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() { // 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); }
void calibrate_accel(){ xoff = accelgyro.getXAccelOffset(); yoff = accelgyro.getYAccelOffset(); zoff = accelgyro.getZAccelOffset(); byte i=0; while (i < ITERATIONS){ //hope that offsets converge in 6 iterations accelgyro.getAcceleration(&ax, &ay, &az); if (count == SAMPLE_COUNT){ xoff += int(axm/-6); yoff += int(aym/-6); zoff += int((azm+16384)/-6); accelgyro.setXAccelOffset(xoff); accelgyro.setYAccelOffset(yoff); accelgyro.setZAccelOffset(zoff); #ifdef CAL_DEBUG Serial.print(axm); Serial.print(" "); Serial.print(aym); Serial.print(" "); Serial.println(azm); Serial.print(xoff); Serial.print(" "); Serial.print(yoff); Serial.print(" "); Serial.println(zoff); Serial.println("*********************"); #endif count = 0; i++; //iteration++ #ifdef CAL_DEBUG Serial.print("."); #endif } else{ axm = (axm*count + ax)/(count+1.0); aym = (aym*count + ay)/(count+1.0); azm = (azm*count + az)/(count+1.0); count++; } } #ifdef CAL_DEBUG Serial.println(" Done."); #endif }
void setup() { mpu.initialize(); // trace_printf(mpu.testConnection() ? ("MPU6050 connection successful\n") : ("MPU6050 connection failed\n")); // load and configure the DMP // trace_printf("Initializing DMP...\n"); 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 // trace_printf("Enabling DMP...\n"); mpu.setDMPEnabled(true); mpuIntStatus = mpu.getIntStatus(); // set our DMP Ready flag so the main loop() function knows it's okay to use it // trace_printf("DMP ready! Waiting for first interrupt...\n"); // trace_printf("System is running!\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) // trace_printf("DMP Initialization failed (code \n"); // trace_printf("%d\n", devStatus); } }
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 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); } } }