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- Project: "MPU6050 Initialization"
- Source Code NOT compiled for: Arduino Uno
- Source Code created on: 2024-06-16 13:34:44
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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
/* flight controller for brushed motors using radio */
/* frequency transmitters and receiver like flysky , */
/* radiolink */
/****** END SYSTEM REQUIREMENTS *****/
/****** DEFINITION OF LIBRARIES *****/
#include
#include // https://github.com/LiquidCGS/FastIMU
/****** 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_A4 = A4;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 0x68; // 104 in decimal
/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 IMU; // Initialize MPU6050 with FastIMU library
/****** GLOBAL 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) {
// put your setup code here, to run once:
Wire.begin();
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..."));
calData calib = { 0 }; // Calibration data
int err = IMU.init(calib, gyro_MPU6050_I2C_SLAVE_ADDRESS);
if (err != 0) {
Serial.print(F("Error initializing IMU: "));
Serial.println(err);
while (true) { ; }
}
pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);
Serial.println(F("Testing device connections..."));
Serial.println(IMU.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (!Serial.available());
while (Serial.available() && Serial.read());
Serial.println(F("Initializing DMP..."));
devStatus = IMU.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
IMU.setXGyroOffset(220);
IMU.setYGyroOffset(76);
IMU.setZGyroOffset(-85);
IMU.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..."));
IMU.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 = IMU.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 = IMU.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(")"));
}
// configure LED for output
pinMode(LED_BUILTIN, OUTPUT);
}
void loop(void) {
// 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 = IMU.getIntStatus();
// get current FIFO count
fifoCount = IMU.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
IMU.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 = IMU.getFIFOCount();
// read a packet from FIFO
IMU.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;
IMU.dmpGetQuaternion(&q, fifoBuffer);
IMU.dmpGetGravity(&gravity, &q);
IMU.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);
// blink LED to indicate activity
digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}
}
/* END CODE */
