bool Gyro_init(void)
{
Wire.begin();
mpu.initialize();
if (mpu.testConnection() == false) {
return false;
}
devStatus = mpu.dmpInitialize();
if (devStatus == 0) {
mpu.setXGyroOffset(X_GYRO_OFFSET);
mpu.setYGyroOffset(Y_GYRO_OFFSET);
mpu.setZGyroOffset(Z_GYRO_OFFSET);
mpu.setXAccelOffset(X_ACCEL_OFFSET);
mpu.setYAccelOffset(Y_ACCEL_OFFSET);
mpu.setZAccelOffset(Z_ACCEL_OFFSET);
mpu.setDMPEnabled(true);
dmpReady = true;
attachInterrupt(0, dmp_data_ready, RISING);
mpuIntStatus = mpu.getIntStatus();
packetSize = mpu.dmpGetFIFOPacketSize();
return true;
}
else {
return false;
}
}
void setup() {
Wire.begin();
if (debugSerial){
Serial.begin(115200);
Serial.println(F("=================== SETUP ================="));
}
// initialize device
if (debugSerial && debugMPU6050) Serial.println(F("Initializing I2C devices..."));
accelgyro.initialize();
// verify connection
if (debugSerial && debugMPU6050) {
Serial.println("Testing device connections...");
boolean OK = accelgyro.testConnection() ;
( OK )?
Serial.println(F("MPU6050 connection successful")):
Serial.println(F("MPU6050 connection failed"));
}
if (debugSerial){
Serial.println(F("=============== FIM SETUP ================="));
}
}
bool i2cSetupGyro()
{
//wake up gyro
//return I2Cdev::writeBit( gyroAddr, 0x6b, 6, 0b0);
gyroscope.initialize();
return gyroscope.testConnection();
}
void setup() {
// initialize device
printf("Initializing I2C devices...\n");
accelgyro.initialize();
gettimeofday(&tv0, NULL);
// verify connection
printf("Testing device connections...\n");
printf(accelgyro.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
}
void setup()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
//Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
Serial.begin(38400);
while (!Serial);
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
send_status(MPU_INITIALIZE, STATUS_OK);
// verify connection
send_status(MPU_CONNECTION, mpu.testConnection() ? STATUS_OK : STATUS_FAIL);
// load and configure the DMP
// 0 = DMP OK
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
ua_dev_status = mpu.dmpInitialize();
send_status(DMP_INITIALIZE, ua_dev_status);
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(120);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-185);
mpu.setZAccelOffset(1688); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (ua_dev_status == 0)
{
// turn on the DMP, now that it's ready
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
attachPinChangeInterrupt(INTERRUPT_PIN, dmpDataReady, RISING);
ua_mpu_interrupt_status = mpu.getIntStatus();
send_status(DMP_INTERRUPT, ua_mpu_interrupt_status);
b_dmp_ready = true;
// get expected DMP packet size for later comparison
uh_packet_size = mpu.dmpGetFIFOPacketSize();
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
int setup() {
// initialize device
printf("Initializing MPU ...\n");
mpu.initialize();
// verify connection
printf("Testing connection ...\n");
if (!mpu.testConnection()) { printf("MPU6050 connection failed\n"); return 1; }
// load and configure the DMP
printf("Flashing DMP ...\n");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
//attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
printf("DMP ready\n");
printf("MPU6050 initialized!\n");
return 0;
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
printf("DMP Initialization failed (code %d)\n", devStatus);
return 1;
}
}
int mpuInit() {
// initialize device
logln("Initializing I2C devices...");
mpu.initialize();
// verify connection
logln("Testing device connections...");
mpu.testConnection() ? logln("MPU6050 connection successful") : logln("MPU6050 connection failed");
// load and configure the DMP
logln("Initializing DMP...");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
logln("Enabling DMP...");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
// Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
// attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
logln("DMP ready! Waiting for first interrupt...");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.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)
logln("DMP Initialization failed (code %d)", devStatus);
}
}
//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 ;
}
int main(int argc, char **argv) {
printf("MPU6050 3-axis acceleromter example program\n");
I2Cdev::initialize();
MPU6050 accelgyro ;
int16_t ax, ay, az;
int16_t gx, gy, gz;
accelgyro.initialize();
if ( accelgyro.testConnection() )
printf("MPU6050 connection test successful\n") ;
else {
fprintf( stderr, "MPU6050 connection test failed! something maybe wrong, continuing anyway though ...\n");
//return 1;
}
// use the code below to change accel/gyro offset values
/*
printf("Updating internal sensor offsets...\n");
// -76 -2359 1688 0 0 0
printf("%i \t %i \t %i \t %i \t %i \t %i\n",
accelgyro.getXAccelOffset(),
accelgyro.getYAccelOffset(),
accelgyro.getZAccelOffset(),
accelgyro.getXGyroOffset(),
accelgyro.getYGyroOffset(),
accelgyro.getZGyroOffset());
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(-85);
printf("%i \t %i \t %i \t %i \t %i \t %i\n",
accelgyro.getXAccelOffset(),
accelgyro.getYAccelOffset(),
accelgyro.getZAccelOffset(),
accelgyro.getXGyroOffset(),
accelgyro.getYGyroOffset(),
accelgyro.getZGyroOffset());
*/
printf("\n");
printf(" ax \t ay \t az \t gx \t gy \t gz:\n");
while (true) {
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// printf(" %d \t %d \t %d \t %d \t %d \t %d\n", ax, ay, az, gx, gy, gz);
// accelgyro.getAcceleration(&ax, &ay, &az);
// printf(" %d \t %d \t %d \r", ax, ay, az);
float axs = ax/16384.0;
float ays = ay/16384.0;
float azs = az/16384.0;
float dxz = sqrt( axs*axs+azs*azs);
float dyz = sqrt( ays*ays+azs*azs);
float rotX = atan2(axs,dyz);
float rotY = atan2(ays,dxz);
printf(" %f \t %f \r", 180*rotX/3.14159, 180*rotY/3.14159);
fflush(stdout);
// fflush(stdout);
bcm2835_delay(100);
}
return 1;
}
void setup() {
Spark.variable("quaternionW", &quaternionW, DOUBLE);
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
//TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
Serial.begin(115200);
while (!Serial.available()) ; // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
// Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println("Initializing I2C devices...");
mpu.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
// wait for ready
Serial.println("\nSend any character to begin DMP programming and demo: ");
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println("Initializing DMP...");
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.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("Enabling DMP...");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println("Enabling interrupt detection (Arduino external interrupt 0)...");
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println("DMP ready! Waiting for first interrupt...");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.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("DMP Initialization failed (code ");
Serial.print(devStatus);
Serial.println(")");
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
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);
}
static void setup() {
// initialize device
printf("Initializing I2C devices...\n");
mpu.initialize();
// verify connection
printf("Testing device connections...\n");
printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
// load and configure the DMP
printf("Initializing DMP...\n");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
printf("Enabling DMP...\n");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
//attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
printf("DMP ready! Waiting for first interrupt...\n");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.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)
printf("DMP Initialization failed (code %d)\n", devStatus);
}
/*
adjAccel[0] = adjAccel[1] = adjAccel[2] = 0;
adjGyro[0] = adjGyro[1] = adjGyro[2] = 0;
for (int i = 0; i < 20; i++)
{
readFIFO();
mpu.dmpGetAccel(accel, fifoBuffer);
mpu.dmpGetGyro(gyro, fifoBuffer);
adjAccel[0] += accel[0];
adjAccel[1] += accel[1];
adjAccel[2] += accel[2];
adjGyro[0] += gyro[0];
adjGyro[1] += gyro[1];
adjGyro[2] += gyro[2];
}
adjAccel[0] /= 20;
adjAccel[1] /= 20;
adjAccel[2] /= 20;
adjGyro[0] /= 20;
adjGyro[1] /= 20;
adjGyro[2] /= 20;
printf("ADJUST: %d, %d, %d\n", adjAccel[0], adjAccel[1], adjAccel[2]);
*/
measurement.setTo(cv::Scalar(0));
kalman.transitionMatrix =
*(cv::Mat_<float>(4, 4) <<
1, 0, 1, 0,
0, 1, 0, 1,
0, 0, 1, 0,
0, 0, 0, 1);
readFIFO();
mpu.dmpGetAccel(accel, fifoBuffer);
kalman.statePre.at<float>(0) = accel[0];
kalman.statePre.at<float>(1) = accel[1];
kalman.statePre.at<float>(2) = accel[2];
kalman.statePre.at<float>(3) = 0.0;
setIdentity(kalman.measurementMatrix);
setIdentity(kalman.processNoiseCov, cv::Scalar::all(1e-4));
setIdentity(kalman.measurementNoiseCov, cv::Scalar::all(10));
setIdentity(kalman.errorCovPost, cv::Scalar::all(.1));
}
void* gyro_acc(void*)
{
//float kp = 0.00375,ki = 0.0000,kd = 0.00076;
float kp = 0.0068,ki = 0.000,kd = 0.0018;
//0030 0088 0014 有偏角 p0.0031偏角更大 0.0029也是 i=0 小偏角 p0.00305 d0.00143 不错 i0.0005 偏角变大
//0032 0017
float pregyro =0;
float desired = 0;
//double error;
float integ=0;//integral积分参数
float iLimit =8 ;
float deriv=0;//derivative微分参数
float prevError=0;
float lastoutput=0;
//float Piddeadband=0.3;
// initialize device
printf("Initializing I2C devices...\n");
mpu.initialize();
// verify connection
printf("Testing device connections...\n");
printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
mpu.setI2CMasterModeEnabled(false);
mpu.setI2CBypassEnabled(true);
// load and configure the DMP
printf("Initializing DMP...\n");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
printf("Enabling DMP...\n");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
//attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
printf("DMP ready!\n");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.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)
printf("DMP Initialization failed (code %d)\n", devStatus);
}
/*****************************************************/
while(1)
{
if (START_FLAG == 0)
{
delay(200);
}
if (START_FLAG == 1)
{
break;
}
}
delay(50);
for(;;)
{
if (!dmpReady) return 0;
// get current FIFO count
fifoCount = mpu.getFIFOCount();
if (fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
printf("FIFO overflow!\n");
// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (fifoCount >= 42)
{
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//printf("ypr %7.2f %7.2f %7.2f ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
Angle[2] = ypr[0] * 180/M_PI;
Angle[1] = ypr[1] * 180/M_PI;//此为Pitch
Angle[0] = ypr[2] * 180/M_PI;//此为Roll
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
//printf("aworld %6d %6d %6d ", aaWorld.x, aaWorld.y, aaWorld.z);
AngleSpeed[0] = aaWorld.x;
AngleSpeed[1] = aaWorld.y;
AngleSpeed[2] = aaWorld.z;
/****************************读取完毕*********************************/
error = desired - Angle[0];//偏差：期望-测量值
All_Count = All_Count + 1;
error = error * 0.88 + prevError * 0.12;
/*
if (fabs(prevError - error ) > 12)
{
error = prevError;
}*/
integ += error * IMU_UPDATE_DT;//偏差积分，IMU_UPDATE_DT也就是每调整漏斗大小的步辐
if (integ >= iLimit)//作积分限制
{
integ = iLimit;
}
else if (integ < -iLimit)
{
integ = -iLimit;
}
deriv = (error - prevError) / IMU_UPDATE_DT;//微分 应该可用陀螺仪角速度代替
AngleSpeed[0] = deriv;
if (fabs(deriv) < 20 )
{
if (fabs(deriv) < 10 )
{
deriv = deriv * 0.8;
}
else
{
deriv = deriv * 0.9;
}
}
//if(deriv
//roll.deriv = -gyro;//注意是否跟自己的参数方向相反，不然会加剧振荡
//deriv = -AngleSpeed[0];
/*
if (fabs(pregyro - deriv) > 20)
{
deriv = deriv * 0.5 + pregyro * 0.5;
}
*/
output = (kp * error) + (ki * integ) + (kd * deriv);
prevError = error;//更新前一次偏差
pregyro = deriv;
if (output > 0.16)
{
output = 0.16;
}
if (output < -0.16)
{
output = -0.16;
}
Pid_Roll = output;
//output = output * 0.9 + lastoutput * 0.1;
if (fabs(error) < 0.3 )
{
output = lastoutput * 0.5;
}
lastoutput = output;
DutyCycle[0] = Default_Acc - output;
DutyCycle[1] = Default_Acc - output;
//DutyCycle[0] = Default_Acc;
//DutyCycle[1] = Default_Acc;
DutyCycle[2] = Default_Acc + output;
DutyCycle[3] = Default_Acc + output;
//DutyCycle[2] = Default_Acc;
//DutyCycle[3] = Default_Acc;
PWMOut(PinNumber1,DutyCycle[0]);
PWMOut(PinNumber2,DutyCycle[1]);
PWMOut(PinNumber3,DutyCycle[2]);
PWMOut(PinNumber4,DutyCycle[3]);
}
}
}
bool system_test()
{
DEBUG_PRINTF(V_MESSAGE, "\nTesting accelgyro connections...\n");
if(accelgyro.testConnection() == false)
{
DEBUG_PRINTF(V_ERROR, "Accelgyro connection failed!\n");
return false;
}
DEBUG_PRINTF(V_MESSAGE, "Passed accelgyro connection test!\n");
DEBUG_PRINTF(V_MESSAGE, "Testing camera detection...\n");
if(camera_controller.checkCameraDetection() == false)
{
DEBUG_PRINTF(V_ERROR, "Failed on camera detection test.\n");
return false;
}
DEBUG_PRINTF(V_MESSAGE, "Passed camera detection test.\n");
DEBUG_PRINTF(V_MESSAGE, "Testing camera capture...\n");
for(int i = 0; i < num_photos; i++)
{
DEBUG_PRINTF(V_MESSAGE, "Attempt to capture number %d...\n", (i + 1));
if(camera_controller.capture(TEST_DIR TEST_PHOTO_NAME) == false)
{
DEBUG_PRINTF(V_ERROR, "Failed taking photo number %d!\n", (i + 1));
return false;
}
}
DEBUG_PRINTF(V_MESSAGE, "Passed camera capture test!\n");
DEBUG_PRINTF(V_MESSAGE, "\nTesting video generation...\n");
if(camera_controller.generateVideo(TEST_DIR TEST_VIDEO_NAME, loop_count, frame_rate) == false)
{
DEBUG_PRINTF(V_ERROR, "Failed on video generation test!\n");
return false;
}
DEBUG_PRINTF(V_MESSAGE, "Passed video generation test!\n");
if(operation_test == FULL_TEST) // Test with TCP socket test.
{
DEBUG_PRINTF(V_MESSAGE, "\nWifi connection test...\n");
if((wifiConnected = socket_tcp.checkWifiConnection()) == false)
{
DEBUG_PRINTF(V_MESSAGE, "Wifi connection down!\n");
for(int i = 0; i < WIFI_CONNECT_RETRY; i++)
{
socket_tcp.connectWifi();
DEBUG_PRINTF(V_MESSAGE, "Connected wifi on attempt %d!\n", (i + 1));
if((wifiConnected = socket_tcp.checkWifiConnection()) == true)
{
DEBUG_PRINTF(V_MESSAGE, "Wifi connection up after connection retry!\n");
break;
}
else
{
DEBUG_PRINTF(V_MESSAGE, "Wifi connection down after connection up?!\n");
}
DEBUG_PRINTF(V_MESSAGE, "Waiting %d seconds to retry wifi connection...\n", WIFI_CONNECT_SLEEP);
sleep(WIFI_CONNECT_SLEEP); // Sleep in seconds.
}
}
if(wifiConnected == true)
{
DEBUG_PRINTF(V_MESSAGE, "TCP socket test...\n");
DEBUG_PRINTF(V_MESSAGE, "Socket open test...\n");
for(int i = 0; i < SOCKET_TEST_RETRY; i++)
{
DEBUG_PRINTF(V_MESSAGE, "Attempt to open socket number %d.\n", (i + 1));
if(socket_tcp.open_socket() == true)
{
DEBUG_PRINTF(V_MESSAGE, "Success opening socket on attempt number %d!\n", (i + 1));
break;
}
else
{
DEBUG_PRINTF(V_MESSAGE, "Failed to open socket on attempt number %d!\n", (i + 1));
if(i == (SOCKET_TEST_RETRY - 1))
{
DEBUG_PRINTF(V_ERROR, "Failed to open socket!\n");
return false;
}
}
}
DEBUG_PRINTF(V_MESSAGE, "Passed socket open test!\n");
DEBUG_PRINTF(V_MESSAGE, "File send via TCP socket test...\n");
if(socket_tcp.send_file((char *)TEST_DIR TEST_VIDEO_NAME) == false)
{
DEBUG_PRINTF(V_ERROR, "Failed on send file via TCP socket test!\n");
return false;
}
DEBUG_PRINTF(V_MESSAGE, "Passed on file send via TCP socket test...\n");
DEBUG_PRINTF(V_MESSAGE, "Close TCP socket test...\n");
if(socket_tcp.close_socket() == false)
{
DEBUG_PRINTF(V_ERROR, "Failed on close TCP socket test!\n");
return false;
}
DEBUG_PRINTF(V_MESSAGE, "Passed on close TCP socket test!\n");
}
}
return true;
}
uint8_t initializeMPU(int16_t *accelOffsetX, int16_t *accelOffsetY,int16_t *accelOffsetZ, int16_t *currAccelX,int16_t *currAccelY,int16_t *currAccelZ){
/*MUST DECIDE WHETHER TO USE*/
/*ERROR CODES:
1: no connection of MPU in hardware
2: no DMP initialization
*/
uint8_t initErrorCode=0;
// ================================================================
// === INITIAL SETUP ===
// ================================================================
// CONNECT DEVICE TO I2C BUS
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// Serial.begin(38400);
// while (!Serial);
//
// // initialize device
// Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
// TEST MPU CONNECTION
// // verify connection
if( !(mpu.testConnection()) ){ /*Added MPU connection check*/
initErrorCode=1;
return initErrorCode;
}
// Serial.println(F("Testing device connections..."));
// Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
// Serial.println(F("\nSend any character to begin DMP programming and demo: "));
// while (Serial.available() && Serial.read()); // empty buffer
// while (!Serial.available()); // wait for data
// while (Serial.available() && Serial.read()); // empty buffer again
// CONFIGURE MPU SETTINGS
//Low pass filtering
//mpu.setDLPFMode(1);
//Set tap detection on XYZ axes
/* dmp_set_tap_thresh(1,500);
dmp_set_tap_thresh(2,500);
dmp_set_tap_thresh(4,500); */
// LOAD AND CONFIGURE THE DMP
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
// Serial.println(F("Initializing DMP..."));
devStatus=mpu.dmpInitialize();
// 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..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
// Serial.println(F("Enabling interrupt detection (Arduino external interrupt 2)..."));
attachInterrupt(0, dmpDataReady, RISING);
//mpuIntStatus = mpu.getIntStatus();
// Serial.println("MPU int status:");
// Serial.println(mpuIntStatus);
// set our DMP Ready flag so function knows it's okay to use it
// Serial.println(F("DMP ready!"));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
/*Failed to intialize dmp*/
// 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(")"));
initErrorCode=2;
return initErrorCode;
}
// RUN CALIBRATION
// According to manual, user should place the cube on table for 10 seconds to allow for accelerometer to calibrate
// Accelerometer calibration: apply offsets
int16_t tempOffsetX=0; /*CHANGED TO INT16*/
int16_t tempOffsetY=0;
int16_t tempOffsetZ=0;
//Get offset as average over 10 seconds
uint8_t count=0;
*accelOffsetX=0;
*accelOffsetY=0;
*accelOffsetZ=0;
unsigned long startTime=millis();
while ((millis()-startTime)<10000){
mpuMonitor(currAccelX,currAccelY,currAccelZ); /*Class call added*/
tempOffsetX=(tempOffsetX+*(currAccelX)/2048);
tempOffsetY=(tempOffsetY+*(currAccelY)/2048);
tempOffsetZ=(tempOffsetZ+*(currAccelZ)/2048);
count++;
}
tempOffsetX=2048*tempOffsetX/count;
tempOffsetY=2048*tempOffsetY/count;
tempOffsetZ=2048*tempOffsetZ/count;
*accelOffsetX=tempOffsetX;
*accelOffsetY=tempOffsetY;
*accelOffsetZ=tempOffsetZ;
//pinMode(LED_PIN,output); /*No more LEDs for failure checks*/
return initErrorCode;
}
void imu_init()
{
uint8_t count = 10;
// initialize device
#ifdef __BOARD_YUN__
Console.println(F("Initializing I2C devices..."));
#else
Serial.println(F("Initializing I2C devices..."));
#endif
mpu.initialize();
// verify connection
#ifdef __BOARD_YUN__
Console.println(F("Testing device connections..."));
Console.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#else
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#endif
/*
// wait for ready
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
*/
// load and configure the DMP
#ifdef __BOARD_YUN__
Console.println(F("Initializing DMP..."));
#else
Serial.println(F("Initializing DMP..."));
#endif
do {
devStatus = mpu.dmpInitialize();
// Set some offset to the MEMS
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788);
// make sure it worked (returns 0 if so)
if (devStatus == 0)
{
count = 10;
// turn on the DMP, now that it's ready
#ifdef __BOARD_YUN__
Console.println(F("Enabling DMP..."));
#else
Serial.println(F("Enabling DMP..."));
#endif
mpu.setDMPEnabled(true);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
#ifdef __BOARD_YUN__
Console.println(F("DMP ready! Waiting for first interrupt..."));
#else
Serial.println(F("DMP ready! Waiting for first interrupt..."));
#endif
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
return;
}
else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
#ifdef __BOARD_YUN__
Console.print(F("DMP Initialization failed (code"));
Console.print(devStatus);
Console.println(F(")"));
// New attempt message
Console.println(F("Trying again"));
#else
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
// New attempt message
Serial.println(F("Trying again"));
#endif
}
}
while (--count);
// configure LED for output
pinMode(SOL_LED, OUTPUT);
// Check if the configuration has failed
// if (!count)
{
#ifdef __BOARD_YUN__
Console.println(F("DMP initializaion failed"));
#else
Serial.println(F("DMP initialization failed"));
#endif
while (true)
{
// Locks in infinite loop
digitalWrite(SOL_LED, HIGH);
delay(300);
digitalWrite(SOL_LED, LOW);
delay(300);
}
}
}
int main()
{
int i, last_led_update = 0;
initWiring();
st7565Init(Font5x7);
st7565ClearScreen();
st7565SetBrightness(12);
st7565DrawString(1, 5, "Test");
for(i = 0; i < 100; i++)
{
st7565DrawPixel(1+i,14);
}
st7565Refresh();
#if KKVER == 21
Fastwire::setup(100, true);
MPU6050 mpu;
mpu.initialize();
#endif
DDRB &= _BV(LED_PIN); // Set pin 3 of port B to output (LED pin)
for(;;)
{
char buff[512];
if(millis() - last_led_update > 1000)
{
PORTB ^= _BV(LED_PIN);
last_led_update = millis();
}
st7565ClearScreen();
#if KKVER == 21
if(mpu.testConnection())
{
st7565DrawString(1,20, "Connected");
}
else
{
st7565DrawString(1,20, "Not connected");
}
sprintf(buff, "acc_x = %d\n", mpu.getAccelerationX());
st7565DrawString(1,30, buff);
#else
st7565DrawString(1,20, "No ACC available");
#endif
st7565Refresh();
delay(50);
}
return 0;
}
void* gyro_acc(void*)
{
int i = 0;
// initialize device
printf("Initializing I2C devices...\n");
mpu.initialize();
// verify connection
printf("Testing device connections...\n");
printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
mpu.setI2CMasterModeEnabled(false);
mpu.setI2CBypassEnabled(true);
// load and configure the DMP
printf("Initializing DMP...\n");
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
printf("Enabling DMP...\n");
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
//Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
//attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
printf("DMP ready!\n");
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.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)
printf("DMP Initialization failed (code %d)\n", devStatus);
return 0;
}
/*****************************************************/
while(1)
{
if (START_FLAG == 0)
{
delay(200);
}
if (START_FLAG == 1)
{
break;
}
}
delay(50);
for(;;)
{
if (!dmpReady) return 0;
// get current FIFO count
fifoCount = mpu.getFIFOCount();
if (fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
printf("FIFO overflow!\n");
// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (fifoCount >= 42)
{
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//printf("ypr %7.2f %7.2f %7.2f ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
Angle[2] = ypr[0] * 180/M_PI;
Angle[1] = ypr[1] * 180/M_PI;//此为Pitch
Angle[0] = ypr[2] * 180/M_PI;//此为Roll
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
/*
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
//printf("aworld %6d %6d %6d ", aaWorld.x, aaWorld.y, aaWorld.z);
//AngleSpeed[0] = aaWorld.x;
//AngleSpeed[1] = aaWorld.y;
//AngleSpeed[2] = aaWorld.z;
*/
/****************************读取完毕*********************************/
if (Inital <= 300)
{
Inital ++;
if (Inital % 98 == 1)
{
Inital_Roll[i] = Angle[0];
Inital_Pitch[i] = Angle[1];
Inital_Yaw[i] = Angle[2];
printf("Roll:%.2f Pitch:%.2f Yaw:%.2f",Inital_Roll[i],Inital_Pitch[i],Inital_Yaw[i]);
i++;
printf("%d\n",Inital);
fflush(stdout);
if (i == 3)
{
Inital_Yaw[3] = (Inital_Yaw[0] + Inital_Yaw[1] + Inital_Yaw[2]) / 3;
Inital_Roll[3] =(Inital_Roll[0] + Inital_Roll[1] + Inital_Roll[2]) / 3;
Inital_Pitch[3] = (Inital_Pitch[0] + Inital_Pitch[1] + Inital_Pitch[2]) / 3;
}
}
}
else
{
Pid_Roll = Pid_Calc_R(Roll_Suit,Angle[0]);
Pid_Pitch = Pid_Calc_P(Pitch_Suit,Angle[1]);
Pid_Yaw = Pid_Calc_Y(Yaw_Suit,Angle[2],Inital_Yaw[3]);
All_Count = All_Count + 1;
DutyCycle[0] = Default_Acc - Pid_Roll - Pid_Pitch; //- Pid_Yaw;
DutyCycle[1] = Default_Acc - Pid_Roll + Pid_Pitch; //+ Pid_Yaw;
//DutyCycle[0] = Default_Acc;
//DutyCycle[1] = Default_Acc;
DutyCycle[2] = Default_Acc + Pid_Roll - Pid_Pitch; //+ Pid_Yaw;
DutyCycle[3] = Default_Acc + Pid_Roll + Pid_Pitch; //- Pid_Yaw;
//DutyCycle[2] = Default_Acc;
//DutyCycle[3] = Default_Acc;
PWMOut(PinNumber1,DutyCycle[0]);
PWMOut(PinNumber2,DutyCycle[1]);
PWMOut(PinNumber3,DutyCycle[2]);
PWMOut(PinNumber4,DutyCycle[3]);
}
}
}
}
//
// main task
//
int main(void) {
#ifdef DEBUG
#if __USE_USB
usbCDC ser;
ser.connect();
#else
CSerial ser;
ser.settings(115200);
#endif
CDebug dbg(ser);
dbg.start();
#endif
/*************************************************************************
*
* your setup code here
*
**************************************************************************/
//
// Load Configuration
//
EEPROM::read(0, &config, sizeof(config));
if ( config.length!=sizeof(config) ) {
setDefault();
}
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
// initialize device
mpu.initialize();
mpu.setRate(7);
mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
//
// check device
//
if (mpu.testConnection()) {
}
//
// H-Bridge
//
CPwm::frequency(KHZ(20));
HBridge left(PWM1, P18, P19);
HBridge right(PWM2, P22, P23);
left.enable();
right.enable();
BalanceRobot robot(mpu, left, right);
robot.start("Robot", 168, PRI_HIGH);
#ifndef DEBUG
myMenu menu(mpu, robot);
menu.start();
#endif
while (1) {
/**********************************************************************
*
* your loop code here
*
**********************************************************************/
LEDs[0] = !LEDs[0];
sleep(500);
}
return 0;
