int init(){
open_bus();
unsigned char whoami=0;
i2c_read(MPU6050_ADDR, MPU6050_WHO_AM_I, 1, &whoami);
if(!silent_flag) {
printf("WHO_AM_I: %x\n", whoami);
}
struct int_param_s int_param;
if(!silent_flag) {
printf("MPU init: %i\n", mpu_init(&int_param));
printf("MPU sensor init: %i\n", mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL));
printf("MPU configure fifo: %i\n", mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL));
printf("DMP firmware: %i\n ",dmp_load_motion_driver_firmware());
printf("DMP orientation: %i\n ",dmp_set_orientation(
inv_orientation_matrix_to_scalar(gyro_orientation)));
}
unsigned short dmp_features = DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL;
if(!silent_flag) {
printf("DMP feature enable: %i\n", dmp_enable_feature(dmp_features));
printf("DMP set fifo rate: %i\n", dmp_set_fifo_rate(DEFAULT_MPU_HZ));
printf("DMP enable %i\n", mpu_set_dmp_state(1));
}
if(!no_interrupt_flag) {
mpu_set_int_level(1); // Interrupt is low when firing
dmp_set_interrupt_mode(DMP_INT_CONTINUOUS); // Fire interrupt on new FIFO value
}
return 0;
}
uint8_t MPU_Init(void)
{
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
EXTI_InitTypeDef exti;
int res=0;
IIC_Init();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
gpio.GPIO_Pin = GPIO_Pin_5;
gpio.GPIO_Mode = GPIO_Mode_IN;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_PuPd = GPIO_PuPd_UP;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOB, &gpio);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOB,GPIO_PinSource5);
exti.EXTI_Line = EXTI_Line5;
exti.EXTI_Mode = EXTI_Mode_Interrupt;
exti.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿中断
exti.EXTI_LineCmd = ENABLE;
EXTI_Init(&exti);
nvic.NVIC_IRQChannel = EXTI9_5_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = ITP_MPU_EXTI9_5_PREEMPTION;
nvic.NVIC_IRQChannelSubPriority = ITP_MPU_EXTI9_5_SUB;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
if(mpu_init()==0) //初始化MPU6050
{
res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//设置所需要的传感器
if(res)return 1;
res=mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);//设置FIFO
if(res)return 2;
res=mpu_set_sample_rate(DEFAULT_MPU_HZ); //设置采样率
if(res)return 3;
res=dmp_load_motion_driver_firmware(); //加载dmp固件
if(res)return 4;
res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//设置陀螺仪方向
if(res)return 5;
res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| //设置dmp功能
DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
DMP_FEATURE_GYRO_CAL);
if(res)return 6;
res=dmp_set_fifo_rate(DEFAULT_MPU_HZ); //设置DMP输出速率(最大不超过200Hz)
if(res)return 7;
res=mpu_set_int_level(1);
if(res)return 8;
res=dmp_set_interrupt_mode(DMP_INT_CONTINUOUS);
if(res)return 9;
res=run_self_test(); //自检
if(res)return 10;
res=mpu_set_dmp_state(1); //使能DMP
if(res)return 11;
}
else
return 12;
return 0;
}
// Private
int8_t IMUTask::MPUSetup()
{
// TODO: should check here to see if IMU is already setup and just init the lib
int8_t result = 0;
struct int_param_s int_param;
int_param.cb = IMU_interrupt;
int_param.pin = MPU_INT;
int_param.arg = FALLING;
unsigned char accel_fsr;
unsigned short gyro_rate, gyro_fsr;
unsigned long timestamp;
result = mpu_init(&int_param);
debug::log("IMUTask: mpu_init returned " + String(result));
if (result != 0) {
return -1;
}
/* Wake up all sensors. */
result = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL);
debug::log("IMUTask: mpu_set_sensors returned " + String(result));
result = mpu_set_sample_rate(IMU_DEFAULT_MPU_HZ);
debug::log("IMUTask: mpu_set_sample_rate returned " + String(result));
debug::log("Pre laod");
result = dmp_load_motion_driver_firmware();
debug::log("IMUTask: dmp_load_motion_driver_firmware returned " + String(result));
if (result != 0) {
return -2;
}
result = dmp_set_orientation( inv_orientation_matrix_to_scalar(gyro_orientation) );
debug::log("IMUTask: dmp_set_orientation returned " + String(result));
if (result != 0) {
return -3;
}
/*
* Known Bug -
* DMP when enabled will sample sensor data at 200Hz and output to FIFO at the rate
* specified in the dmp_set_fifo_rate API. The DMP will then sent an interrupt once
* a sample has been put into the FIFO. Therefore if the dmp_set_fifo_rate is at 25Hz
* there will be a 25Hz interrupt from the MPU device.
*
* There is a known issue in which if you do not enable DMP_FEATURE_TAP
* then the interrupts will be at 200Hz even if fifo rate
* is set at a different rate. To avoid this issue include the DMP_FEATURE_TAP
*/
unsigned short dmp_features = DMP_FEATURE_TAP | // Don't remove this, see above
DMP_FEATURE_ANDROID_ORIENT; // we use this for the screen
// Disableing the rest for now as we dont yet have a use for them
// DMP_FEATURE_SEND_RAW_ACCEL |
// DMP_FEATURE_SEND_RAW_GYRO;
result = dmp_enable_feature(dmp_features);
if (result != 0) {
debug::log("IMUTask: mp_enable_feature returned " + String(result));
return -4;
}
result = dmp_set_fifo_rate(IMU_DEFAULT_MPU_HZ);
if (result != 0) {
debug::log("IMUTask: dmp_set_fifo_rate returned " + String(result));
return -5;
}
dmp_register_tap_cb(IMU_tap_cb);
dmp_register_android_orient_cb(IMU_android_orient_cb);
dmp_set_interrupt_mode(DMP_INT_GESTURE);
return 0;
}