Diff: main.cpp

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+// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
+// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
+// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
+//
+// Changelog:
+// 2013-05-08 - added seamless Fastwire support
+// - added note about gyro calibration
+// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
+// 2012-06-20 - improved FIFO overflow handling and simplified read process
+// 2012-06-19 - completely rearranged DMP initialization code and simplification
+// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
+// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
+// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
+// - add 3D math helper file to DMP6 example sketch
+// - add Euler output and Yaw/Pitch/Roll output formats
+// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
+// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
+// 2012-05-30 - basic DMP initialization working
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
+// for both classes must be in the include path of your project
+#include "I2Cdev.h"
+#include "mbed.h"
+#include <math.h>
+DigitalOut leds[] = {(LED1), (LED2),(LED3),(LED4)};
+
+
+#include "MPU6050_6Axis_MotionApps20.h" // works
+//#include "MPU6050_9Axis_MotionApps41.h"
+
+//#include "MPU6050.h" // not necessary if using MotionApps include file
+
+
+// class default I2C address is 0x68
+// specific I2C addresses may be passed as a parameter here
+// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
+// AD0 high = 0x69
+MPU6050 mpu;
+//MPU6050 mpu(0x69); // <-- use for AD0 high
+
+/* =========================================================================
+NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
+depends on the MPU-6050's INT pin being connected to the Arduino's
+external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
+digital I/O pin 2.
+* ========================================================================= */
+
+/* =========================================================================
+NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
+when using Serial.write(buf, len). The Teapot output uses this method.
+The solution requires a modification to the Arduino USBAPI.h file, which
+is fortunately simple, but annoying. This will be fixed in the next IDE
+release. For more info, see these links:
+
+http://arduino.cc/forum/index.php/topic,109987.0.html
+http://code.google.com/p/arduino/issues/detail?id=958
+* ========================================================================= */
+
+
+#ifndef M_PI
+#define M_PI 3.1415
+#endif
+
+// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
+// quaternion components in a [w, x, y, z] format (not best for parsing
+// on a remote host such as Processing or something though)
+//#define OUTPUT_READABLE_QUATERNION
+
+// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
+// (in degrees) calculated from the quaternions coming from the FIFO.
+// Note that Euler angles suffer from gimbal lock (for more info, see
+// http://en.wikipedia.org/wiki/Gimbal_lock)
+//#define OUTPUT_READABLE_EULER
+
+// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
+// pitch/roll angles (in degrees) calculated from the quaternions coming
+// from the FIFO. Note this also requires gravity vector calculations.
+// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
+// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
+//#define OUTPUT_READABLE_YAWPITCHROLL
+
+// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
+// components with gravity removed. This acceleration reference frame is
+// not compensated for orientation, so +X is always +X according to the
+// sensor, just without the effects of gravity. If you want acceleration
+// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
+//#define OUTPUT_READABLE_REALACCEL
+
+// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
+// components with gravity removed and adjusted for the world frame of
+// reference (yaw is relative to initial orientation, since no magnetometer
+// is present in this case). Could be quite handy in some cases.
+//#define OUTPUT_READABLE_WORLDACCEL
+
+// uncomment "OUTPUT_TEAPOT" if you want output that matches the
+// format used for the InvenSense teapot demo
+#define OUTPUT_TEAPOT
+
+
+
+bool blinkState = false;
+
+// MPU control/status vars
+bool dmpReady = false; // set true if DMP init was successful
+uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
+uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
+uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
+uint16_t fifoCount; // count of all bytes currently in FIFO
+uint8_t fifoBuffer[64]; // FIFO storage buffer
+
+// orientation/motion vars
+Quaternion q; // [w, x, y, z] quaternion container
+VectorInt16 aa; // [x, y, z] accel sensor measurements
+VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
+VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
+VectorFloat gravity; // [x, y, z] gravity vector
+float euler[3]; // [psi, theta, phi] Euler angle container
+float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
+
+// packet structure for InvenSense teapot demo
+uint8_t teapotPacket[15] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n',0 };
+
+// ================================================================
+// === INTERRUPT DETECTION ROUTINE ===
+// ================================================================
+
+volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
+void dmpDataReady() {
+    mpuInterrupt = true;
+}
+
+// ================================================================
+// === INITIAL SETUP ===
+// ================================================================
+
+int main()
+{
+    
+    //Pin Defines for I2C Bus
+#define D_SDA                  p9
+#define D_SCL                  p10
+//#define D_SDA                  p28
+//#define D_SCL                  p27
+I2C i2c(D_SDA, D_SCL);
+
+
+// mbed Interface Hardware definitions
+    DigitalOut myled1(LED1);
+    DigitalOut myled2(LED2);
+    DigitalOut myled3(LED3);
+    DigitalOut heartbeatLED(LED4);
+
+// initialize serial communication
+// (115200 chosen because it is required for Teapot Demo output, but it's
+// really up to you depending on your project)
+//Host PC Baudrate (Virtual Com Port on USB)
+    #define D_BAUDRATE            115200
+
+// Host PC Communication channels
+    Serial pc(USBTX, USBRX); // tx, rx
+
+    pc.baud(D_BAUDRATE);
+    // initialize device
+    pc.printf("Initializing I2C devices...\n");
+    mpu.initialize();
+
+    // verify connection
+    pc.printf("Testing device connections...\n");
+    
+    bool mpu6050TestResult = mpu.testConnection();
+    if(mpu6050TestResult){
+        pc.printf("MPU6050 test passed \n");
+    } else{
+        pc.printf("MPU6050 test failed \n");
+    }  
+
+    // wait for ready
+    pc.printf("\nSend any character to begin DMP programming and demo: ");
+
+    while(!pc.readable());
+            pc.getc();
+    pc.printf("\n");
+     
+    // load and configure the DMP
+    pc.printf("Initializing DMP...\n");
+    devStatus = mpu.dmpInitialize();
+
+    // supply your own gyro offsets here, scaled for min sensitivity
+    mpu.setXGyroOffset(-61);
+    mpu.setYGyroOffset(-127);
+    mpu.setZGyroOffset(19);
+    mpu.setZAccelOffset(16282); // 1688 factory default for my test chip
+
+    // make sure it worked (returns 0 if so)
+    if (devStatus == 0) {
+        // turn on the DMP, now that it's ready
+        pc.printf("Enabling DMP...\n");
+        mpu.setDMPEnabled(true);
+
+        // enable Arduino interrupt detection
+        pc.printf("Enabling interrupt detection (Arduino external interrupt 0)...\n");
+//        attachInterrupt(0, dmpDataReady, RISING);
+        mpuIntStatus = mpu.getIntStatus();
+
+        // set our DMP Ready flag so the main loop() function knows it's okay to use it
+        pc.printf("DMP ready! Waiting for first interrupt...\n");
+        dmpReady = true;
+
+        // get expected DMP packet size for later comparison
+        packetSize = mpu.dmpGetFIFOPacketSize();
+    } else {
+        // ERROR!
+        // 1 = initial memory load failed
+        // 2 = DMP configuration updates failed
+        // (if it's going to break, usually the code will be 1)
+        pc.printf("DMP Initialization failed (code ");
+        pc.printf("%u",devStatus);
+        pc.printf(")\n");
+    }
+
+
+// ================================================================
+// === MAIN PROGRAM LOOP ===
+// ================================================================
+
+while(1)
+{
+    // if programming failed, don't try to do anything
+    if (!dmpReady) continue;
+        myled2=0;
+        
+    // wait for MPU interrupt or extra packet(s) available
+//    while (!mpuInterrupt && fifoCount < packetSize) {
+//      while (!mpuIntStatus && fifoCount < packetSize) 
+      {
+        // other program behavior stuff here
+        // .
+        // .
+        // .
+        // if you are really paranoid you can frequently test in between other
+        // stuff to see if mpuInterrupt is true, and if so, "break;" from the
+        // while() loop to immediately process the MPU data
+        // .
+        // .
+        // .
+//        fifoCount= mpu.getFIFOCount();
+//        mpuIntStatus = mpu.getIntStatus();
+    }
+    wait_us(500);
+    
+    // reset interrupt flag and get INT_STATUS byte
+    mpuInterrupt = false;
+    mpuIntStatus = mpu.getIntStatus();
+
+    // get current FIFO count
+    fifoCount = mpu.getFIFOCount();
+
+    // check for overflow (this should never happen unless our code is too inefficient)
+    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
+        // reset so we can continue cleanly
+        mpu.resetFIFO();
+        pc.printf("FIFO overflow!");
+
+    // otherwise, check for DMP data ready interrupt (this should happen frequently)
+    } else if (mpuIntStatus & 0x02) {
+        // wait for correct available data length, should be a VERY short wait
+        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
+
+        // read a packet from FIFO
+        mpu.getFIFOBytes(fifoBuffer, packetSize);
+        
+        // track FIFO count here in case there is > 1 packet available
+        // (this lets us immediately read more without waiting for an interrupt)
+        fifoCount -= packetSize;
+
+#ifdef OUTPUT_READABLE_QUATERNION
+            // display quaternion values in easy matrix form: w x y z
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+        //    pc.printf("quat\t");
+            pc.printf("%f",q.w);
+            pc.printf(",");
+            pc.printf("%f",q.x);
+            pc.printf(",");
+            pc.printf("%f",q.y);
+            pc.printf(",");
+            pc.printf("%f\n",q.z);
+#endif
+
+#ifdef OUTPUT_READABLE_EULER
+            // display Euler angles in degrees
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetEuler(euler, &q);
+            pc.printf("euler\t");
+            pc.printf("%f",euler[0] * 180/M_PI);
+            pc.printf("\t");
+            pc.printf("%f",euler[1] * 180/M_PI);
+            pc.printf("\t");
+            pc.printf("%f\n",euler[2] * 180/M_PI);
+#endif
+
+#ifdef OUTPUT_READABLE_YAWPITCHROLL
+            // display Euler angles in degrees
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+            pc.printf("ypr\t");
+            pc.printf("%f3.2",ypr[0] * 180/M_PI);
+            pc.printf("\t");
+            pc.printf("%f3.2",ypr[1] * 180/M_PI);
+            pc.printf("\t");
+            pc.printf("%f3.2\n",ypr[2] * 180/M_PI);
+#endif
+
+#ifdef OUTPUT_READABLE_REALACCEL
+            // display real acceleration, adjusted to remove gravity
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetAccel(&aa, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+            pc.printf("areal\t");
+            pc.printf("%d",aaReal.x);
+            pc.printf("\t");
+            pc.printf("%d",aaReal.y);
+            pc.printf("\t");
+            pc.printf("%d\n",aaReal.z);
+#endif
+
+#ifdef OUTPUT_READABLE_WORLDACCEL
+            // display initial world-frame acceleration, adjusted to remove gravity
+            // and rotated based on known orientation from quaternion
+            mpu.dmpGetQuaternion(&q, fifoBuffer);
+            mpu.dmpGetAccel(&aa, fifoBuffer);
+            mpu.dmpGetGravity(&gravity, &q);
+            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
+            pc.printf("aworld\t");
+            pc.printf("%d",aaWorld.x);
+            pc.printf("\t");
+            pc.printf("%d",aaWorld.y);
+            pc.printf("\t");
+            pc.printf("%d\n",aaWorld.z);
+#endif
+#ifdef OUTPUT_TEAPOT
+// display quaternion values in InvenSense Teapot demo format:
+            teapotPacket[2] = fifoBuffer[0];
+            teapotPacket[3] = fifoBuffer[1];
+            teapotPacket[4] = fifoBuffer[4];
+            teapotPacket[5] = fifoBuffer[5];
+            teapotPacket[6] = fifoBuffer[8];
+            teapotPacket[7] = fifoBuffer[9];
+            teapotPacket[8] = fifoBuffer[12];
+            teapotPacket[9] = fifoBuffer[13];
+            
+            for(int i=0;i<14;i++)
+            {
+            pc.putc(teapotPacket[i]);
+            }
+//            pc.printf("%d",teapotPacket, 14);
+            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
+#endif
+
+        // blink LED to indicate activity
+        blinkState = !blinkState;
+        myled1 = blinkState;
+    }
+  }
+}
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