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  1. Hi! I'm trying to communicate with the MPU6050 in MATLAB, where if I send a request 'A' via serial bluetooth to the Arduino UNO, I get the current reading of the euler angle. This kind of works for me at the moment, but if I request the serial print out of the angle too many times in a row, or to frequently, I get some kind of FIFO overflow, so that I have to reset the arduino and re-initialize the Bluetooth connection before I can use it again. It usually takes less than 5-10 requests before the MPU hangs and does not respond anymore. I'll post my arduino code below. I reqest the angle by sending the character 'A' via bluetooth to the arduino. In the same way, I use a motor shield so that I can control two DC-motors that are connected to the arduino as well, by sending various commands via bluetooth. #include <SoftwareSerial.h> SoftwareSerial BT(5, 6); // creates a "virtual" serial port/UART // connect BT module TX to D5 // connect BT module RX to D6 // connect BT Vcc to 3.3V, GND to GND #include "I2Cdev.h" #include "MPU6050_6Axis_MotionApps20.h" #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include "Wire.h" #endif MPU6050 mpu; #define OUTPUT_READABLE_EULER #define LED_PIN 13 // char val = 0; int speed = 40; int a =0; bool blinkState = false; // MPU control/status vars bool dmpReady = false; // set true if DMP init was successful uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU 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 int angle; // orientation/motion vars Quaternion q; // [w, x, y, z] quaternion container VectorInt16 aa; // [x, y, z] accel sensor measurements VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements VectorFloat gravity; // [x, y, z] gravity vector float euler[3]; // [psi, theta, phi] Euler angle container float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector // ================================================================ // === INTERRUPT DETECTION ROUTINE === // ================================================================ volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high void dmpDataReady() { mpuInterrupt = true; } // ================================================================ // === INITIAL SETUP === // ================================================================ void setup() { //Setup Channel A pinMode(12, OUTPUT); //Initiates Motor Channel A pin pinMode(9, OUTPUT); //Initiates Brake Channel A pin // join I2C bus (I2Cdev library doesn't do this automatically) #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif // initialize serial communication // Serial.begin(9600); BT.begin(9600); while (!Serial); // wait for Leonardo enumeration, others continue immediately mpu.initialize(); devStatus = mpu.dmpInitialize(); // supply your own gyro offsets here, scaled for min sensitivity mpu.setXGyroOffset(38); mpu.setYGyroOffset(-91); mpu.setZGyroOffset(46); mpu.setZAccelOffset(1682); // 1688 factory default for my test chip // make sure it worked (returns 0 if so) if (devStatus == 0) { mpu.setDMPEnabled(true); 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(F("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(F("DMP Initialization failed (code ")); Serial.print(devStatus); Serial.println(F(")")); } // configure LED for output pinMode(LED_PIN, OUTPUT); } // ================================================================ // === MAIN PROGRAM LOOP === // ================================================================ void loop() { // MPU run // if programming failed, don't try to do anything if (!dmpReady) return; // wait for MPU interrupt or extra packet(s) available while (!mpuInterrupt && fifoCount < packetSize) { if (BT.available() ) { val = BT.read(); if (val == 'F') { //forward @ speed 40 digitalWrite(12, HIGH); //Establishes forward direction of Channel A digitalWrite(13, LOW); //Establishes forward direction of Channel B digitalWrite(9, LOW); //Disengage the Brake for Channel A digitalWrite(8, LOW); //Disengage the Brake for Channel B analogWrite(3, speed); //Spins the motor on Channel A at speed 50. (full speed = 255) (variable speed defined at 50 as standard) analogWrite(11, speed); //Spins motor Channel B at speed 20. } else if(val == 'G') { //Backwards @ speed 40 digitalWrite(12, LOW); //Establishes Backwards direction of Channel A digitalWrite(13, HIGH); //Establishes Backwards direction of Channel B digitalWrite(9, LOW); //Disengage the Brake for Channel A digitalWrite(8, LOW); //Disengage the Brake for Channel B analogWrite(3, speed); //Spins the motor on Channel A at speed 40. (full speed = 255) (variable speed defined at 50 as standard) analogWrite(11, speed); //Spins motor Channel B at speed 40 } else if (val == 'B'){ //Breaks both Channels digitalWrite(9, HIGH); //Eengage the Brake for Channel A digitalWrite(8, HIGH); //Eengage the Brake for Channel B } else if (val == 'L'){ //Turn left @ speed 20 digitalWrite(12, HIGH); //Establishes forward direction of Channel A digitalWrite(9, LOW); //Disengage the Brake for Channel A digitalWrite(8, HIGH); //Engage the Brake for Channel B analogWrite(3, speed); //Spins the motor on Channel A at speed 40. (full speed = 255) } else if (val == 'R'){ //Turn left @ speed 20 digitalWrite(13, LOW); //Establishes forward direction of Channel B digitalWrite(8, LOW); //Disengage the Brake for Channel B digitalWrite(9, HIGH); //Engage the Brake for Channel A analogWrite(11, speed); //Spins the motor on Channel A at speed 40. (full speed = 255) } else if (val == 'A') { // display Euler angles in degrees mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetEuler(euler, &q); // Serial.print("\n"); BT.println(euler[0] * 180/M_PI); // Serial.print(euler[1] * 180/M_PI); // Serial.print("\t"); // Serial.println(euler[2] * 180/M_PI); // blink LED to indicate activity blinkState = !blinkState; digitalWrite(LED_PIN, blinkState); } } } // reset interrupt flag and get INT_STATUS byte mpuInterrupt = false; mpuIntStatus = mpu.getIntStatus(); // get current FIFO count fifoCount = mpu.getFIFOCount(); // check for overflow (this should never happen unless our code is too inefficient) if ((mpuIntStatus & 0x10) || fifoCount == 1024) { // reset so we can continue cleanly mpu.resetFIFO(); Serial.println(F("FIFO overflow!")); // otherwise, check for DMP data ready interrupt (this should happen frequently) } else if (mpuIntStatus & 0x02) { // wait for correct available data length, should be a VERY short wait while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount(); // read a packet from FIFO mpu.getFIFOBytes(fifoBuffer, packetSize); // track FIFO count here in case there is > 1 packet available // (this lets us immediately read more without waiting for an interrupt) fifoCount -= packetSize; } }
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