int TankDrive::InitializeMPU()
{
int notStable = 1;
int stableRead = 0;
int oldAngle=180;
long calibrationStart = millis();
_mpuRet = mympu_open(200);
Serial.print("MPU init: "); Serial.println(_mpuRet);
Serial.println("Starting MPU stabilization check. This can take a minute.");
Serial.println("The MPU requires 8 seconds of no movement to calibrate the Gyro with Accelerometer.");
delay(8000); //Delay 2 seconds to settle the minitbot for MPU initialization
while (notStable){
_mpuRet = mympu_update();
_currentAngle = mympu.ypr[0];
if (_currentAngle == oldAngle) {
stableRead=stableRead+1;
}
else {
stableRead=0;
}
//Serial.println(_currentAngle);
if (stableRead > 5000 and notStable){
Serial.print("Stablised in ");Serial.print((millis()-calibrationStart)/1000);Serial.print(" seconds");
Serial.print(" at ");Serial.print(_currentAngle);Serial.println(" degrees.");
notStable=0;
}
oldAngle=_currentAngle;
}
}
void IMU_Init(void) {
TIMERS_Init();
mympu_open(20);
/* my version of initialization
// reset the device
MPU6500_writeOneByte( MPU6500_RA_PWR_MGMT_1, 0x80);
InitTimer( 1, 100 );
while (IsTimerActive(1));
// reset gyro, accel, temp
MPU6500_writeOneByte( MPU6500_RA_SIGNAL_PATH_RESET, 0x07);
InitTimer( 1, 100 );
while (IsTimerActive(1));
uint8_t userCtrl = 0x10 | 0x8 | 0x4 | 0x1;
MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, userCtrl );
#ifdef DEBUG
uint8_t tmp = MPU6500_readOneByte(MPU6500_RA_USER_CTRL);
printf("user control should be %0x: %0x\n", userCtrl, tmp);
#endif
InitTimer( 1, 1000 );
while (IsTimerActive(1));
MPU6500_writeOneByte( MPU6500_RA_CONFIG, 0x01);
uint8_t fifoEnConfig = MPU6500_FIFO_EN_ACC | MPU6500_FIFO_EN_GYRO;
MPU6500_writeOneByte( MPU6500_RA_FIFO_EN, fifoEnConfig);
#ifdef DEBUG
tmp = MPU6500_readOneByte(MPU6500_RA_FIFO_EN);
printf("fifo_en should be %0x: %0x\n", fifoEnConfig, tmp);
#endif
MPU6500_writeOneByte( MPU6500_RA_GYRO_CONFIG, 0b011000); // 2k dps
#ifdef DEBUG
tmp = MPU6500_readOneByte(MPU6500_RA_GYRO_CONFIG);
printf("gyro_config should be %0x: %0x\n", 0b011000, tmp);
#endif
MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, 0x00 | 0x40 | 0x10 );
//*/
return;
}
int main(void)
{
BOARD_Init();
SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);
SERIAL_Init();
SPI_Init(SPI_SS1_CLKRATE, 0, 0);
TIMERS_Init();
printf("program begins...\n");
uint16_t i, j;
/* timer test: sucess
SET_OUTPUT_PIN(D, 10);
TIMERS_Init();
while (1) {
WRITE_HIGH(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1));
WRITE_LOW(D, 10);
InitTimer(1, 100);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 1: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 1\n");
IMU_Init();
uint8_t id;
while (1) {
id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* SPI read test 2: need to get 0x70 to ensure SPI reading is good
printf("IMU: SPI read test 2\n");
IMU_Init();
uint8_t id;
while (1) {
MPU6500_readBytes(SPI_SS2_ID, MPU6500_RA_WHO_AM_I, 1, &id);
printf( "id should be 0x70: 0x%x\n", id );
InitTimer(1, 1000);
while (IsTimerActive(1)) ;
}
//*/
/* inv_mpu test: porting invense IMU library
printf("inv_mpu test: read test\n");
uint8_t buf[3] = {0};
uint8_t flag;
while (1) {
flag = mpu_read_reg(MPU6500_RA_WHO_AM_I, buf);
printf("flag: %d\n", flag);
printf( "id should be 0x70: 0x%x\n", buf[0]);
InitTimer(2, 1000);
while (IsTimerActive(2)) {
//printf("timer is still active\n");
}
}
//*/
/* porting inv_mpu test: init and read gyro
printf("inv_mpu test: read test\n");
uint16_t buf[3] = {0};
uint8_t flag = mpu_init(0);
mpu_reset_fifo();
mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);
printf("flag: %d\n", flag);
uint16_t gyro[3], accel[3];
// flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
while (1) {
flag = mpu_get_gyro_reg(buf, 0);
printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, buf[0], buf[1], buf[2]);
mpu_get_accel_reg(buf, 0);
printf(", accel: % 5d, % 5d, % 5d\n", buf[0], buf[1], buf[2]);
InitTimer(2, 1000);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint16_t gyro[3], accel[3];
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
struct s_mympu mympu;
uint8_t flag;
while(1) {
mpu_get_accel_reg(accel, 0);
printf("all accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
uint8_t tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_H);
accel[0] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_XOUT_L);
accel[0] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_H);
accel[1] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_YOUT_L);
accel[1] |= tmp;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_H);
accel[2] = tmp << 8;
tmp = MPU6500_readOneByte(MPU6500_RA_ACCEL_ZOUT_L);
accel[2] |= tmp;
printf("byte accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
InitTimer(2, 100);
while (IsTimerActive(2));
}
//*/
/* test: reading multiple times from the same register: the internal pointer +1 when it read once
int vals;
uint8_t buf[20] = {0};
uint16_t gyro[3] = {0}, accel[3] = {0};
vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
//IMU_Init();
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
//MPU6500_writeOneByte( MPU6500_RA_USER_CTRL, 0x40 | 0x10 );
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=[%d, %d], pitch=[%d,%d], roll=[%d,%d]\n", mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//printf("flag=%d, yaw=% 11f, pitch=% 11f, roll=% 11f\n", flag, mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n",
mympu.ypr[0], mympu.gyro[0], mympu.ypr[1], mympu.gyro[1], mympu.ypr[2], mympu.gyro[2]);
//flag = dmp_read_fifo(gyro, accel, buf, NULL,&vals,&vals);
//buf[0] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTH);
//buf[1] = MPU6500_readOneByte(MPU6500_RA_FIFO_COUNTL);
//uint16_t count = (buf[0] << 8) | buf[1];
//printf("fifo count: %d\n", count);
//flag = mpu_read_fifo(gyro, accel, &vals, &vals, &vals);
//flag = mpu_read_fifo_stream(10, buf, &vals);
//read_fifo(buf, gyro, accel);
//printf("flag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
// printf(", accel: % 5d, % 5d, % 5", accel[0], accel[1], accel[2]);
//printf(", quat: %d, %d, %d, %d\n", buf[0], buf[1], buf[2], buf[3]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
/* test: calibration by adding offset
int vals = mympu_open(200);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
struct s_mympu mympu = {0};
int flag;
printf("waiting for initial drift\n");
InitTimer(2, 20000); // wait for 20s to pass initial drift
while (IsTimerActive(2));
printf("get average offset\n");
float offsetX = 0, offsetY = 0, offsetZ = 0;
float offsetPrev[3] = {0};
float alpha = 0;
uint8_t k;
for (k=1; k <= 200; k++) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.3f, pitch=% 3.3f, roll=% 3.3f\n",
//mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
alpha = ((float) k - 1.) / k;
offsetX = alpha*offsetPrev[0] + (1. - alpha) * mympu.ypr[0];
offsetY = alpha*offsetPrev[1] + (1. - alpha) * mympu.ypr[1];
offsetZ = alpha*offsetPrev[2] + (1. - alpha) * mympu.ypr[2];
offsetPrev[0] = offsetX;
offsetPrev[1] = offsetY;
offsetPrev[2] = offsetZ;
InitTimer(2, 50);
while (IsTimerActive(2));
}
printf("average: x offset= %3.3f, y offset= %3.3f, z offset= %3.3f\n",
offsetX, offsetY, offsetZ);
//offsetX = abs(offsetX);
offsetY = abs(offsetY);
//offsetZ = abs(offsetZ);
while(1) {
flag = mympu_update(&mympu);
//printf("yaw=% 3.0f, pitch=% 3.0f, roll=% 3.0f\n",
//printf("%4.1f, %4.1f, %4.1f\n", mympu.ypr[0] - offsetX, mympu.ypr[1] - offsetY, mympu.ypr[2] - offsetZ);
printf("yaw=[%.3f, %.3f], pitch=[%.3f,%.3f], roll=[%.3f,%.3f]\n", mympu.ypr[0] - offsetX, mympu.gyro[0], mympu.ypr[1] - offsetY, mympu.gyro[1], mympu.ypr[2] - offsetZ, mympu.gyro[2]);
InitTimer(2, 50);
while (IsTimerActive(2));
}
//*/
//* test: two SPI devices, OLED and IMU
int vals = mympu_open(10);
OLED_Init();
OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, 0x2710);
ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_2);
printf("MPU Init: %d\n", vals);
uint8_t id = MPU6500_readOneByte( MPU6500_RA_WHO_AM_I );
printf( "id should be 0x70: 0x%x\n", id);
UG_SetForecolor(0x0F);
UG_SetBackcolor(0x00);
UG_FontSelect(FONT_6X8);
char str[50] = "";
while(1) {
//mympu_update(&mympu);
sprintf(str, "%.3f, %.3f, %.3f\n", mympu.ypr[0], mympu.ypr[1], mympu.ypr[2]);
printf("%s\n",str);
flag_writingScreen = 1;
UG_PutString(0, 0, str);
flag_writingScreen = 0;
InitTimer(1, 200);
while (IsTimerActive(1));
}
//*/
/*
flag = mpu_run_6500_self_test(gyro, accel, 0);
printf("\nflag=%d, gyro: % 5d, % 5d, % 5d", flag, gyro[0], gyro[1], gyro[2]);
printf(", accel: % 5d, % 5d, % 5d\n", accel[0], accel[1], accel[2]);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_H, (accel[0] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_XA_OFFS_L_TC, accel[0] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_H, (accel[1] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_YA_OFFS_L_TC, accel[1] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_H, (accel[2] & 0x7F80) >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZA_OFFS_L_TC, accel[2] & 0x7F);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRH, gyro[0] >> 8);
MPU6500_writeOneByte(MPU6500_RA_XG_OFFS_USRL, gyro[0] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRH, gyro[1] >> 8);
MPU6500_writeOneByte(MPU6500_RA_YG_OFFS_USRL, gyro[1] & 0xFF);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRH, gyro[2] >> 8);
MPU6500_writeOneByte(MPU6500_RA_ZG_OFFS_USRL, gyro[2] & 0xFF);
//*/
printf("program ended...\n");
return 0;
}
