Amanda Ghassaei / MPU6050-DMP

sfas

Dependents:   Bracky-MPU6050-DMP

Fork of MPU6050 by Shundo Kishi

MyMPU6050.h@9:ac76b5b24b18, 2015-12-05 (annotated)

Committer:
amandaghassaei
Date:
Sat Dec 05 00:40:23 2015 +0000
Revision:
9:ac76b5b24b18
Parent:
8:96fa92188874
Child:
10:6167cc7e7d60
small changes;

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 9:ac76b5b24b18 12
amandaghassaei 7:07f1f975429a 13 class MyMPU6050 {
amandaghassaei 6:748bae310e1e 14
amandaghassaei 6:748bae310e1e 15 public:
amandaghassaei 6:748bae310e1e 16
amandaghassaei 7:07f1f975429a 17 MyMPU6050(PinName i2cSda, PinName i2cScl, PinName interrupt) : mpu(i2cSda, i2cScl), checkpin(interrupt){
amandaghassaei 9:ac76b5b24b18 18 resetTheta();
amandaghassaei 8:96fa92188874 19 }
amandaghassaei 8:96fa92188874 20
amandaghassaei 8:96fa92188874 21 void setPC(Serial *pc){
amandaghassaei 8:96fa92188874 22 _pc = pc;
amandaghassaei 6:748bae310e1e 23 }
amandaghassaei 6:748bae310e1e 24
amandaghassaei 6:748bae310e1e 25 void loop() {
amandaghassaei 6:748bae310e1e 26 // if programming failed, don't try to do anything
amandaghassaei 6:748bae310e1e 27 if (!dmpReady) return;
amandaghassaei 6:748bae310e1e 28
amandaghassaei 6:748bae310e1e 29 // wait for MPU interrupt or extra packet(s) available
amandaghassaei 6:748bae310e1e 30 if (!mpuInterrupt && fifoCount < packetSize) {
amandaghassaei 6:748bae310e1e 31 return;
amandaghassaei 6:748bae310e1e 32 // other program behavior stuff here
amandaghassaei 6:748bae310e1e 33 // .
amandaghassaei 6:748bae310e1e 34 // .
amandaghassaei 6:748bae310e1e 35 // .
amandaghassaei 6:748bae310e1e 36 // if you are really paranoid you can frequently test in between other
amandaghassaei 6:748bae310e1e 37 // stuff to see if mpuInterrupt is true, and if so, "break;" from the
amandaghassaei 6:748bae310e1e 38 // while() loop to immediately process the MPU data
amandaghassaei 6:748bae310e1e 39 // .
amandaghassaei 6:748bae310e1e 40 // .
amandaghassaei 6:748bae310e1e 41 // .
amandaghassaei 6:748bae310e1e 42 }
amandaghassaei 6:748bae310e1e 43
amandaghassaei 6:748bae310e1e 44 // reset interrupt flag and get INT_STATUS byte
amandaghassaei 6:748bae310e1e 45 mpuInterrupt = false;
amandaghassaei 6:748bae310e1e 46 mpuIntStatus = mpu.getIntStatus();
amandaghassaei 6:748bae310e1e 47
amandaghassaei 6:748bae310e1e 48 // get current FIFO count
amandaghassaei 6:748bae310e1e 49 fifoCount = mpu.getFIFOCount();
amandaghassaei 6:748bae310e1e 50
amandaghassaei 6:748bae310e1e 51 // check for overflow (this should never happen unless our code is too inefficient)
amandaghassaei 6:748bae310e1e 52 if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
amandaghassaei 6:748bae310e1e 53 // reset so we can continue cleanly
amandaghassaei 6:748bae310e1e 54 mpu.resetFIFO();
amandaghassaei 8:96fa92188874 55 _pc->printf("FIFO overflow!\n");
amandaghassaei 6:748bae310e1e 56
amandaghassaei 6:748bae310e1e 57 // otherwise, check for DMP data ready interrupt (this should happen frequently)
amandaghassaei 6:748bae310e1e 58 } else if (mpuIntStatus & 0x02) {
amandaghassaei 6:748bae310e1e 59 // wait for correct available data length, should be a VERY short wait
amandaghassaei 6:748bae310e1e 60 while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
amandaghassaei 6:748bae310e1e 61
amandaghassaei 6:748bae310e1e 62 // read a packet from FIFO
amandaghassaei 6:748bae310e1e 63 mpu.getFIFOBytes(fifoBuffer, packetSize);
amandaghassaei 6:748bae310e1e 64
amandaghassaei 6:748bae310e1e 65 // track FIFO count here in case there is > 1 packet available
amandaghassaei 6:748bae310e1e 66 // (this lets us immediately read more without waiting for an interrupt)
amandaghassaei 6:748bae310e1e 67 fifoCount -= packetSize;
amandaghassaei 6:748bae310e1e 68
amandaghassaei 6:748bae310e1e 69 // display Euler angles in degrees
amandaghassaei 6:748bae310e1e 70 mpu.dmpGetQuaternion(&q, fifoBuffer);
amandaghassaei 6:748bae310e1e 71 mpu.dmpGetGravity(&gravity, &q);
amandaghassaei 6:748bae310e1e 72 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
amandaghassaei 6:748bae310e1e 73 mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
amandaghassaei 9:ac76b5b24b18 74 float newTheta;
amandaghassaei 9:ac76b5b24b18 75 if (ypr[1]>0) newTheta = ypr[2];
amandaghassaei 9:ac76b5b24b18 76 else if (ypr[2]<0) newTheta = -M_PI-ypr[2];
amandaghassaei 9:ac76b5b24b18 77 else newTheta = M_PI-ypr[2];
amandaghassaei 9:ac76b5b24b18 78
amandaghassaei 9:ac76b5b24b18 79 mpu.dmpGetGyro(gyroData, fifoBuffer);
amandaghassaei 9:ac76b5b24b18 80 float newDTheta = gyroData[2]/180.0*M_PI;
amandaghassaei 9:ac76b5b24b18 81
amandaghassaei 9:ac76b5b24b18 82 if (!thetaInitFlag && abs(newTheta-theta)>0.3) {
amandaghassaei 9:ac76b5b24b18 83 _pc->printf("IMU interrupt clash\n");
amandaghassaei 9:ac76b5b24b18 84 mpu.resetFIFO();
amandaghassaei 9:ac76b5b24b18 85 } else {
amandaghassaei 9:ac76b5b24b18 86 thetaInitFlag = false;
amandaghassaei 9:ac76b5b24b18 87 theta = newTheta;
amandaghassaei 9:ac76b5b24b18 88 dtheta = newDTheta;
amandaghassaei 9:ac76b5b24b18 89 }
amandaghassaei 8:96fa92188874 90
amandaghassaei 9:ac76b5b24b18 91
amandaghassaei 9:ac76b5b24b18 92
amandaghassaei 6:748bae310e1e 93 }
amandaghassaei 6:748bae310e1e 94 }
amandaghassaei 6:748bae310e1e 95
amandaghassaei 6:748bae310e1e 96 void dmpDataReady() {
amandaghassaei 6:748bae310e1e 97 mpuInterrupt = true;
amandaghassaei 6:748bae310e1e 98 }
amandaghassaei 6:748bae310e1e 99
amandaghassaei 6:748bae310e1e 100 float getTheta(){
amandaghassaei 6:748bae310e1e 101 return theta;
amandaghassaei 6:748bae310e1e 102 }
amandaghassaei 6:748bae310e1e 103
amandaghassaei 7:07f1f975429a 104 float getDTheta(){
amandaghassaei 6:748bae310e1e 105 return dtheta;
amandaghassaei 6:748bae310e1e 106 }
amandaghassaei 8:96fa92188874 107
amandaghassaei 8:96fa92188874 108 void disable(){
amandaghassaei 8:96fa92188874 109 dmpReady = false;
amandaghassaei 8:96fa92188874 110 mpuInterrupt = false;
amandaghassaei 8:96fa92188874 111 checkpin.rise(NULL);
amandaghassaei 8:96fa92188874 112 }
amandaghassaei 8:96fa92188874 113
amandaghassaei 8:96fa92188874 114 void enable(){
amandaghassaei 8:96fa92188874 115 setup();
amandaghassaei 8:96fa92188874 116 }
amandaghassaei 6:748bae310e1e 117
amandaghassaei 6:748bae310e1e 118 private:
amandaghassaei 7:07f1f975429a 119
amandaghassaei 8:96fa92188874 120 Serial *_pc;
amandaghassaei 8:96fa92188874 121
amandaghassaei 6:748bae310e1e 122 MPU6050 mpu;
amandaghassaei 6:748bae310e1e 123
amandaghassaei 6:748bae310e1e 124 bool dmpReady; // set true if DMP init was successful
amandaghassaei 6:748bae310e1e 125 uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
amandaghassaei 6:748bae310e1e 126 uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
amandaghassaei 6:748bae310e1e 127 uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
amandaghassaei 6:748bae310e1e 128 uint16_t fifoCount; // count of all bytes currently in FIFO
amandaghassaei 6:748bae310e1e 129 uint8_t fifoBuffer[64]; // FIFO storage buffer
amandaghassaei 6:748bae310e1e 130
amandaghassaei 6:748bae310e1e 131 // orientation/motion vars
amandaghassaei 6:748bae310e1e 132 Quaternion q; // [w, x, y, z] quaternion container
amandaghassaei 6:748bae310e1e 133 VectorFloat gravity; // [x, y, z] gravity vector
amandaghassaei 6:748bae310e1e 134 float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
amandaghassaei 6:748bae310e1e 135 int16_t gyroData[3];
amandaghassaei 6:748bae310e1e 136 float theta;
amandaghassaei 9:ac76b5b24b18 137 bool thetaInitFlag;
amandaghassaei 6:748bae310e1e 138 float dtheta;
amandaghassaei 6:748bae310e1e 139
amandaghassaei 6:748bae310e1e 140 InterruptIn checkpin;
amandaghassaei 6:748bae310e1e 141 volatile bool mpuInterrupt;
amandaghassaei 6:748bae310e1e 142
amandaghassaei 7:07f1f975429a 143
amandaghassaei 9:ac76b5b24b18 144 void resetTheta(){
amandaghassaei 9:ac76b5b24b18 145 theta = 0;
amandaghassaei 9:ac76b5b24b18 146 dtheta = 0;
amandaghassaei 9:ac76b5b24b18 147 thetaInitFlag = true;
amandaghassaei 9:ac76b5b24b18 148 }
amandaghassaei 9:ac76b5b24b18 149
amandaghassaei 6:748bae310e1e 150 void setup() {
amandaghassaei 6:748bae310e1e 151
amandaghassaei 9:ac76b5b24b18 152 resetTheta();
amandaghassaei 6:748bae310e1e 153
amandaghassaei 6:748bae310e1e 154 dmpReady = false;
amandaghassaei 6:748bae310e1e 155 mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
amandaghassaei 6:748bae310e1e 156
amandaghassaei 6:748bae310e1e 157 // initialize device
amandaghassaei 6:748bae310e1e 158 // pc.printf("Initializing I2C devices...\r\n");
amandaghassaei 6:748bae310e1e 159 mpu.initialize();
amandaghassaei 6:748bae310e1e 160
amandaghassaei 6:748bae310e1e 161 // verify connection
amandaghassaei 6:748bae310e1e 162 // pc.printf("Testing device connections...\r\n");
amandaghassaei 6:748bae310e1e 163 mpu.testConnection();//if() pc.printf("MPU6050 connection successful\r\n");
amandaghassaei 6:748bae310e1e 164 // else pc.printf("MPU6050 connection failed\r\n");
amandaghassaei 6:748bae310e1e 165
amandaghassaei 6:748bae310e1e 166 // load and configure the DMP
amandaghassaei 6:748bae310e1e 167 // pc.printf("Initializing DMP...\r\n");
amandaghassaei 6:748bae310e1e 168 devStatus = mpu.dmpInitialize();
amandaghassaei 6:748bae310e1e 169
amandaghassaei 6:748bae310e1e 170 // make sure it worked (returns 0 if so)
amandaghassaei 6:748bae310e1e 171 if (devStatus == 0) {
amandaghassaei 6:748bae310e1e 172 // turn on the DMP, now that it's ready
amandaghassaei 6:748bae310e1e 173 // pc.printf("Enabling DMP...\r\n");
amandaghassaei 6:748bae310e1e 174 mpu.setDMPEnabled(true);
amandaghassaei 6:748bae310e1e 175
amandaghassaei 6:748bae310e1e 176 // enable Arduino interrupt detection
amandaghassaei 6:748bae310e1e 177 // pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n");
amandaghassaei 6:748bae310e1e 178 checkpin.rise(this, &MyMPU6050::dmpDataReady);
amandaghassaei 6:748bae310e1e 179
amandaghassaei 6:748bae310e1e 180 mpuIntStatus = mpu.getIntStatus();
amandaghassaei 6:748bae310e1e 181
amandaghassaei 6:748bae310e1e 182 // set our DMP Ready flag so the main loop() function knows it's okay to use it
amandaghassaei 6:748bae310e1e 183 // pc.printf("DMP ready! Waiting for first interrupt...\r\n");
amandaghassaei 6:748bae310e1e 184 dmpReady = true;
amandaghassaei 6:748bae310e1e 185
amandaghassaei 6:748bae310e1e 186 // get expected DMP packet size for later comparison
amandaghassaei 6:748bae310e1e 187 packetSize = mpu.dmpGetFIFOPacketSize();
amandaghassaei 6:748bae310e1e 188 } else {
amandaghassaei 6:748bae310e1e 189 // ERROR!
amandaghassaei 6:748bae310e1e 190 // 1 = initial memory load failed
amandaghassaei 6:748bae310e1e 191 // 2 = DMP configuration updates failed
amandaghassaei 6:748bae310e1e 192 // (if it's going to break, usually the code will be 1)
amandaghassaei 6:748bae310e1e 193
amandaghassaei 6:748bae310e1e 194 // pc.printf("DDMP Initialization failed (code ");
amandaghassaei 6:748bae310e1e 195 // pc.printf("%d", devStatus);
amandaghassaei 6:748bae310e1e 196 // pc.printf(")\r\n");
amandaghassaei 6:748bae310e1e 197 }
amandaghassaei 6:748bae310e1e 198
amandaghassaei 6:748bae310e1e 199 }
amandaghassaei 6:748bae310e1e 200 };