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sarwadenj

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  1. Hi, I am compiled your code calibrating the MPU6050's offsets but it showing error: 'buff_gx' does not name a type buff_gx=buff_gx+gx; so please help me go get out of these error.
  2. code written by me #define DEBUG_IMU_YPR //#define DEBUG_IMU_GYRO #define DEBUG_MAIN #define BUILT_IN_LED 16 //D0 //----------IMU----------//6 #include <I2Cdev.h> #include <MPU6050_6Axis_MotionApps20.h> #include <Wire.h> #define OUTPUT_READABLE_YAWPITCHROLL #define INTERRUPT_PIN 14 //D5 #define IMU_GROUND 10 MPU6050 imu; // IMU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t imuIntStatus; // holds actual interrupt status byte from IMU uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) uint16_t packetSize; // expected DMP packet size (default is 42 bytes) uint16_t fifoCount; // count of all bytes currently in FIFO uint8_t fifoBuffer[64]; // FIFO storage buffer // Orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorFloat gravity; // [x, y, z] gravity vector float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector //float offset[3]; //Gyro values array VectorInt16 g; float gyroAverage = 0.0; volatile bool imuInterrupt = false; // indicates whether imu interrupt pin has gone high //IMU stabilization variables //float yawPrevious = 0; //bool yawCompare = false; //int yawCompareCounter = 0; //byte yawComparePrint = 1; //byte imuStable = 0; void setup() { #ifdef DEBUG_MAIN //Open Serial Comms Serial.begin(115200); while (!Serial) { yield(); } #endif //Setup WiFi, IMU, PID and Motor outputs //udp_setup(); imu_setup(); //pid_setup(); //motor_setup(); } void dmp_data_ready() { imuInterrupt = true; } void imu_setup() { //IMU Setup pinMode(IMU_GROUND, OUTPUT); // digitalWrite(IMU_GROUND, HIGH); delay(10); digitalWrite(IMU_GROUND, LOW); pinMode(BUILT_IN_LED, OUTPUT); digitalWrite(BUILT_IN_LED, HIGH); Wire.begin(D1,D2); //SDA, SCL Wire.setClock(400000); // 400kHz I2C clock (200kHz if CPU is 8MHz) //Initialize Device imu.initialize(); pinMode(INTERRUPT_PIN, INPUT); // devStatus = imu.dmpInitialize(); //Load and configure the DMP //Supply Gyro offsets here, scaled for minimum sensitivity:- imu.setXGyroOffset(220); imu.setYGyroOffset(76); imu.setZGyroOffset(-85); imu.setZAccelOffset(1788); //Make sure it worked (returns 0 if so) if (devStatus == 0) { imu.setDMPEnabled(true); //Turn on the DMP //Enable Arduino interrupt detection attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmp_data_ready, RISING); imuIntStatus = imu.getIntStatus(); dmpReady = true; packetSize = imu.dmpGetFIFOPacketSize(); } //yawCompare = true; } void imu_ypr() { //I2C and (Yaw, Pitch, Roll) code for IMU if (!dmpReady) return; //Wait for imu interrupt or extra packet(s) available imuInterrupt = false; //Reset interrupt flag imuIntStatus = imu.getIntStatus(); //Get INT_STATUS byte fifoCount = imu.getFIFOCount(); //Get current FIFO count //Check for overflow (this should never happen unless our code is too inefficient) if ((imuIntStatus & 0x10) || fifoCount == 1024) imu.resetFIFO(); // reset so we can continue cleanly //Otherwise, check for DMP data ready interrupt (this should happen frequently) else if (imuIntStatus & 0x02) { while (fifoCount < packetSize) fifoCount = imu.getFIFOCount(); // wait for correct available data length imu.getFIFOBytes(fifoBuffer, packetSize); // read a packet from FIFO fifoCount -= packetSize; //Track FIFO count here in case there is > 1 packet available //This lets us immediately read more without waiting for an interrupt update_ypr_gyro(); /* if(!imuStable) stabilize_imu(); if (flagSetOffsets) { set_offsets(1); //Set all offsets flagSetOffsets = 0; } if(imuStable && abs(yawInput) < 3) set_offsets(0); //Set only yaw offset update_offsets(); //Printing Gyro values */ #ifdef DEBUG_IMU_GYRO Serial.print("gyro\t"); Serial.print(g.x); Serial.print("\t"); Serial.print(g.y); Serial.print("\t"); Serial.println(g.z); Serial.flush(); #endif //Printing Yaw, Pitch and Roll #ifdef DEBUG_IMU_YPR Serial.print("YAW: "); Serial.print(ypr[0]); Serial.print("\tPITCH: "); Serial.print(ypr[1]); Serial.print("\tROLL:"); Serial.println(ypr[2]); Serial.flush(); #endif } } void update_ypr_gyro() { imu.dmpGetQuaternion(&q, fifoBuffer); imu.dmpGetGravity(&gravity, &q); imu.dmpGetYawPitchRoll(ypr, &q, &gravity); //Get gyro values (uncomment declaration of 'g' to use) // imu.dmpGetGyro(&g, fifoBuffer); gyro_average_compute(); //Converting to degrees ypr[0] = ypr[0] * 180/M_PI; ypr[1] = ypr[1] * 180/M_PI; ypr[2] = ypr[2] * 180/M_PI; ypr[0] = -ypr[0]; //Reversing Yaw ypr[1] = -ypr[1]; //Reversing Pitch } /* void stabilize_imu() { if (millis() > 1100 && yawCompare == true) { if (yawComparePrint == 1) { Serial.print("Checking IMU Stability"); yawComparePrint = 0; } yawCompareCounter++; if (yawCompareCounter == 150) { Serial.print(".."); if (abs((ypr[0]) - (yawPrevious)) < 0.01) { yawCompare = false; imuStable = 1; Serial.println(); Serial.println("IMU stabilized"); digitalWrite(BUILT_IN_LED, LOW); } else { yawPrevious = ypr[0]; yawCompareCounter = 0; } } } } */ void gyro_average_compute() { gyroAverage = float((abs(g.x) + abs(g.y) + abs(g.z)) / 3); #ifdef DEBUG_IMU_GYRO Serial.println(gyroAverage); #endif } /* void set_offsets(byte yawOrAll) //0 for only yaw, 1 for all { if(yawOrAll) { offset[0] = ypr[0]; offset[1] = pitchOffset; offset[2] = rollOffset; } else offset[0] = ypr[0]; } void update_offsets() { for (int i = 0 ; i < 3 ; i++) { ypr -= offset; #ifdef DEBUG_IMU_OFFSETS Serial.print("Offset "); Serial.print(i); Serial.print(": "); Serial.print(offset); Serial.print("\t\t"); #endif } #ifdef DEBUG_IMU_OFFSETS Serial.println(); #endif } */ void loop() { // put your main code here, to run repeatedly: //Take IMU readings imu_ypr(); }
  3. I'm designing a quadcopter and my current task is getting values of yaw,pitch and roll. I am using ESP8266 with Mpu6050. I want to read values from FIFO using interrupt pin i written code for it but after uploading without connecting to interrupt pin i'm getting yaw ,pitch and raw values. So from which i getting these values and are these values are correct. i uploaded the code file so check it and Thanks in advance. new_imufile.txt
  4. I'm designing a quadcopter and my current task is getting values of yaw,pitch and roll. I am using ESP8266 with Mpu6050. I want to read values from FIFO using interrupt pin i written code for it but after uploading without connecting to interrupt pin i'm getting yaw ,pitch and raw values. So from which i getting these values and are these values are correct. i uploaded the file so check it and Thanks in advance. new_imufile.txt
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