/*
* Updates function
*
*/
extern "C" void sf_MPU6050_2xDriver_GxAyz_Update_wrapper(const int16_T *x_vel,
const int16_T *y_acc,
const int16_T *z_acc,
const int16_T *x_vel_2,
const int16_T *y_acc_2,
const int16_T *z_acc_2,
real_T *xD)
{
/* %%%-SFUNWIZ_wrapper_Update_Changes_BEGIN --- EDIT HERE TO _END */
if(xD[0] != 1){
# ifndef MATLAB_MEX_FILE
Wire.begin();
accelgyro.initialize();
accelgyro.setDLPFMode(MPU6050_DLPF_BW_42);
accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_1000);
accelgyro2.initialize();
accelgyro2.setDLPFMode(MPU6050_DLPF_BW_42);
accelgyro2.setFullScaleGyroRange(MPU6050_GYRO_FS_1000);
#endif
//done with initialization
xD[0] = 1;
}
/* %%%-SFUNWIZ_wrapper_Update_Changes_END --- EDIT HERE TO _BEGIN */
}
void setup() {
Wire.begin();
Serial.begin(57600);
I2Cdev::writeByte(0x68, 0x6B, 0x01); //PWR_MGMT1 for clock source as X-gyro
uint8_t temp[8] = {8, 0};//GYRO range:250, ACCEL range:2g | Refer the Datasheet if you want to change these.
I2Cdev::writeBytes(0x68, 0x1B, 2, temp); //GYRO_CFG and ACCEL_CFG
accelgyro.setRate(4);
accelgyro.setDLPFMode(0x03);
accelgyro.setFIFOEnabled(true);
I2Cdev::writeByte(0x68, 0x23, 0x78); //FIFO_EN for ACCEL,GYRO
accelgyro.setDMPEnabled(false);
I2Cdev::writeByte(0x68, 0x38, 0x11); //INT_EN
attachInterrupt(0, mpu_interrupt, RISING);
attachInterrupt(1, compass_interrupt, FALLING);
//Put the HMC5883 IC into the correct operating mode
Wire.beginTransmission(0x1E); //open communication with HMC5883
Wire.write(0x00); //select Config_Register_A:
Wire.write(0x58); //4-point avg. and 75Hz rate
Wire.write(0x02); //In Config_Register_B: +-1.9G (820LSB/G)
Wire.write(0x00); //In Mode_Register: continuous measurement mode
Wire.endTransmission();
pinMode(13, INPUT);
#ifdef CAL_DEBUG
Serial.print("Calibrating Gyros and Accel! Hold Still and Level!");
#endif
calibrate_gyros();
calibrate_accel();
accelgyro.resetFIFO();
}
void initialize_imu() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
// **************************************************************
// It is best to configure I2C to 400 kHz.
// If you are using an Arduino DUE, modify the variable TWI_CLOCK to 400000, defined in the file:
// c:/Program Files/Arduino/hardware/arduino/sam/libraries/Wire/Wire.h
// If you are using any other Arduino instead of the DUE, uncomment the following line:
//TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) //This line should be commented if you are using Arduino DUE
// **************************************************************
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
Serial.begin(250000);
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// TODO: Compute these parameters
// mpu.setXAccelOffset(-1600);
// mpu.setYAccelOffset(-180);
// mpu.setZAccelOffset(650);
// mpu.setXGyroOffset(0);
// mpu.setYGyroOffset(0);
// mpu.setZGyroOffset(0);
mpu.setFullScaleGyroRange(0);
calibrate_imu();
// Magnetometer configuration
mpu.setI2CMasterModeEnabled(0);
mpu.setI2CBypassEnabled(1);
Wire.beginTransmission(HMC5883L_DEFAULT_ADDRESS);
Wire.write(0x02);
Wire.write(0x00); // Set continuous mode
Wire.endTransmission();
delay(5);
Wire.beginTransmission(HMC5883L_DEFAULT_ADDRESS);
Wire.write(0x00);
Wire.write(B00011000); // 75Hz
Wire.endTransmission();
delay(5);
mpu.setI2CBypassEnabled(0);
// X axis word
mpu.setSlaveAddress(0, HMC5883L_DEFAULT_ADDRESS | 0x80); // 0x80 turns 7th bit ON, according to datasheet, 7th bit controls Read/Write direction
mpu.setSlaveRegister(0, HMC5883L_RA_DATAX_H);
mpu.setSlaveEnabled(0, true);
mpu.setSlaveWordByteSwap(0, false);
mpu.setSlaveWriteMode(0, false);
mpu.setSlaveWordGroupOffset(0, false);
mpu.setSlaveDataLength(0, 2);
// Y axis word
mpu.setSlaveAddress(1, HMC5883L_DEFAULT_ADDRESS | 0x80);
mpu.setSlaveRegister(1, HMC5883L_RA_DATAY_H);
mpu.setSlaveEnabled(1, true);
mpu.setSlaveWordByteSwap(1, false);
mpu.setSlaveWriteMode(1, false);
mpu.setSlaveWordGroupOffset(1, false);
mpu.setSlaveDataLength(1, 2);
// Z axis word
mpu.setSlaveAddress(2, HMC5883L_DEFAULT_ADDRESS | 0x80);
mpu.setSlaveRegister(2, HMC5883L_RA_DATAZ_H);
mpu.setSlaveEnabled(2, true);
mpu.setSlaveWordByteSwap(2, false);
mpu.setSlaveWriteMode(2, false);
mpu.setSlaveWordGroupOffset(2, false);
mpu.setSlaveDataLength(2, 2);
mpu.setI2CMasterModeEnabled(1);
mpu.setDLPFMode(6);
}
//PROGRAM FUNCTIONS
void setup_mpu6050(){
clear_i2c();
Wire.begin();
SERIAL_OUT.println("Initializing gyro...");
accelgyro.initialize();
//accelgyro.reset();
accelgyro.setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
// verify connection
SERIAL_OUT.println("Testing device connections...");
SERIAL_OUT.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
SERIAL_OUT.println(F("Setting clock source to Z Gyro..."));
accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
//SERIAL_OUT.println(accelgyro.getClockSource(MPU6050_CLOCK_PLL_ZGYRO);
SERIAL_OUT.println(F("Setting sample rate to 200Hz..."));
accelgyro.setRate(0); // 1khz / (1 + 4) = 200 Hz
// * | ACCELEROMETER | GYROSCOPE
// * DLPF_CFG | Bandwidth | Delay | Bandwidth | Delay | Sample Rate
// * ---------+-----------+--------+-----------+--------+-------------
// * 0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
// * 1 | 184Hz | 2.0ms | 188Hz | 1.9ms | 1kHz
// * 2 | 94Hz | 3.0ms | 98Hz | 2.8ms | 1kHz
// * 3 | 44Hz | 4.9ms | 42Hz | 4.8ms | 1kHz
// * 4 | 21Hz | 8.5ms | 20Hz | 8.3ms | 1kHz
// * 5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
// * 6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
// * 7 | -- Reserved -- | -- Reserved -- | Reserved
SERIAL_OUT.println(F("Setting DLPF bandwidth"));
accelgyro.setDLPFMode(MPU6050_DLPF_BW_42);
SERIAL_OUT.println(F("Setting gyro sensitivity to +/- 250 deg/sec..."));
accelgyro.setFullScaleGyroRange(0);
//accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
//accelgyro.setFullScaleGyroRange(0); // 0=250, 1=500, 2=1000, 3=2000 deg/sec
//SERIAL_OUT.println(F("Resetting FIFO..."));
//accelgyro.resetFIFO();
// use the code below to change accel/gyro offset values
accelgyro.setXGyroOffset(XGYROOFFSET);
accelgyro.setYGyroOffset(YGYROOFFSET);
accelgyro.setZGyroOffset(ZGYROOFFSET);
SERIAL_OUT.print(accelgyro.getXAccelOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print(accelgyro.getYAccelOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print(accelgyro.getZAccelOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print(accelgyro.getXGyroOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print(accelgyro.getYGyroOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print(accelgyro.getZGyroOffset()); SERIAL_OUT.print("\t"); //
SERIAL_OUT.print("\n");
SERIAL_OUT.println(F("Enabling FIFO..."));
accelgyro.setFIFOEnabled(true);
accelgyro.setZGyroFIFOEnabled(true);
accelgyro.setXGyroFIFOEnabled(false);
accelgyro.setYGyroFIFOEnabled(false);
accelgyro.setAccelFIFOEnabled(false);
SERIAL_OUT.print("Z axis enabled?\t"); SERIAL_OUT.println(accelgyro.getZGyroFIFOEnabled());
SERIAL_OUT.print("x axis enabled?\t"); SERIAL_OUT.println(accelgyro.getXGyroFIFOEnabled());
SERIAL_OUT.print("y axis enabled?\t"); SERIAL_OUT.println(accelgyro.getYGyroFIFOEnabled());
SERIAL_OUT.print("accel enabled?\t"); SERIAL_OUT.println(accelgyro.getAccelFIFOEnabled());
accelgyro.resetFIFO();
return ;
}
