ported from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Fork of MPU6050 by
Diff: main.cpp
- Revision:
- 6:0bb3c17bdaf1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Jun 25 19:53:14 2014 +0000 @@ -0,0 +1,89 @@ +#include "mbed.h" +#include "I2Cdev.h" +#include "helper_3dmath.h" +#include "MPU6050_6Axis_MotionApps20.h" +#include "MPU6050.h" + + +MPU6050 mpu; +Serial serOut(D8, D2); + +// MPU control/status vars +bool dmpReady = false; // set true if DMP init was successful +uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) +uint16_t fifoCount; // count of all bytes currently in FIFO +uint8_t fifoBuffer[64]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorInt16 aa; // [x, y, z] accel sensor measurements +VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements +VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements +VectorFloat gravity; // [x, y, z] gravity vector +float euler[3]; // [psi, theta, phi] Euler angle container +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector + +int count = 0; + +volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high +void dmpDataReady() { + mpuInterrupt = true; +} + +int main() +{ + serOut.baud(115200); + /* + // Join the bus here + + // initialize device + serOut.printf("Initializing I2C devices...\r\n"); + mpu.initialize(); + + // verify connection + serOut.printf("Testing device connections...\r\n"); + serOut.printf(mpu.testConnection() ? "MPU6050 connection successful\r\n" : "MPU6050 connection failed\r\n"); + + // load and configure the DMP + serOut.printf("Initializing DMP...\r\n"); + devStatus = mpu.dmpInitialize(); + + // supply your own gyro offsets here, scaled for min sensitivity + mpu.setXGyroOffset(0); + mpu.setYGyroOffset(0); + mpu.setZGyroOffset(0); + mpu.setZAccelOffset(0); // 1688 factory default for my test chip + + // make sure it worked (returns 0 if so) + if (devStatus == 0) + { + // turn on the DMP, now that it's ready + serOut.printf("Enabling DMP...\r\n"); + mpu.setDMPEnabled(true); + + // enable Arduino interrupt detection + serOut.printf("Enabling interrupt detection (Arduino external interrupt 0)...\r\n"); + //attachInterrupt(0, dmpDataReady, RISING); + mpuIntStatus = mpu.getIntStatus(); + + // set our DMP Ready flag so the main loop() function knows it's okay to use it + serOut.printf("DMP ready! Waiting for first interrupt...\r\n"); + dmpReady = true; + + // get expected DMP packet size for later comparison + packetSize = mpu.dmpGetFIFOPacketSize(); + } + else + { + // ERROR! + // 1 = initial memory load failed + // 2 = DMP configuration updates failed + // (if it's going to break, usually the code will be 1) + serOut.printf("DMP Initialization failed (code \r\n"); + serOut.printf("%d", devStatus); + serOut.printf(")\r\n"); + } + */ +} \ No newline at end of file