/* * MPU6050.c * * Created on: Sep 21, 2014 * Author: Norbi */ #include "MPU6050.h" #define timeConstant 0.1 void MPU6050_Test_I2C() { unsigned char Data = 0x00; Data=LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_WHO_AM_I, &Data, 1); if(Data == 0xd1) { // printf("\nI2C Read Test Passed, MPU6050 Address: 0x%x", Data); } else { // printf("ERROR: I2C Read Test Failed, Stopping"); while(1){} } } void Setup_MPU6050() { //Sets sample rate to 1000/1+1 = 500Hz LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 3); //Disable FSync, 48Hz DLPF LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x03); //Disable gyro self tests, scale of 500 degrees/s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0b00001000); //Disable accel self tests, scale of +-4g, no DHPF LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0b00001000); //Freefall threshold of |0mg| LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00); //Freefall duration limit of 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00); //Motion threshold of 0mg LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00); //Motion duration of 0s LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00); //Zero motion threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00); //Zero motion duration threshold LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00); //Disable sensor output to FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); //AUX I2C setup //Sets AUX I2C to single master control, plus other config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00); //Setup AUX I2C slaves LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00); //MPU6050_RA_I2C_MST_STATUS //Read-only //Setup INT pin and AUX I2C pass through LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00); //Enable data ready interrupt LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); //MPU6050_RA_DMP_INT_STATUS //Read-only //MPU6050_RA_INT_STATUS 3A //Read-only //MPU6050_RA_ACCEL_XOUT_H //Read-only //MPU6050_RA_ACCEL_XOUT_L //Read-only //MPU6050_RA_ACCEL_YOUT_H //Read-only //MPU6050_RA_ACCEL_YOUT_L //Read-only //MPU6050_RA_ACCEL_ZOUT_H //Read-only //MPU6050_RA_ACCEL_ZOUT_L //Read-only //MPU6050_RA_TEMP_OUT_H //Read-only //MPU6050_RA_TEMP_OUT_L //Read-only //MPU6050_RA_GYRO_XOUT_H //Read-only //MPU6050_RA_GYRO_XOUT_L //Read-only //MPU6050_RA_GYRO_YOUT_H //Read-only //MPU6050_RA_GYRO_YOUT_L //Read-only //MPU6050_RA_GYRO_ZOUT_H //Read-only //MPU6050_RA_GYRO_ZOUT_L //Read-only //MPU6050_RA_EXT_SENS_DATA_00 //Read-only //MPU6050_RA_EXT_SENS_DATA_01 //Read-only //MPU6050_RA_EXT_SENS_DATA_02 //Read-only //MPU6050_RA_EXT_SENS_DATA_03 //Read-only //MPU6050_RA_EXT_SENS_DATA_04 //Read-only //MPU6050_RA_EXT_SENS_DATA_05 //Read-only //MPU6050_RA_EXT_SENS_DATA_06 //Read-only //MPU6050_RA_EXT_SENS_DATA_07 //Read-only //MPU6050_RA_EXT_SENS_DATA_08 //Read-only //MPU6050_RA_EXT_SENS_DATA_09 //Read-only //MPU6050_RA_EXT_SENS_DATA_10 //Read-only //MPU6050_RA_EXT_SENS_DATA_11 //Read-only //MPU6050_RA_EXT_SENS_DATA_12 //Read-only //MPU6050_RA_EXT_SENS_DATA_13 //Read-only //MPU6050_RA_EXT_SENS_DATA_14 //Read-only //MPU6050_RA_EXT_SENS_DATA_15 //Read-only //MPU6050_RA_EXT_SENS_DATA_16 //Read-only //MPU6050_RA_EXT_SENS_DATA_17 //Read-only //MPU6050_RA_EXT_SENS_DATA_18 //Read-only //MPU6050_RA_EXT_SENS_DATA_19 //Read-only //MPU6050_RA_EXT_SENS_DATA_20 //Read-only //MPU6050_RA_EXT_SENS_DATA_21 //Read-only //MPU6050_RA_EXT_SENS_DATA_22 //Read-only //MPU6050_RA_EXT_SENS_DATA_23 //Read-only //MPU6050_RA_MOT_DETECT_STATUS //Read-only //Slave out, dont care LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00); LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00); //More slave config LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00); //Reset sensor signal paths LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00); //Motion detection control LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00); //Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0 LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00); //Sets clock source to gyro reference w/ PLL LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0b00000010); //Controls frequency of wakeups in accel low power mode plus the sensor standby modes LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00); //MPU6050_RA_BANK_SEL //Not in datasheet //MPU6050_RA_MEM_START_ADDR //Not in datasheet //MPU6050_RA_MEM_R_W //Not in datasheet //MPU6050_RA_DMP_CFG_1 //Not in datasheet //MPU6050_RA_DMP_CFG_2 //Not in datasheet //MPU6050_RA_FIFO_COUNTH //Read-only //MPU6050_RA_FIFO_COUNTL //Read-only //Data transfer to and from the FIFO buffer LDByteWriteI2C(MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, 0x00); //MPU6050_RA_WHO_AM_I //Read-only, I2C address //printf("\nMPU6050 Setup Complete"); } unsigned char GYRO_XOUT_H = ' '; unsigned char GYRO_XOUT_L = ' '; unsigned char GYRO_YOUT_H = ' '; unsigned char GYRO_YOUT_L = ' '; unsigned char GYRO_ZOUT_H = ' '; unsigned char GYRO_ZOUT_L = ' '; signed long GYRO_XOUT_OFFSET_1000SUM = 0; signed long GYRO_YOUT_OFFSET_1000SUM = 0; signed long GYRO_ZOUT_OFFSET_1000SUM = 0; signed int GYRO_XOUT_OFFSET = 0; signed int GYRO_YOUT_OFFSET = 0; signed int GYRO_ZOUT_OFFSET = 0; float dt=0.004; float GYRO_XANGLE = 0; float GYRO_YANGLE = 0; float GYRO_ZANGLE = 0; signed int GYRO_XOUT = 0; signed int GYRO_YOUT = 0; signed int GYRO_ZOUT = 0; float GYRO_XRATE = 0; float GYRO_YRATE = 0; float GYRO_ZRATE = 0; unsigned char ACCEL_XOUT_H = ' '; unsigned char ACCEL_XOUT_L = ' '; unsigned char ACCEL_YOUT_H = ' '; unsigned char ACCEL_YOUT_L = ' '; unsigned char ACCEL_ZOUT_H = ' '; unsigned char ACCEL_ZOUT_L = ' '; signed int ACCEL_XOUT = 0; signed int ACCEL_YOUT = 0; signed int ACCEL_ZOUT = 0; float ACCEL_XANGLE; float ACCEL_YANGLE; float gyro_xsensitivity=66.5; float gyro_ysensitivity=66.5; float gyro_zsensitivity=66.5; float COMPLEMENTARY_XANGLE = 0; float COMPLEMENTARY_YANGLE = 0; float a = 0.9994; float filter_xterm[3] = {0,0,0}; float filter_yterm[3] = {0,0,0}; void Calibrate_Gyros() { int x = 0; for(x = 0; x<5000; x++) { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1); GYRO_XOUT_OFFSET_1000SUM += ((GYRO_XOUT_H<<8)|GYRO_XOUT_L); GYRO_YOUT_OFFSET_1000SUM += ((GYRO_YOUT_H<<8)|GYRO_YOUT_L); GYRO_ZOUT_OFFSET_1000SUM += ((GYRO_ZOUT_H<<8)|GYRO_ZOUT_L); Delay_mS(1); } GYRO_XOUT_OFFSET = GYRO_XOUT_OFFSET_1000SUM/5000; GYRO_YOUT_OFFSET = GYRO_YOUT_OFFSET_1000SUM/5000; GYRO_ZOUT_OFFSET = GYRO_ZOUT_OFFSET_1000SUM/5000; // printf("\nGyro X offset sum: %ld Gyro X offset: %d", GYRO_XOUT_OFFSET_1000SUM, GYRO_XOUT_OFFSET); // printf("\nGyro Y offset sum: %ld Gyro Y offset: %d", GYRO_YOUT_OFFSET_1000SUM, GYRO_YOUT_OFFSET); // printf("\nGyro Z offset sum: %ld Gyro Z offset: %d", GYRO_ZOUT_OFFSET_1000SUM, GYRO_ZOUT_OFFSET); } //Gets raw accelerometer data, performs no processing void Get_Accel_Values() { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, &ACCEL_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_L, &ACCEL_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_YOUT_H, &ACCEL_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_YOUT_L, &ACCEL_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_ZOUT_H, &ACCEL_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_ACCEL_ZOUT_L, &ACCEL_ZOUT_L, 1); ACCEL_XOUT = ((ACCEL_XOUT_H<<8)|ACCEL_XOUT_L); ACCEL_YOUT = ((ACCEL_YOUT_H<<8)|ACCEL_YOUT_L); ACCEL_ZOUT = ((ACCEL_ZOUT_H<<8)|ACCEL_ZOUT_L); } //Converts the already acquired accelerometer data into 3D euler angles void Get_Accel_Angles() { ACCEL_XANGLE = 57.295*atan((float)ACCEL_YOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_XOUT,2))); ACCEL_YANGLE = 57.295*atan((float)-ACCEL_XOUT/ sqrt(pow((float)ACCEL_ZOUT,2)+pow((float)ACCEL_YOUT,2))); } //Function to read the gyroscope rate data and convert it into degrees/s void Get_Gyro_Rates() { LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_H, &GYRO_XOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_XOUT_L, &GYRO_XOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_H, &GYRO_YOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_YOUT_L, &GYRO_YOUT_L, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_H, &GYRO_ZOUT_H, 1); LDByteReadI2C(MPU6050_ADDRESS, MPU6050_RA_GYRO_ZOUT_L, &GYRO_ZOUT_L, 1); GYRO_XOUT = ((GYRO_XOUT_H<<8)|GYRO_XOUT_L) - GYRO_XOUT_OFFSET; GYRO_YOUT = ((GYRO_YOUT_H<<8)|GYRO_YOUT_L) - GYRO_YOUT_OFFSET; GYRO_ZOUT = ((GYRO_ZOUT_H<<8)|GYRO_ZOUT_L) - GYRO_ZOUT_OFFSET; GYRO_XRATE = (float)GYRO_XOUT/gyro_xsensitivity; GYRO_YRATE = (float)GYRO_YOUT/gyro_ysensitivity; GYRO_ZRATE = (float)GYRO_ZOUT/gyro_zsensitivity; GYRO_XANGLE += (float)GYRO_XRATE*dt; GYRO_YANGLE += (float)GYRO_YRATE*dt; GYRO_ZANGLE += (float)GYRO_ZRATE*dt; } //Runs a complementary filter configured via float a void complementary_filter() { COMPLEMENTARY_XANGLE = (COMPLEMENTARY_XANGLE + GYRO_XRATE*dt)*a + ACCEL_XANGLE*(1-a); COMPLEMENTARY_YANGLE = (COMPLEMENTARY_YANGLE + GYRO_YRATE*dt)*a + ACCEL_YANGLE*(1-a); } //Runs 2nd order complementary filter void second_order_complementary_filter() //http://code.google.com/p/aeroquad/source/browse/trunk/AeroQuad/Filter.pde?r=143 { filter_xterm[0] = (ACCEL_XANGLE - COMPLEMENTARY_XANGLE) * timeConstant * timeConstant; filter_yterm[0] = (ACCEL_YANGLE - COMPLEMENTARY_YANGLE) * timeConstant * timeConstant; filter_xterm[2] = (dt * filter_xterm[0]) + filter_xterm[2]; filter_yterm[2] = (dt * filter_yterm[0]) + filter_yterm[2]; filter_xterm[1] = filter_xterm[2] + (ACCEL_XANGLE - COMPLEMENTARY_XANGLE) * 2 * timeConstant + GYRO_XRATE; filter_yterm[1] = filter_yterm[2] + (ACCEL_YANGLE - COMPLEMENTARY_YANGLE) * 2 * timeConstant + GYRO_YRATE; COMPLEMENTARY_XANGLE = (dt * filter_xterm[1]) + COMPLEMENTARY_XANGLE; COMPLEMENTARY_YANGLE = (dt * filter_yterm[1]) + COMPLEMENTARY_YANGLE; }