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