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Dependencies: ArduinoSerial I2Cdev
Fork of MPU6050 by
Diff: main.cpp
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Thu Jun 15 15:10:25 2017 +0000 @@ -0,0 +1,392 @@ + +// 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 D14 +#define D_SCL D15 +//#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; + } + } +} \ No newline at end of file