Revision 9:4221c5b3f49b, committed 2017-02-17

Comitter:

tsumagari

Date:

Fri Feb 17 07:37:19 2017 +0000

Parent:

8:4ee054567b6c

Commit message:

Changed in this revision

diff -r 4ee054567b6c -r 4221c5b3f49b MPU6050_DMP6.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MPU6050_DMP6.h	Fri Feb 17 07:37:19 2017 +0000
@@ -0,0 +1,307 @@
+//#include "MPU6050_DMP6.h"
+
+// 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 "MPU6050_6Axis_MotionApps20.h"
+//#include "MPU6050.h" // not necessary if using MotionApps include file
+
+//#include "ArduinoSerial.h"
+
+/* =========================================================================
+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.
+* ========================================================================= */
+
+// 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
+
+#ifndef M_PI
+#define M_PI 3.14159265358979
+#endif
+
+namespace MPU6050DMP6 {
+
+// 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
+
+
+// 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[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
+
+DigitalOut led1(LED1);
+InterruptIn checkpin(p29);
+//ArduinoSerial arduinoSerial;
+
+
+// ================================================================
+// ===               INTERRUPT DETECTION ROUTINE                ===
+// ================================================================
+
+volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
+void dmpDataReady()
+{
+    mpuInterrupt = true;
+}
+
+
+
+// ================================================================
+// ===                      INITIAL SETUP                       ===
+// ================================================================
+
+void setup()
+{
+    // initialize arduinoSerial communication
+    // (115200 chosen because it is required for Teapot Demo output, but it's
+    // really up to you depending on your project)
+//    arduinoSerial.begin(115200);
+
+    // initialize device
+//    arduinoSerial.println(F("Initializing I2C devices..."));
+    mpu.initialize();
+
+    // verify connection
+//    arduinoSerial.println(F("Testing device connections..."));
+//    arduinoSerial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+
+    // wait for ready
+    // arduinoSerial.println(F("\nSend any character to begin DMP programming and demo: "));
+    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer
+    // while (!arduinoSerial.available());                 // wait for data
+    // while (arduinoSerial.available() && arduinoSerial.read()); // empty buffer again
+
+    // load and configure the DMP
+//    arduinoSerial.println(F("Initializing DMP..."));
+    devStatus = mpu.dmpInitialize();
+
+    // supply your own gyro offsets here, scaled for min sensitivity
+    mpu.setXGyroOffset(220);
+    mpu.setYGyroOffset(76);
+    mpu.setZGyroOffset(-85);
+    mpu.setZAccelOffset(1788); // 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
+    //    arduinoSerial.println(F("Enabling DMP..."));
+        mpu.setDMPEnabled(true);
+
+        // enable Arduino interrupt detection
+//        arduinoSerial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
+        checkpin.rise(&dmpDataReady);
+        mpuIntStatus = mpu.getIntStatus();
+
+        // set our DMP Ready flag so the main loop() function knows it's okay to use it
+//        arduinoSerial.println(F("DMP ready! Waiting for first interrupt..."));
+        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)
+//        arduinoSerial.print(F("DMP Initialization failed (code "));
+//        arduinoSerial.print(devStatus);
+//        arduinoSerial.println(F(")"));
+    }
+
+}
+
+
+
+// ================================================================
+// ===                    MAIN PROGRAM LOOP                     ===
+// ================================================================
+
+void getYPR()
+{
+    // if programming failed, don't try to do anything
+    if (!dmpReady) return;
+
+    // wait for MPU interrupt or extra packet(s) available
+    while (!mpuInterrupt && 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
+        // .
+        // .
+        // .
+    }
+
+    // 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();
+//        arduinoSerial.println(F("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);
+//        arduinoSerial.print("quat\t");
+//        arduinoSerial.print(q.w);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(q.x);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(q.y);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.println(q.z);
+#endif
+
+#ifdef OUTPUT_READABLE_EULER
+        // display Euler angles in degrees
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetEuler(euler, &q);
+//        arduinoSerial.print("euler\t");
+//        arduinoSerial.print(euler[0] * 180/M_PI);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(euler[1] * 180/M_PI);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.println(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);
+//        arduinoSerial.print("ypr\t");
+//        arduinoSerial.print(ypr[0] * 180/M_PI);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(ypr[1] * 180/M_PI);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.println(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);
+//        arduinoSerial.print("areal\t");
+//        arduinoSerial.print(aaReal.x);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(aaReal.y);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.println(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);
+//        arduinoSerial.print("aworld\t");
+//        arduinoSerial.print(aaWorld.x);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.print(aaWorld.y);
+//        arduinoSerial.print("\t");
+//        arduinoSerial.println(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];
+//        arduinoSerial.write(teapotPacket, 14);
+        teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
+#endif
+
+        // blink LED to indicate activity
+        if( led1 == 0 ) led1 = 0;
+        else led1 = 1;
+    }
+}
+
+};
\ No newline at end of file