mirror of
https://github.com/richardghirst/PiBits.git
synced 2024-11-28 12:24:11 +01:00
202 lines
7.9 KiB
C++
202 lines
7.9 KiB
C++
#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <stdint.h>
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#include <string.h>
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#include <math.h>
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#include "I2Cdev.h"
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#include "MPU6050_6Axis_MotionApps20.h"
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// class default I2C address is 0x68
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// specific I2C addresses may be passed as a parameter here
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// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
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// AD0 high = 0x69
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MPU6050 mpu;
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// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
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// quaternion components in a [w, x, y, z] format (not best for parsing
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// on a remote host such as Processing or something though)
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#define OUTPUT_READABLE_QUATERNION
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// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
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// (in degrees) calculated from the quaternions coming from the FIFO.
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// Note that Euler angles suffer from gimbal lock (for more info, see
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// http://en.wikipedia.org/wiki/Gimbal_lock)
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//#define OUTPUT_READABLE_EULER
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// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
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// pitch/roll angles (in degrees) calculated from the quaternions coming
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// from the FIFO. Note this also requires gravity vector calculations.
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// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
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// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
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#define OUTPUT_READABLE_YAWPITCHROLL
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// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
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// components with gravity removed. This acceleration reference frame is
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// not compensated for orientation, so +X is always +X according to the
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// sensor, just without the effects of gravity. If you want acceleration
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// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
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//#define OUTPUT_READABLE_REALACCEL
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// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
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// components with gravity removed and adjusted for the world frame of
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// reference (yaw is relative to initial orientation, since no magnetometer
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// is present in this case). Could be quite handy in some cases.
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//#define OUTPUT_READABLE_WORLDACCEL
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// uncomment "OUTPUT_TEAPOT" if you want output that matches the
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// format used for the InvenSense teapot demo
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//#define OUTPUT_TEAPOT
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// MPU control/status vars
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bool dmpReady = false; // set true if DMP init was successful
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uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
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uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
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uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
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uint16_t fifoCount; // count of all bytes currently in FIFO
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uint8_t fifoBuffer[64]; // FIFO storage buffer
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// orientation/motion vars
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Quaternion q; // [w, x, y, z] quaternion container
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VectorInt16 aa; // [x, y, z] accel sensor measurements
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VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
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VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
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VectorFloat gravity; // [x, y, z] gravity vector
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float euler[3]; // [psi, theta, phi] Euler angle container
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float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
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// packet structure for InvenSense teapot demo
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uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
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// ================================================================
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// === INITIAL SETUP ===
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// ================================================================
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void setup() {
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// initialize device
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printf("Initializing I2C devices...\n");
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mpu.initialize();
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// verify connection
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printf("Testing device connections...\n");
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printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
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// load and configure the DMP
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printf("Initializing DMP...\n");
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devStatus = mpu.dmpInitialize();
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// make sure it worked (returns 0 if so)
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if (devStatus == 0) {
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// turn on the DMP, now that it's ready
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printf("Enabling DMP...\n");
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mpu.setDMPEnabled(true);
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// enable Arduino interrupt detection
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//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
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//attachInterrupt(0, dmpDataReady, RISING);
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mpuIntStatus = mpu.getIntStatus();
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// set our DMP Ready flag so the main loop() function knows it's okay to use it
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printf("DMP ready!\n");
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dmpReady = true;
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// get expected DMP packet size for later comparison
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packetSize = mpu.dmpGetFIFOPacketSize();
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} else {
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// ERROR!
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// 1 = initial memory load failed
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// 2 = DMP configuration updates failed
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// (if it's going to break, usually the code will be 1)
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printf("DMP Initialization failed (code %d)\n", devStatus);
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}
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}
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// ================================================================
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// === MAIN PROGRAM LOOP ===
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// ================================================================
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void loop() {
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// if programming failed, don't try to do anything
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if (!dmpReady) return;
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// get current FIFO count
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fifoCount = mpu.getFIFOCount();
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if (fifoCount == 1024) {
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// reset so we can continue cleanly
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mpu.resetFIFO();
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printf("FIFO overflow!\n");
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// otherwise, check for DMP data ready interrupt (this should happen frequently)
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} else if (fifoCount >= 42) {
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// read a packet from FIFO
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mpu.getFIFOBytes(fifoBuffer, packetSize);
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#ifdef OUTPUT_READABLE_QUATERNION
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// display quaternion values in easy matrix form: w x y z
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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printf("quat %7.2f %7.2f %7.2f %7.2f ", q.w,q.x,q.y,q.z);
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#endif
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#ifdef OUTPUT_READABLE_EULER
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// display Euler angles in degrees
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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mpu.dmpGetEuler(euler, &q);
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printf("euler %7.2f %7.2f %7.2f ", euler[0] * 180/M_PI, euler[1] * 180/M_PI, euler[2] * 180/M_PI);
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#endif
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#ifdef OUTPUT_READABLE_YAWPITCHROLL
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// display Euler angles in degrees
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
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printf("ypr %7.2f %7.2f %7.2f ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
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#endif
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#ifdef OUTPUT_READABLE_REALACCEL
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// display real acceleration, adjusted to remove gravity
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
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printf("areal %6d %6d %6d ", aaReal.x, aaReal.y, aaReal.z);
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#endif
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#ifdef OUTPUT_READABLE_WORLDACCEL
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// display initial world-frame acceleration, adjusted to remove gravity
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// and rotated based on known orientation from quaternion
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mpu.dmpGetQuaternion(&q, fifoBuffer);
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mpu.dmpGetAccel(&aa, fifoBuffer);
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mpu.dmpGetGravity(&gravity, &q);
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mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
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printf("aworld %6d %6d %6d ", aaWorld.x, aaWorld.y, aaWorld.z);
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#endif
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#ifdef OUTPUT_TEAPOT
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// display quaternion values in InvenSense Teapot demo format:
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teapotPacket[2] = fifoBuffer[0];
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teapotPacket[3] = fifoBuffer[1];
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teapotPacket[4] = fifoBuffer[4];
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teapotPacket[5] = fifoBuffer[5];
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teapotPacket[6] = fifoBuffer[8];
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teapotPacket[7] = fifoBuffer[9];
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teapotPacket[8] = fifoBuffer[12];
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teapotPacket[9] = fifoBuffer[13];
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Serial.write(teapotPacket, 14);
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teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
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#endif
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printf("\n");
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}
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}
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int main() {
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setup();
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usleep(100000);
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for (;;)
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loop();
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return 0;
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}
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