Amanda Ghassaei / MPU6050-DMP

sfas

Dependents:   Bracky-MPU6050-DMP

Fork of MPU6050 by Shundo Kishi

MyMPU6050.h@8:96fa92188874, 2015-12-04 (annotated)

Committer:
amandaghassaei
Date:
Fri Dec 04 07:10:43 2015 +0000
Revision:
8:96fa92188874
Parent:
7:07f1f975429a
Child:
9:ac76b5b24b18
disable 2nd imu interrupt when not in use

Who changed what in which revision?

UserRevisionLine numberNew contents of line
amandaghassaei 6:748bae310e1e 1 // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
amandaghassaei 6:748bae310e1e 2 // 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
amandaghassaei 6:748bae310e1e 3 /* ============================================
amandaghassaei 6:748bae310e1e 4 I2Cdev device library code is placed under the MIT license
amandaghassaei 6:748bae310e1e 5 Copyright (c) 2012 Jeff Rowberg
amandaghassaei 6:748bae310e1e 6 */
amandaghassaei 6:748bae310e1e 7
amandaghassaei 6:748bae310e1e 8 #include "I2Cdev.h"
amandaghassaei 6:748bae310e1e 9 #include "MPU6050_6Axis_MotionApps20.h"
amandaghassaei 7:07f1f975429a 10 # define M_PI 3.14159265358979323846
amandaghassaei 6:748bae310e1e 11
amandaghassaei 7:07f1f975429a 12 class MyMPU6050 {
amandaghassaei 6:748bae310e1e 13
amandaghassaei 6:748bae310e1e 14 public:
amandaghassaei 6:748bae310e1e 15
amandaghassaei 7:07f1f975429a 16 MyMPU6050(PinName i2cSda, PinName i2cScl, PinName interrupt) : mpu(i2cSda, i2cScl), checkpin(interrupt){
amandaghassaei 8:96fa92188874 17 }
amandaghassaei 8:96fa92188874 18
amandaghassaei 8:96fa92188874 19 void setPC(Serial *pc){
amandaghassaei 8:96fa92188874 20 _pc = pc;
amandaghassaei 6:748bae310e1e 21 }
amandaghassaei 6:748bae310e1e 22
amandaghassaei 6:748bae310e1e 23 void loop() {
amandaghassaei 6:748bae310e1e 24 // if programming failed, don't try to do anything
amandaghassaei 6:748bae310e1e 25 if (!dmpReady) return;
amandaghassaei 6:748bae310e1e 26
amandaghassaei 6:748bae310e1e 27 // wait for MPU interrupt or extra packet(s) available
amandaghassaei 6:748bae310e1e 28 if (!mpuInterrupt && fifoCount < packetSize) {
amandaghassaei 6:748bae310e1e 29 return;
amandaghassaei 6:748bae310e1e 30 // other program behavior stuff here
amandaghassaei 6:748bae310e1e 31 // .
amandaghassaei 6:748bae310e1e 32 // .
amandaghassaei 6:748bae310e1e 33 // .
amandaghassaei 6:748bae310e1e 34 // if you are really paranoid you can frequently test in between other
amandaghassaei 6:748bae310e1e 35 // stuff to see if mpuInterrupt is true, and if so, "break;" from the
amandaghassaei 6:748bae310e1e 36 // while() loop to immediately process the MPU data
amandaghassaei 6:748bae310e1e 37 // .
amandaghassaei 6:748bae310e1e 38 // .
amandaghassaei 6:748bae310e1e 39 // .
amandaghassaei 6:748bae310e1e 40 }
amandaghassaei 6:748bae310e1e 41
amandaghassaei 6:748bae310e1e 42 // reset interrupt flag and get INT_STATUS byte
amandaghassaei 6:748bae310e1e 43 mpuInterrupt = false;
amandaghassaei 6:748bae310e1e 44 mpuIntStatus = mpu.getIntStatus();
amandaghassaei 6:748bae310e1e 45
amandaghassaei 6:748bae310e1e 46 // get current FIFO count
amandaghassaei 6:748bae310e1e 47 fifoCount = mpu.getFIFOCount();
amandaghassaei 6:748bae310e1e 48
amandaghassaei 6:748bae310e1e 49 // check for overflow (this should never happen unless our code is too inefficient)
amandaghassaei 6:748bae310e1e 50 if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
amandaghassaei 6:748bae310e1e 51 // reset so we can continue cleanly
amandaghassaei 6:748bae310e1e 52 mpu.resetFIFO();
amandaghassaei 8:96fa92188874 53 _pc->printf("FIFO overflow!\n");
amandaghassaei 6:748bae310e1e 54
amandaghassaei 6:748bae310e1e 55 // otherwise, check for DMP data ready interrupt (this should happen frequently)
amandaghassaei 6:748bae310e1e 56 } else if (mpuIntStatus & 0x02) {
amandaghassaei 6:748bae310e1e 57 // wait for correct available data length, should be a VERY short wait
amandaghassaei 6:748bae310e1e 58 while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
amandaghassaei 6:748bae310e1e 59
amandaghassaei 6:748bae310e1e 60 // read a packet from FIFO
amandaghassaei 6:748bae310e1e 61 mpu.getFIFOBytes(fifoBuffer, packetSize);
amandaghassaei 6:748bae310e1e 62
amandaghassaei 6:748bae310e1e 63 // track FIFO count here in case there is > 1 packet available
amandaghassaei 6:748bae310e1e 64 // (this lets us immediately read more without waiting for an interrupt)
amandaghassaei 6:748bae310e1e 65 fifoCount -= packetSize;
amandaghassaei 6:748bae310e1e 66
amandaghassaei 6:748bae310e1e 67 // display Euler angles in degrees
amandaghassaei 6:748bae310e1e 68 mpu.dmpGetQuaternion(&q, fifoBuffer);
amandaghassaei 6:748bae310e1e 69 mpu.dmpGetGravity(&gravity, &q);
amandaghassaei 6:748bae310e1e 70 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
amandaghassaei 6:748bae310e1e 71 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
amandaghassaei 8:96fa92188874 72 float _theta;
amandaghassaei 8:96fa92188874 73 if (ypr[1]>0) _theta = ypr[2];
amandaghassaei 8:96fa92188874 74 else if (ypr[2]<0) _theta = -M_PI-ypr[2];
amandaghassaei 8:96fa92188874 75 else _theta = M_PI-ypr[2];
amandaghassaei 8:96fa92188874 76 theta = _theta;
amandaghassaei 8:96fa92188874 77
amandaghassaei 6:748bae310e1e 78 mpu.dmpGetGyro(gyroData, fifoBuffer);
amandaghassaei 8:96fa92188874 79 float _dtheta = gyroData[2]/180.0*M_PI;
amandaghassaei 8:96fa92188874 80 dtheta = _dtheta;
amandaghassaei 6:748bae310e1e 81 }
amandaghassaei 6:748bae310e1e 82 }
amandaghassaei 6:748bae310e1e 83
amandaghassaei 6:748bae310e1e 84 void dmpDataReady() {
amandaghassaei 6:748bae310e1e 85 mpuInterrupt = true;
amandaghassaei 6:748bae310e1e 86 }
amandaghassaei 6:748bae310e1e 87
amandaghassaei 6:748bae310e1e 88 float getTheta(){
amandaghassaei 6:748bae310e1e 89 return theta;
amandaghassaei 6:748bae310e1e 90 }
amandaghassaei 6:748bae310e1e 91
amandaghassaei 7:07f1f975429a 92 float getDTheta(){
amandaghassaei 6:748bae310e1e 93 return dtheta;
amandaghassaei 6:748bae310e1e 94 }
amandaghassaei 8:96fa92188874 95
amandaghassaei 8:96fa92188874 96 void disable(){
amandaghassaei 8:96fa92188874 97 dmpReady = false;
amandaghassaei 8:96fa92188874 98 mpuInterrupt = false;
amandaghassaei 8:96fa92188874 99 checkpin.rise(NULL);
amandaghassaei 8:96fa92188874 100 }
amandaghassaei 8:96fa92188874 101
amandaghassaei 8:96fa92188874 102 void enable(){
amandaghassaei 8:96fa92188874 103 setup();
amandaghassaei 8:96fa92188874 104 }
amandaghassaei 6:748bae310e1e 105
amandaghassaei 6:748bae310e1e 106 private:
amandaghassaei 7:07f1f975429a 107
amandaghassaei 8:96fa92188874 108 Serial *_pc;
amandaghassaei 8:96fa92188874 109
amandaghassaei 6:748bae310e1e 110 MPU6050 mpu;
amandaghassaei 6:748bae310e1e 111
amandaghassaei 6:748bae310e1e 112 bool dmpReady; // set true if DMP init was successful
amandaghassaei 6:748bae310e1e 113 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
amandaghassaei 6:748bae310e1e 114 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
amandaghassaei 6:748bae310e1e 115 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
amandaghassaei 6:748bae310e1e 116 uint16_t fifoCount; // count of all bytes currently in FIFO
amandaghassaei 6:748bae310e1e 117 uint8_t fifoBuffer[64]; // FIFO storage buffer
amandaghassaei 6:748bae310e1e 118
amandaghassaei 6:748bae310e1e 119 // orientation/motion vars
amandaghassaei 6:748bae310e1e 120 Quaternion q; // [w, x, y, z] quaternion container
amandaghassaei 6:748bae310e1e 121 VectorFloat gravity; // [x, y, z] gravity vector
amandaghassaei 6:748bae310e1e 122 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
amandaghassaei 6:748bae310e1e 123 int16_t gyroData[3];
amandaghassaei 6:748bae310e1e 124 float theta;
amandaghassaei 6:748bae310e1e 125 float dtheta;
amandaghassaei 6:748bae310e1e 126
amandaghassaei 6:748bae310e1e 127 InterruptIn checkpin;
amandaghassaei 6:748bae310e1e 128 volatile bool mpuInterrupt;
amandaghassaei 6:748bae310e1e 129
amandaghassaei 7:07f1f975429a 130
amandaghassaei 6:748bae310e1e 131 void setup() {
amandaghassaei 6:748bae310e1e 132
amandaghassaei 6:748bae310e1e 133 theta = 0;
amandaghassaei 6:748bae310e1e 134 dtheta = 0;
amandaghassaei 6:748bae310e1e 135
amandaghassaei 6:748bae310e1e 136 dmpReady = false;
amandaghassaei 6:748bae310e1e 137 mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
amandaghassaei 6:748bae310e1e 138
amandaghassaei 6:748bae310e1e 139 // initialize device
amandaghassaei 6:748bae310e1e 140 // pc.printf("Initializing I2C devices...\r\n");
amandaghassaei 6:748bae310e1e 141 mpu.initialize();
amandaghassaei 6:748bae310e1e 142
amandaghassaei 6:748bae310e1e 143 // verify connection
amandaghassaei 6:748bae310e1e 144 // pc.printf("Testing device connections...\r\n");
amandaghassaei 6:748bae310e1e 145 mpu.testConnection();//if() pc.printf("MPU6050 connection successful\r\n");
amandaghassaei 6:748bae310e1e 146 // else pc.printf("MPU6050 connection failed\r\n");
amandaghassaei 6:748bae310e1e 147
amandaghassaei 6:748bae310e1e 148 // load and configure the DMP
amandaghassaei 6:748bae310e1e 149 // pc.printf("Initializing DMP...\r\n");
amandaghassaei 6:748bae310e1e 150 devStatus = mpu.dmpInitialize();
amandaghassaei 6:748bae310e1e 151
amandaghassaei 6:748bae310e1e 152 // make sure it worked (returns 0 if so)
amandaghassaei 6:748bae310e1e 153 if (devStatus == 0) {
amandaghassaei 6:748bae310e1e 154 // turn on the DMP, now that it's ready
amandaghassaei 6:748bae310e1e 155 // pc.printf("Enabling DMP...\r\n");
amandaghassaei 6:748bae310e1e 156 mpu.setDMPEnabled(true);
amandaghassaei 6:748bae310e1e 157
amandaghassaei 6:748bae310e1e 158 // enable Arduino interrupt detection
amandaghassaei 6:748bae310e1e 159 // pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n");
amandaghassaei 6:748bae310e1e 160 checkpin.rise(this, &MyMPU6050::dmpDataReady);
amandaghassaei 6:748bae310e1e 161
amandaghassaei 6:748bae310e1e 162 mpuIntStatus = mpu.getIntStatus();
amandaghassaei 6:748bae310e1e 163
amandaghassaei 6:748bae310e1e 164 // set our DMP Ready flag so the main loop() function knows it's okay to use it
amandaghassaei 6:748bae310e1e 165 // pc.printf("DMP ready! Waiting for first interrupt...\r\n");
amandaghassaei 6:748bae310e1e 166 dmpReady = true;
amandaghassaei 6:748bae310e1e 167
amandaghassaei 6:748bae310e1e 168 // get expected DMP packet size for later comparison
amandaghassaei 6:748bae310e1e 169 packetSize = mpu.dmpGetFIFOPacketSize();
amandaghassaei 6:748bae310e1e 170 } else {
amandaghassaei 6:748bae310e1e 171 // ERROR!
amandaghassaei 6:748bae310e1e 172 // 1 = initial memory load failed
amandaghassaei 6:748bae310e1e 173 // 2 = DMP configuration updates failed
amandaghassaei 6:748bae310e1e 174 // (if it's going to break, usually the code will be 1)
amandaghassaei 6:748bae310e1e 175
amandaghassaei 6:748bae310e1e 176 // pc.printf("DDMP Initialization failed (code ");
amandaghassaei 6:748bae310e1e 177 // pc.printf("%d", devStatus);
amandaghassaei 6:748bae310e1e 178 // pc.printf(")\r\n");
amandaghassaei 6:748bae310e1e 179 }
amandaghassaei 6:748bae310e1e 180
amandaghassaei 6:748bae310e1e 181 }
amandaghassaei 6:748bae310e1e 182 };