mbed using PB8,PB9 to contorl I2C successfull dmpinitialize MPU6050
Dependencies: MPU6050_DMP_Nucleo-I2Cdev mbed
Fork of MPU9150_nucleo_i2cdev by
main.cpp
- Committer:
- WeberYang
- Date:
- 2018-10-26
- Revision:
- 2:bc8df2b3a253
- Parent:
- 1:ca8638ade4ab
File content as of revision 2:bc8df2b3a253:
/* Demo code for MPU6050 DMP * I thank Ian Hua. * Copyright (c) 2015 Match * * THE PROGRAM IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE PROGRAM OR THE USE OR OTHER DEALINGS IN * THE PROGRAM. */ /* * * Modified by Akash Vibhute on 29 March 2015 * This program now works well with Nucelo boards from ST * */ // Define Necessary. //#define OUTPUT_QUATERNION //#define OUTPUT_EULER #define OUTPUT_ROLL_PITCH_YAW //#define OUTPUT_FOR_TEAPOT //#define OUTPUT_TEMPERATURE #include "MPU6050_6Axis_MotionApps20.h" #include "mbed.h" #include "config.h" #include <stdio.h> #define DEG_TO_RAD(x) ( x * 0.01745329 ) #define RAD_TO_DEG(x) ( x * 57.29578 ) Serial pc(USBTX, USBRX); MPU6050 mpu(PB_9, PB_8); // sda, scl pin InterruptIn INT0(PA_9); // INT0 pin const int FIFO_BUFFER_SIZE = 128; uint8_t fifoBuffer[FIFO_BUFFER_SIZE]; uint16_t fifoCount; uint16_t packetSize; bool dmpReady; uint8_t mpuIntStatus; const int snprintf_buffer_size = 100; char snprintf_buffer[snprintf_buffer_size]; uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' }; struct Offset { int16_t ax, ay, az; int16_t gx, gy, gz; }offset = {150, -350, 1000, -110, 5, 0}; // Measured values struct MPU6050_DmpData { Quaternion q; VectorFloat gravity; // g VectorInt16 acc; // g VectorInt16 gryo; // g float roll, pitch, yaw; // rad }dmpData; bool Init(); void dmpDataUpdate(); int main() { MBED_ASSERT(Init() == true); while(1) { } } bool Init() { pc.baud(PC_BAUDRATE); INT0.mode(PullDown); INT0.fall(dmpDataUpdate); mpu.initialize(); if (mpu.testConnection()) { pc.printf("MPU6050 test connection passed.\n"); } else { pc.printf("MPU6050 test connection failed.\n"); return false; } if (mpu.dmpInitialize() == 0) { pc.printf("succeed in MPU6050 DMP Initializing.\n"); } else { pc.printf("failed in MPU6050 DMP Initializing.\n"); return false; } mpu.setXAccelOffset(offset.ax); mpu.setYAccelOffset(offset.ay); mpu.setZAccelOffset(offset.az); mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_2000); mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2); mpu.setXGyroOffsetUser(offset.gx); mpu.setYGyroOffsetUser(offset.gy); mpu.setZGyroOffsetUser(offset.gz); mpu.setDMPEnabled(true); // Enable DMP packetSize = mpu.dmpGetFIFOPacketSize(); dmpReady = true; // Enable interrupt. pc.printf("Init finish!\n"); return true; } void dmpDataUpdate() { // Check that this interrupt has enabled. if (dmpReady == false) return; mpuIntStatus = mpu.getIntStatus(); fifoCount = mpu.getFIFOCount(); // Check that this interrupt is a FIFO buffer overflow interrupt. if ((mpuIntStatus & 0x10) || fifoCount == 1024) { mpu.resetFIFO(); pc.printf("FIFO overflow!\n"); return; // Check that this interrupt is a Data Ready interrupt. } else if (mpuIntStatus & 0x02) { while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); mpu.getFIFOBytes(fifoBuffer, packetSize); #ifdef OUTPUT_QUATERNION mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); 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; pc.printf(snprintf_buffer); #endif #ifdef OUTPUT_EULER float euler[3]; mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); mpu.dmpGetEuler(euler, &dmpData.q); 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; pc.printf(snprintf_buffer); #endif #ifdef OUTPUT_ROLL_PITCH_YAW mpu.dmpGetQuaternion(&dmpData.q, fifoBuffer); mpu.dmpGetGravity(&dmpData.gravity, &dmpData.q); mpu.dmpGetAccel(&dmpData.acc, fifoBuffer); float rollPitchYaw[3]; mpu.dmpGetYawPitchRoll(rollPitchYaw, &dmpData.q, &dmpData.gravity); dmpData.roll = rollPitchYaw[2]; dmpData.pitch = rollPitchYaw[1]; dmpData.yaw = rollPitchYaw[0]; pc.printf("ax = %d,ay = %d,az = %d\r\n",dmpData.acc.x,dmpData.acc.y,dmpData.acc.z); // 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; // pc.printf(snprintf_buffer); #endif #ifdef OUTPUT_FOR_TEAPOT 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]; for (uint8_t i = 0; i < 14; i++) { pc.putc(teapotPacket[i]); } #endif #ifdef OUTPUT_TEMPERATURE float temp = mpu.getTemperature() / 340.0 + 36.53; if ( snprintf( snprintf_buffer, snprintf_buffer_size, "Temp:%4.1fdeg\n", temp ) < 0 ) return; pc.printf(snprintf_buffer); #endif pc.printf("\n"); } }