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- Project: MPU6050 Orientation
- Source Code NOT compiled for: Arduino Nano ESP32
- Source Code created on: 2024-06-05 21:55:33
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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
/* read gyroscope at maximum rate and show on serial. */
/****** END SYSTEM REQUIREMENTS *****/
/****** DEFINITION OF LIBRARIES *****/
#include
#include // https://github.com/electroniccats/mpu6050
/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);
void dmpDataReady(void);
/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t sensor_MPU6050_Interrupt_PIN_D2 = 2;
/***** DEFINITION OF I2C PINS *****/
const uint8_t sensor_MPU6050_I2C_PIN_SDA_A4 = A4;
const uint8_t sensor_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t sensor_MPU6050_I2C_SLAVE_ADDRESS = 104;
/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu(sensor_MPU6050_I2C_SLAVE_ADDRESS);
/****** 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
// 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 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)
{
// put your setup code here, to run once:
Wire.begin(sensor_MPU6050_I2C_PIN_SDA_A4, sensor_MPU6050_I2C_PIN_SCL_A5);
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(sensor_MPU6050_Interrupt_PIN_D2, INPUT);
// verify connection
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) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
attachInterrupt(digitalPinToInterrupt(sensor_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
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(")"));
}
}
void loop(void)
{
// put your main code here, to run repeatedly:
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();
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;
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
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);
// read raw gyroscope measurements at the maximum rate
VectorInt16 gyroscope;
mpu.getRotation(&gyroscope);
Serial.print("Gyroscope\t");
Serial.print("X: ");
Serial.print(gyroscope.x);
Serial.print("\tY: ");
Serial.print(gyroscope.y);
Serial.print("\tZ: ");
Serial.println(gyroscope.z);
}
}
