File content as of revision 10:d0c43cee874b:

#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
 
MPU6050 mpu;


#ifndef M_PI
#define M_PI 3.1415
#endif

#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()
{
    
#define D_SDA                  D14
#define D_SCL                  D15
I2C i2c(D_SDA, D_SCL);
 
 
// mbed Interface Hardware definitions
    DigitalOut myled1(LED1);
    DigitalOut myled2(LED2);
    DigitalOut myled3(LED3);
    DigitalOut heartbeatLED(LED4);
 
    #define D_BAUDRATE            115200
 

    Serial pc(USBTX, USBRX); // tx, rx
 
    pc.baud(D_BAUDRATE);

    pc.printf("Initializing I2C devices...\n");
    mpu.initialize();
 
    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_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;
    }
  }
}