Rogelio Vazquez
UCR Robosub manual control / PID tuning interface
Sensors/MPU6050.h
- Committer:
- roger_wee
- Date:
- 2017-07-27
- Revision:
- 1:3f291f2f80d3
- Parent:
- 0:048a74dd7c3a
File content as of revision 1:3f291f2f80d3:
#ifndef MPU6050_H
#define MPU6050_H
#include "mbed.h"
#include "math.h"
// Define registers per MPU6050, Register Map and Descriptions, Rev 4.2, 08/19/2013 6 DOF Motion sensor fusion device
// Invensense Inc., www.invensense.com
// See also MPU-6050 Register Map and Descriptions, Revision 4.0, RM-MPU-6050A-00, 9/12/2012 for registers not listed in
// above document; the MPU6050 and MPU 9150 are virtually identical but the latter has an on-board magnetic sensor
//
#define XGOFFS_TC 0x00 // Bit 7 PWR_MODE, bits 6:1 XG_OFFS_TC, bit 0 OTP_BNK_VLD
#define YGOFFS_TC 0x01
#define ZGOFFS_TC 0x02
#define X_FINE_GAIN 0x03 // [7:0] fine gain
#define Y_FINE_GAIN 0x04
#define Z_FINE_GAIN 0x05
#define XA_OFFSET_H 0x06 // User-defined trim values for accelerometer
#define XA_OFFSET_L_TC 0x07
#define YA_OFFSET_H 0x08
#define YA_OFFSET_L_TC 0x09
#define ZA_OFFSET_H 0x0A
#define ZA_OFFSET_L_TC 0x0B
#define SELF_TEST_X 0x0D
#define SELF_TEST_Y 0x0E
#define SELF_TEST_Z 0x0F
#define SELF_TEST_A 0x10
#define XG_OFFS_USRH 0x13 // User-defined trim values for gyroscope; supported in MPU-6050?
#define XG_OFFS_USRL 0x14
#define YG_OFFS_USRH 0x15
#define YG_OFFS_USRL 0x16
#define ZG_OFFS_USRH 0x17
#define ZG_OFFS_USRL 0x18
#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
#define FF_THR 0x1D // Free-fall
#define FF_DUR 0x1E // Free-fall
#define MOT_THR 0x1F // Motion detection threshold bits [7:0]
#define MOT_DUR 0x20 // Duration counter threshold for motion interrupt generation, 1 kHz rate, LSB = 1 ms
#define ZMOT_THR 0x21 // Zero-motion detection threshold bits [7:0]
#define ZRMOT_DUR 0x22 // Duration counter threshold for zero motion interrupt generation, 16 Hz rate, LSB = 64 ms
#define FIFO_EN 0x23
#define I2C_MST_CTRL 0x24
#define I2C_SLV0_ADDR 0x25
#define I2C_SLV0_REG 0x26
#define I2C_SLV0_CTRL 0x27
#define I2C_SLV1_ADDR 0x28
#define I2C_SLV1_REG 0x29
#define I2C_SLV1_CTRL 0x2A
#define I2C_SLV2_ADDR 0x2B
#define I2C_SLV2_REG 0x2C
#define I2C_SLV2_CTRL 0x2D
#define I2C_SLV3_ADDR 0x2E
#define I2C_SLV3_REG 0x2F
#define I2C_SLV3_CTRL 0x30
#define I2C_SLV4_ADDR 0x31
#define I2C_SLV4_REG 0x32
#define I2C_SLV4_DO 0x33
#define I2C_SLV4_CTRL 0x34
#define I2C_SLV4_DI 0x35
#define I2C_MST_STATUS 0x36
#define INT_PIN_CFG 0x37
#define INT_ENABLE 0x38
#define DMP_INT_STATUS 0x39 // Check DMP interrupt
#define INT_STATUS 0x3A
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define EXT_SENS_DATA_00 0x49
#define EXT_SENS_DATA_01 0x4A
#define EXT_SENS_DATA_02 0x4B
#define EXT_SENS_DATA_03 0x4C
#define EXT_SENS_DATA_04 0x4D
#define EXT_SENS_DATA_05 0x4E
#define EXT_SENS_DATA_06 0x4F
#define EXT_SENS_DATA_07 0x50
#define EXT_SENS_DATA_08 0x51
#define EXT_SENS_DATA_09 0x52
#define EXT_SENS_DATA_10 0x53
#define EXT_SENS_DATA_11 0x54
#define EXT_SENS_DATA_12 0x55
#define EXT_SENS_DATA_13 0x56
#define EXT_SENS_DATA_14 0x57
#define EXT_SENS_DATA_15 0x58
#define EXT_SENS_DATA_16 0x59
#define EXT_SENS_DATA_17 0x5A
#define EXT_SENS_DATA_18 0x5B
#define EXT_SENS_DATA_19 0x5C
#define EXT_SENS_DATA_20 0x5D
#define EXT_SENS_DATA_21 0x5E
#define EXT_SENS_DATA_22 0x5F
#define EXT_SENS_DATA_23 0x60
#define MOT_DETECT_STATUS 0x61
#define I2C_SLV0_DO 0x63
#define I2C_SLV1_DO 0x64
#define I2C_SLV2_DO 0x65
#define I2C_SLV3_DO 0x66
#define I2C_MST_DELAY_CTRL 0x67
#define SIGNAL_PATH_RESET 0x68
#define MOT_DETECT_CTRL 0x69
#define USER_CTRL 0x6A // Bit 7 enable DMP, bit 3 reset DMP
#define PWR_MGMT_1 0x6B // Device defaults to the SLEEP mode
#define PWR_MGMT_2 0x6C
#define DMP_BANK 0x6D // Activates a specific bank in the DMP
#define DMP_RW_PNT 0x6E // Set read/write pointer to a specific start address in specified DMP bank
#define DMP_REG 0x6F // Register in DMP from which to read or to which to write
#define DMP_REG_1 0x70
#define DMP_REG_2 0x71
#define FIFO_COUNTH 0x72
#define FIFO_COUNTL 0x73
#define FIFO_R_W 0x74
#define WHO_AM_I_MPU6050 0x75 // Should return 0x68
// Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
// Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
//create constructor
#define MPU6050_ADDRESS 0x69<<1 // Device address when ADO = 1
//Set up I2C, (SDA,SCL)
I2C i2c(D14, D15);
// Set initial input parameters
enum Ascale {
AFS_2G = 0,
AFS_4G,
AFS_8G,
AFS_16G
};
enum Gscale {
GFS_250DPS = 0,
GFS_500DPS,
GFS_1000DPS,
GFS_2000DPS
};
// Specify sensor full scale
int Gscale = GFS_250DPS;
int Ascale = AFS_2G;
float aRes, gRes; // scale resolutions per LSB for the sensors
// Pin definitions
int intPin = 12; // These can be changed, 2 and 3 are the Arduinos ext int pins
int16_t accelCount[3]; // Stores the 16-bit signed accelerometer sensor output
float ax, ay, az; // Stores the real accel value in g's
int16_t gyroCount[3]; // Stores the 16-bit signed gyro sensor output
float gx, gy, gz; // Stores the real gyro value in degrees per seconds
float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
int16_t tempCount; // Stores the real internal chip temperature in degrees Celsius
float temperature;
float SelfTest[6];
signed int accelerationx[2], accelerationy[2];
signed long velocityx[2], velocityy[2];
signed long positionX[2];
signed long positionY[2];
signed long positionZ[2];
unsigned char countx, county;
float heading = 0;
float magdata[3];
int delt_t = 0; // used to control display output rate
int count = 0; // used to control display output rate
// parameters for 9 DoF sensor fusion calculations
float PI = 3.14159265358979323846f;
float GyroMeasError = PI * (90.0f / 180.0f); // gyroscope measurement error in rads/s (start at 60 deg/s), then reduce after ~10 s to 3
float beta = sqrt(3.0f / 4.0f) * GyroMeasError; // compute beta
float GyroMeasDrift = PI * (3.0f / 180.0f); // gyroscope measurement drift in rad/s/s (start at 0.0 deg/s/s)
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
float yaw, pitch, roll;
float deltat = 0.0f; // integration interval for both filter schemes
int lastUpdate = 0, firstUpdate = 0, Now = 0; // used to calculate integration interval // used to calculate integration interval
float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion
//free IMU variables
#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
#define twoKiDef (2.0f * 0.1f) // 2 * integral gain
float sampleFreq; // half the sample period expressed in seconds
volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
float exInt, eyInt, ezInt; // scaled integral error
volatile float integralFBx, integralFBy, integralFBz;
//math helper
float invSqrt(float number) {
volatile long i;
volatile float x, y;
volatile const float f = 1.5F;
x = number * 0.5F;
y = number;
i = * ( long * ) &y;
i = 0x5f375a86 - ( i >> 1 );
y = * ( float * ) &i;
y = y * ( f - ( x * y * y ) );
return y;
}
class MPU6050
{
protected:
public:
//===================================================================================================================
//====== Set of useful function to access acceleratio, gyroscope, and temperature data
//===================================================================================================================
//create constructor to pass in address
void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) {
char data_write[2];
data_write[0] = subAddress;
data_write[1] = data;
i2c.write(address, data_write, 2, 0);
}
char readByte(uint8_t address, uint8_t subAddress) {
char data[1]; // `data` will store the register data
char data_write[1];
data_write[0] = subAddress;
i2c.write(address, data_write, 1, 1); // no stop
i2c.read(address, data, 1, 0);
return data[0];
}
void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) {
char data[14];
char data_write[1];
data_write[0] = subAddress;
i2c.write(address, data_write, 1, 1); // no stop
i2c.read(address, data, count, 0);
for(int ii = 0; ii < count; ii++) {
dest[ii] = data[ii];
}
}
void getGres() {
switch (Gscale) {
// Possible gyro scales (and their register bit settings) are:
// 250 DPS (00), 500 DPS (01), 1000 DPS (10), and 2000 DPS (11).
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
case GFS_250DPS:
gRes = 250.0/32768.0;
break;
case GFS_500DPS:
gRes = 500.0/32768.0;
break;
case GFS_1000DPS:
gRes = 1000.0/32768.0;
break;
case GFS_2000DPS:
gRes = 2000.0/32768.0;
break;
}
}
void getAres() {
switch (Ascale) {
// Possible accelerometer scales (and their register bit settings) are:
// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
case AFS_2G:
aRes = 2.0/32768.0;
break;
case AFS_4G:
aRes = 4.0/32768.0;
break;
case AFS_8G:
aRes = 8.0/32768.0;
break;
case AFS_16G:
aRes = 16.0/32768.0;
break;
}
}
void readAccelData(int16_t * destination) {
uint8_t rawData[6]; // x/y/z accel register data stored here
readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
}
void readGyroData(int16_t * destination) {
uint8_t rawData[6]; // x/y/z gyro register data stored here
readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
}
int16_t readTempData() {
uint8_t rawData[2]; // x/y/z gyro register data stored here
readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // Read the two raw data registers sequentially into data array
return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ; // Turn the MSB and LSB into a 16-bit value
}
// Configure the motion detection control for low power accelerometer mode
void LowPowerAccelOnly() {
// The sensor has a high-pass filter necessary to invoke to allow the sensor motion detection algorithms work properly
// Motion detection occurs on free-fall (acceleration below a threshold for some time for all axes), motion (acceleration
// above a threshold for some time on at least one axis), and zero-motion toggle (acceleration on each axis less than a
// threshold for some time sets this flag, motion above the threshold turns it off). The high-pass filter takes gravity out
// consideration for these threshold evaluations; otherwise, the flags would be set all the time!
uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30); // Clear sleep and cycle bits [5:6]
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30); // Set sleep and cycle bits [5:6] to zero to make sure accelerometer is running
c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38); // Clear standby XA, YA, and ZA bits [3:5]
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00); // Set XA, YA, and ZA bits [3:5] to zero to make sure accelerometer is running
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
// 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
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00); // Set ACCEL_HPF to 0; reset mode disbaling high-pass filter
c = readByte(MPU6050_ADDRESS, CONFIG);
writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
writeByte(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
c = readByte(MPU6050_ADDRESS, INT_ENABLE);
writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only
// Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
// for at least the counter duration
writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
wait(0.1); // Add delay for accumulation of samples
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
}
void resetMPU6050() {
// reset device
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
wait(0.1);
}
void initMPU6050() {
// Initialize MPU6050 device
// wake up device
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Clear sleep mode bit (6), enable all sensors
wait(0.1); // Delay 100 ms for PLL to get established on x-axis gyro; should check for PLL ready interrupt
// get stable time source
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
// Configure Gyro and Accelerometer
// Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
// DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
// Maximum delay is 4.9 ms which is just over a 200 Hz maximum rate
writeByte(MPU6050_ADDRESS, CONFIG, 0x03);
// Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz rate; the same rate set in CONFIG above
// Set gyroscope full scale range
// Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
uint8_t c = readByte(MPU6050_ADDRESS, GYRO_CONFIG);
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
// Set accelerometer configuration
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
// Configure Interrupts and Bypass Enable
// Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
// can join the I2C bus and all can be controlled by the Arduino as master
writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
}
// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
void calibrateMPU6050(float * dest1, float * dest2) {
uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
uint16_t ii, packet_count, fifo_count;
int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
// reset device, reset all registers, clear gyro and accelerometer bias registers
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
wait(0.1);
// get stable time source
// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
wait(0.2);
// Configure device for bias calculation
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
wait(0.015);
// Configure MPU6050 gyro and accelerometer for bias calculation
writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
uint16_t accelsensitivity = 16384; // = 16384 LSB/g
// Configure FIFO to capture accelerometer and gyro data for bias calculation
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
wait(0.08); // accumulate 80 samples in 80 milliseconds = 960 bytes
// At end of sample accumulation, turn off FIFO sensor read
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
fifo_count = ((uint16_t)data[0] << 8) | data[1];
packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
for (ii = 0; ii < packet_count; ii++) {
int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
accel_bias[1] += (int32_t) accel_temp[1];
accel_bias[2] += (int32_t) accel_temp[2];
gyro_bias[0] += (int32_t) gyro_temp[0];// * scale_factor_gyro;
gyro_bias[1] += (int32_t) gyro_temp[1];// * scale_factor_gyro;
gyro_bias[2] += (int32_t) gyro_temp[2];// * scale_factor_gyro;
}
accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
accel_bias[1] /= (int32_t) packet_count;
accel_bias[2] /= (int32_t) packet_count;
gyro_bias[0] /= (int32_t) packet_count;
gyro_bias[1] /= (int32_t) packet_count;
gyro_bias[2] /= (int32_t) packet_count;
if(accel_bias[2] > 0L) {
accel_bias[2] -= (int32_t) accelsensitivity; // Remove gravity from the z-axis accelerometer bias calculation
} else {
accel_bias[2] += (int32_t) accelsensitivity;
}
// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
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
data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
data[3] = (-gyro_bias[1]/4) & 0xFF;
data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
data[5] = (-gyro_bias[2]/4) & 0xFF;
// Push gyro biases to hardware registers
writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]);
writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
writeByte(MPU6050_ADDRESS, ZG_OFFS_USRL, data[5]);
dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
// the accelerometer biases calculated above must be divided by 8.
int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
readBytes(MPU6050_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]);
accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_ADDRESS, ZA_OFFSET_H, 2, &data[0]);
accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
for(ii = 0; ii < 3; ii++) {
if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
}
// Construct total accelerometer bias, including calculated average accelerometer bias from above
accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
accel_bias_reg[1] -= (accel_bias[1]/8);
accel_bias_reg[2] -= (accel_bias[2]/8);
data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
data[1] = (accel_bias_reg[0]) & 0xFF;
data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
data[3] = (accel_bias_reg[1]) & 0xFF;
data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
data[5] = (accel_bias_reg[2]) & 0xFF;
data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
// Push accelerometer biases to hardware registers
writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]);
writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);
writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
writeByte(MPU6050_ADDRESS, ZA_OFFSET_L_TC, data[5]);
// Output scaled accelerometer biases for manual subtraction in the main program
dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
}
// Accelerometer and gyroscope self test; check calibration wrt factory settings
void MPU6050SelfTest(float * destination) { // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
uint8_t rawData[4] = {0, 0, 0, 0};
uint8_t selfTest[6];
float factoryTrim[6];
// Configure the accelerometer for self-test
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
wait(0.25); // Delay a while to let the device execute the self-test
rawData[0] = readByte(MPU6050_ADDRESS, SELF_TEST_X); // X-axis self-test results
rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results
rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results
rawData[3] = readByte(MPU6050_ADDRESS, SELF_TEST_A); // Mixed-axis self-test results
// Extract the acceleration test results first
selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 4 ; // YA_TEST result is a five-bit unsigned integer
selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) >> 4 ; // ZA_TEST result is a five-bit unsigned integer
// Extract the gyration test results first
selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer
selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer
selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer
// Process results to allow final comparison with factory set values
factoryTrim[0] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[0] - 1.0f)/30.0f))); // FT[Xa] factory trim calculation
factoryTrim[1] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[1] - 1.0f)/30.0f))); // FT[Ya] factory trim calculation
factoryTrim[2] = (4096.0f*0.34f)*(pow( (0.92f/0.34f) , ((selfTest[2] - 1.0f)/30.0f))); // FT[Za] factory trim calculation
factoryTrim[3] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[3] - 1.0f) )); // FT[Xg] factory trim calculation
factoryTrim[4] = (-25.0f*131.0f)*(pow( 1.046f , (selfTest[4] - 1.0f) )); // FT[Yg] factory trim calculation
factoryTrim[5] = ( 25.0f*131.0f)*(pow( 1.046f , (selfTest[5] - 1.0f) )); // FT[Zg] factory trim calculation
// Output self-test results and factory trim calculation if desired
// Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
// Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
// Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
// Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
// Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
// To get to percent, must multiply by 100 and subtract result from 100
for (int i = 0; i < 6; i++) {
destination[i] = 100.0f + 100.0f*(selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
}
}
// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
// which fuses acceleration and rotation rate to produce a quaternion-based estimate of relative
// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz) {
float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
float norm; // vector norm
float f1, f2, f3; // objective funcyion elements
float J_11or24, J_12or23, J_13or22, J_14or21, J_32, J_33; // objective function Jacobian elements
float qDot1, qDot2, qDot3, qDot4;
float hatDot1, hatDot2, hatDot3, hatDot4;
float gerrx, gerry, gerrz, gbiasx, gbiasy, gbiasz; // gyro bias error
// Auxiliary variables to avoid repeated arithmetic
float _halfq1 = 0.5f * q1;
float _halfq2 = 0.5f * q2;
float _halfq3 = 0.5f * q3;
float _halfq4 = 0.5f * q4;
float _2q1 = 2.0f * q1;
float _2q2 = 2.0f * q2;
float _2q3 = 2.0f * q3;
float _2q4 = 2.0f * q4;
// float _2q1q3 = 2.0f * q1 * q3;
// float _2q3q4 = 2.0f * q3 * q4;
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f/norm;
ax *= norm;
ay *= norm;
az *= norm;
// Compute the objective function and Jacobian
f1 = _2q2 * q4 - _2q1 * q3 - ax;
f2 = _2q1 * q2 + _2q3 * q4 - ay;
f3 = 1.0f - _2q2 * q2 - _2q3 * q3 - az;
J_11or24 = _2q3;
J_12or23 = _2q4;
J_13or22 = _2q1;
J_14or21 = _2q2;
J_32 = 2.0f * J_14or21;
J_33 = 2.0f * J_11or24;
// Compute the gradient (matrix multiplication)
hatDot1 = J_14or21 * f2 - J_11or24 * f1;
hatDot2 = J_12or23 * f1 + J_13or22 * f2 - J_32 * f3;
hatDot3 = J_12or23 * f2 - J_33 *f3 - J_13or22 * f1;
hatDot4 = J_14or21 * f1 + J_11or24 * f2;
// Normalize the gradient
norm = sqrt(hatDot1 * hatDot1 + hatDot2 * hatDot2 + hatDot3 * hatDot3 + hatDot4 * hatDot4);
hatDot1 /= norm;
hatDot2 /= norm;
hatDot3 /= norm;
hatDot4 /= norm;
// Compute estimated gyroscope biases
gerrx = _2q1 * hatDot2 - _2q2 * hatDot1 - _2q3 * hatDot4 + _2q4 * hatDot3;
gerry = _2q1 * hatDot3 + _2q2 * hatDot4 - _2q3 * hatDot1 - _2q4 * hatDot2;
gerrz = _2q1 * hatDot4 - _2q2 * hatDot3 + _2q3 * hatDot2 - _2q4 * hatDot1;
// Compute and remove gyroscope biases
gbiasx += gerrx * deltat * zeta;
gbiasy += gerry * deltat * zeta;
gbiasz += gerrz * deltat * zeta;
// gx -= gbiasx;
// gy -= gbiasy;
// gz -= gbiasz;
// Compute the quaternion derivative
qDot1 = -_halfq2 * gx - _halfq3 * gy - _halfq4 * gz;
qDot2 = _halfq1 * gx + _halfq3 * gz - _halfq4 * gy;
qDot3 = _halfq1 * gy - _halfq2 * gz + _halfq4 * gx;
qDot4 = _halfq1 * gz + _halfq2 * gy - _halfq3 * gx;
// Compute then integrate estimated quaternion derivative
q1 += (qDot1 -(beta * hatDot1)) * deltat;
q2 += (qDot2 -(beta * hatDot2)) * deltat;
q3 += (qDot3 -(beta * hatDot3)) * deltat;
q4 += (qDot4 -(beta * hatDot4)) * deltat;
// Normalize the quaternion
norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
norm = 1.0f/norm;
q[0] = q1 * norm;
q[1] = q2 * norm;
q[2] = q3 * norm;
q[3] = q4 * norm;
}
// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
// (see http://www.x-io.co.uk/category/open-source/ for examples and more details)
// which fuses acceleration, rotation rate, and magnetic moments to produce a quaternion-based estimate of absolute
// device orientation -- which can be converted to yaw, pitch, and roll. Useful for stabilizing quadcopters, etc.
// The performance of the orientation filter is at least as good as conventional Kalman-based filtering algorithms
// but is much less computationally intensive---it can be performed on a 3.3 V Pro Mini operating at 8 MHz!
void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)
{
float q1 = q[0], q2 = q[1], q3 = q[2], q4 = q[3]; // short name local variable for readability
float norm;
float hx, hy, _2bx, _2bz;
float s1, s2, s3, s4;
float qDot1, qDot2, qDot3, qDot4;
// Auxiliary variables to avoid repeated arithmetic
float _2q1mx;
float _2q1my;
float _2q1mz;
float _2q2mx;
float _4bx;
float _4bz;
float _2q1 = 2.0f * q1;
float _2q2 = 2.0f * q2;
float _2q3 = 2.0f * q3;
float _2q4 = 2.0f * q4;
float _2q1q3 = 2.0f * q1 * q3;
float _2q3q4 = 2.0f * q3 * q4;
float q1q1 = q1 * q1;
float q1q2 = q1 * q2;
float q1q3 = q1 * q3;
float q1q4 = q1 * q4;
float q2q2 = q2 * q2;
float q2q3 = q2 * q3;
float q2q4 = q2 * q4;
float q3q3 = q3 * q3;
float q3q4 = q3 * q4;
float q4q4 = q4 * q4;
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f/norm;
ax *= norm;
ay *= norm;
az *= norm;
// Normalise magnetometer measurement
norm = sqrt(mx * mx + my * my + mz * mz);
if (norm == 0.0f) return; // handle NaN
norm = 1.0f/norm;
mx *= norm;
my *= norm;
mz *= norm;
// Reference direction of Earth's magnetic field
_2q1mx = 2.0f * q1 * mx;
_2q1my = 2.0f * q1 * my;
_2q1mz = 2.0f * q1 * mz;
_2q2mx = 2.0f * q2 * mx;
hx = mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz * q4 - mx * q3q3 - mx * q4q4;
hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2 + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
_2bx = sqrt(hx * hx + hy * hy);
_2bz = -_2q1mx * q3 + _2q1my * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
_4bx = 2.0f * _2bx;
_4bz = 2.0f * _2bz;
// Gradient decent algorithm corrective step
s1 = -_2q3 * (2.0f * q2q4 - _2q1q3 - ax) + _2q2 * (2.0f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s2 = _2q4 * (2.0f * q2q4 - _2q1q3 - ax) + _2q1 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q2 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s3 = -_2q1 * (2.0f * q2q4 - _2q1q3 - ax) + _2q4 * (2.0f * q1q2 + _2q3q4 - ay) - 4.0f * q3 * (1.0f - 2.0f * q2q2 - 2.0f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
s4 = _2q2 * (2.0f * q2q4 - _2q1q3 - ax) + _2q3 * (2.0f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
norm = sqrt(s1 * s1 + s2 * s2 + s3 * s3 + s4 * s4); // normalise step magnitude
norm = 1.0f/norm;
s1 *= norm;
s2 *= norm;
s3 *= norm;
s4 *= norm;
// Compute rate of change of quaternion
qDot1 = 0.5f * (-q2 * gx - q3 * gy - q4 * gz) - beta * s1;
qDot2 = 0.5f * (q1 * gx + q3 * gz - q4 * gy) - beta * s2;
qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx) - beta * s3;
qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - beta * s4;
// Integrate to yield quaternion
q1 += qDot1 * deltat;
q2 += qDot2 * deltat;
q3 += qDot3 * deltat;
q4 += qDot4 * deltat;
norm = sqrt(q1 * q1 + q2 * q2 + q3 * q3 + q4 * q4); // normalise quaternion
norm = 1.0f/norm;
q[0] = q1 * norm;
q[1] = q2 * norm;
q[2] = q3 * norm;
q[3] = q4 * norm;
}
void getDisplacement(float ax, float ay)
{
unsigned char count2 ;
count2=0;
do{
accelerationx[1] = accelerationx[1] + ax; //filtering routine for noise attenuation
accelerationy[1] = accelerationy[1] + ay; //64 samples are averaged. The resulting
//average represents the acceleration of
//an instant
count2++;
}while (count2!=0x40); // 64 sums of the acceleration sample
accelerationx[1]= accelerationx[1]>>6; // division by 64
accelerationy[1]= accelerationy[1]>>6;
//accelerationx[1] = accelerationx[1] - (int)sstatex; //eliminating zero reference
//offset of the acceleration data
//accelerationy[1] = accelerationy[1] - (int)sstatey; // to obtain positive and negative
//acceleration
if ((accelerationx[1] <=3)&&(accelerationx[1] >= -3)) //Discrimination window applied
{accelerationx[1] = 0;} // to the X axis acceleration variable
if ((accelerationy[1] <=3)&&(accelerationy[1] >= -3))
{accelerationy[1] = 0;}
//first X integration:
velocityx[1]= velocityx[0]+ accelerationx[0]+ ((accelerationx[1] - accelerationx[0])>>1);
//second X integration:
positionX[1]= positionX[0] + velocityx[0] + ((velocityx[1] - velocityx[0])>>1);
//first Y integration:
velocityy[1] = velocityy[0] + accelerationy[0] + ((accelerationy[1] -accelerationy[0])>>1);
//second Y integration:
positionY[1] = positionY[0] + velocityy[0] + ((velocityy[1] - velocityy[0])>>1);
accelerationx[0] = accelerationx[1]; //The current acceleration value must be sent
//to the previous acceleration
accelerationy[0] = accelerationy[1]; //variable in order to introduce the new
//acceleration value.
velocityx[0] = velocityx[1]; //Same done for the velocity variable
velocityy[0] = velocityy[1];
positionX[1] = positionX[1]<<18; //The idea behind this shifting (multiplication)
//is a sensibility adjustment.
positionY[1] = positionY[1]<<18; //Some applications require adjustments to a
//particular situation i.e. mouse application
positionX[1] = positionX[1]>>18; //once the variables are sent them must return to
positionY[1] = positionY[1]>>18; //their original state
movement_end_check();
positionX[0] = positionX[1]; //actual position data must be sent to the
positionY[0] = positionY[1]; //previous position
}
void movement_end_check(void)
{
if (accelerationx[1]==0) //we count the number of acceleration samples that equals cero
{ countx++;}
else { countx =0;}
if (countx>=25) //if this number exceeds 25, we can assume that velocity is cero
{
velocityx[1]=0;
velocityx[0]=0;
}
if (accelerationy[1]==0) //we do the same for the Y axis
{ county++;}
else { county =0;}
if (county>=25)
{
velocityy[1]=0;
velocityy[0]=0;
}
}
};
#endif