Match Lab / Mbed 2 deprecated MPU6050-DMP_test

MPU6050 DMP sample code.

Dependencies:   MPU6050-DMP-Ian mbed

main.cpp@1:ea5ef4879bc4, 2015-01-31 (annotated)

Committer:
Match314
Date:
Sat Jan 31 07:30:09 2015 +0000
Revision:
1:ea5ef4879bc4
Parent:
0:a89e198f9bf7
Child:
2:7ef42101b204
revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Match314 0:a89e198f9bf7 1 /* Demo code for MPU6050 DMP
Match314 0:a89e198f9bf7 2 * I thank Ian Hua.
Match314 0:a89e198f9bf7 3 * Copyright (c) 2015 Match
Match314 0:a89e198f9bf7 4 *
Match314 1:ea5ef4879bc4 5 * THE PROGRAM IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Match314 0:a89e198f9bf7 6 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Match314 0:a89e198f9bf7 7 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
Match314 0:a89e198f9bf7 8 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Match314 0:a89e198f9bf7 9 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
Match314 1:ea5ef4879bc4 10 * OUT OF OR IN CONNECTION WITH THE PROGRAM OR THE USE OR OTHER DEALINGS IN
Match314 1:ea5ef4879bc4 11 * THE PROGRAM.
Match314 0:a89e198f9bf7 12 */
Match314 0:a89e198f9bf7 13
Match314 0:a89e198f9bf7 14
Match314 0:a89e198f9bf7 15 // Define Necessary.
Match314 0:a89e198f9bf7 16 //#define OUTPUT_QUATERNION
Match314 0:a89e198f9bf7 17 //#define OUTPUT_EULER
Match314 0:a89e198f9bf7 18 #define OUTPUT_ROLL_PITCH_YAW
Match314 0:a89e198f9bf7 19 //#define OUTPUT_FOR_TEAPOT
Match314 0:a89e198f9bf7 20 //#define OUTPUT_TEMPERATURE
Match314 0:a89e198f9bf7 21
Match314 0:a89e198f9bf7 22
Match314 0:a89e198f9bf7 23 #include "MPU6050_6Axis_MotionApps20.h"
Match314 0:a89e198f9bf7 24 #include "mbed.h"
Match314 0:a89e198f9bf7 25 #include "config.h"
Match314 0:a89e198f9bf7 26 #include <stdio.h>
Match314 0:a89e198f9bf7 27
Match314 0:a89e198f9bf7 28
Match314 0:a89e198f9bf7 29 #define DEG_TO_RAD(x) ( x * 0.01745329 )
Match314 0:a89e198f9bf7 30 #define RAD_TO_DEG(x) ( x * 57.29578 )
Match314 0:a89e198f9bf7 31
Match314 0:a89e198f9bf7 32
Match314 0:a89e198f9bf7 33 RawSerial pc(USBTX, USBRX);
Match314 0:a89e198f9bf7 34 MPU6050 mpu(dp5, dp27);
Match314 0:a89e198f9bf7 35 InterruptIn INT0(dp13);
Match314 0:a89e198f9bf7 36
Match314 0:a89e198f9bf7 37 const int FIFO_BUFFER_SIZE = 128;
Match314 0:a89e198f9bf7 38 uint8_t fifoBuffer[FIFO_BUFFER_SIZE];
Match314 0:a89e198f9bf7 39 uint16_t fifoCount;
Match314 0:a89e198f9bf7 40 uint16_t packetSize;
Match314 0:a89e198f9bf7 41 bool dmpReady;
Match314 0:a89e198f9bf7 42 uint8_t mpuIntStatus;
Match314 0:a89e198f9bf7 43 const int snprintf_buffer_size = 100;
Match314 0:a89e198f9bf7 44 char snprintf_buffer[snprintf_buffer_size];
Match314 0:a89e198f9bf7 45 uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
Match314 0:a89e198f9bf7 46
Match314 0:a89e198f9bf7 47 struct Offset {
Match314 0:a89e198f9bf7 48 int16_t ax, ay, az;
Match314 0:a89e198f9bf7 49 int16_t gx, gy, gz;
Match314 0:a89e198f9bf7 50 }offset = {150, -350, 1000, -110, 5, 0}; // Measured values
Match314 0:a89e198f9bf7 51
Match314 0:a89e198f9bf7 52 struct MPU6050_DmpData {
Match314 0:a89e198f9bf7 53 Quaternion q;
Match314 0:a89e198f9bf7 54 VectorFloat gravity; // g
Match314 0:a89e198f9bf7 55 float roll, pitch, yaw; // rad
Match314 0:a89e198f9bf7 56 }dmpData;
Match314 0:a89e198f9bf7 57
Match314 0:a89e198f9bf7 58 bool Init();
Match314 0:a89e198f9bf7 59 void dmpDataUpdate();
Match314 0:a89e198f9bf7 60
Match314 0:a89e198f9bf7 61
Match314 0:a89e198f9bf7 62 int main() {
Match314 0:a89e198f9bf7 63 MBED_ASSERT(Init() == true);
Match314 0:a89e198f9bf7 64
Match314 0:a89e198f9bf7 65 while(1) {
Match314 0:a89e198f9bf7 66
Match314 0:a89e198f9bf7 67 }
Match314 0:a89e198f9bf7 68 }
Match314 0:a89e198f9bf7 69
Match314 0:a89e198f9bf7 70
Match314 0:a89e198f9bf7 71 bool Init() {
Match314 0:a89e198f9bf7 72 pc.baud(PC_BAUDRATE);
Match314 0:a89e198f9bf7 73
Match314 0:a89e198f9bf7 74 INT0.mode(PullDown);
Match314 0:a89e198f9bf7 75 INT0.fall(dmpDataUpdate);
Match314 0:a89e198f9bf7 76
Match314 0:a89e198f9bf7 77 mpu.initialize();
Match314 0:a89e198f9bf7 78 if (mpu.testConnection()) {
Match314 0:a89e198f9bf7 79 pc.puts("MPU6050 test connection passed.\n");
Match314 0:a89e198f9bf7 80 } else {
Match314 0:a89e198f9bf7 81 pc.puts("MPU6050 test connection failed.\n");
Match314 0:a89e198f9bf7 82 return false;
Match314 0:a89e198f9bf7 83 }
Match314 0:a89e198f9bf7 84 if (mpu.dmpInitialize() == 0) {
Match314 0:a89e198f9bf7 85 pc.puts("succeed in MPU6050 DMP Initializing.\n");
Match314 0:a89e198f9bf7 86 } else {
Match314 0:a89e198f9bf7 87 pc.puts("failed in MPU6050 DMP Initializing.\n");
Match314 0:a89e198f9bf7 88 return false;
Match314 0:a89e198f9bf7 89 }
Match314 0:a89e198f9bf7 90 mpu.setXAccelOffset(offset.ax);
Match314 0:a89e198f9bf7 91 mpu.setYAccelOffset(offset.ay);
Match314 0:a89e198f9bf7 92 mpu.setZAccelOffset(offset.az);
Match314 0:a89e198f9bf7 93 mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
Match314 0:a89e198f9bf7 94 mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
Match314 0:a89e198f9bf7 95 mpu.setXGyroOffsetUser(offset.gx);
Match314 0:a89e198f9bf7 96 mpu.setYGyroOffsetUser(offset.gy);
Match314 0:a89e198f9bf7 97 mpu.setZGyroOffsetUser(offset.gz);
Match314 0:a89e198f9bf7 98 mpu.setDMPEnabled(true); // Enable DMP
Match314 0:a89e198f9bf7 99 packetSize = mpu.dmpGetFIFOPacketSize();
Match314 0:a89e198f9bf7 100 dmpReady = true; // Enable interrupt.
Match314 0:a89e198f9bf7 101
Match314 0:a89e198f9bf7 102 pc.puts("Init finish!\n");
Match314 0:a89e198f9bf7 103
Match314 0:a89e198f9bf7 104 return true;
Match314 0:a89e198f9bf7 105 }
Match314 0:a89e198f9bf7 106
Match314 0:a89e198f9bf7 107
Match314 0:a89e198f9bf7 108 void dmpDataUpdate() {
Match314 0:a89e198f9bf7 109 // Check that this interrupt has enabled.
Match314 0:a89e198f9bf7 110 if (dmpReady == false) return;
Match314 0:a89e198f9bf7 111
Match314 0:a89e198f9bf7 112 mpuIntStatus = mpu.getIntStatus();
Match314 0:a89e198f9bf7 113 fifoCount = mpu.getFIFOCount();
Match314 0:a89e198f9bf7 114
Match314 0:a89e198f9bf7 115 // Check that this interrupt is a FIFO buffer overflow interrupt.
Match314 0:a89e198f9bf7 116 if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
Match314 0:a89e198f9bf7 117 mpu.resetFIFO();
Match314 0:a89e198f9bf7 118 pc.puts("FIFO overflow!\n");
Match314 0:a89e198f9bf7 119 return;
Match314 0:a89e198f9bf7 120
Match314 0:a89e198f9bf7 121 // Check that this interrupt is a Data Ready interrupt.
Match314 0:a89e198f9bf7 122 } else if (mpuIntStatus & 0x02) {
Match314 0:a89e198f9bf7 123 while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
Match314 0:a89e198f9bf7 124
Match314 0:a89e198f9bf7 125 mpu.getFIFOBytes(fifoBuffer, packetSize);
Match314 0:a89e198f9bf7 126
Match314 0:a89e198f9bf7 127 #ifdef OUTPUT_QUATERNION
Match314 0:a89e198f9bf7 128 mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer);
Match314 0:a89e198f9bf7 129 if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Quaternion : w=%f, x=%f, y=%f, z=%f\n", dmpData.q.w, dmpData.q.x, dmpData.q.y, dmpData.q.z ) < 0 ) return;
Match314 0:a89e198f9bf7 130 pc.puts(snprintf_buffer);
Match314 0:a89e198f9bf7 131 #endif
Match314 0:a89e198f9bf7 132
Match314 0:a89e198f9bf7 133 #ifdef OUTPUT_EULER
Match314 0:a89e198f9bf7 134 float euler[3];
Match314 0:a89e198f9bf7 135 mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer);
Match314 0:a89e198f9bf7 136 mpu.dmpGetEuler(euler, &dmpData.q);
Match314 0:a89e198f9bf7 137 if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Euler : psi=%fdeg, theta=%fdeg, phi=%fdeg\n", RAD_TO_DEG(euler[0]), RAD_TO_DEG(euler[1]), RAD_TO_DEG(euler[2]) ) < 0 ) return;
Match314 0:a89e198f9bf7 138 pc.puts(snprintf_buffer);
Match314 0:a89e198f9bf7 139 #endif
Match314 0:a89e198f9bf7 140
Match314 0:a89e198f9bf7 141 #ifdef OUTPUT_ROLL_PITCH_YAW
Match314 0:a89e198f9bf7 142 mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer);
Match314 0:a89e198f9bf7 143 mpu.dmpGetGravity(&dmpData.gravity, &dmpData.q);
Match314 0:a89e198f9bf7 144 float rollPitchYaw[3];
Match314 0:a89e198f9bf7 145 mpu.dmpGetYawPitchRoll(rollPitchYaw, &dmpData.q, &dmpData.gravity);
Match314 0:a89e198f9bf7 146 dmpData.roll = rollPitchYaw[2];
Match314 0:a89e198f9bf7 147 dmpData.pitch = rollPitchYaw[1];
Match314 0:a89e198f9bf7 148 dmpData.yaw = rollPitchYaw[0];
Match314 0:a89e198f9bf7 149
Match314 0:a89e198f9bf7 150 if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Roll:%6.2fdeg, Pitch:%6.2fdeg, Yaw:%6.2fdeg\n", RAD_TO_DEG(dmpData.roll), RAD_TO_DEG(dmpData.pitch), RAD_TO_DEG(dmpData.yaw) ) < 0 ) return;
Match314 0:a89e198f9bf7 151 pc.puts(snprintf_buffer);
Match314 0:a89e198f9bf7 152 #endif
Match314 0:a89e198f9bf7 153
Match314 0:a89e198f9bf7 154 #ifdef OUTPUT_FOR_TEAPOT
Match314 0:a89e198f9bf7 155 teapotPacket[2] = fifoBuffer[0];
Match314 0:a89e198f9bf7 156 teapotPacket[3] = fifoBuffer[1];
Match314 0:a89e198f9bf7 157 teapotPacket[4] = fifoBuffer[4];
Match314 0:a89e198f9bf7 158 teapotPacket[5] = fifoBuffer[5];
Match314 0:a89e198f9bf7 159 teapotPacket[6] = fifoBuffer[8];
Match314 0:a89e198f9bf7 160 teapotPacket[7] = fifoBuffer[9];
Match314 0:a89e198f9bf7 161 teapotPacket[8] = fifoBuffer[12];
Match314 0:a89e198f9bf7 162 teapotPacket[9] = fifoBuffer[13];
Match314 0:a89e198f9bf7 163 for (uint8_t i = 0; i < 14; i++) {
Match314 0:a89e198f9bf7 164 pc.putc(teapotPacket[i]);
Match314 0:a89e198f9bf7 165 }
Match314 0:a89e198f9bf7 166 #endif
Match314 0:a89e198f9bf7 167
Match314 0:a89e198f9bf7 168 #ifdef OUTPUT_TEMPERATURE
Match314 0:a89e198f9bf7 169 float temp = mpu.getTemperature() / 340.0 + 36.53;
Match314 0:a89e198f9bf7 170 if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Temp:%4.1fdeg\n", temp ) < 0 ) return;
Match314 0:a89e198f9bf7 171 pc.puts(snprintf_buffer);
Match314 0:a89e198f9bf7 172 #endif
Match314 0:a89e198f9bf7 173
Match314 0:a89e198f9bf7 174 pc.puts("\n");
Match314 0:a89e198f9bf7 175 }
Match314 0:a89e198f9bf7 176 }