0,
beingblock 0:64040ce140d9 29 AFS_4G,
beingblock 0:64040ce140d9 30 AFS_8G,
beingblock 0:64040ce140d9 31 AFS_16G
beingblock 0:64040ce140d9 32 };
beingblock 0:64040ce140d9 33
beingblock 0:64040ce140d9 34 enum Gscale {
beingblock 0:64040ce140d9 35 GFS_250DPS = 0,
beingblock 0:64040ce140d9 36 GFS_500DPS,
beingblock 0:64040ce140d9 37 GFS_1000DPS,
beingblock 0:64040ce140d9 38 GFS_2000DPS
beingblock 0:64040ce140d9 39 };
beingblock 0:64040ce140d9 40
beingblock 0:64040ce140d9 41 //===================================================================================================================
beingblock 0:64040ce140d9 42 //====== Set of useful function to access acceleratio, gyroscope, and temperature data
beingblock 0:64040ce140d9 43 //===================================================================================================================
beingblock 1:e55c6ac9c49b 44 /** センサの初期設定をする宣言
beingblock 1:e55c6ac9c49b 45 * @param 12c_sda SDAをつないだピン名
beingblock 1:e55c6ac9c49b 46 * @param i2c_scl SCLをつないだピン名
beingblock 3:1e6e76e5348f 47 * @param adO AD0ピンがhighとlowのどちらになっているか、普通は書かなくてもよい
beingblock 1:e55c6ac9c49b 48 */
beingblock 3:1e6e76e5348f 49 MPU6050( PinName i2c_sda, PinName i2c_scl, int ad0 = 0)
beingblock 0:64040ce140d9 50 : i2c_p( new I2C( i2c_sda, i2c_scl ) ), i2c( *i2c_p ) {
beingblock 1:e55c6ac9c49b 51
beingblock 3:1e6e76e5348f 52 if(ad0) {
beingblock 0:64040ce140d9 53 adr = 0x69;
beingblock 0:64040ce140d9 54 } else {
beingblock 0:64040ce140d9 55 adr = 0x68;
beingblock 0:64040ce140d9 56 }
beingblock 0:64040ce140d9 57
beingblock 0:64040ce140d9 58 // Specify sensor full scale
beingblock 0:64040ce140d9 59 _Gscale = GFS_250DPS;
beingblock 0:64040ce140d9 60 _Ascale = AFS_2G;
beingblock 0:64040ce140d9 61
beingblock 0:64040ce140d9 62 _q[0] = 1.0f;
beingblock 0:64040ce140d9 63 _q[1] = 0.0f;
beingblock 0:64040ce140d9 64 _q[2] = 0.0f;
beingblock 0:64040ce140d9 65 _q[3] = 0.0f;
beingblock 0:64040ce140d9 66
beingblock 0:64040ce140d9 67 // parameters for 6 DoF sensor fusion calculations
beingblock 0:64040ce140d9 68 float PI = 3.14159265358979323846f;
beingblock 0:64040ce140d9 69 float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
beingblock 0:64040ce140d9 70 beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
beingblock 0:64040ce140d9 71 float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
beingblock 0:64040ce140d9 72 zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value
beingblock 0:64040ce140d9 73
beingblock 0:64040ce140d9 74 float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
beingblock 0:64040ce140d9 75 float SelfTest[6];
beingblock 0:64040ce140d9 76
beingblock 0:64040ce140d9 77 MPU6050SelfTest(SelfTest);
beingblock 0:64040ce140d9 78 resetMPU6050();
beingblock 0:64040ce140d9 79 calibrateMPU6050(gyroBias, accelBias);
beingblock 0:64040ce140d9 80 initMPU6050();
beingblock 0:64040ce140d9 81 }
beingblock 0:64040ce140d9 82
beingblock 0:64040ce140d9 83 // scale resolutions per LSB for the sensors
beingblock 0:64040ce140d9 84 float getGres() {
beingblock 0:64040ce140d9 85 float gRes;
beingblock 0:64040ce140d9 86 switch (_Gscale) {
beingblock 0:64040ce140d9 87 // Possible gyro scales (and their register bit settings) are:
beingblock 0:64040ce140d9 88 // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
beingblock 0:64040ce140d9 89 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
beingblock 0:64040ce140d9 90 case GFS_250DPS:
beingblock 0:64040ce140d9 91 gRes = 250.0/32768.0;
beingblock 0:64040ce140d9 92 break;
beingblock 0:64040ce140d9 93 case GFS_500DPS:
beingblock 0:64040ce140d9 94 gRes = 500.0/32768.0;
beingblock 0:64040ce140d9 95 break;
beingblock 0:64040ce140d9 96 case GFS_1000DPS:
beingblock 0:64040ce140d9 97 gRes = 1000.0/32768.0;
beingblock 0:64040ce140d9 98 break;
beingblock 0:64040ce140d9 99 case GFS_2000DPS:
beingblock 0:64040ce140d9 100 gRes = 2000.0/32768.0;
beingblock 0:64040ce140d9 101 break;
beingblock 0:64040ce140d9 102 }
beingblock 0:64040ce140d9 103 return gRes;
beingblock 0:64040ce140d9 104 }
beingblock 0:64040ce140d9 105
beingblock 0:64040ce140d9 106 float getAres() {
beingblock 0:64040ce140d9 107 float aRes;
beingblock 0:64040ce140d9 108 switch (_Ascale) {
beingblock 0:64040ce140d9 109 // Possible accelerometer scales (and their register bit settings) are:
beingblock 0:64040ce140d9 110 // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
beingblock 0:64040ce140d9 111 // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
beingblock 0:64040ce140d9 112 case AFS_2G:
beingblock 0:64040ce140d9 113 aRes = 2.0/32768.0;
beingblock 0:64040ce140d9 114 break;
beingblock 0:64040ce140d9 115 case AFS_4G:
beingblock 0:64040ce140d9 116 aRes = 4.0/32768.0;
beingblock 0:64040ce140d9 117 break;
beingblock 0:64040ce140d9 118 case AFS_8G:
beingblock 0:64040ce140d9 119 aRes = 8.0/32768.0;
beingblock 0:64040ce140d9 120 break;
beingblock 0:64040ce140d9 121 case AFS_16G:
beingblock 0:64040ce140d9 122 aRes = 16.0/32768.0;
beingblock 0:64040ce140d9 123 break;
beingblock 0:64040ce140d9 124 }
beingblock 0:64040ce140d9 125 return aRes;
beingblock 0:64040ce140d9 126 }
beingblock 0:64040ce140d9 127
beingblock 0:64040ce140d9 128
beingblock 0:64040ce140d9 129 void readAccelData(int16_t * destination) {
beingblock 0:64040ce140d9 130 /** 加速度の読み出し
beingblock 0:64040ce140d9 131 * @param destination int[3]の配列を渡してください、加速度をxyz順に返します
beingblock 0:64040ce140d9 132 */
beingblock 0:64040ce140d9 133 uint8_t rawData[6]; // x/y/z accel register data stored here
beingblock 0:64040ce140d9 134 readBytes(ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
beingblock 0:64040ce140d9 135 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
beingblock 0:64040ce140d9 136 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
beingblock 0:64040ce140d9 137 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
beingblock 0:64040ce140d9 138 }
beingblock 0:64040ce140d9 139
beingblock 0:64040ce140d9 140 void readGyroData(int16_t * destination) {
beingblock 0:64040ce140d9 141 /** 角速度の読み出し
beingblock 0:64040ce140d9 142 * @param destination int[3]の配列を渡してください、角速度をxyz順に返します
beingblock 0:64040ce140d9 143 */
beingblock 0:64040ce140d9 144 uint8_t rawData[6]; // x/y/z gyro register data stored here
beingblock 0:64040ce140d9 145 readBytes(GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
beingblock 0:64040ce140d9 146 destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
beingblock 0:64040ce140d9 147 destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
beingblock 0:64040ce140d9 148 destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
beingblock 0:64040ce140d9 149 }
beingblock 0:64040ce140d9 150
beingblock 0:64040ce140d9 151 int16_t readTempData() {
beingblock 0:64040ce140d9 152 /** 温度の読み出し
beingblock 0:64040ce140d9 153 * @return int型の変数に代入してください、温度を返します
beingblock 0:64040ce140d9 154 */
beingblock 0:64040ce140d9 155 uint8_t rawData[2]; // x/y/z gyro register data stored here
beingblock 0:64040ce140d9 156 readBytes(TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
beingblock 0:64040ce140d9 157 return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
beingblock 0:64040ce140d9 158 }
beingblock 0:64040ce140d9 159
beingblock 0:64040ce140d9 160
beingblock 0:64040ce140d9 161
beingblock 0:64040ce140d9 162 // Configure the motion detection control for low power accelerometer mode
beingblock 0:64040ce140d9 163 void LowPowerAccelOnly() {
beingblock 0:64040ce140d9 164
beingblock 0:64040ce140d9 165 // The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
beingblock 0:64040ce140d9 166 // Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
beingblock 0:64040ce140d9 167 // above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a
beingblock 0:64040ce140d9 168 // threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
beingblock 0:64040ce140d9 169 // consideration for these threshold evaluations; otherwise, the flags would be set all the time!
beingblock 0:64040ce140d9 170
beingblock 0:64040ce140d9 171 uint8_t c = readByte(PWR_MGMT_1);
beingblock 0:64040ce140d9 172 writeByte(PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6]
beingblock 0:64040ce140d9 173 writeByte(PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
beingblock 0:64040ce140d9 174
beingblock 0:64040ce140d9 175 c = readByte(PWR_MGMT_2);
beingblock 0:64040ce140d9 176 writeByte(PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5]
beingblock 0:64040ce140d9 177 writeByte(PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
beingblock 0:64040ce140d9 178
beingblock 0:64040ce140d9 179 c = readByte(ACCEL_CONFIG);
beingblock 0:64040ce140d9 180 writeByte(ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
beingblock 0:64040ce140d9 181 // Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold
beingblock 0:64040ce140d9 182 writeByte(ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter
beingblock 0:64040ce140d9 183
beingblock 0:64040ce140d9 184 c = readByte(CONFIG);
beingblock 0:64040ce140d9 185 writeByte(CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
beingblock 0:64040ce140d9 186 writeByte(CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
beingblock 0:64040ce140d9 187
beingblock 0:64040ce140d9 188 c = readByte(INT_ENABLE);
beingblock 0:64040ce140d9 189 writeByte(INT_ENABLE, c & ~0xFF); // Clear all interrupts
beingblock 0:64040ce140d9 190 writeByte(INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only
beingblock 0:64040ce140d9 191
beingblock 0:64040ce140d9 192 // Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
beingblock 0:64040ce140d9 193 // for at least the counter duration
beingblock 0:64040ce140d9 194 writeByte(MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
beingblock 0:64040ce140d9 195 writeByte(MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
beingblock 0:64040ce140d9 196
beingblock 0:64040ce140d9 197 wait(0.1); // Add delay for accumulation of samples
beingblock 0:64040ce140d9 198
beingblock 0:64040ce140d9 199 c = readByte(ACCEL_CONFIG);
beingblock 0:64040ce140d9 200 writeByte(ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
beingblock 0:64040ce140d9 201 writeByte(ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
beingblock 0:64040ce140d9 202
beingblock 0:64040ce140d9 203 c = readByte(PWR_MGMT_2);
beingblock 0:64040ce140d9 204 writeByte(PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
beingblock 0:64040ce140d9 205 writeByte(PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
beingblock 0:64040ce140d9 206
beingblock 0:64040ce140d9 207 c = readByte(PWR_MGMT_1);
beingblock 0:64040ce140d9 208 writeByte(PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
beingblock 0:64040ce140d9 209 writeByte(PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
beingblock 0:64040ce140d9 210
beingblock 0:64040ce140d9 211 }
beingblock 0:64040ce140d9 212
beingblock 0:64040ce140d9 213
beingblock 0:64040ce140d9 214 void resetMPU6050() {
beingblock 0:64040ce140d9 215 // reset device
beingblock 0:64040ce140d9 216 writeByte(PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
beingblock 0:64040ce140d9 217 wait(0.1);
beingblock 0:64040ce140d9 218 }
beingblock 0:64040ce140d9 219
beingblock 0:64040ce140d9 220
beingblock 0:64040ce140d9 221 void initMPU6050() {
beingblock 0:64040ce140d9 222 // Initialize MPU6050 device
beingblock 0:64040ce140d9 223 // wake up device
beingblock 0:64040ce140d9 224 writeByte(PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
beingblock 0:64040ce140d9 225 wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
beingblock 0:64040ce140d9 226
beingblock 0:64040ce140d9 227 // get stable time source
beingblock 0:64040ce140d9 228 writeByte(PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
beingblock 0:64040ce140d9 229
beingblock 0:64040ce140d9 230 // Configure Gyro and Accelerometer
beingblock 0:64040ce140d9 231 // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
beingblock 0:64040ce140d9 232 // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
beingblock 0:64040ce140d9 233 // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
beingblock 0:64040ce140d9 234 writeByte(CONFIG, 0x03);
beingblock 0:64040ce140d9 235
beingblock 0:64040ce140d9 236 // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
beingblock 0:64040ce140d9 237 writeByte(SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
beingblock 0:64040ce140d9 238
beingblock 0:64040ce140d9 239 // Set gyroscope full scale range
beingblock 0:64040ce140d9 240 // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
beingblock 0:64040ce140d9 241 uint8_t c = readByte(GYRO_CONFIG);
beingblock 0:64040ce140d9 242 writeByte(GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
beingblock 0:64040ce140d9 243 writeByte(GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
beingblock 0:64040ce140d9 244 writeByte(GYRO_CONFIG, c | _Gscale << 3); // Set full scale range for the gyro
beingblock 0:64040ce140d9 245
beingblock 0:64040ce140d9 246 // Set accelerometer configuration
beingblock 0:64040ce140d9 247 c = readByte(ACCEL_CONFIG);
beingblock 0:64040ce140d9 248 writeByte(ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
beingblock 0:64040ce140d9 249 writeByte(ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
beingblock 0:64040ce140d9 250 writeByte(ACCEL_CONFIG, c | _Ascale << 3); // Set full scale range for the accelerometer
beingblock 0:64040ce140d9 251
beingblock 0:64040ce140d9 252 // Configure Interrupts and Bypass Enable
beingblock 0:64040ce140d9 253 // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
beingblock 0:64040ce140d9 254 // can join the I2C bus and all can be controlled by the Arduino as master
beingblock 0:64040ce140d9 255 writeByte(INT_PIN_CFG, 0x22);
beingblock 0:64040ce140d9 256 writeByte(INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
beingblock 0:64040ce140d9 257 }
beingblock 0:64040ce140d9 258
beingblock 0:64040ce140d9 259 // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
beingblock 0:64040ce140d9 260 // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
beingblock 0:64040ce140d9 261 void calibrateMPU6050(float * dest1, float * dest2) {
beingblock 0:64040ce140d9 262 uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
beingblock 0:64040ce140d9 263 uint16_t ii, packet_count, fifo_count;
beingblock 0:64040ce140d9 264 int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
beingblock 0:64040ce140d9 265
beingblock 0:64040ce140d9 266 // reset device, reset all registers, clear gyro and accelerometer bias registers
beingblock 0:64040ce140d9 267 writeByte(PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
beingblock 0:64040ce140d9 268 wait(0.1);
beingblock 0:64040ce140d9 269
beingblock 0:64040ce140d9 270 // get stable time source
beingblock 0:64040ce140d9 271 // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
beingblock 0:64040ce140d9 272 writeByte(PWR_MGMT_1, 0x01);
beingblock 0:64040ce140d9 273 writeByte(PWR_MGMT_2, 0x00);
beingblock 0:64040ce140d9 274 wait(0.2);
beingblock 0:64040ce140d9 275
beingblock 0:64040ce140d9 276 // Configure device for bias calculation
beingblock 0:64040ce140d9 277 writeByte(INT_ENABLE, 0x00); // Disable all interrupts
beingblock 0:64040ce140d9 278 writeByte(FIFO_EN, 0x00); // Disable FIFO
beingblock 0:64040ce140d9 279 writeByte(PWR_MGMT_1, 0x00); // Turn on internal clock source
beingblock 0:64040ce140d9 280 writeByte(I2C_MST_CTRL, 0x00); // Disable I2C master
beingblock 0:64040ce140d9 281 writeByte(USER_CTRL, 0x00); // Disable FIFO and I2C master modes
beingblock 0:64040ce140d9 282 writeByte(USER_CTRL, 0x0C); // Reset FIFO and DMP
beingblock 0:64040ce140d9 283 wait(0.015);
beingblock 0:64040ce140d9 284
beingblock 0:64040ce140d9 285 // Configure MPU6050 gyro and accelerometer for bias calculation
beingblock 0:64040ce140d9 286 writeByte(CONFIG, 0x01); // Set low-pass filter to 188 Hz
beingblock 0:64040ce140d9 287 writeByte(SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
beingblock 0:64040ce140d9 288 writeByte(GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
beingblock 0:64040ce140d9 289 writeByte(ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
beingblock 0:64040ce140d9 290
beingblock 0:64040ce140d9 291 uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
beingblock 0:64040ce140d9 292 uint16_t accelsensitivity = 16384; // = 16384 LSB/g
beingblock 0:64040ce140d9 293
beingblock 0:64040ce140d9 294 // Configure FIFO to capture accelerometer and gyro data for bias calculation
beingblock 0:64040ce140d9 295 writeByte(USER_CTRL, 0x40); // Enable FIFO
beingblock 0:64040ce140d9 296 writeByte(FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
beingblock 0:64040ce140d9 297 wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes
beingblock 0:64040ce140d9 298
beingblock 0:64040ce140d9 299 // At end of sample accumulation, turn off FIFO sensor read
beingblock 0:64040ce140d9 300 writeByte(FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
beingblock 0:64040ce140d9 301 readBytes(FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
beingblock 0:64040ce140d9 302 fifo_count = ((uint16_t)data[0] << 8) | data[1];
beingblock 0:64040ce140d9 303 packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
beingblock 0:64040ce140d9 304
beingblock 0:64040ce140d9 305 for (ii = 0; ii < packet_count; ii++) {
beingblock 0:64040ce140d9 306 int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
beingblock 0:64040ce140d9 307 readBytes(FIFO_R_W, 12, &data[0]); // read data for averaging
beingblock 0:64040ce140d9 308 accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
beingblock 0:64040ce140d9 309 accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
beingblock 0:64040ce140d9 310 accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
beingblock 0:64040ce140d9 311 gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
beingblock 0:64040ce140d9 312 gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
beingblock 0:64040ce140d9 313 gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
beingblock 0:64040ce140d9 314
beingblock 0:64040ce140d9 315 accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
beingblock 0:64040ce140d9 316 accel_bias[1] += (int32_t) accel_temp[1];
beingblock 0:64040ce140d9 317 accel_bias[2] += (int32_t) accel_temp[2];
beingblock 0:64040ce140d9 318 gyro_bias[0] += (int32_t) gyro_temp[0];
beingblock 0:64040ce140d9 319 gyro_bias[1] += (int32_t) gyro_temp[1];
beingblock 0:64040ce140d9 320 gyro_bias[2] += (int32_t) gyro_temp[2];
beingblock 0:64040ce140d9 321
beingblock 0:64040ce140d9 322 }
beingblock 0:64040ce140d9 323 accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
beingblock 0:64040ce140d9 324 accel_bias[1] /= (int32_t) packet_count;
beingblock 0:64040ce140d9 325 accel_bias[2] /= (int32_t) packet_count;
beingblock 0:64040ce140d9 326 gyro_bias[0] /= (int32_t) packet_count;
beingblock 0:64040ce140d9 327 gyro_bias[1] /= (int32_t) packet_count;
beingblock 0:64040ce140d9 328 gyro_bias[2] /= (int32_t) packet_count;
beingblock 0:64040ce140d9 329
beingblock 0:64040ce140d9 330 if(accel_bias[2] > 0L) {
beingblock 0:64040ce140d9 331 accel_bias[2] -= (int32_t) accelsensitivity; // Remove gravity from the z-axis accelerometer bias calculation
beingblock 0:64040ce140d9 332 } else {
beingblock 0:64040ce140d9 333 accel_bias[2] += (int32_t) accelsensitivity;
beingblock 0:64040ce140d9 334 }
beingblock 0:64040ce140d9 335
beingblock 0:64040ce140d9 336 // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
beingblock 0:64040ce140d9 337 data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
beingblock 0:64040ce140d9 338 data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
beingblock 0:64040ce140d9 339 data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
beingblock 0:64040ce140d9 340 data[3] = (-gyro_bias[1]/4) & 0xFF;
beingblock 0:64040ce140d9 341 data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
beingblock 0:64040ce140d9 342 data[5] = (-gyro_bias[2]/4) & 0xFF;
beingblock 0:64040ce140d9 343
beingblock 0:64040ce140d9 344 // Push gyro biases to hardware registers
beingblock 0:64040ce140d9 345 writeByte(XG_OFFS_USRH, data[0]);
beingblock 0:64040ce140d9 346 writeByte(XG_OFFS_USRL, data[1]);
beingblock 0:64040ce140d9 347 writeByte(YG_OFFS_USRH, data[2]);
beingblock 0:64040ce140d9 348 writeByte(YG_OFFS_USRL, data[3]);
beingblock 0:64040ce140d9 349 writeByte(ZG_OFFS_USRH, data[4]);
beingblock 0:64040ce140d9 350 writeByte(ZG_OFFS_USRL, data[5]);
beingblock 0:64040ce140d9 351
beingblock 0:64040ce140d9 352 dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
beingblock 0:64040ce140d9 353 dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
beingblock 0:64040ce140d9 354 dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
beingblock 0:64040ce140d9 355
beingblock 0:64040ce140d9 356 // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
beingblock 0:64040ce140d9 357 // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
beingblock 0:64040ce140d9 358 // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
beingblock 0:64040ce140d9 359 // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
beingblock 0:64040ce140d9 360 // the accelerometer biases calculated above must be divided by 8.
beingblock 0:64040ce140d9 361
beingblock 0:64040ce140d9 362 int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
beingblock 0:64040ce140d9 363 readBytes(XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
beingblock 0:64040ce140d9 364 accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
beingblock 0:64040ce140d9 365 readBytes(YA_OFFSET_H, 2, &data[0]);
beingblock 0:64040ce140d9 366 accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
beingblock 0:64040ce140d9 367 readBytes(ZA_OFFSET_H, 2, &data[0]);
beingblock 0:64040ce140d9 368 accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
beingblock 0:64040ce140d9 369
beingblock 0:64040ce140d9 370 uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
beingblock 0:64040ce140d9 371 uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
beingblock 0:64040ce140d9 372
beingblock 0:64040ce140d9 373 for(ii = 0; ii < 3; ii++) {
beingblock 0:64040ce140d9 374 if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
beingblock 0:64040ce140d9 375 }
beingblock 0:64040ce140d9 376
beingblock 0:64040ce140d9 377 // Construct total accelerometer bias, including calculated average accelerometer bias from above
beingblock 0:64040ce140d9 378 accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
beingblock 0:64040ce140d9 379 accel_bias_reg[1] -= (accel_bias[1]/8);
beingblock 0:64040ce140d9 380 accel_bias_reg[2] -= (accel_bias[2]/8);
beingblock 0:64040ce140d9 381
beingblock 0:64040ce140d9 382 data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
beingblock 0:64040ce140d9 383 data[1] = (accel_bias_reg[0]) & 0xFF;
beingblock 0:64040ce140d9 384 data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
beingblock 0:64040ce140d9 385 data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
beingblock 0:64040ce140d9 386 data[3] = (accel_bias_reg[1]) & 0xFF;
beingblock 0:64040ce140d9 387 data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
beingblock 0:64040ce140d9 388 data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
beingblock 0:64040ce140d9 389 data[5] = (accel_bias_reg[2]) & 0xFF;
beingblock 0:64040ce140d9 390 data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
beingblock 0:64040ce140d9 391
beingblock 0:64040ce140d9 392 // Push accelerometer biases to hardware registers
beingblock 0:64040ce140d9 393 // writeByte(XA_OFFSET_H, data[0]);
beingblock 0:64040ce140d9 394 // writeByte(XA_OFFSET_L_TC, data[1]);
beingblock 0:64040ce140d9 395 // writeByte(YA_OFFSET_H, data[2]);
beingblock 0:64040ce140d9 396 // writeByte(YA_OFFSET_L_TC, data[3]);
beingblock 0:64040ce140d9 397 // writeByte(ZA_OFFSET_H, data[4]);
beingblock 0:64040ce140d9 398 // writeByte(ZA_OFFSET_L_TC, data[5]);
beingblock 0:64040ce140d9 399
beingblock 0:64040ce140d9 400 // Output scaled accelerometer biases for manual subtraction in the main program
beingblock 0:64040ce140d9 401 dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
beingblock 0:64040ce140d9 402 dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
beingblock 0:64040ce140d9 403 dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
beingblock 0:64040ce140d9 404 }
beingblock 0:64040ce140d9 405
beingblock 0:64040ce140d9 406
beingblock 0:64040ce140d9 407 // Accelerometer and gyroscope self test; check calibration wrt factory settings
beingblock 0:64040ce140d9 408 void MPU6050SelfTest(float * destination) { // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
beingblock 0:64040ce140d9 409 uint8_t rawData[4] = {0, 0, 0, 0};
beingblock 0:64040ce140d9 410 uint8_t selfTest[6];
beingblock 0:64040ce140d9 411 float factoryTrim[6];
beingblock 0:64040ce140d9 412
beingblock 0:64040ce140d9 413 // Configure the accelerometer for self-test
beingblock 0:64040ce140d9 414 writeByte(ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
beingblock 0:64040ce140d9 415 writeByte(GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
beingblock 0:64040ce140d9 416 wait(0.25); // Delay a while to let the device execute the self-test
beingblock 0:64040ce140d9 417 rawData[0] = readByte(SELF_TEST_X); // X-axis self-test results
beingblock 0:64040ce140d9 418 rawData[1] = readByte(SELF_TEST_Y); // Y-axis self-test results
beingblock 0:64040ce140d9 419 rawData[2] = readByte(SELF_TEST_Z); // Z-axis self-test results
beingblock 0:64040ce140d9 420 rawData[3] = readByte(SELF_TEST_A); // Mixed-axis self-test results
beingblock 0:64040ce140d9 421 // Extract the acceleration test results first
beingblock 0:64040ce140d9 422 selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 423 selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 424 selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 425 // Extract the gyration test results first
beingblock 0:64040ce140d9 426 selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 427 selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 428 selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer
beingblock 0:64040ce140d9 429 // Process results to allow final comparison with factory set values
beingblock 0:64040ce140d9 430 factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation
beingblock 0:64040ce140d9 431 factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation
beingblock 0:64040ce140d9 432 factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation
beingblock 0:64040ce140d9 433 factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation
beingblock 0:64040ce140d9 434 factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation
beingblock 0:64040ce140d9 435 factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation
beingblock 0:64040ce140d9 436
beingblock 0:64040ce140d9 437 // Output self-test results and factory trim calculation if desired
beingblock 0:64040ce140d9 438 // Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
beingblock 0:64040ce140d9 439 // Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
beingblock 0:64040ce140d9 440 // Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
beingblock 0:64040ce140d9 441 // Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
beingblock 0:64040ce140d9 442
beingblock 0:64040ce140d9 443 // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
beingblock 0:64040ce140d9 444 // To get to percent, must multiply by 100 and subtract result from 100
beingblock 0:64040ce140d9 445 for (int i = 0; i < 6; i++) {
beingblock 0:64040ce140d9 446 destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
beingblock 0:64040ce140d9 447 }
beingblock 0:64040ce140d9 448
beingblock 0:64040ce140d9 449 }
beingblock 0:64040ce140d9 450
beingblock 0:64040ce140d9 451
beingblock 0:64040ce140d9 452 // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
beingblock 0:64040ce140d9 453 // (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
beingblock 0:64040ce140d9 454 // which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
beingblock 0:64040ce140d9 455 // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
beingblock 0:64040ce140d9 456 // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
beingblock 0:64040ce140d9 457 // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
beingblock 0:64040ce140d9 458 void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz) {
beingblock 0:64040ce140d9 459 float q1 = _q[0], q2 = _q[1], q3 = _q[2], q4 = _q[3]; // short name local variable for readability
beingblock 0:64040ce140d9 460 float norm; // vector norm
beingblock 0:64040ce140d9 461 float f1, f2, f3; // objective funcyion elements
beingblock 0:64040ce140d9 462 float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements
beingblock 0:64040ce140d9 463 float qDot1, qDot2, qDot3, qDot4;
beingblock 0:64040ce140d9 464 float hatDot1, hatDot2, hatDot3, hatDot4;
beingblock 0:64040ce140d9 465 float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz; // gyro bias error
beingblock 0:64040ce140d9 466
beingblock 0:64040ce140d9 467 // Auxiliary variables to avoid repeated arithmetic
beingblock 0:64040ce140d9 468 float _halfq1 = 0.5f * q1;
beingblock 0:64040ce140d9 469 float _halfq2 = 0.5f * q2;
beingblock 0:64040ce140d9 470 float _halfq3 = 0.5f * q3;
beingblock 0:64040ce140d9 471 float _halfq4 = 0.5f * q4;
beingblock 0:64040ce140d9 472 float _2q1 = 2.0f * q1;
beingblock 0:64040ce140d9 473 float _2q2 = 2.0f * q2;
beingblock 0:64040ce140d9 474 float _2q3 = 2.0f * q3;
beingblock 0:64040ce140d9 475 float _2q4 = 2.0f * q4;
beingblock 0:64040ce140d9 476 // float _2q1q3 = 2.0f * q1 * q3;
beingblock 0:64040ce140d9 477 // float _2q3q4 = 2.0f * q3 * q4;
beingblock 0:64040ce140d9 478
beingblock 0:64040ce140d9 479 // Normalise accelerometer measurement
beingblock 0:64040ce140d9 480 norm = sqrt(ax * ax + ay * ay + az * az);
beingblock 0:64040ce140d9 481 if (norm == 0.0f) return; // handle NaN
beingblock 0:64040ce140d9 482 norm = 1.0f/norm;
beingblock 0:64040ce140d9 483 ax *= norm;
beingblock 0:64040ce140d9 484 ay *= norm;
beingblock 0:64040ce140d9 485 az *= norm;
beingblock 0:64040ce140d9 486
beingblock 0:64040ce140d9 487 // Compute the objective function and Jacobian
beingblock 0:64040ce140d9 488 f1 = _2q2 * q4 - _2q1 * q3 - ax;
beingblock 0:64040ce140d9 489 f2 = _2q1 * q2 + _2q3 * q4 - ay;
beingblock 0:64040ce140d9 490 f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az;
beingblock 0:64040ce140d9 491 J_11or24 = _2q3;
beingblock 0:64040ce140d9 492 J_12or23 = _2q4;
beingblock 0:64040ce140d9 493 J_13or22 = _2q1;
beingblock 0:64040ce140d9 494 J_14or21 = _2q2;
beingblock 0:64040ce140d9 495 J_32 = 2.0f * J_14or21;
beingblock 0:64040ce140d9 496 J_33 = 2.0f * J_11or24;
beingblock 0:64040ce140d9 497
beingblock 0:64040ce140d9 498 // Compute the gradient (matrix multiplication)
beingblock 0:64040ce140d9 499 hatDot1 = J_14or21 * f2 - J_11or24 * f1;
beingblock 0:64040ce140d9 500 hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3;
beingblock 0:64040ce140d9 501 hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1;
beingblock 0:64040ce140d9 502 hatDot4 = J_14or21 * f1 + J_11or24 * f2;
beingblock 0:64040ce140d9 503
beingblock 0:64040ce140d9 504 // Normalize the gradient
beingblock 0:64040ce140d9 505 norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
beingblock 0:64040ce140d9 506 hatDot1 /= norm;
beingblock 0:64040ce140d9 507 hatDot2 /= norm;
beingblock 0:64040ce140d9 508 hatDot3 /= norm;
beingblock 0:64040ce140d9 509 hatDot4 /= norm;
beingblock 0:64040ce140d9 510
beingblock 0:64040ce140d9 511 // Compute estimated gyroscope biases
beingblock 0:64040ce140d9 512 gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3;
beingblock 0:64040ce140d9 513 gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2;
beingblock 0:64040ce140d9 514 gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1;
beingblock 0:64040ce140d9 515
beingblock 0:64040ce140d9 516 // Compute and remove gyroscope biases
beingblock 0:64040ce140d9 517 gbiasx += gerrx * deltat * zeta;
beingblock 0:64040ce140d9 518 gbiasy += gerry * deltat * zeta;
beingblock 0:64040ce140d9 519 gbiasz += gerrz * deltat * zeta;
beingblock 0:64040ce140d9 520 // gx -= gbiasx;
beingblock 0:64040ce140d9 521 // gy -= gbiasy;
beingblock 0:64040ce140d9 522 // gz -= gbiasz;
beingblock 0:64040ce140d9 523
beingblock 0:64040ce140d9 524 // Compute the quaternion derivative
beingblock 0:64040ce140d9 525 qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz;
beingblock 0:64040ce140d9 526 qDot2 = _halfq1 * gx + _halfq3 * gz - _halfq4 * gy;
beingblock 0:64040ce140d9 527 qDot3 = _halfq1 * gy - _halfq2 * gz + _halfq4 * gx;
beingblock 0:64040ce140d9 528 qDot4 = _halfq1 * gz + _halfq2 * gy - _halfq3 * gx;
beingblock 0:64040ce140d9 529
beingblock 0:64040ce140d9 530 // Compute then integrate estimated quaternion derivative
beingblock 0:64040ce140d9 531 q1 += (qDot1 -(beta * hatDot1)) * deltat;
beingblock 0:64040ce140d9 532 q2 += (qDot2 -(beta * hatDot2)) * deltat;
beingblock 0:64040ce140d9 533 q3 += (qDot3 -(beta * hatDot3)) * deltat;
beingblock 0:64040ce140d9 534 q4 += (qDot4 -(beta * hatDot4)) * deltat;
beingblock 0:64040ce140d9 535
beingblock 0:64040ce140d9 536 // Normalize the quaternion
beingblock 0:64040ce140d9 537 norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
beingblock 0:64040ce140d9 538 norm = 1.0f/norm;
beingblock 0:64040ce140d9 539 _q[0] = q1 * norm;
beingblock 0:64040ce140d9 540 _q[1] = q2 * norm;
beingblock 0:64040ce140d9 541 _q[2] = q3 * norm;
beingblock 0:64040ce140d9 542 _q[3] = q4 * norm;
beingblock 0:64040ce140d9 543
beingblock 0:64040ce140d9 544 }
beingblock 3:1e6e76e5348f 545
beingblock 3:1e6e76e5348f 546 private:
beingblock 4:88b9eb734fca 547 // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
beingblock 4:88b9eb734fca 548 // Invensense Inc., www.invensense.com
beingblock 4:88b9eb734fca 549 // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
beingblock 4:88b9eb734fca 550 // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
beingblock 4:88b9eb734fca 551 enum register_adr{
beingblock 4:88b9eb734fca 552 XGOFFS_TC = 0x00, // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
beingblock 4:88b9eb734fca 553 YGOFFS_TC = 0x01,
beingblock 4:88b9eb734fca 554 ZGOFFS_TC = 0x02,
beingblock 4:88b9eb734fca 555 X_FINE_GAIN = 0x03, // [7:0] fine gain
beingblock 4:88b9eb734fca 556 Y_FINE_GAIN = 0x04,
beingblock 4:88b9eb734fca 557 Z_FINE_GAIN = 0x05,
beingblock 4:88b9eb734fca 558 XA_OFFSET_H = 0x06, // User-defined trim values for accelerometer
beingblock 4:88b9eb734fca 559 XA_OFFSET_L_TC = 0x07,
beingblock 4:88b9eb734fca 560 YA_OFFSET_H = 0x08,
beingblock 4:88b9eb734fca 561 YA_OFFSET_L_TC = 0x09,
beingblock 4:88b9eb734fca 562 ZA_OFFSET_H = 0x0A,
beingblock 4:88b9eb734fca 563 ZA_OFFSET_L_TC = 0x0B,
beingblock 4:88b9eb734fca 564 SELF_TEST_X = 0x0D,
beingblock 4:88b9eb734fca 565 SELF_TEST_Y = 0x0E,
beingblock 4:88b9eb734fca 566 SELF_TEST_Z = 0x0F,
beingblock 4:88b9eb734fca 567 SELF_TEST_A = 0x10,
beingblock 4:88b9eb734fca 568 XG_OFFS_USRH = 0x13, // User-defined trim values for gyroscope; supported in MPU-6050?
beingblock 4:88b9eb734fca 569 XG_OFFS_USRL = 0x14,
beingblock 4:88b9eb734fca 570 YG_OFFS_USRH = 0x15,
beingblock 4:88b9eb734fca 571 YG_OFFS_USRL = 0x16,
beingblock 4:88b9eb734fca 572 ZG_OFFS_USRH = 0x17,
beingblock 4:88b9eb734fca 573 ZG_OFFS_USRL = 0x18,
beingblock 4:88b9eb734fca 574 SMPLRT_DIV = 0x19,
beingblock 4:88b9eb734fca 575 CONFIG = 0x1A,
beingblock 4:88b9eb734fca 576 GYRO_CONFIG = 0x1B,
beingblock 4:88b9eb734fca 577 ACCEL_CONFIG = 0x1C,
beingblock 4:88b9eb734fca 578 FF_THR = 0x1D, // Free-fall
beingblock 4:88b9eb734fca 579 FF_DUR = 0x1E, // Free-fall
beingblock 4:88b9eb734fca 580 MOT_THR = 0x1F, // Motion detection threshold bits [7:0]
beingblock 4:88b9eb734fca 581 MOT_DUR = 0x20, // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
beingblock 4:88b9eb734fca 582 ZMOT_THR = 0x21, // Zero-motion detection threshold bits [7:0]
beingblock 4:88b9eb734fca 583 ZRMOT_DUR = 0x22, // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
beingblock 4:88b9eb734fca 584 FIFO_EN = 0x23,
beingblock 4:88b9eb734fca 585 I2C_MST_CTRL = 0x24,
beingblock 4:88b9eb734fca 586 I2C_SLV0_ADDR = 0x25,
beingblock 4:88b9eb734fca 587 I2C_SLV0_REG = 0x26,
beingblock 4:88b9eb734fca 588 I2C_SLV0_CTRL = 0x27,
beingblock 4:88b9eb734fca 589 I2C_SLV1_ADDR = 0x28,
beingblock 4:88b9eb734fca 590 I2C_SLV1_REG = 0x29,
beingblock 4:88b9eb734fca 591 I2C_SLV1_CTRL = 0x2A,
beingblock 4:88b9eb734fca 592 I2C_SLV2_ADDR = 0x2B,
beingblock 4:88b9eb734fca 593 I2C_SLV2_REG = 0x2C,
beingblock 4:88b9eb734fca 594 I2C_SLV2_CTRL = 0x2D,
beingblock 4:88b9eb734fca 595 I2C_SLV3_ADDR = 0x2E,
beingblock 4:88b9eb734fca 596 I2C_SLV3_REG = 0x2F,
beingblock 4:88b9eb734fca 597 I2C_SLV3_CTRL = 0x30,
beingblock 4:88b9eb734fca 598 I2C_SLV4_ADDR = 0x31,
beingblock 4:88b9eb734fca 599 I2C_SLV4_REG = 0x32,
beingblock 4:88b9eb734fca 600 I2C_SLV4_DO = 0x33,
beingblock 4:88b9eb734fca 601 I2C_SLV4_CTRL = 0x34,
beingblock 4:88b9eb734fca 602 I2C_SLV4_DI = 0x35,
beingblock 4:88b9eb734fca 603 I2C_MST_STATUS = 0x36,
beingblock 4:88b9eb734fca 604 INT_PIN_CFG = 0x37,
beingblock 4:88b9eb734fca 605 INT_ENABLE = 0x38,
beingblock 4:88b9eb734fca 606 DMP_INT_STATUS = 0x39, // Check DMP interrupt
beingblock 4:88b9eb734fca 607 INT_STATUS = 0x3A,
beingblock 4:88b9eb734fca 608 ACCEL_XOUT_H = 0x3B,
beingblock 4:88b9eb734fca 609 ACCEL_XOUT_L = 0x3C,
beingblock 4:88b9eb734fca 610 ACCEL_YOUT_H = 0x3D,
beingblock 4:88b9eb734fca 611 ACCEL_YOUT_L = 0x3E,
beingblock 4:88b9eb734fca 612 ACCEL_ZOUT_H = 0x3F,
beingblock 4:88b9eb734fca 613 ACCEL_ZOUT_L = 0x40,
beingblock 4:88b9eb734fca 614 TEMP_OUT_H = 0x41,
beingblock 4:88b9eb734fca 615 TEMP_OUT_L = 0x42,
beingblock 4:88b9eb734fca 616 GYRO_XOUT_H = 0x43,
beingblock 4:88b9eb734fca 617 GYRO_XOUT_L = 0x44,
beingblock 4:88b9eb734fca 618 GYRO_YOUT_H = 0x45,
beingblock 4:88b9eb734fca 619 GYRO_YOUT_L = 0x46,
beingblock 4:88b9eb734fca 620 GYRO_ZOUT_H = 0x47,
beingblock 4:88b9eb734fca 621 GYRO_ZOUT_L = 0x48,
beingblock 4:88b9eb734fca 622 EXT_SENS_DATA_00 = 0x49,
beingblock 4:88b9eb734fca 623 EXT_SENS_DATA_01 = 0x4A,
beingblock 4:88b9eb734fca 624 EXT_SENS_DATA_02 = 0x4B,
beingblock 4:88b9eb734fca 625 EXT_SENS_DATA_03 = 0x4C,
beingblock 4:88b9eb734fca 626 EXT_SENS_DATA_04 = 0x4D,
beingblock 4:88b9eb734fca 627 EXT_SENS_DATA_05 = 0x4E,
beingblock 4:88b9eb734fca 628 EXT_SENS_DATA_06 = 0x4F,
beingblock 4:88b9eb734fca 629 EXT_SENS_DATA_07 = 0x50,
beingblock 4:88b9eb734fca 630 EXT_SENS_DATA_08 = 0x51,
beingblock 4:88b9eb734fca 631 EXT_SENS_DATA_09 = 0x52,
beingblock 4:88b9eb734fca 632 EXT_SENS_DATA_10 = 0x53,
beingblock 4:88b9eb734fca 633 EXT_SENS_DATA_11 = 0x54,
beingblock 4:88b9eb734fca 634 EXT_SENS_DATA_12 = 0x55,
beingblock 4:88b9eb734fca 635 EXT_SENS_DATA_13 = 0x56,
beingblock 4:88b9eb734fca 636 EXT_SENS_DATA_14 = 0x57,
beingblock 4:88b9eb734fca 637 EXT_SENS_DATA_15 = 0x58,
beingblock 4:88b9eb734fca 638 EXT_SENS_DATA_16 = 0x59,
beingblock 4:88b9eb734fca 639 EXT_SENS_DATA_17 = 0x5A,
beingblock 4:88b9eb734fca 640 EXT_SENS_DATA_18 = 0x5B,
beingblock 4:88b9eb734fca 641 EXT_SENS_DATA_19 = 0x5C,
beingblock 4:88b9eb734fca 642 EXT_SENS_DATA_20 = 0x5D,
beingblock 4:88b9eb734fca 643 EXT_SENS_DATA_21 = 0x5E,
beingblock 4:88b9eb734fca 644 EXT_SENS_DATA_22 = 0x5F,
beingblock 4:88b9eb734fca 645 EXT_SENS_DATA_23 = 0x60,
beingblock 4:88b9eb734fca 646 MOT_DETECT_STATUS = 0x61,
beingblock 4:88b9eb734fca 647 I2C_SLV0_DO = 0x63,
beingblock 4:88b9eb734fca 648 I2C_SLV1_DO = 0x64,
beingblock 4:88b9eb734fca 649 I2C_SLV2_DO = 0x65,
beingblock 4:88b9eb734fca 650 I2C_SLV3_DO = 0x66,
beingblock 4:88b9eb734fca 651 I2C_MST_DELAY_CTRL = 0x67,
beingblock 4:88b9eb734fca 652 SIGNAL_PATH_RESET = 0x68,
beingblock 4:88b9eb734fca 653 MOT_DETECT_CTRL = 0x69,
beingblock 4:88b9eb734fca 654 USER_CTRL = 0x6A, // Bit 7 enable DMP, bit 3 reset DMP
beingblock 4:88b9eb734fca 655 PWR_MGMT_1 = 0x6B, // Device defaults to the SLEEP mode
beingblock 4:88b9eb734fca 656 PWR_MGMT_2 = 0x6C,
beingblock 4:88b9eb734fca 657 DMP_BANK = 0x6D, // Activates a specific bank in the DMP
beingblock 4:88b9eb734fca 658 DMP_RW_PNT = 0x6E, // Set read/write pointer to a specific start address in specified DMP bank
beingblock 4:88b9eb734fca 659 DMP_REG = 0x6F, // Register in DMP from which to read or to which to write
beingblock 4:88b9eb734fca 660 DMP_REG_1 = 0x70,
beingblock 4:88b9eb734fca 661 DMP_REG_2 = 0x71,
beingblock 4:88b9eb734fca 662 FIFO_COUNTH = 0x72,
beingblock 4:88b9eb734fca 663 FIFO_COUNTL = 0x73,
beingblock 4:88b9eb734fca 664 FIFO_R_W = 0x74,
beingblock 4:88b9eb734fca 665 WHO_AM_I_MPU6050 = 0x75, // Should return 0x68
beingblock 4:88b9eb734fca 666 };
beingblock 4:88b9eb734fca 667
beingblock 3:1e6e76e5348f 668 int _Gscale;
beingblock 3:1e6e76e5348f 669 int _Ascale;
beingblock 0:64040ce140d9 670
beingblock 3:1e6e76e5348f 671 float _q[4]; // vector to hold quaternion
beingblock 3:1e6e76e5348f 672
beingblock 3:1e6e76e5348f 673 float beta;
beingblock 3:1e6e76e5348f 674 float zeta;
beingblock 3:1e6e76e5348f 675
beingblock 3:1e6e76e5348f 676 //I2C
beingblock 3:1e6e76e5348f 677 I2C *i2c_p;
beingblock 3:1e6e76e5348f 678 I2C &i2c;
beingblock 3:1e6e76e5348f 679 char adr;
beingblock 3:1e6e76e5348f 680
beingblock 3:1e6e76e5348f 681 void writeByte(uint8_t address, uint8_t data) {
beingblock 3:1e6e76e5348f 682 char data_write[2];
beingblock 3:1e6e76e5348f 683 data_write[0] = address;
beingblock 3:1e6e76e5348f 684 data_write[1] = data;
beingblock 3:1e6e76e5348f 685 i2c.write(adr, data_write, 2, 0);
beingblock 3:1e6e76e5348f 686 }
beingblock 3:1e6e76e5348f 687
beingblock 3:1e6e76e5348f 688 char readByte(uint8_t address) {
beingblock 3:1e6e76e5348f 689 char data[1]; // `data` will store the register data
beingblock 3:1e6e76e5348f 690 char data_write[1];
beingblock 3:1e6e76e5348f 691 data_write[0] = address;
beingblock 3:1e6e76e5348f 692 i2c.write(adr, data_write, 1, 1); // no stop
beingblock 3:1e6e76e5348f 693 i2c.read(adr, data, 1, 0);
beingblock 3:1e6e76e5348f 694 return data[0];
beingblock 3:1e6e76e5348f 695 }
beingblock 3:1e6e76e5348f 696
beingblock 3:1e6e76e5348f 697 void readBytes(uint8_t address, uint8_t count, uint8_t * dest) {
beingblock 3:1e6e76e5348f 698 char data[14];
beingblock 3:1e6e76e5348f 699 char data_write[1];
beingblock 3:1e6e76e5348f 700 data_write[0] = address;
beingblock 3:1e6e76e5348f 701 i2c.write(adr, data_write, 1, 1); // no stop
beingblock 3:1e6e76e5348f 702 i2c.read(adr, data, count, 0);
beingblock 3:1e6e76e5348f 703 for(int ii = 0; ii < count; ii++) {
beingblock 3:1e6e76e5348f 704 dest[ii] = data[ii];
beingblock 3:1e6e76e5348f 705 }
beingblock 3:1e6e76e5348f 706 }
beingblock 0:64040ce140d9 707
beingblock 0:64040ce140d9 708 };
beingblock 0:64040ce140d9 709 #endif