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- Project: "MPU6050 Initialization"
- Source Code compiled for: Arduino Mega
- Source Code created on: 2024-06-22 05:51:59
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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
/* convert mpu6050 data to ppm and send out for head */
/* tracking */
/****** END SYSTEM REQUIREMENTS *****/
/****** DEFINITION OF LIBRARIES *****/
#include
#include //http://github.com/schinken/PPMEncoder
#include //https://github.com/jrowberg/i2cdevlib
/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t gyro_MPU6050_Interrupt_PIN_D2 = 2;
/***** DEFINITION OF I2C PINS *****/
const uint8_t gyro_MPU6050_I2C_PIN_SDA_D20 = 20;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_D21 = 21;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 104;
/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
//PPMEncoder ppmEncoder; // Removed this instantiation
MPU6050 mpu; // Instantiate the MPU6050 object
/****** VARIABLES *****/
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
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
volatile bool mpuInterrupt = false; // Indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
void setup(void) {
// Initialize I2C
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock
// Initialize serial communication
Serial.begin(115200);
while (!Serial);
// Initialize MPU6050
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);
// Verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// Load and configure the DMP
Serial.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) {
// Calibration Time: generate offsets and calibrate our MPU6050
mpu.CalibrateAccel(6);
mpu.CalibrateGyro(6);
mpu.PrintActiveOffsets();
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// Enable Arduino interrupt detection
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// Set our DMP ready flag
Serial.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)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// Initialize the PPM encoder on pin 10
ppmEncoder.begin(10);
}
void loop(void) {
// If DMP is not ready, exit
if (!dmpReady) return;
// Wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// Do nothing
}
// 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();
Serial.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;
// Get Yaw, Pitch, and Roll values
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
// Convert Yaw, Pitch, and Roll to PPM signals
int yawPPM = map(ypr[0] * 180/M_PI, -180, 180, PPMEncoder::MIN, PPMEncoder::MAX);
int pitchPPM = map(ypr[1] * 180/M_PI, -180, 180, PPMEncoder::MIN, PPMEncoder::MAX);
int rollPPM = map(ypr[2] * 180/M_PI, -180, 180, PPMEncoder::MIN, PPMEncoder::MAX);
// Set PPM channels
ppmEncoder.setChannel(0, yawPPM);
ppmEncoder.setChannel(1, pitchPPM);
ppmEncoder.setChannel(2, rollPPM);
// Print Yaw, Pitch, and Roll values for debugging
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
}
}
/* END CODE */
