a
Fork of MPU6050 by
MPU6050.cpp
- Committer:
- BaserK
- Date:
- 2015-08-05
- Revision:
- 4:20f1f660e5c3
- Parent:
- 3:a173ad187e67
- Child:
- 5:5bff0edcdff8
File content as of revision 4:20f1f660e5c3:
/* MPU6050 Library * * @author: Baser Kandehir * @date: July 16, 2015 * @license: MIT license * * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * 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. * */ // Most of the code is adapted from Kris Winer's MPU6050 library #include "MPU6050.h" /* For LPC1768 board */ //I2C i2c(p9,p10); // setup i2c (SDA,SCL) /* For NUCLEO-F411RE board */ I2C i2c(D14,D15); // setup i2c (SDA,SCL) /* Set initial input parameters */ // Acc Full Scale Range +-2G 4G 8G 16G enum Ascale { AFS_2G=0, AFS_4G, AFS_8G, AFS_16G }; // Gyro Full Scale Range +-250 500 1000 2000 Degrees per second enum Gscale { GFS_250DPS=0, GFS_500DPS, GFS_1000DPS, GFS_2000DPS }; // Sensor datas float ax,ay,az; float gx,gy,gz; int16_t accelData[3],gyroData[3],tempData; float accelBias[3] = {0, 0, 0}; // Bias corrections for acc float gyroBias[3] = {0, 0, 0}; // Bias corrections for gyro // Specify sensor full scale range int Ascale = AFS_2G; int Gscale = GFS_250DPS; // Scale resolutions per LSB for the sensors float aRes, gRes; // Calculates Acc resolution void MPU6050::getAres() { switch(Ascale) { 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; } } // Calculates Gyro resolution void MPU6050::getGres() { switch(Gscale) { 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 MPU6050::writeByte(uint8_t address, uint8_t subAddress, uint8_t data) { char data_write[2]; data_write[0]=subAddress; // I2C sends MSB first. Namely >>|subAddress|>>|data| data_write[1]=data; i2c.write(address,data_write,2,0); // i2c.write(int address, char* data, int length, bool repeated=false); } char MPU6050::readByte(uint8_t address, uint8_t subAddress) { char data_read[1]; // will store the register data char data_write[1]; data_write[0]=subAddress; i2c.write(address,data_write,1,1); // have not stopped yet i2c.read(address,data_read,1,0); // read the data and stop return data_read[0]; } void MPU6050::readBytes(uint8_t address, uint8_t subAddress, uint8_t byteNum, uint8_t* dest) { char data[14],data_write[1]; data_write[0]=subAddress; i2c.write(address,data_write,1,1); i2c.read(address,data,byteNum,0); for(int i=0;i<byteNum;i++) // equate the addresses dest[i]=data[i]; } // Communication test: WHO_AM_I register reading void MPU6050::whoAmI() { uint8_t whoAmI = readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Should return 0x68 pc.printf("I AM 0x%x \r\n",whoAmI); if(whoAmI==0x68) { pc.printf("MPU6050 is online... \r\n"); led2=1; } else { pc.printf("Could not connect to MPU6050 \r\nCheck the connections... \r\n"); toggler1.attach(&toggle_led1,0.1); // toggles led1 every 100 ms } } // Initializes MPU6050 with the following config: // PLL with X axis gyroscope reference // Sample rate: 200Hz for gyro and acc // Interrupts are disabled void MPU6050::init() { /* Wake up the device */ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // wake up the device by clearing the sleep bit (bit6) wait_ms(100); // wait 100 ms to stabilize /* Get stable time source */ // PLL with X axis gyroscope reference is used to improve stability writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); /* Configure Gyroscope and Accelerometer */ // Disable FSYNC, acc bandwidth: 44 Hz, gyro bandwidth: 42 Hz // Sample rates: 1kHz, maximum delay: 4.9ms (which is pretty good for a 200 Hz maximum rate) writeByte(MPU6050_ADDRESS, CONFIG, 0x03); /* Set sample rate = gyroscope output rate/(1+SMPLRT_DIV) */ // SMPLRT_DIV=4 and sample rate=200 Hz (compatible with config above) writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); /* Accelerometer configuration */ uint8_t temp = readByte(MPU6050_ADDRESS, ACCEL_CONFIG); writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, temp & ~0xE0); // Clear self-test bits [7:5] writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, temp & ~0x18); // Clear AFS bits [4:3] writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, temp | Ascale<<3); // Set full scale range /* Gyroscope configuration */ temp = readByte(MPU6050_ADDRESS, GYRO_CONFIG); writeByte(MPU6050_ADDRESS, GYRO_CONFIG, temp & ~0xE0); // Clear self-test bits [7:5] writeByte(MPU6050_ADDRESS, GYRO_CONFIG, temp & ~0x18); // Clear FS bits [4:3] writeByte(MPU6050_ADDRESS, GYRO_CONFIG, temp | Gscale<<3); // Set full scale range } // Resets the device void MPU6050::reset() { writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // set bit7 to reset the device wait_ms(100); // wait 100 ms to stabilize } void MPU6050::readAccelData(int16_t* dest) { uint8_t rawData[6]; // x,y,z acc data readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]); // read six raw data registers sequentially and write them into data array /* Turn the MSB LSB into signed 16-bit value */ dest[0] = (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]); // ACCEL_XOUT dest[1] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]); // ACCEL_YOUT dest[2] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]); // ACCEL_ZOUT } void MPU6050::readGyroData(int16_t* dest) { uint8_t rawData[6]; // x,y,z gyro data readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]); // read the six raw data registers sequentially and write them into data array /* Turn the MSB LSB into signed 16-bit value */ dest[0] = (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]); // GYRO_XOUT dest[1] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]); // GYRO_YOUT dest[2] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]); // GYRO_ZOUT } int16_t MPU6050::readTempData() { uint8_t rawData[2]; // temperature data readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]); // read the two raw data registers sequentially and write them into data array return (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]); // turn the MSB LSB into signed 16-bit value } /* 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. */ /* IMPORTANT NOTE: In this function; Resulting accel offsets are NOT pushed to the accel bias registers. accelBias[i] offsets are used in the main program. Resulting gyro offsets are pushed to the gyro bias registers. gyroBias[i] offsets are NOT used in the main program. Resulting data seems satisfactory. */ // dest1: accelBias dest2: gyroBias void MPU6050::calibrate(float* dest1, float* dest2) { uint8_t data[12]; // data array to hold acc and gyro x,y,z data uint16_t fifo_count, packet_count, count; int32_t accel_bias[3] = {0,0,0}; int32_t gyro_bias[3] = {0,0,0}; float aRes = 2.0/32768.0; float gRes = 250.0/32768.0; uint16_t accelsensitivity = 16384; // = 1/aRes = 16384 LSB/g //uint16_t gyrosensitivity = 131; // = 1/gRes = 131 LSB/dps reset(); // Reset device /* Get stable time source */ writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // PLL with X axis gyroscope reference is used to improve stability writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00); // Disable accel only low power mode 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, 0x04); // Reset FIFO wait(0.015); /* Configure accel and gyro 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, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity /* 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 accelerometer and gyro for FIFO (max size 1024 bytes in MPU-6050) wait(0.08); // Sample rate is 1 kHz, accumulates 80 samples in 80 milliseconds. // accX: 2 byte, accY: 2 byte, accZ: 2 byte. gyroX: 2 byte, gyroY: 2 byte, gyroZ: 2 byte. 12*80=960 byte < 1024 byte /* At end of sample accumulation, turn off FIFO sensor read */ writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable 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; // The number of sets of full acc and gyro data for averaging. packet_count = 80 in this case for(count=0; count<packet_count; count++) { int16_t accel_temp[3]={0,0,0}; int16_t gyro_temp[3]={0,0,0}; readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging /* Form signed 16-bit integer for each sample in FIFO */ accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; 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]) ; /* Sum individual signed 16-bit biases to get accumulated signed 32-bit biases */ accel_bias[0] += (int32_t) accel_temp[0]; accel_bias[1] += (int32_t) accel_temp[1]; accel_bias[2] += (int32_t) accel_temp[2]; gyro_bias[0] += (int32_t) gyro_temp[0]; gyro_bias[1] += (int32_t) gyro_temp[1]; gyro_bias[2] += (int32_t) gyro_temp[2]; } /* Normalize sums to get average count biases */ accel_bias[0] /= (int32_t) packet_count; 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; /* Remove gravity from the z-axis accelerometer bias calculation */ if(accel_bias[2] > 0) {accel_bias[2] -= (int32_t) accelsensitivity;} else {accel_bias[2] += (int32_t) accelsensitivity;} /* Output scaled accelerometer biases for manual subtraction in the main program */ dest1[0] = accel_bias[0]*aRes; dest1[1] = accel_bias[1]*aRes; dest1[2] = accel_bias[2]*aRes; /* 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]); /* Construct gyro bias in deg/s for later manual subtraction */ dest2[0] = gyro_bias[0]*gRes; dest2[1] = gyro_bias[1]*gRes; dest2[2] = gyro_bias[2]*gRes; } void MPU6050::complementaryFilter(float* pitch, float* roll) { /* Get actual acc value */ readAccelData(accelData); getAres(); ax = accelData[0]*aRes - accelBias[0]; ay = accelData[1]*aRes - accelBias[1]; az = accelData[2]*aRes - accelBias[2]; /* Get actual gyro value */ readGyroData(gyroData); getGres(); gx = gyroData[0]*gRes; // - gyroBias[0]; // Results are better without extracting gyroBias[i] gy = gyroData[1]*gRes; // - gyroBias[1]; gz = gyroData[2]*gRes; // - gyroBias[2]; float pitchAcc, rollAcc; /* Integrate the gyro data(deg/s) over time to get angle */ *pitch += gx * dt; // Angle around the X-axis *roll -= gy * dt; // Angle around the Y-axis /* Turning around the X-axis results in a vector on the Y-axis whereas turning around the Y-axis results in a vector on the X-axis. */ pitchAcc = atan2f(accelData[1], accelData[2])*180/PI; rollAcc = atan2f(accelData[0], accelData[2])*180/PI; /* Apply Complementary Filter */ *pitch = *pitch * 0.98 + pitchAcc * 0.02; *roll = *roll * 0.98 + rollAcc * 0.02; }