Wireless auto note device
Dependencies: BLE_API invisdrum X_NUCLEO_IDB0XA1 kalman mbed
MPU60501.h@0:ffd0caf3db9f, 2016-11-22 (annotated)
- Committer:
- fxanhkhoa
- Date:
- Tue Nov 22 02:57:33 2016 +0000
- Revision:
- 0:ffd0caf3db9f
WAND PROJECT
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fxanhkhoa | 0:ffd0caf3db9f | 1 | #ifndef MPU60501_H |
fxanhkhoa | 0:ffd0caf3db9f | 2 | #define MPU60501_H |
fxanhkhoa | 0:ffd0caf3db9f | 3 | |
fxanhkhoa | 0:ffd0caf3db9f | 4 | #include "mbed.h" |
fxanhkhoa | 0:ffd0caf3db9f | 5 | #include "math.h" |
fxanhkhoa | 0:ffd0caf3db9f | 6 | |
fxanhkhoa | 0:ffd0caf3db9f | 7 | // Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device |
fxanhkhoa | 0:ffd0caf3db9f | 8 | // Invensense Inc., www.invensense.com |
fxanhkhoa | 0:ffd0caf3db9f | 9 | // See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in |
fxanhkhoa | 0:ffd0caf3db9f | 10 | // above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor |
fxanhkhoa | 0:ffd0caf3db9f | 11 | // |
fxanhkhoa | 0:ffd0caf3db9f | 12 | #define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD |
fxanhkhoa | 0:ffd0caf3db9f | 13 | #define YGOFFS_TC 0x01 |
fxanhkhoa | 0:ffd0caf3db9f | 14 | #define ZGOFFS_TC 0x02 |
fxanhkhoa | 0:ffd0caf3db9f | 15 | #define X_FINE_GAIN 0x03 // [7:0] fine gain |
fxanhkhoa | 0:ffd0caf3db9f | 16 | #define Y_FINE_GAIN 0x04 |
fxanhkhoa | 0:ffd0caf3db9f | 17 | #define Z_FINE_GAIN 0x05 |
fxanhkhoa | 0:ffd0caf3db9f | 18 | #define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 19 | #define XA_OFFSET_L_TC 0x07 |
fxanhkhoa | 0:ffd0caf3db9f | 20 | #define YA_OFFSET_H 0x08 |
fxanhkhoa | 0:ffd0caf3db9f | 21 | #define YA_OFFSET_L_TC 0x09 |
fxanhkhoa | 0:ffd0caf3db9f | 22 | #define ZA_OFFSET_H 0x0A |
fxanhkhoa | 0:ffd0caf3db9f | 23 | #define ZA_OFFSET_L_TC 0x0B |
fxanhkhoa | 0:ffd0caf3db9f | 24 | #define SELF_TEST_X 0x0D |
fxanhkhoa | 0:ffd0caf3db9f | 25 | #define SELF_TEST_Y 0x0E |
fxanhkhoa | 0:ffd0caf3db9f | 26 | #define SELF_TEST_Z 0x0F |
fxanhkhoa | 0:ffd0caf3db9f | 27 | #define SELF_TEST_A 0x10 |
fxanhkhoa | 0:ffd0caf3db9f | 28 | #define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050? |
fxanhkhoa | 0:ffd0caf3db9f | 29 | #define XG_OFFS_USRL 0x14 |
fxanhkhoa | 0:ffd0caf3db9f | 30 | #define YG_OFFS_USRH 0x15 |
fxanhkhoa | 0:ffd0caf3db9f | 31 | #define YG_OFFS_USRL 0x16 |
fxanhkhoa | 0:ffd0caf3db9f | 32 | #define ZG_OFFS_USRH 0x17 |
fxanhkhoa | 0:ffd0caf3db9f | 33 | #define ZG_OFFS_USRL 0x18 |
fxanhkhoa | 0:ffd0caf3db9f | 34 | #define SMPLRT_DIV 0x19 |
fxanhkhoa | 0:ffd0caf3db9f | 35 | #define CONFIG 0x1A |
fxanhkhoa | 0:ffd0caf3db9f | 36 | #define GYRO_CONFIG 0x1B |
fxanhkhoa | 0:ffd0caf3db9f | 37 | #define ACCEL_CONFIG 0x1C |
fxanhkhoa | 0:ffd0caf3db9f | 38 | #define FF_THR 0x1D // Free-fall |
fxanhkhoa | 0:ffd0caf3db9f | 39 | #define FF_DUR 0x1E // Free-fall |
fxanhkhoa | 0:ffd0caf3db9f | 40 | #define MOT_THR 0x1F // Motion detection threshold bits [7:0] |
fxanhkhoa | 0:ffd0caf3db9f | 41 | #define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms |
fxanhkhoa | 0:ffd0caf3db9f | 42 | #define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0] |
fxanhkhoa | 0:ffd0caf3db9f | 43 | #define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms |
fxanhkhoa | 0:ffd0caf3db9f | 44 | #define FIFO_EN 0x23 |
fxanhkhoa | 0:ffd0caf3db9f | 45 | #define I2C_MST_CTRL 0x24 |
fxanhkhoa | 0:ffd0caf3db9f | 46 | #define I2C_SLV0_ADDR 0x25 |
fxanhkhoa | 0:ffd0caf3db9f | 47 | #define I2C_SLV0_REG 0x26 |
fxanhkhoa | 0:ffd0caf3db9f | 48 | #define I2C_SLV0_CTRL 0x27 |
fxanhkhoa | 0:ffd0caf3db9f | 49 | #define I2C_SLV1_ADDR 0x28 |
fxanhkhoa | 0:ffd0caf3db9f | 50 | #define I2C_SLV1_REG 0x29 |
fxanhkhoa | 0:ffd0caf3db9f | 51 | #define I2C_SLV1_CTRL 0x2A |
fxanhkhoa | 0:ffd0caf3db9f | 52 | #define I2C_SLV2_ADDR 0x2B |
fxanhkhoa | 0:ffd0caf3db9f | 53 | #define I2C_SLV2_REG 0x2C |
fxanhkhoa | 0:ffd0caf3db9f | 54 | #define I2C_SLV2_CTRL 0x2D |
fxanhkhoa | 0:ffd0caf3db9f | 55 | #define I2C_SLV3_ADDR 0x2E |
fxanhkhoa | 0:ffd0caf3db9f | 56 | #define I2C_SLV3_REG 0x2F |
fxanhkhoa | 0:ffd0caf3db9f | 57 | #define I2C_SLV3_CTRL 0x30 |
fxanhkhoa | 0:ffd0caf3db9f | 58 | #define I2C_SLV4_ADDR 0x31 |
fxanhkhoa | 0:ffd0caf3db9f | 59 | #define I2C_SLV4_REG 0x32 |
fxanhkhoa | 0:ffd0caf3db9f | 60 | #define I2C_SLV4_DO 0x33 |
fxanhkhoa | 0:ffd0caf3db9f | 61 | #define I2C_SLV4_CTRL 0x34 |
fxanhkhoa | 0:ffd0caf3db9f | 62 | #define I2C_SLV4_DI 0x35 |
fxanhkhoa | 0:ffd0caf3db9f | 63 | #define I2C_MST_STATUS 0x36 |
fxanhkhoa | 0:ffd0caf3db9f | 64 | #define INT_PIN_CFG 0x37 |
fxanhkhoa | 0:ffd0caf3db9f | 65 | #define INT_ENABLE 0x38 |
fxanhkhoa | 0:ffd0caf3db9f | 66 | #define DMP_INT_STATUS 0x39 // Check DMP interrupt |
fxanhkhoa | 0:ffd0caf3db9f | 67 | #define INT_STATUS 0x3A |
fxanhkhoa | 0:ffd0caf3db9f | 68 | #define ACCEL_XOUT_H 0x3B |
fxanhkhoa | 0:ffd0caf3db9f | 69 | #define ACCEL_XOUT_L 0x3C |
fxanhkhoa | 0:ffd0caf3db9f | 70 | #define ACCEL_YOUT_H 0x3D |
fxanhkhoa | 0:ffd0caf3db9f | 71 | #define ACCEL_YOUT_L 0x3E |
fxanhkhoa | 0:ffd0caf3db9f | 72 | #define ACCEL_ZOUT_H 0x3F |
fxanhkhoa | 0:ffd0caf3db9f | 73 | #define ACCEL_ZOUT_L 0x40 |
fxanhkhoa | 0:ffd0caf3db9f | 74 | #define TEMP_OUT_H 0x41 |
fxanhkhoa | 0:ffd0caf3db9f | 75 | #define TEMP_OUT_L 0x42 |
fxanhkhoa | 0:ffd0caf3db9f | 76 | #define GYRO_XOUT_H 0x43 |
fxanhkhoa | 0:ffd0caf3db9f | 77 | #define GYRO_XOUT_L 0x44 |
fxanhkhoa | 0:ffd0caf3db9f | 78 | #define GYRO_YOUT_H 0x45 |
fxanhkhoa | 0:ffd0caf3db9f | 79 | #define GYRO_YOUT_L 0x46 |
fxanhkhoa | 0:ffd0caf3db9f | 80 | #define GYRO_ZOUT_H 0x47 |
fxanhkhoa | 0:ffd0caf3db9f | 81 | #define GYRO_ZOUT_L 0x48 |
fxanhkhoa | 0:ffd0caf3db9f | 82 | #define EXT_SENS_DATA_00 0x49 |
fxanhkhoa | 0:ffd0caf3db9f | 83 | #define EXT_SENS_DATA_01 0x4A |
fxanhkhoa | 0:ffd0caf3db9f | 84 | #define EXT_SENS_DATA_02 0x4B |
fxanhkhoa | 0:ffd0caf3db9f | 85 | #define EXT_SENS_DATA_03 0x4C |
fxanhkhoa | 0:ffd0caf3db9f | 86 | #define EXT_SENS_DATA_04 0x4D |
fxanhkhoa | 0:ffd0caf3db9f | 87 | #define EXT_SENS_DATA_05 0x4E |
fxanhkhoa | 0:ffd0caf3db9f | 88 | #define EXT_SENS_DATA_06 0x4F |
fxanhkhoa | 0:ffd0caf3db9f | 89 | #define EXT_SENS_DATA_07 0x50 |
fxanhkhoa | 0:ffd0caf3db9f | 90 | #define EXT_SENS_DATA_08 0x51 |
fxanhkhoa | 0:ffd0caf3db9f | 91 | #define EXT_SENS_DATA_09 0x52 |
fxanhkhoa | 0:ffd0caf3db9f | 92 | #define EXT_SENS_DATA_10 0x53 |
fxanhkhoa | 0:ffd0caf3db9f | 93 | #define EXT_SENS_DATA_11 0x54 |
fxanhkhoa | 0:ffd0caf3db9f | 94 | #define EXT_SENS_DATA_12 0x55 |
fxanhkhoa | 0:ffd0caf3db9f | 95 | #define EXT_SENS_DATA_13 0x56 |
fxanhkhoa | 0:ffd0caf3db9f | 96 | #define EXT_SENS_DATA_14 0x57 |
fxanhkhoa | 0:ffd0caf3db9f | 97 | #define EXT_SENS_DATA_15 0x58 |
fxanhkhoa | 0:ffd0caf3db9f | 98 | #define EXT_SENS_DATA_16 0x59 |
fxanhkhoa | 0:ffd0caf3db9f | 99 | #define EXT_SENS_DATA_17 0x5A |
fxanhkhoa | 0:ffd0caf3db9f | 100 | #define EXT_SENS_DATA_18 0x5B |
fxanhkhoa | 0:ffd0caf3db9f | 101 | #define EXT_SENS_DATA_19 0x5C |
fxanhkhoa | 0:ffd0caf3db9f | 102 | #define EXT_SENS_DATA_20 0x5D |
fxanhkhoa | 0:ffd0caf3db9f | 103 | #define EXT_SENS_DATA_21 0x5E |
fxanhkhoa | 0:ffd0caf3db9f | 104 | #define EXT_SENS_DATA_22 0x5F |
fxanhkhoa | 0:ffd0caf3db9f | 105 | #define EXT_SENS_DATA_23 0x60 |
fxanhkhoa | 0:ffd0caf3db9f | 106 | #define MOT_DETECT_STATUS 0x61 |
fxanhkhoa | 0:ffd0caf3db9f | 107 | #define I2C_SLV0_DO 0x63 |
fxanhkhoa | 0:ffd0caf3db9f | 108 | #define I2C_SLV1_DO 0x64 |
fxanhkhoa | 0:ffd0caf3db9f | 109 | #define I2C_SLV2_DO 0x65 |
fxanhkhoa | 0:ffd0caf3db9f | 110 | #define I2C_SLV3_DO 0x66 |
fxanhkhoa | 0:ffd0caf3db9f | 111 | #define I2C_MST_DELAY_CTRL 0x67 |
fxanhkhoa | 0:ffd0caf3db9f | 112 | #define SIGNAL_PATH_RESET 0x68 |
fxanhkhoa | 0:ffd0caf3db9f | 113 | #define MOT_DETECT_CTRL 0x69 |
fxanhkhoa | 0:ffd0caf3db9f | 114 | #define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP |
fxanhkhoa | 0:ffd0caf3db9f | 115 | #define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode |
fxanhkhoa | 0:ffd0caf3db9f | 116 | #define PWR_MGMT_2 0x6C |
fxanhkhoa | 0:ffd0caf3db9f | 117 | #define DMP_BANK 0x6D // Activates a specific bank in the DMP |
fxanhkhoa | 0:ffd0caf3db9f | 118 | #define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank |
fxanhkhoa | 0:ffd0caf3db9f | 119 | #define DMP_REG 0x6F // Register in DMP from which to read or to which to write |
fxanhkhoa | 0:ffd0caf3db9f | 120 | #define DMP_REG_1 0x70 |
fxanhkhoa | 0:ffd0caf3db9f | 121 | #define DMP_REG_2 0x71 |
fxanhkhoa | 0:ffd0caf3db9f | 122 | #define FIFO_COUNTH 0x72 |
fxanhkhoa | 0:ffd0caf3db9f | 123 | #define FIFO_COUNTL 0x73 |
fxanhkhoa | 0:ffd0caf3db9f | 124 | #define FIFO_R_W 0x74 |
fxanhkhoa | 0:ffd0caf3db9f | 125 | #define WHO_AM_I_MPU6050 0x75 // Should return 0x68 |
fxanhkhoa | 0:ffd0caf3db9f | 126 | |
fxanhkhoa | 0:ffd0caf3db9f | 127 | // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor |
fxanhkhoa | 0:ffd0caf3db9f | 128 | // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1 |
fxanhkhoa | 0:ffd0caf3db9f | 129 | #define ADO 0 |
fxanhkhoa | 0:ffd0caf3db9f | 130 | #if ADO |
fxanhkhoa | 0:ffd0caf3db9f | 131 | #define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1 |
fxanhkhoa | 0:ffd0caf3db9f | 132 | #else |
fxanhkhoa | 0:ffd0caf3db9f | 133 | #define MPU6050_ADDRESS 0x68<<1 // Device address when ADO = 0 |
fxanhkhoa | 0:ffd0caf3db9f | 134 | #endif |
fxanhkhoa | 0:ffd0caf3db9f | 135 | |
fxanhkhoa | 0:ffd0caf3db9f | 136 | // Set initial input parameters |
fxanhkhoa | 0:ffd0caf3db9f | 137 | enum Ascale { |
fxanhkhoa | 0:ffd0caf3db9f | 138 | AFS_2G = 0, |
fxanhkhoa | 0:ffd0caf3db9f | 139 | AFS_4G, |
fxanhkhoa | 0:ffd0caf3db9f | 140 | AFS_8G, |
fxanhkhoa | 0:ffd0caf3db9f | 141 | AFS_16G |
fxanhkhoa | 0:ffd0caf3db9f | 142 | }; |
fxanhkhoa | 0:ffd0caf3db9f | 143 | |
fxanhkhoa | 0:ffd0caf3db9f | 144 | enum Gscale { |
fxanhkhoa | 0:ffd0caf3db9f | 145 | GFS_250DPS = 0, |
fxanhkhoa | 0:ffd0caf3db9f | 146 | GFS_500DPS, |
fxanhkhoa | 0:ffd0caf3db9f | 147 | GFS_1000DPS, |
fxanhkhoa | 0:ffd0caf3db9f | 148 | GFS_2000DPS |
fxanhkhoa | 0:ffd0caf3db9f | 149 | }; |
fxanhkhoa | 0:ffd0caf3db9f | 150 | |
fxanhkhoa | 0:ffd0caf3db9f | 151 | // Specify sensor full scale |
fxanhkhoa | 0:ffd0caf3db9f | 152 | int Gscale = GFS_250DPS; |
fxanhkhoa | 0:ffd0caf3db9f | 153 | int Ascale = AFS_2G; |
fxanhkhoa | 0:ffd0caf3db9f | 154 | |
fxanhkhoa | 0:ffd0caf3db9f | 155 | //Set up I2C, (SDA,SCL) |
fxanhkhoa | 0:ffd0caf3db9f | 156 | I2C i2c(I2C_SDA, I2C_SCL); |
fxanhkhoa | 0:ffd0caf3db9f | 157 | I2C i2c2(PB_14,PB_13); |
fxanhkhoa | 0:ffd0caf3db9f | 158 | |
fxanhkhoa | 0:ffd0caf3db9f | 159 | //DigitalOut myled(LED1); |
fxanhkhoa | 0:ffd0caf3db9f | 160 | |
fxanhkhoa | 0:ffd0caf3db9f | 161 | float aRes, gRes, aRes2, gRes2; // scale resolutions per LSB for the sensors |
fxanhkhoa | 0:ffd0caf3db9f | 162 | |
fxanhkhoa | 0:ffd0caf3db9f | 163 | // Pin definitions |
fxanhkhoa | 0:ffd0caf3db9f | 164 | int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins |
fxanhkhoa | 0:ffd0caf3db9f | 165 | |
fxanhkhoa | 0:ffd0caf3db9f | 166 | int16_t accelCount[3],accelCount2[3]; // Stores the 16-bit signed accelerometer sensor output |
fxanhkhoa | 0:ffd0caf3db9f | 167 | float ax, ay, az, ax2, ay2, az2; // Stores the real accel value in g's |
fxanhkhoa | 0:ffd0caf3db9f | 168 | int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output |
fxanhkhoa | 0:ffd0caf3db9f | 169 | float gx, gy, gz, gx2, gy2, gz2; // Stores the real gyro value in degrees per seconds |
fxanhkhoa | 0:ffd0caf3db9f | 170 | float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 171 | int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius |
fxanhkhoa | 0:ffd0caf3db9f | 172 | float temperature; |
fxanhkhoa | 0:ffd0caf3db9f | 173 | float SelfTest[6],SelfTest2[6]; |
fxanhkhoa | 0:ffd0caf3db9f | 174 | |
fxanhkhoa | 0:ffd0caf3db9f | 175 | int delt_t = 0; // used to control display output rate |
fxanhkhoa | 0:ffd0caf3db9f | 176 | int count_mpu = 0; // used to control display output rate |
fxanhkhoa | 0:ffd0caf3db9f | 177 | |
fxanhkhoa | 0:ffd0caf3db9f | 178 | // parameters for 6 DoF sensor fusion calculations |
fxanhkhoa | 0:ffd0caf3db9f | 179 | float PI = 3.14159265358979323846f; |
fxanhkhoa | 0:ffd0caf3db9f | 180 | float GyroMeasError = PI * (60.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3 |
fxanhkhoa | 0:ffd0caf3db9f | 181 | float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta |
fxanhkhoa | 0:ffd0caf3db9f | 182 | float GyroMeasDrift = PI * (1.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s) |
fxanhkhoa | 0:ffd0caf3db9f | 183 | float zeta = sqrt(3.0f / 4.0f) * GyroMeasDrift; // compute zeta, the other free parameter in the Madgwick scheme usually set to a small or zero value |
fxanhkhoa | 0:ffd0caf3db9f | 184 | float pitch, yaw, roll,pitch2,yaw2,roll2; |
fxanhkhoa | 0:ffd0caf3db9f | 185 | float deltat = 0.0f; // integration interval for both filter schemes |
fxanhkhoa | 0:ffd0caf3db9f | 186 | int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval |
fxanhkhoa | 0:ffd0caf3db9f | 187 | float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion |
fxanhkhoa | 0:ffd0caf3db9f | 188 | |
fxanhkhoa | 0:ffd0caf3db9f | 189 | class MPU60501 { |
fxanhkhoa | 0:ffd0caf3db9f | 190 | |
fxanhkhoa | 0:ffd0caf3db9f | 191 | protected: |
fxanhkhoa | 0:ffd0caf3db9f | 192 | |
fxanhkhoa | 0:ffd0caf3db9f | 193 | public: |
fxanhkhoa | 0:ffd0caf3db9f | 194 | //=================================================================================================================== |
fxanhkhoa | 0:ffd0caf3db9f | 195 | //====== Set of useful function to access acceleratio, gyroscope, and temperature data |
fxanhkhoa | 0:ffd0caf3db9f | 196 | //=================================================================================================================== |
fxanhkhoa | 0:ffd0caf3db9f | 197 | |
fxanhkhoa | 0:ffd0caf3db9f | 198 | void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) |
fxanhkhoa | 0:ffd0caf3db9f | 199 | { |
fxanhkhoa | 0:ffd0caf3db9f | 200 | char data_write[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 201 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 202 | data_write[1] = data; |
fxanhkhoa | 0:ffd0caf3db9f | 203 | i2c.write(address, data_write, 2, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 204 | } |
fxanhkhoa | 0:ffd0caf3db9f | 205 | |
fxanhkhoa | 0:ffd0caf3db9f | 206 | void writeByte2(uint8_t address, uint8_t subAddress, uint8_t data) |
fxanhkhoa | 0:ffd0caf3db9f | 207 | { |
fxanhkhoa | 0:ffd0caf3db9f | 208 | char data_write[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 209 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 210 | data_write[1] = data; |
fxanhkhoa | 0:ffd0caf3db9f | 211 | i2c2.write(address, data_write, 2, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 212 | } |
fxanhkhoa | 0:ffd0caf3db9f | 213 | |
fxanhkhoa | 0:ffd0caf3db9f | 214 | char readByte(uint8_t address, uint8_t subAddress) |
fxanhkhoa | 0:ffd0caf3db9f | 215 | { |
fxanhkhoa | 0:ffd0caf3db9f | 216 | char data[1]; // `data` will store the register data |
fxanhkhoa | 0:ffd0caf3db9f | 217 | char data_write[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 218 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 219 | i2c.write(address, data_write, 1, 1); // no stop |
fxanhkhoa | 0:ffd0caf3db9f | 220 | i2c.read(address, data, 1, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 221 | return data[0]; |
fxanhkhoa | 0:ffd0caf3db9f | 222 | } |
fxanhkhoa | 0:ffd0caf3db9f | 223 | |
fxanhkhoa | 0:ffd0caf3db9f | 224 | char readByte2(uint8_t address, uint8_t subAddress) |
fxanhkhoa | 0:ffd0caf3db9f | 225 | { |
fxanhkhoa | 0:ffd0caf3db9f | 226 | char data[1]; // `data` will store the register data |
fxanhkhoa | 0:ffd0caf3db9f | 227 | char data_write[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 228 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 229 | i2c2.write(address, data_write, 1, 1); // no stop |
fxanhkhoa | 0:ffd0caf3db9f | 230 | i2c2.read(address, data, 1, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 231 | return data[0]; |
fxanhkhoa | 0:ffd0caf3db9f | 232 | } |
fxanhkhoa | 0:ffd0caf3db9f | 233 | |
fxanhkhoa | 0:ffd0caf3db9f | 234 | void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) |
fxanhkhoa | 0:ffd0caf3db9f | 235 | { |
fxanhkhoa | 0:ffd0caf3db9f | 236 | char data[14]; |
fxanhkhoa | 0:ffd0caf3db9f | 237 | char data_write[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 238 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 239 | i2c.write(address, data_write, 1, 1); // no stop |
fxanhkhoa | 0:ffd0caf3db9f | 240 | i2c.read(address, data, count, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 241 | for(int ii = 0; ii < count; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 242 | dest[ii] = data[ii]; |
fxanhkhoa | 0:ffd0caf3db9f | 243 | } |
fxanhkhoa | 0:ffd0caf3db9f | 244 | } |
fxanhkhoa | 0:ffd0caf3db9f | 245 | |
fxanhkhoa | 0:ffd0caf3db9f | 246 | void readBytes2(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) |
fxanhkhoa | 0:ffd0caf3db9f | 247 | { |
fxanhkhoa | 0:ffd0caf3db9f | 248 | char data[14]; |
fxanhkhoa | 0:ffd0caf3db9f | 249 | char data_write[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 250 | data_write[0] = subAddress; |
fxanhkhoa | 0:ffd0caf3db9f | 251 | i2c2.write(address, data_write, 1, 1); // no stop |
fxanhkhoa | 0:ffd0caf3db9f | 252 | i2c2.read(address, data, count, 0); |
fxanhkhoa | 0:ffd0caf3db9f | 253 | for(int ii = 0; ii < count; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 254 | dest[ii] = data[ii]; |
fxanhkhoa | 0:ffd0caf3db9f | 255 | } |
fxanhkhoa | 0:ffd0caf3db9f | 256 | } |
fxanhkhoa | 0:ffd0caf3db9f | 257 | |
fxanhkhoa | 0:ffd0caf3db9f | 258 | |
fxanhkhoa | 0:ffd0caf3db9f | 259 | void getGres() { |
fxanhkhoa | 0:ffd0caf3db9f | 260 | switch (Gscale) |
fxanhkhoa | 0:ffd0caf3db9f | 261 | { |
fxanhkhoa | 0:ffd0caf3db9f | 262 | // Possible gyro scales (and their register bit settings) are: |
fxanhkhoa | 0:ffd0caf3db9f | 263 | // 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11). |
fxanhkhoa | 0:ffd0caf3db9f | 264 | // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: |
fxanhkhoa | 0:ffd0caf3db9f | 265 | case GFS_250DPS: |
fxanhkhoa | 0:ffd0caf3db9f | 266 | gRes = 250.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 267 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 268 | case GFS_500DPS: |
fxanhkhoa | 0:ffd0caf3db9f | 269 | gRes = 500.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 270 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 271 | case GFS_1000DPS: |
fxanhkhoa | 0:ffd0caf3db9f | 272 | gRes = 1000.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 273 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 274 | case GFS_2000DPS: |
fxanhkhoa | 0:ffd0caf3db9f | 275 | gRes = 2000.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 276 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 277 | } |
fxanhkhoa | 0:ffd0caf3db9f | 278 | } |
fxanhkhoa | 0:ffd0caf3db9f | 279 | |
fxanhkhoa | 0:ffd0caf3db9f | 280 | void getAres() { |
fxanhkhoa | 0:ffd0caf3db9f | 281 | switch (Ascale) |
fxanhkhoa | 0:ffd0caf3db9f | 282 | { |
fxanhkhoa | 0:ffd0caf3db9f | 283 | // Possible accelerometer scales (and their register bit settings) are: |
fxanhkhoa | 0:ffd0caf3db9f | 284 | // 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11). |
fxanhkhoa | 0:ffd0caf3db9f | 285 | // Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value: |
fxanhkhoa | 0:ffd0caf3db9f | 286 | case AFS_2G: |
fxanhkhoa | 0:ffd0caf3db9f | 287 | aRes = 2.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 288 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 289 | case AFS_4G: |
fxanhkhoa | 0:ffd0caf3db9f | 290 | aRes = 4.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 291 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 292 | case AFS_8G: |
fxanhkhoa | 0:ffd0caf3db9f | 293 | aRes = 8.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 294 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 295 | case AFS_16G: |
fxanhkhoa | 0:ffd0caf3db9f | 296 | aRes = 16.0/32768.0; |
fxanhkhoa | 0:ffd0caf3db9f | 297 | break; |
fxanhkhoa | 0:ffd0caf3db9f | 298 | } |
fxanhkhoa | 0:ffd0caf3db9f | 299 | } |
fxanhkhoa | 0:ffd0caf3db9f | 300 | |
fxanhkhoa | 0:ffd0caf3db9f | 301 | |
fxanhkhoa | 0:ffd0caf3db9f | 302 | void readAccelData(int16_t * destination) |
fxanhkhoa | 0:ffd0caf3db9f | 303 | { |
fxanhkhoa | 0:ffd0caf3db9f | 304 | uint8_t rawData[6]; // x/y/z accel register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 305 | readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array |
fxanhkhoa | 0:ffd0caf3db9f | 306 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 307 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 308 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 309 | } |
fxanhkhoa | 0:ffd0caf3db9f | 310 | |
fxanhkhoa | 0:ffd0caf3db9f | 311 | void readAccelData2(int16_t * destination) |
fxanhkhoa | 0:ffd0caf3db9f | 312 | { |
fxanhkhoa | 0:ffd0caf3db9f | 313 | uint8_t rawData[6]; // x/y/z accel register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 314 | readBytes2(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array |
fxanhkhoa | 0:ffd0caf3db9f | 315 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 316 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 317 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 318 | } |
fxanhkhoa | 0:ffd0caf3db9f | 319 | |
fxanhkhoa | 0:ffd0caf3db9f | 320 | void readGyroData(int16_t * destination) |
fxanhkhoa | 0:ffd0caf3db9f | 321 | { |
fxanhkhoa | 0:ffd0caf3db9f | 322 | uint8_t rawData[6]; // x/y/z gyro register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 323 | readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array |
fxanhkhoa | 0:ffd0caf3db9f | 324 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 325 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 326 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 327 | } |
fxanhkhoa | 0:ffd0caf3db9f | 328 | |
fxanhkhoa | 0:ffd0caf3db9f | 329 | void readGyroData2(int16_t * destination) |
fxanhkhoa | 0:ffd0caf3db9f | 330 | { |
fxanhkhoa | 0:ffd0caf3db9f | 331 | uint8_t rawData[6]; // x/y/z gyro register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 332 | readBytes2(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array |
fxanhkhoa | 0:ffd0caf3db9f | 333 | destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 334 | destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 335 | destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 336 | } |
fxanhkhoa | 0:ffd0caf3db9f | 337 | |
fxanhkhoa | 0:ffd0caf3db9f | 338 | int16_t readTempData() |
fxanhkhoa | 0:ffd0caf3db9f | 339 | { |
fxanhkhoa | 0:ffd0caf3db9f | 340 | uint8_t rawData[2]; // x/y/z gyro register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 341 | readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array |
fxanhkhoa | 0:ffd0caf3db9f | 342 | return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 343 | } |
fxanhkhoa | 0:ffd0caf3db9f | 344 | |
fxanhkhoa | 0:ffd0caf3db9f | 345 | int16_t readTempData2() |
fxanhkhoa | 0:ffd0caf3db9f | 346 | { |
fxanhkhoa | 0:ffd0caf3db9f | 347 | uint8_t rawData[2]; // x/y/z gyro register data stored here |
fxanhkhoa | 0:ffd0caf3db9f | 348 | readBytes2(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array |
fxanhkhoa | 0:ffd0caf3db9f | 349 | return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value |
fxanhkhoa | 0:ffd0caf3db9f | 350 | } |
fxanhkhoa | 0:ffd0caf3db9f | 351 | |
fxanhkhoa | 0:ffd0caf3db9f | 352 | |
fxanhkhoa | 0:ffd0caf3db9f | 353 | |
fxanhkhoa | 0:ffd0caf3db9f | 354 | // Configure the motion detection control for low power accelerometer mode |
fxanhkhoa | 0:ffd0caf3db9f | 355 | void LowPowerAccelOnly() |
fxanhkhoa | 0:ffd0caf3db9f | 356 | { |
fxanhkhoa | 0:ffd0caf3db9f | 357 | |
fxanhkhoa | 0:ffd0caf3db9f | 358 | // The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly |
fxanhkhoa | 0:ffd0caf3db9f | 359 | // Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration |
fxanhkhoa | 0:ffd0caf3db9f | 360 | // above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a |
fxanhkhoa | 0:ffd0caf3db9f | 361 | // threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out |
fxanhkhoa | 0:ffd0caf3db9f | 362 | // consideration for these threshold evaluations; otherwise, the flags would be set all the time! |
fxanhkhoa | 0:ffd0caf3db9f | 363 | |
fxanhkhoa | 0:ffd0caf3db9f | 364 | uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1); |
fxanhkhoa | 0:ffd0caf3db9f | 365 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6] |
fxanhkhoa | 0:ffd0caf3db9f | 366 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running |
fxanhkhoa | 0:ffd0caf3db9f | 367 | |
fxanhkhoa | 0:ffd0caf3db9f | 368 | c = readByte(MPU6050_ADDRESS, PWR_MGMT_2); |
fxanhkhoa | 0:ffd0caf3db9f | 369 | writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5] |
fxanhkhoa | 0:ffd0caf3db9f | 370 | writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running |
fxanhkhoa | 0:ffd0caf3db9f | 371 | |
fxanhkhoa | 0:ffd0caf3db9f | 372 | c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 373 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 374 | // Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold |
fxanhkhoa | 0:ffd0caf3db9f | 375 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter |
fxanhkhoa | 0:ffd0caf3db9f | 376 | |
fxanhkhoa | 0:ffd0caf3db9f | 377 | c = readByte(MPU6050_ADDRESS, CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 378 | writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 379 | writeByte(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate |
fxanhkhoa | 0:ffd0caf3db9f | 380 | |
fxanhkhoa | 0:ffd0caf3db9f | 381 | c = readByte(MPU6050_ADDRESS, INT_ENABLE); |
fxanhkhoa | 0:ffd0caf3db9f | 382 | writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 383 | writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only |
fxanhkhoa | 0:ffd0caf3db9f | 384 | |
fxanhkhoa | 0:ffd0caf3db9f | 385 | // Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold |
fxanhkhoa | 0:ffd0caf3db9f | 386 | // for at least the counter duration |
fxanhkhoa | 0:ffd0caf3db9f | 387 | writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg |
fxanhkhoa | 0:ffd0caf3db9f | 388 | writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate |
fxanhkhoa | 0:ffd0caf3db9f | 389 | |
fxanhkhoa | 0:ffd0caf3db9f | 390 | wait(0.1); // Add delay for accumulation of samples |
fxanhkhoa | 0:ffd0caf3db9f | 391 | |
fxanhkhoa | 0:ffd0caf3db9f | 392 | c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 393 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 394 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance |
fxanhkhoa | 0:ffd0caf3db9f | 395 | |
fxanhkhoa | 0:ffd0caf3db9f | 396 | c = readByte(MPU6050_ADDRESS, PWR_MGMT_2); |
fxanhkhoa | 0:ffd0caf3db9f | 397 | writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7] |
fxanhkhoa | 0:ffd0caf3db9f | 398 | writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2]) |
fxanhkhoa | 0:ffd0caf3db9f | 399 | |
fxanhkhoa | 0:ffd0caf3db9f | 400 | c = readByte(MPU6050_ADDRESS, PWR_MGMT_1); |
fxanhkhoa | 0:ffd0caf3db9f | 401 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5 |
fxanhkhoa | 0:ffd0caf3db9f | 402 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 403 | |
fxanhkhoa | 0:ffd0caf3db9f | 404 | } |
fxanhkhoa | 0:ffd0caf3db9f | 405 | |
fxanhkhoa | 0:ffd0caf3db9f | 406 | void LowPowerAccelOnly2() |
fxanhkhoa | 0:ffd0caf3db9f | 407 | { |
fxanhkhoa | 0:ffd0caf3db9f | 408 | |
fxanhkhoa | 0:ffd0caf3db9f | 409 | // The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly |
fxanhkhoa | 0:ffd0caf3db9f | 410 | // Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration |
fxanhkhoa | 0:ffd0caf3db9f | 411 | // above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a |
fxanhkhoa | 0:ffd0caf3db9f | 412 | // threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out |
fxanhkhoa | 0:ffd0caf3db9f | 413 | // consideration for these threshold evaluations; otherwise, the flags would be set all the time! |
fxanhkhoa | 0:ffd0caf3db9f | 414 | |
fxanhkhoa | 0:ffd0caf3db9f | 415 | uint8_t c = readByte2(MPU6050_ADDRESS, PWR_MGMT_1); |
fxanhkhoa | 0:ffd0caf3db9f | 416 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6] |
fxanhkhoa | 0:ffd0caf3db9f | 417 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running |
fxanhkhoa | 0:ffd0caf3db9f | 418 | |
fxanhkhoa | 0:ffd0caf3db9f | 419 | c = readByte2(MPU6050_ADDRESS, PWR_MGMT_2); |
fxanhkhoa | 0:ffd0caf3db9f | 420 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5] |
fxanhkhoa | 0:ffd0caf3db9f | 421 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running |
fxanhkhoa | 0:ffd0caf3db9f | 422 | |
fxanhkhoa | 0:ffd0caf3db9f | 423 | c = readByte2(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 424 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 425 | // Set high-pass filter to 0) reset (disable), 1) 5 Hz, 2) 2.5 Hz, 3) 1.25 Hz, 4) 0.63 Hz, or 7) Hold |
fxanhkhoa | 0:ffd0caf3db9f | 426 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter |
fxanhkhoa | 0:ffd0caf3db9f | 427 | |
fxanhkhoa | 0:ffd0caf3db9f | 428 | c = readByte2(MPU6050_ADDRESS, CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 429 | writeByte2(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 430 | writeByte2(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate |
fxanhkhoa | 0:ffd0caf3db9f | 431 | |
fxanhkhoa | 0:ffd0caf3db9f | 432 | c = readByte2(MPU6050_ADDRESS, INT_ENABLE); |
fxanhkhoa | 0:ffd0caf3db9f | 433 | writeByte2(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 434 | writeByte2(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only |
fxanhkhoa | 0:ffd0caf3db9f | 435 | |
fxanhkhoa | 0:ffd0caf3db9f | 436 | // Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold |
fxanhkhoa | 0:ffd0caf3db9f | 437 | // for at least the counter duration |
fxanhkhoa | 0:ffd0caf3db9f | 438 | writeByte2(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg |
fxanhkhoa | 0:ffd0caf3db9f | 439 | writeByte2(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate |
fxanhkhoa | 0:ffd0caf3db9f | 440 | |
fxanhkhoa | 0:ffd0caf3db9f | 441 | wait(0.1); // Add delay for accumulation of samples |
fxanhkhoa | 0:ffd0caf3db9f | 442 | |
fxanhkhoa | 0:ffd0caf3db9f | 443 | c = readByte2(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 444 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0] |
fxanhkhoa | 0:ffd0caf3db9f | 445 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance |
fxanhkhoa | 0:ffd0caf3db9f | 446 | |
fxanhkhoa | 0:ffd0caf3db9f | 447 | c = readByte2(MPU6050_ADDRESS, PWR_MGMT_2); |
fxanhkhoa | 0:ffd0caf3db9f | 448 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7] |
fxanhkhoa | 0:ffd0caf3db9f | 449 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2]) |
fxanhkhoa | 0:ffd0caf3db9f | 450 | |
fxanhkhoa | 0:ffd0caf3db9f | 451 | c = readByte2(MPU6050_ADDRESS, PWR_MGMT_1); |
fxanhkhoa | 0:ffd0caf3db9f | 452 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5 |
fxanhkhoa | 0:ffd0caf3db9f | 453 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 454 | |
fxanhkhoa | 0:ffd0caf3db9f | 455 | } |
fxanhkhoa | 0:ffd0caf3db9f | 456 | |
fxanhkhoa | 0:ffd0caf3db9f | 457 | |
fxanhkhoa | 0:ffd0caf3db9f | 458 | void resetMPU6050() { |
fxanhkhoa | 0:ffd0caf3db9f | 459 | // reset device |
fxanhkhoa | 0:ffd0caf3db9f | 460 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
fxanhkhoa | 0:ffd0caf3db9f | 461 | wait(0.1); |
fxanhkhoa | 0:ffd0caf3db9f | 462 | } |
fxanhkhoa | 0:ffd0caf3db9f | 463 | |
fxanhkhoa | 0:ffd0caf3db9f | 464 | void resetMPU60502() { |
fxanhkhoa | 0:ffd0caf3db9f | 465 | // reset device |
fxanhkhoa | 0:ffd0caf3db9f | 466 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
fxanhkhoa | 0:ffd0caf3db9f | 467 | wait(0.1); |
fxanhkhoa | 0:ffd0caf3db9f | 468 | } |
fxanhkhoa | 0:ffd0caf3db9f | 469 | |
fxanhkhoa | 0:ffd0caf3db9f | 470 | |
fxanhkhoa | 0:ffd0caf3db9f | 471 | void initMPU6050() |
fxanhkhoa | 0:ffd0caf3db9f | 472 | { |
fxanhkhoa | 0:ffd0caf3db9f | 473 | // Initialize MPU6050 device |
fxanhkhoa | 0:ffd0caf3db9f | 474 | // wake up device |
fxanhkhoa | 0:ffd0caf3db9f | 475 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors |
fxanhkhoa | 0:ffd0caf3db9f | 476 | wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt |
fxanhkhoa | 0:ffd0caf3db9f | 477 | |
fxanhkhoa | 0:ffd0caf3db9f | 478 | // get stable time source |
fxanhkhoa | 0:ffd0caf3db9f | 479 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
fxanhkhoa | 0:ffd0caf3db9f | 480 | |
fxanhkhoa | 0:ffd0caf3db9f | 481 | // Configure Gyro and Accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 482 | // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; |
fxanhkhoa | 0:ffd0caf3db9f | 483 | // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both |
fxanhkhoa | 0:ffd0caf3db9f | 484 | // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate |
fxanhkhoa | 0:ffd0caf3db9f | 485 | writeByte(MPU6050_ADDRESS, CONFIG, 0x03); |
fxanhkhoa | 0:ffd0caf3db9f | 486 | |
fxanhkhoa | 0:ffd0caf3db9f | 487 | // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) |
fxanhkhoa | 0:ffd0caf3db9f | 488 | writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above |
fxanhkhoa | 0:ffd0caf3db9f | 489 | |
fxanhkhoa | 0:ffd0caf3db9f | 490 | // Set gyroscope full scale range |
fxanhkhoa | 0:ffd0caf3db9f | 491 | // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 |
fxanhkhoa | 0:ffd0caf3db9f | 492 | uint8_t c = readByte(MPU6050_ADDRESS, GYRO_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 493 | writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
fxanhkhoa | 0:ffd0caf3db9f | 494 | writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
fxanhkhoa | 0:ffd0caf3db9f | 495 | writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro |
fxanhkhoa | 0:ffd0caf3db9f | 496 | |
fxanhkhoa | 0:ffd0caf3db9f | 497 | // Set accelerometer configuration |
fxanhkhoa | 0:ffd0caf3db9f | 498 | c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 499 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
fxanhkhoa | 0:ffd0caf3db9f | 500 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
fxanhkhoa | 0:ffd0caf3db9f | 501 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 502 | |
fxanhkhoa | 0:ffd0caf3db9f | 503 | // Configure Interrupts and Bypass Enable |
fxanhkhoa | 0:ffd0caf3db9f | 504 | // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips |
fxanhkhoa | 0:ffd0caf3db9f | 505 | // can join the I2C bus and all can be controlled by the Arduino as master |
fxanhkhoa | 0:ffd0caf3db9f | 506 | writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22); |
fxanhkhoa | 0:ffd0caf3db9f | 507 | writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt |
fxanhkhoa | 0:ffd0caf3db9f | 508 | } |
fxanhkhoa | 0:ffd0caf3db9f | 509 | |
fxanhkhoa | 0:ffd0caf3db9f | 510 | // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average |
fxanhkhoa | 0:ffd0caf3db9f | 511 | // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. |
fxanhkhoa | 0:ffd0caf3db9f | 512 | void calibrateMPU6050(float * dest1, float * dest2) |
fxanhkhoa | 0:ffd0caf3db9f | 513 | { |
fxanhkhoa | 0:ffd0caf3db9f | 514 | uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data |
fxanhkhoa | 0:ffd0caf3db9f | 515 | uint16_t ii, packet_count, fifo_count; |
fxanhkhoa | 0:ffd0caf3db9f | 516 | int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 517 | |
fxanhkhoa | 0:ffd0caf3db9f | 518 | // reset device, reset all registers, clear gyro and accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 519 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
fxanhkhoa | 0:ffd0caf3db9f | 520 | wait(0.1); |
fxanhkhoa | 0:ffd0caf3db9f | 521 | |
fxanhkhoa | 0:ffd0caf3db9f | 522 | // get stable time source |
fxanhkhoa | 0:ffd0caf3db9f | 523 | // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
fxanhkhoa | 0:ffd0caf3db9f | 524 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); |
fxanhkhoa | 0:ffd0caf3db9f | 525 | writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00); |
fxanhkhoa | 0:ffd0caf3db9f | 526 | wait(0.2); |
fxanhkhoa | 0:ffd0caf3db9f | 527 | |
fxanhkhoa | 0:ffd0caf3db9f | 528 | // Configure device for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 529 | writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 530 | writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 531 | writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source |
fxanhkhoa | 0:ffd0caf3db9f | 532 | writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master |
fxanhkhoa | 0:ffd0caf3db9f | 533 | writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes |
fxanhkhoa | 0:ffd0caf3db9f | 534 | writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP |
fxanhkhoa | 0:ffd0caf3db9f | 535 | wait(0.015); |
fxanhkhoa | 0:ffd0caf3db9f | 536 | |
fxanhkhoa | 0:ffd0caf3db9f | 537 | // Configure MPU6050 gyro and accelerometer for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 538 | writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz |
fxanhkhoa | 0:ffd0caf3db9f | 539 | writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz |
fxanhkhoa | 0:ffd0caf3db9f | 540 | writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity |
fxanhkhoa | 0:ffd0caf3db9f | 541 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity |
fxanhkhoa | 0:ffd0caf3db9f | 542 | |
fxanhkhoa | 0:ffd0caf3db9f | 543 | uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec |
fxanhkhoa | 0:ffd0caf3db9f | 544 | uint16_t accelsensitivity = 16384; // = 16384 LSB/g |
fxanhkhoa | 0:ffd0caf3db9f | 545 | |
fxanhkhoa | 0:ffd0caf3db9f | 546 | // Configure FIFO to capture accelerometer and gyro data for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 547 | writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 548 | writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050) |
fxanhkhoa | 0:ffd0caf3db9f | 549 | wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes |
fxanhkhoa | 0:ffd0caf3db9f | 550 | |
fxanhkhoa | 0:ffd0caf3db9f | 551 | // At end of sample accumulation, turn off FIFO sensor read |
fxanhkhoa | 0:ffd0caf3db9f | 552 | writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 553 | readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count |
fxanhkhoa | 0:ffd0caf3db9f | 554 | fifo_count = ((uint16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 555 | packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging |
fxanhkhoa | 0:ffd0caf3db9f | 556 | |
fxanhkhoa | 0:ffd0caf3db9f | 557 | for (ii = 0; ii < packet_count; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 558 | int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 559 | readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging |
fxanhkhoa | 0:ffd0caf3db9f | 560 | accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 561 | accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 562 | accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 563 | gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 564 | gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 565 | gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 566 | |
fxanhkhoa | 0:ffd0caf3db9f | 567 | accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases |
fxanhkhoa | 0:ffd0caf3db9f | 568 | accel_bias[1] += (int32_t) accel_temp[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 569 | accel_bias[2] += (int32_t) accel_temp[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 570 | gyro_bias[0] += (int32_t) gyro_temp[0]; |
fxanhkhoa | 0:ffd0caf3db9f | 571 | gyro_bias[1] += (int32_t) gyro_temp[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 572 | gyro_bias[2] += (int32_t) gyro_temp[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 573 | |
fxanhkhoa | 0:ffd0caf3db9f | 574 | } |
fxanhkhoa | 0:ffd0caf3db9f | 575 | accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases |
fxanhkhoa | 0:ffd0caf3db9f | 576 | accel_bias[1] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 577 | accel_bias[2] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 578 | gyro_bias[0] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 579 | gyro_bias[1] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 580 | gyro_bias[2] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 581 | |
fxanhkhoa | 0:ffd0caf3db9f | 582 | if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 583 | else {accel_bias[2] += (int32_t) accelsensitivity;} |
fxanhkhoa | 0:ffd0caf3db9f | 584 | |
fxanhkhoa | 0:ffd0caf3db9f | 585 | // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup |
fxanhkhoa | 0:ffd0caf3db9f | 586 | data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format |
fxanhkhoa | 0:ffd0caf3db9f | 587 | data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases |
fxanhkhoa | 0:ffd0caf3db9f | 588 | data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 589 | data[3] = (-gyro_bias[1]/4) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 590 | data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 591 | data[5] = (-gyro_bias[2]/4) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 592 | |
fxanhkhoa | 0:ffd0caf3db9f | 593 | // Push gyro biases to hardware registers |
fxanhkhoa | 0:ffd0caf3db9f | 594 | writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 595 | writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]); |
fxanhkhoa | 0:ffd0caf3db9f | 596 | writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 597 | writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]); |
fxanhkhoa | 0:ffd0caf3db9f | 598 | writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]); |
fxanhkhoa | 0:ffd0caf3db9f | 599 | writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 600 | |
fxanhkhoa | 0:ffd0caf3db9f | 601 | dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction |
fxanhkhoa | 0:ffd0caf3db9f | 602 | dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 603 | dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 604 | |
fxanhkhoa | 0:ffd0caf3db9f | 605 | // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain |
fxanhkhoa | 0:ffd0caf3db9f | 606 | // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold |
fxanhkhoa | 0:ffd0caf3db9f | 607 | // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature |
fxanhkhoa | 0:ffd0caf3db9f | 608 | // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that |
fxanhkhoa | 0:ffd0caf3db9f | 609 | // the accelerometer biases calculated above must be divided by 8. |
fxanhkhoa | 0:ffd0caf3db9f | 610 | |
fxanhkhoa | 0:ffd0caf3db9f | 611 | int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases |
fxanhkhoa | 0:ffd0caf3db9f | 612 | readBytes(MPU6050_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values |
fxanhkhoa | 0:ffd0caf3db9f | 613 | accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 614 | readBytes(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 615 | accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 616 | readBytes(MPU6050_ADDRESS, ZA_OFFSET_H, 2, &data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 617 | accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 618 | |
fxanhkhoa | 0:ffd0caf3db9f | 619 | uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 620 | uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis |
fxanhkhoa | 0:ffd0caf3db9f | 621 | |
fxanhkhoa | 0:ffd0caf3db9f | 622 | for(ii = 0; ii < 3; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 623 | if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit |
fxanhkhoa | 0:ffd0caf3db9f | 624 | } |
fxanhkhoa | 0:ffd0caf3db9f | 625 | |
fxanhkhoa | 0:ffd0caf3db9f | 626 | // Construct total accelerometer bias, including calculated average accelerometer bias from above |
fxanhkhoa | 0:ffd0caf3db9f | 627 | accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) |
fxanhkhoa | 0:ffd0caf3db9f | 628 | accel_bias_reg[1] -= (accel_bias[1]/8); |
fxanhkhoa | 0:ffd0caf3db9f | 629 | accel_bias_reg[2] -= (accel_bias[2]/8); |
fxanhkhoa | 0:ffd0caf3db9f | 630 | |
fxanhkhoa | 0:ffd0caf3db9f | 631 | data[0] = (accel_bias_reg[0] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 632 | data[1] = (accel_bias_reg[0]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 633 | data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 634 | data[2] = (accel_bias_reg[1] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 635 | data[3] = (accel_bias_reg[1]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 636 | data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 637 | data[4] = (accel_bias_reg[2] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 638 | data[5] = (accel_bias_reg[2]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 639 | data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 640 | |
fxanhkhoa | 0:ffd0caf3db9f | 641 | // Push accelerometer biases to hardware registers |
fxanhkhoa | 0:ffd0caf3db9f | 642 | // writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 643 | // writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]); |
fxanhkhoa | 0:ffd0caf3db9f | 644 | // writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 645 | // writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]); |
fxanhkhoa | 0:ffd0caf3db9f | 646 | // writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]); |
fxanhkhoa | 0:ffd0caf3db9f | 647 | // writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 648 | |
fxanhkhoa | 0:ffd0caf3db9f | 649 | // Output scaled accelerometer biases for manual subtraction in the main program |
fxanhkhoa | 0:ffd0caf3db9f | 650 | dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 651 | dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 652 | dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 653 | } |
fxanhkhoa | 0:ffd0caf3db9f | 654 | |
fxanhkhoa | 0:ffd0caf3db9f | 655 | void initMPU60502() |
fxanhkhoa | 0:ffd0caf3db9f | 656 | { |
fxanhkhoa | 0:ffd0caf3db9f | 657 | // Initialize MPU6050 device |
fxanhkhoa | 0:ffd0caf3db9f | 658 | // wake up device |
fxanhkhoa | 0:ffd0caf3db9f | 659 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors |
fxanhkhoa | 0:ffd0caf3db9f | 660 | wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt |
fxanhkhoa | 0:ffd0caf3db9f | 661 | |
fxanhkhoa | 0:ffd0caf3db9f | 662 | // get stable time source |
fxanhkhoa | 0:ffd0caf3db9f | 663 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
fxanhkhoa | 0:ffd0caf3db9f | 664 | |
fxanhkhoa | 0:ffd0caf3db9f | 665 | // Configure Gyro and Accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 666 | // Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively; |
fxanhkhoa | 0:ffd0caf3db9f | 667 | // DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both |
fxanhkhoa | 0:ffd0caf3db9f | 668 | // Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate |
fxanhkhoa | 0:ffd0caf3db9f | 669 | writeByte2(MPU6050_ADDRESS, CONFIG, 0x03); |
fxanhkhoa | 0:ffd0caf3db9f | 670 | |
fxanhkhoa | 0:ffd0caf3db9f | 671 | // Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) |
fxanhkhoa | 0:ffd0caf3db9f | 672 | writeByte2(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above |
fxanhkhoa | 0:ffd0caf3db9f | 673 | |
fxanhkhoa | 0:ffd0caf3db9f | 674 | // Set gyroscope full scale range |
fxanhkhoa | 0:ffd0caf3db9f | 675 | // Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3 |
fxanhkhoa | 0:ffd0caf3db9f | 676 | uint8_t c = readByte2(MPU6050_ADDRESS, GYRO_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 677 | writeByte2(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
fxanhkhoa | 0:ffd0caf3db9f | 678 | writeByte2(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
fxanhkhoa | 0:ffd0caf3db9f | 679 | writeByte2(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro |
fxanhkhoa | 0:ffd0caf3db9f | 680 | |
fxanhkhoa | 0:ffd0caf3db9f | 681 | // Set accelerometer configuration |
fxanhkhoa | 0:ffd0caf3db9f | 682 | c = readByte2(MPU6050_ADDRESS, ACCEL_CONFIG); |
fxanhkhoa | 0:ffd0caf3db9f | 683 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5] |
fxanhkhoa | 0:ffd0caf3db9f | 684 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3] |
fxanhkhoa | 0:ffd0caf3db9f | 685 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer |
fxanhkhoa | 0:ffd0caf3db9f | 686 | |
fxanhkhoa | 0:ffd0caf3db9f | 687 | // Configure Interrupts and Bypass Enable |
fxanhkhoa | 0:ffd0caf3db9f | 688 | // Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips |
fxanhkhoa | 0:ffd0caf3db9f | 689 | // can join the I2C bus and all can be controlled by the Arduino as master |
fxanhkhoa | 0:ffd0caf3db9f | 690 | writeByte2(MPU6050_ADDRESS, INT_PIN_CFG, 0x22); |
fxanhkhoa | 0:ffd0caf3db9f | 691 | writeByte2(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt |
fxanhkhoa | 0:ffd0caf3db9f | 692 | } |
fxanhkhoa | 0:ffd0caf3db9f | 693 | |
fxanhkhoa | 0:ffd0caf3db9f | 694 | // Function which accumulates gyro and accelerometer data after device initialization. It calculates the average |
fxanhkhoa | 0:ffd0caf3db9f | 695 | // of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers. |
fxanhkhoa | 0:ffd0caf3db9f | 696 | void calibrateMPU60502(float * dest1, float * dest2) |
fxanhkhoa | 0:ffd0caf3db9f | 697 | { |
fxanhkhoa | 0:ffd0caf3db9f | 698 | uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data |
fxanhkhoa | 0:ffd0caf3db9f | 699 | uint16_t ii, packet_count, fifo_count; |
fxanhkhoa | 0:ffd0caf3db9f | 700 | int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 701 | |
fxanhkhoa | 0:ffd0caf3db9f | 702 | // reset device, reset all registers, clear gyro and accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 703 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device |
fxanhkhoa | 0:ffd0caf3db9f | 704 | wait(0.1); |
fxanhkhoa | 0:ffd0caf3db9f | 705 | |
fxanhkhoa | 0:ffd0caf3db9f | 706 | // get stable time source |
fxanhkhoa | 0:ffd0caf3db9f | 707 | // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 |
fxanhkhoa | 0:ffd0caf3db9f | 708 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); |
fxanhkhoa | 0:ffd0caf3db9f | 709 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_2, 0x00); |
fxanhkhoa | 0:ffd0caf3db9f | 710 | wait(0.2); |
fxanhkhoa | 0:ffd0caf3db9f | 711 | |
fxanhkhoa | 0:ffd0caf3db9f | 712 | // Configure device for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 713 | writeByte2(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts |
fxanhkhoa | 0:ffd0caf3db9f | 714 | writeByte2(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 715 | writeByte2(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source |
fxanhkhoa | 0:ffd0caf3db9f | 716 | writeByte2(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master |
fxanhkhoa | 0:ffd0caf3db9f | 717 | writeByte2(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes |
fxanhkhoa | 0:ffd0caf3db9f | 718 | writeByte2(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP |
fxanhkhoa | 0:ffd0caf3db9f | 719 | wait(0.015); |
fxanhkhoa | 0:ffd0caf3db9f | 720 | |
fxanhkhoa | 0:ffd0caf3db9f | 721 | // Configure MPU6050 gyro and accelerometer for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 722 | writeByte2(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz |
fxanhkhoa | 0:ffd0caf3db9f | 723 | writeByte2(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz |
fxanhkhoa | 0:ffd0caf3db9f | 724 | writeByte2(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity |
fxanhkhoa | 0:ffd0caf3db9f | 725 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity |
fxanhkhoa | 0:ffd0caf3db9f | 726 | |
fxanhkhoa | 0:ffd0caf3db9f | 727 | uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec |
fxanhkhoa | 0:ffd0caf3db9f | 728 | uint16_t accelsensitivity = 16384; // = 16384 LSB/g |
fxanhkhoa | 0:ffd0caf3db9f | 729 | |
fxanhkhoa | 0:ffd0caf3db9f | 730 | // Configure FIFO to capture accelerometer and gyro data for bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 731 | writeByte2(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 732 | writeByte2(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050) |
fxanhkhoa | 0:ffd0caf3db9f | 733 | wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes |
fxanhkhoa | 0:ffd0caf3db9f | 734 | |
fxanhkhoa | 0:ffd0caf3db9f | 735 | // At end of sample accumulation, turn off FIFO sensor read |
fxanhkhoa | 0:ffd0caf3db9f | 736 | writeByte2(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 737 | readBytes2(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count |
fxanhkhoa | 0:ffd0caf3db9f | 738 | fifo_count = ((uint16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 739 | packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging |
fxanhkhoa | 0:ffd0caf3db9f | 740 | |
fxanhkhoa | 0:ffd0caf3db9f | 741 | for (ii = 0; ii < packet_count; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 742 | int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 743 | readBytes2(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging |
fxanhkhoa | 0:ffd0caf3db9f | 744 | accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO |
fxanhkhoa | 0:ffd0caf3db9f | 745 | accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 746 | accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 747 | gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 748 | gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ; |
fxanhkhoa | 0:ffd0caf3db9f | 749 | gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ; |
fxanhkhoa | 0:ffd0caf3db9f | 750 | |
fxanhkhoa | 0:ffd0caf3db9f | 751 | accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases |
fxanhkhoa | 0:ffd0caf3db9f | 752 | accel_bias[1] += (int32_t) accel_temp[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 753 | accel_bias[2] += (int32_t) accel_temp[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 754 | gyro_bias[0] += (int32_t) gyro_temp[0]; |
fxanhkhoa | 0:ffd0caf3db9f | 755 | gyro_bias[1] += (int32_t) gyro_temp[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 756 | gyro_bias[2] += (int32_t) gyro_temp[2]; |
fxanhkhoa | 0:ffd0caf3db9f | 757 | |
fxanhkhoa | 0:ffd0caf3db9f | 758 | } |
fxanhkhoa | 0:ffd0caf3db9f | 759 | accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases |
fxanhkhoa | 0:ffd0caf3db9f | 760 | accel_bias[1] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 761 | accel_bias[2] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 762 | gyro_bias[0] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 763 | gyro_bias[1] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 764 | gyro_bias[2] /= (int32_t) packet_count; |
fxanhkhoa | 0:ffd0caf3db9f | 765 | |
fxanhkhoa | 0:ffd0caf3db9f | 766 | if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation |
fxanhkhoa | 0:ffd0caf3db9f | 767 | else {accel_bias[2] += (int32_t) accelsensitivity;} |
fxanhkhoa | 0:ffd0caf3db9f | 768 | |
fxanhkhoa | 0:ffd0caf3db9f | 769 | // Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup |
fxanhkhoa | 0:ffd0caf3db9f | 770 | data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format |
fxanhkhoa | 0:ffd0caf3db9f | 771 | data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases |
fxanhkhoa | 0:ffd0caf3db9f | 772 | data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 773 | data[3] = (-gyro_bias[1]/4) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 774 | data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 775 | data[5] = (-gyro_bias[2]/4) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 776 | |
fxanhkhoa | 0:ffd0caf3db9f | 777 | // Push gyro biases to hardware registers |
fxanhkhoa | 0:ffd0caf3db9f | 778 | writeByte2(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 779 | writeByte2(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]); |
fxanhkhoa | 0:ffd0caf3db9f | 780 | writeByte2(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 781 | writeByte2(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]); |
fxanhkhoa | 0:ffd0caf3db9f | 782 | writeByte2(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]); |
fxanhkhoa | 0:ffd0caf3db9f | 783 | writeByte2(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 784 | |
fxanhkhoa | 0:ffd0caf3db9f | 785 | dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction |
fxanhkhoa | 0:ffd0caf3db9f | 786 | dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 787 | dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 788 | |
fxanhkhoa | 0:ffd0caf3db9f | 789 | // Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain |
fxanhkhoa | 0:ffd0caf3db9f | 790 | // factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold |
fxanhkhoa | 0:ffd0caf3db9f | 791 | // non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature |
fxanhkhoa | 0:ffd0caf3db9f | 792 | // compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that |
fxanhkhoa | 0:ffd0caf3db9f | 793 | // the accelerometer biases calculated above must be divided by 8. |
fxanhkhoa | 0:ffd0caf3db9f | 794 | |
fxanhkhoa | 0:ffd0caf3db9f | 795 | int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases |
fxanhkhoa | 0:ffd0caf3db9f | 796 | readBytes2(MPU6050_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values |
fxanhkhoa | 0:ffd0caf3db9f | 797 | accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 798 | readBytes2(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 799 | accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 800 | readBytes2(MPU6050_ADDRESS, ZA_OFFSET_H, 2, &data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 801 | accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1]; |
fxanhkhoa | 0:ffd0caf3db9f | 802 | |
fxanhkhoa | 0:ffd0caf3db9f | 803 | uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 804 | uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis |
fxanhkhoa | 0:ffd0caf3db9f | 805 | |
fxanhkhoa | 0:ffd0caf3db9f | 806 | for(ii = 0; ii < 3; ii++) { |
fxanhkhoa | 0:ffd0caf3db9f | 807 | if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit |
fxanhkhoa | 0:ffd0caf3db9f | 808 | } |
fxanhkhoa | 0:ffd0caf3db9f | 809 | |
fxanhkhoa | 0:ffd0caf3db9f | 810 | // Construct total accelerometer bias, including calculated average accelerometer bias from above |
fxanhkhoa | 0:ffd0caf3db9f | 811 | accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale) |
fxanhkhoa | 0:ffd0caf3db9f | 812 | accel_bias_reg[1] -= (accel_bias[1]/8); |
fxanhkhoa | 0:ffd0caf3db9f | 813 | accel_bias_reg[2] -= (accel_bias[2]/8); |
fxanhkhoa | 0:ffd0caf3db9f | 814 | |
fxanhkhoa | 0:ffd0caf3db9f | 815 | data[0] = (accel_bias_reg[0] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 816 | data[1] = (accel_bias_reg[0]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 817 | data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 818 | data[2] = (accel_bias_reg[1] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 819 | data[3] = (accel_bias_reg[1]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 820 | data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 821 | data[4] = (accel_bias_reg[2] >> 8) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 822 | data[5] = (accel_bias_reg[2]) & 0xFF; |
fxanhkhoa | 0:ffd0caf3db9f | 823 | data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers |
fxanhkhoa | 0:ffd0caf3db9f | 824 | |
fxanhkhoa | 0:ffd0caf3db9f | 825 | // Push accelerometer biases to hardware registers |
fxanhkhoa | 0:ffd0caf3db9f | 826 | // writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]); |
fxanhkhoa | 0:ffd0caf3db9f | 827 | // writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]); |
fxanhkhoa | 0:ffd0caf3db9f | 828 | // writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 829 | // writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]); |
fxanhkhoa | 0:ffd0caf3db9f | 830 | // writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]); |
fxanhkhoa | 0:ffd0caf3db9f | 831 | // writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 832 | |
fxanhkhoa | 0:ffd0caf3db9f | 833 | // Output scaled accelerometer biases for manual subtraction in the main program |
fxanhkhoa | 0:ffd0caf3db9f | 834 | dest2[0] = (float)accel_bias[0]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 835 | dest2[1] = (float)accel_bias[1]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 836 | dest2[2] = (float)accel_bias[2]/(float)accelsensitivity; |
fxanhkhoa | 0:ffd0caf3db9f | 837 | } |
fxanhkhoa | 0:ffd0caf3db9f | 838 | |
fxanhkhoa | 0:ffd0caf3db9f | 839 | |
fxanhkhoa | 0:ffd0caf3db9f | 840 | // Accelerometer and gyroscope self test; check calibration wrt factory settings |
fxanhkhoa | 0:ffd0caf3db9f | 841 | void MPU6050SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass |
fxanhkhoa | 0:ffd0caf3db9f | 842 | { |
fxanhkhoa | 0:ffd0caf3db9f | 843 | uint8_t rawData[4] = {0, 0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 844 | uint8_t selfTest[6]; |
fxanhkhoa | 0:ffd0caf3db9f | 845 | float factoryTrim[6]; |
fxanhkhoa | 0:ffd0caf3db9f | 846 | |
fxanhkhoa | 0:ffd0caf3db9f | 847 | // Configure the accelerometer for self-test |
fxanhkhoa | 0:ffd0caf3db9f | 848 | writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g |
fxanhkhoa | 0:ffd0caf3db9f | 849 | writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s |
fxanhkhoa | 0:ffd0caf3db9f | 850 | wait(0.25); // Delay a while to let the device execute the self-test |
fxanhkhoa | 0:ffd0caf3db9f | 851 | rawData[0] = readByte(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 852 | rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 853 | rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 854 | rawData[3] = readByte(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 855 | // Extract the acceleration test results first |
fxanhkhoa | 0:ffd0caf3db9f | 856 | selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 857 | selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 858 | selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 859 | // Extract the gyration test results first |
fxanhkhoa | 0:ffd0caf3db9f | 860 | selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 861 | selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 862 | selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 863 | // Process results to allow final comparison with factory set values |
fxanhkhoa | 0:ffd0caf3db9f | 864 | factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 865 | factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 866 | factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 867 | factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 868 | factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 869 | factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 870 | |
fxanhkhoa | 0:ffd0caf3db9f | 871 | // Output self-test results and factory trim calculation if desired |
fxanhkhoa | 0:ffd0caf3db9f | 872 | // Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 873 | // Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 874 | // Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 875 | // Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 876 | |
fxanhkhoa | 0:ffd0caf3db9f | 877 | // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response |
fxanhkhoa | 0:ffd0caf3db9f | 878 | // To get to percent, must multiply by 100 and subtract result from 100 |
fxanhkhoa | 0:ffd0caf3db9f | 879 | for (int i = 0; i < 6; i++) { |
fxanhkhoa | 0:ffd0caf3db9f | 880 | destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences |
fxanhkhoa | 0:ffd0caf3db9f | 881 | } |
fxanhkhoa | 0:ffd0caf3db9f | 882 | |
fxanhkhoa | 0:ffd0caf3db9f | 883 | } |
fxanhkhoa | 0:ffd0caf3db9f | 884 | |
fxanhkhoa | 0:ffd0caf3db9f | 885 | void MPU6050SelfTest2(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass |
fxanhkhoa | 0:ffd0caf3db9f | 886 | { |
fxanhkhoa | 0:ffd0caf3db9f | 887 | uint8_t rawData[4] = {0, 0, 0, 0}; |
fxanhkhoa | 0:ffd0caf3db9f | 888 | uint8_t selfTest[6]; |
fxanhkhoa | 0:ffd0caf3db9f | 889 | float factoryTrim[6]; |
fxanhkhoa | 0:ffd0caf3db9f | 890 | |
fxanhkhoa | 0:ffd0caf3db9f | 891 | // Configure the accelerometer for self-test |
fxanhkhoa | 0:ffd0caf3db9f | 892 | writeByte2(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g |
fxanhkhoa | 0:ffd0caf3db9f | 893 | writeByte2(MPU6050_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s |
fxanhkhoa | 0:ffd0caf3db9f | 894 | wait(0.25); // Delay a while to let the device execute the self-test |
fxanhkhoa | 0:ffd0caf3db9f | 895 | rawData[0] = readByte2(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 896 | rawData[1] = readByte2(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 897 | rawData[2] = readByte2(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 898 | rawData[3] = readByte2(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results |
fxanhkhoa | 0:ffd0caf3db9f | 899 | // Extract the acceleration test results first |
fxanhkhoa | 0:ffd0caf3db9f | 900 | selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 901 | selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 902 | selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 903 | // Extract the gyration test results first |
fxanhkhoa | 0:ffd0caf3db9f | 904 | selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 905 | selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 906 | selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer |
fxanhkhoa | 0:ffd0caf3db9f | 907 | // Process results to allow final comparison with factory set values |
fxanhkhoa | 0:ffd0caf3db9f | 908 | factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 909 | factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 910 | factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 911 | factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 912 | factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 913 | factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation |
fxanhkhoa | 0:ffd0caf3db9f | 914 | |
fxanhkhoa | 0:ffd0caf3db9f | 915 | // Output self-test results and factory trim calculation if desired |
fxanhkhoa | 0:ffd0caf3db9f | 916 | // Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 917 | // Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 918 | // Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]); |
fxanhkhoa | 0:ffd0caf3db9f | 919 | // Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]); |
fxanhkhoa | 0:ffd0caf3db9f | 920 | |
fxanhkhoa | 0:ffd0caf3db9f | 921 | // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response |
fxanhkhoa | 0:ffd0caf3db9f | 922 | // To get to percent, must multiply by 100 and subtract result from 100 |
fxanhkhoa | 0:ffd0caf3db9f | 923 | for (int i = 0; i < 6; i++) { |
fxanhkhoa | 0:ffd0caf3db9f | 924 | destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences |
fxanhkhoa | 0:ffd0caf3db9f | 925 | } |
fxanhkhoa | 0:ffd0caf3db9f | 926 | |
fxanhkhoa | 0:ffd0caf3db9f | 927 | } |
fxanhkhoa | 0:ffd0caf3db9f | 928 | |
fxanhkhoa | 0:ffd0caf3db9f | 929 | |
fxanhkhoa | 0:ffd0caf3db9f | 930 | // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays" |
fxanhkhoa | 0:ffd0caf3db9f | 931 | // (see http://www.x-io.co.uk/category/open-source/ for examples and more details) |
fxanhkhoa | 0:ffd0caf3db9f | 932 | // which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative |
fxanhkhoa | 0:ffd0caf3db9f | 933 | // device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc. |
fxanhkhoa | 0:ffd0caf3db9f | 934 | // The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms |
fxanhkhoa | 0:ffd0caf3db9f | 935 | // but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz! |
fxanhkhoa | 0:ffd0caf3db9f | 936 | void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz) |
fxanhkhoa | 0:ffd0caf3db9f | 937 | { |
fxanhkhoa | 0:ffd0caf3db9f | 938 | float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability |
fxanhkhoa | 0:ffd0caf3db9f | 939 | float norm; // vector norm |
fxanhkhoa | 0:ffd0caf3db9f | 940 | float f1, f2, f3; // objective funcyion elements |
fxanhkhoa | 0:ffd0caf3db9f | 941 | float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements |
fxanhkhoa | 0:ffd0caf3db9f | 942 | float qDot1, qDot2, qDot3, qDot4; |
fxanhkhoa | 0:ffd0caf3db9f | 943 | float hatDot1, hatDot2, hatDot3, hatDot4; |
fxanhkhoa | 0:ffd0caf3db9f | 944 | float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz; // gyro bias error |
fxanhkhoa | 0:ffd0caf3db9f | 945 | |
fxanhkhoa | 0:ffd0caf3db9f | 946 | // Auxiliary variables to avoid repeated arithmetic |
fxanhkhoa | 0:ffd0caf3db9f | 947 | float _halfq1 = 0.5f * q1; |
fxanhkhoa | 0:ffd0caf3db9f | 948 | float _halfq2 = 0.5f * q2; |
fxanhkhoa | 0:ffd0caf3db9f | 949 | float _halfq3 = 0.5f * q3; |
fxanhkhoa | 0:ffd0caf3db9f | 950 | float _halfq4 = 0.5f * q4; |
fxanhkhoa | 0:ffd0caf3db9f | 951 | float _2q1 = 2.0f * q1; |
fxanhkhoa | 0:ffd0caf3db9f | 952 | float _2q2 = 2.0f * q2; |
fxanhkhoa | 0:ffd0caf3db9f | 953 | float _2q3 = 2.0f * q3; |
fxanhkhoa | 0:ffd0caf3db9f | 954 | float _2q4 = 2.0f * q4; |
fxanhkhoa | 0:ffd0caf3db9f | 955 | // float _2q1q3 = 2.0f * q1 * q3; |
fxanhkhoa | 0:ffd0caf3db9f | 956 | // float _2q3q4 = 2.0f * q3 * q4; |
fxanhkhoa | 0:ffd0caf3db9f | 957 | |
fxanhkhoa | 0:ffd0caf3db9f | 958 | // Normalise accelerometer measurement |
fxanhkhoa | 0:ffd0caf3db9f | 959 | norm = sqrt(ax * ax + ay * ay + az * az); |
fxanhkhoa | 0:ffd0caf3db9f | 960 | if (norm == 0.0f) return; // handle NaN |
fxanhkhoa | 0:ffd0caf3db9f | 961 | norm = 1.0f/norm; |
fxanhkhoa | 0:ffd0caf3db9f | 962 | ax *= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 963 | ay *= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 964 | az *= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 965 | |
fxanhkhoa | 0:ffd0caf3db9f | 966 | // Compute the objective function and Jacobian |
fxanhkhoa | 0:ffd0caf3db9f | 967 | f1 = _2q2 * q4 - _2q1 * q3 - ax; |
fxanhkhoa | 0:ffd0caf3db9f | 968 | f2 = _2q1 * q2 + _2q3 * q4 - ay; |
fxanhkhoa | 0:ffd0caf3db9f | 969 | f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az; |
fxanhkhoa | 0:ffd0caf3db9f | 970 | J_11or24 = _2q3; |
fxanhkhoa | 0:ffd0caf3db9f | 971 | J_12or23 = _2q4; |
fxanhkhoa | 0:ffd0caf3db9f | 972 | J_13or22 = _2q1; |
fxanhkhoa | 0:ffd0caf3db9f | 973 | J_14or21 = _2q2; |
fxanhkhoa | 0:ffd0caf3db9f | 974 | J_32 = 2.0f * J_14or21; |
fxanhkhoa | 0:ffd0caf3db9f | 975 | J_33 = 2.0f * J_11or24; |
fxanhkhoa | 0:ffd0caf3db9f | 976 | |
fxanhkhoa | 0:ffd0caf3db9f | 977 | // Compute the gradient (matrix multiplication) |
fxanhkhoa | 0:ffd0caf3db9f | 978 | hatDot1 = J_14or21 * f2 - J_11or24 * f1; |
fxanhkhoa | 0:ffd0caf3db9f | 979 | hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3; |
fxanhkhoa | 0:ffd0caf3db9f | 980 | hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1; |
fxanhkhoa | 0:ffd0caf3db9f | 981 | hatDot4 = J_14or21 * f1 + J_11or24 * f2; |
fxanhkhoa | 0:ffd0caf3db9f | 982 | |
fxanhkhoa | 0:ffd0caf3db9f | 983 | // Normalize the gradient |
fxanhkhoa | 0:ffd0caf3db9f | 984 | norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4); |
fxanhkhoa | 0:ffd0caf3db9f | 985 | hatDot1 /= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 986 | hatDot2 /= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 987 | hatDot3 /= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 988 | hatDot4 /= norm; |
fxanhkhoa | 0:ffd0caf3db9f | 989 | |
fxanhkhoa | 0:ffd0caf3db9f | 990 | // Compute estimated gyroscope biases |
fxanhkhoa | 0:ffd0caf3db9f | 991 | gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3; |
fxanhkhoa | 0:ffd0caf3db9f | 992 | gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2; |
fxanhkhoa | 0:ffd0caf3db9f | 993 | gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1; |
fxanhkhoa | 0:ffd0caf3db9f | 994 | |
fxanhkhoa | 0:ffd0caf3db9f | 995 | // Compute and remove gyroscope biases |
fxanhkhoa | 0:ffd0caf3db9f | 996 | gbiasx += gerrx * deltat * zeta; |
fxanhkhoa | 0:ffd0caf3db9f | 997 | gbiasy += gerry * deltat * zeta; |
fxanhkhoa | 0:ffd0caf3db9f | 998 | gbiasz += gerrz * deltat * zeta; |
fxanhkhoa | 0:ffd0caf3db9f | 999 | // gx -= gbiasx; |
fxanhkhoa | 0:ffd0caf3db9f | 1000 | // gy -= gbiasy; |
fxanhkhoa | 0:ffd0caf3db9f | 1001 | // gz -= gbiasz; |
fxanhkhoa | 0:ffd0caf3db9f | 1002 | |
fxanhkhoa | 0:ffd0caf3db9f | 1003 | // Compute the quaternion derivative |
fxanhkhoa | 0:ffd0caf3db9f | 1004 | qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz; |
fxanhkhoa | 0:ffd0caf3db9f | 1005 | qDot2 = _halfq1 * gx + _halfq3 * gz - _halfq4 * gy; |
fxanhkhoa | 0:ffd0caf3db9f | 1006 | qDot3 = _halfq1 * gy - _halfq2 * gz + _halfq4 * gx; |
fxanhkhoa | 0:ffd0caf3db9f | 1007 | qDot4 = _halfq1 * gz + _halfq2 * gy - _halfq3 * gx; |
fxanhkhoa | 0:ffd0caf3db9f | 1008 | |
fxanhkhoa | 0:ffd0caf3db9f | 1009 | // Compute then integrate estimated quaternion derivative |
fxanhkhoa | 0:ffd0caf3db9f | 1010 | q1 += (qDot1 -(beta * hatDot1)) * deltat; |
fxanhkhoa | 0:ffd0caf3db9f | 1011 | q2 += (qDot2 -(beta * hatDot2)) * deltat; |
fxanhkhoa | 0:ffd0caf3db9f | 1012 | q3 += (qDot3 -(beta * hatDot3)) * deltat; |
fxanhkhoa | 0:ffd0caf3db9f | 1013 | q4 += (qDot4 -(beta * hatDot4)) * deltat; |
fxanhkhoa | 0:ffd0caf3db9f | 1014 | |
fxanhkhoa | 0:ffd0caf3db9f | 1015 | // Normalize the quaternion |
fxanhkhoa | 0:ffd0caf3db9f | 1016 | norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion |
fxanhkhoa | 0:ffd0caf3db9f | 1017 | norm = 1.0f/norm; |
fxanhkhoa | 0:ffd0caf3db9f | 1018 | q[0] = q1 * norm; |
fxanhkhoa | 0:ffd0caf3db9f | 1019 | q[1] = q2 * norm; |
fxanhkhoa | 0:ffd0caf3db9f | 1020 | q[2] = q3 * norm; |
fxanhkhoa | 0:ffd0caf3db9f | 1021 | q[3] = q4 * norm; |
fxanhkhoa | 0:ffd0caf3db9f | 1022 | |
fxanhkhoa | 0:ffd0caf3db9f | 1023 | } |
fxanhkhoa | 0:ffd0caf3db9f | 1024 | |
fxanhkhoa | 0:ffd0caf3db9f | 1025 | |
fxanhkhoa | 0:ffd0caf3db9f | 1026 | }; |
fxanhkhoa | 0:ffd0caf3db9f | 1027 | #endif |