#include "MPU6050.h" #include "bluetooth.h" #include "IOI2C.h" #include "oled.h" #define PRINT_ACCEL (0x01) #define PRINT_GYRO (0x02) #define PRINT_QUAT (0x04) #define ACCEL_ON (0x01) #define GYRO_ON (0x02) #define MOTION (0) #define NO_MOTION (1) #define DEFAULT_MPU_HZ (200) #define FLASH_SIZE (512) #define FLASH_MEM_START ((void *)0x1800) #define q30 1073741824.0f short gyro[3], accel[3], sensors; float Roll, Pitch; float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; static signed char gyro_orientation[9] = {-1, 0, 0, 0, -1, 0, 0, 0, 1}; static unsigned short inv_row_2_scale(const signed char *row) { unsigned short b; if (row[0] > 0) b = 0; else if (row[0] < 0) b = 4; else if (row[1] > 0) b = 1; else if (row[1] < 0) b = 5; else if (row[2] > 0) b = 2; else if (row[2] < 0) b = 6; else b = 7; // error return b; } static unsigned short inv_orientation_matrix_to_scalar( const signed char *mtx) { unsigned short scalar; scalar = inv_row_2_scale(mtx); scalar |= inv_row_2_scale(mtx + 3) << 3; scalar |= inv_row_2_scale(mtx + 6) << 6; return scalar; } static void run_self_test(void) { int result; long gyro[3], accel[3]; PB_USART_printf(USART2, (u8*)"run_self_test..\r\n"); result = mpu_run_self_test(gyro, accel); if (result == 0x7) { /* Test passed. We can trust the gyro data here, so let's push it down * to the DMP. */ float sens; unsigned short accel_sens; mpu_get_gyro_sens(&sens); gyro[0] = (long)(gyro[0] * sens); gyro[1] = (long)(gyro[1] * sens); gyro[2] = (long)(gyro[2] * sens); dmp_set_gyro_bias(gyro); mpu_get_accel_sens(&accel_sens); accel[0] *= accel_sens; accel[1] *= accel_sens; accel[2] *= accel_sens; dmp_set_accel_bias(accel); //printf("setting bias succesfully ......\r\n"); PB_USART_printf(USART2, (u8*)"setting bias succesfully ...%d \r\n", (int)result); }else{ PB_USART_printf(USART2, (u8*)"Fail.. %d\r\n", (int)result); } } uint8_t buffer[14]; int16_t MPU6050_FIFO[6][11]; int16_t Gx_offset = 0, Gy_offset = 0, Gz_offset = 0; /************************************************************************** Function: The new ADC data is updated to FIFO array for filtering Input : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data Output : none 函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理 入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据 返回 值：无 **************************************************************************/ void MPU6050_newValues(int16_t ax, int16_t ay, int16_t az, int16_t gx, int16_t gy, int16_t gz) { unsigned char i; int32_t sum = 0; for (i = 1; i < 10; i++) { // FIFO 操作 MPU6050_FIFO[0][i - 1] = MPU6050_FIFO[0][i]; MPU6050_FIFO[1][i - 1] = MPU6050_FIFO[1][i]; MPU6050_FIFO[2][i - 1] = MPU6050_FIFO[2][i]; MPU6050_FIFO[3][i - 1] = MPU6050_FIFO[3][i]; MPU6050_FIFO[4][i - 1] = MPU6050_FIFO[4][i]; MPU6050_FIFO[5][i - 1] = MPU6050_FIFO[5][i]; } MPU6050_FIFO[0][9] = ax; // 将新的数据放置到 数据的最后面 MPU6050_FIFO[1][9] = ay; MPU6050_FIFO[2][9] = az; MPU6050_FIFO[3][9] = gx; MPU6050_FIFO[4][9] = gy; MPU6050_FIFO[5][9] = gz; sum = 0; for (i = 0; i < 10; i++) { // 求当前数组的合，再取平均值 sum += MPU6050_FIFO[0][i]; } MPU6050_FIFO[0][10] = sum / 10; sum = 0; for (i = 0; i < 10; i++) { sum += MPU6050_FIFO[1][i]; } MPU6050_FIFO[1][10] = sum / 10; sum = 0; for (i = 0; i < 10; i++) { sum += MPU6050_FIFO[2][i]; } MPU6050_FIFO[2][10] = sum / 10; sum = 0; for (i = 0; i < 10; i++) { sum += MPU6050_FIFO[3][i]; } MPU6050_FIFO[3][10] = sum / 10; sum = 0; for (i = 0; i < 10; i++) { sum += MPU6050_FIFO[4][i]; } MPU6050_FIFO[4][10] = sum / 10; sum = 0; for (i = 0; i < 10; i++) { sum += MPU6050_FIFO[5][i]; } MPU6050_FIFO[5][10] = sum / 10; } /************************************************************************** Function: Setting the clock source of mpu6050 Input : source：Clock source number Output : none 函数功能：设置 MPU6050 的时钟源 入口参数：source：时钟源编号 返回 值：无 * CLK_SEL | Clock Source * --------+-------------------------------------- * 0 | Internal oscillator * 1 | PLL with X Gyro reference * 2 | PLL with Y Gyro reference * 3 | PLL with Z Gyro reference * 4 | PLL with external 32.768kHz reference * 5 | PLL with external 19.2MHz reference * 6 | Reserved * 7 | Stops the clock and keeps the timing generator in reset **************************************************************************/ void MPU6050_setClockSource(uint8_t source) { IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); } /** Set full-scale gyroscope range. * @param range New full-scale gyroscope range value * @see getFullScaleRange() * @see MPU6050_GYRO_FS_250 * @see MPU6050_RA_GYRO_CONFIG * @see MPU6050_GCONFIG_FS_SEL_BIT * @see MPU6050_GCONFIG_FS_SEL_LENGTH */ void MPU6050_setFullScaleGyroRange(uint8_t range) { IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); } /************************************************************************** Function: Setting the maximum range of mpu6050 accelerometer Input : range：Acceleration maximum range number Output : none 函数功能：设置 MPU6050 加速度计的最大量程 入口参数：range：加速度最大量程编号 返回 值：无 **************************************************************************/ // #define MPU6050_ACCEL_FS_2 0x00 //===最大量程+-2G // #define MPU6050_ACCEL_FS_4 0x01 //===最大量程+-4G // #define MPU6050_ACCEL_FS_8 0x02 //===最大量程+-8G // #define MPU6050_ACCEL_FS_16 0x03 //===最大量程+-16G void MPU6050_setFullScaleAccelRange(uint8_t range) { IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); } /************************************************************************** Function: Set mpu6050 to sleep mode or not Input : enable：1，sleep；0，work； Output : none 函数功能：设置 MPU6050 是否进入睡眠模式 入口参数：enable：1，睡觉；0，工作； 返回 值：无 **************************************************************************/ void MPU6050_setSleepEnabled(uint8_t enabled) { IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); } /************************************************************************** Function: Read identity Input : none Output : 0x68 函数功能：读取 MPU6050 WHO_AM_I 标识 入口参数：无 返回 值：0x68 **************************************************************************/ uint8_t MPU6050_getDeviceID(void) { IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer); return buffer[0]; } /************************************************************************** Function: Check whether mpu6050 is connected Input : none Output : 1：Connected；0：Not connected 函数功能：检测MPU6050 是否已经连接 入口参数：无 返回 值：1：已连接；0：未连接 **************************************************************************/ uint8_t MPU6050_testConnection(void) { if (MPU6050_getDeviceID() == 0x68) // 0b01101000; return 1; else return 0; } /************************************************************************** Function: Setting whether mpu6050 is the host of aux I2C cable Input : enable：1，yes；0;not Output : none 函数功能：设置 MPU6050 是否为AUX I2C线的主机 入口参数：enable：1，是；0：否 返回 值：无 **************************************************************************/ void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) { IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); } /************************************************************************** Function: Setting whether mpu6050 is the host of aux I2C cable Input : enable：1，yes；0;not Output : none 函数功能：设置 MPU6050 是否为AUX I2C线的主机 入口参数：enable：1，是；0：否 返回 值：无 **************************************************************************/ void MPU6050_setI2CBypassEnabled(uint8_t enabled) { IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); } /************************************************************************** Function: initialization Mpu6050 to enter the available state Input : none Output : none 函数功能：初始化 MPU6050 以进入可用状态 入口参数：无 返回 值：无 **************************************************************************/ void MPU6050_initialize(void) { MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); // 设置时钟 MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000); // 陀螺仪量程设置 MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); // 加速度度最大量程 +-2G MPU6050_setSleepEnabled(0); // 进入工作状态 MPU6050_setI2CMasterModeEnabled(0); // 不让MPU6050 控制AUXI2C MPU6050_setI2CBypassEnabled(0); // 主控制器的I2C与 MPU6050的AUXI2C 直通关闭 } /************************************************************************** Function: Initialization of DMP in mpu6050 Input : none Output : none 函数功能：MPU6050内置DMP的初始化 入口参数：无 返回 值：无 **************************************************************************/ void DMP_Init(void) { u8 temp[1] = {0}; i2cRead(0x68, 0x75, 1, temp); if (temp[0] != 0x68){ //NVIC_SystemReset(); PB_USART_printf(USART2, (u8*)"who am i %d\r\n", (int)temp[0]); }else{ PB_USART_printf(USART2, (u8*)"who am i %d\r\n", (int)temp[0]); } if (!mpu_init()) { if (!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) { } if (!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) { } if (!mpu_set_sample_rate(DEFAULT_MPU_HZ)) { } if (!dmp_load_motion_driver_firmware()) { } if (!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) { } if (!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL)) { } if (!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) { } run_self_test(); if (!mpu_set_dmp_state(1)) { } } } /************************************************************************** Function: Read the attitude information of DMP in mpu6050 Input : none Output : none 函数功能：读取MPU6050内置DMP的姿态信息 入口参数：无 返回 值：无 **************************************************************************/ void Read_DMP(void) { unsigned long sensor_timestamp; unsigned char more; long quat[4]; dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); // 读取DMP数据 if (sensors & INV_WXYZ_QUAT) { q0 = quat[0] / q30; q1 = quat[1] / q30; q2 = quat[2] / q30; q3 = quat[3] / q30; // 四元数 Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 57.3; // 计算出俯仰角 PB_USART_printf(USART2, (u8*)"Pitch = %d\r\n", (int)Pitch); } }