Weather station + MPU6050

[aile_alhenai]

Hi to all!

 

I am using the MPU-6050 sensor, among others, as a part of my graduation project.

I am trying to use the MPU6050 together with the BMP180 (and some other simpler sensors), and with some intuition I could manage to make them work together by just taking the raw data from the MPU6050. All my attempts to use the needed libraries to acquire the yaw/pitch/roll data format and take into account the DMP and the fifo buffer the sensor itself has while using other sensors in the same program have failed, maybe because I don't have so much experience with programming. I attach my code, because maybe you could help me to make it work. The MPU6050 example works, as far as I don't mix it with other sensors.

 

I use different functions as part of the main code, like these ones:

 

 

void initMPU6050()

{

    // initialize MPU6050

    Wire.beginTransmission(MPU6050_Address);

    accelgyro.initialize();

    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

    Wire.endTransmission(MPU6050_Address);

 

}

 

void readAccelgyro()

 

{

  

    int16_t ax, ay, az;

    int16_t gx, gy, gz;

    

    Wire.beginTransmission(MPU6050_Address);

    accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    if (!dmpReady) return;

 

    // wait for MPU interrupt or extra packet(s) available

    while (!mpuInterrupt && fifoCount < packetSize) {

        // other program behavior stuff here

        // .

        // .

        // .

        // if you are really paranoid you can frequently test in between other

        // stuff to see if mpuInterrupt is true, and if so, "break;" from the

        // while() loop to immediately process the MPU data

        // .

        // .

        // .

    }

 

    // reset interrupt flag and get INT_STATUS byte

    mpuInterrupt = false;

    mpuIntStatus = accelgyro.getIntStatus();

 

    // get current FIFO count

    fifoCount = accelgyro.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

        accelgyro.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 = accelgyro.getFIFOCount();

 

        // read a packet from FIFO

        accelgyro.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;

        

        accelgyro.dmpGetQuaternion(&q, fifoBuffer);

        accelgyro.dmpGetGravity(&gravity, &q);

        accelgyro.dmpGetYawPitchRoll(ypr, &q, &gravity);}

       

    Wire.endTransmission(MPU6050_Address);

    

    //store data

    data.ax = ax;

    data.ay = ay;

    data.az = az;

    data.gx = gx;

    data.gy = gy;

    data.gz = gz;

    data.yaw =  ypr[0] * 180/M_PI;

    data.pitch = ypr[1] * 180/M_PI;

    data.roll = ypr[2] * 180/M_PI;

}

 

 

But all I get from the ypr variables are zeros.

 

Any help would be really appreciated.

Kind regards,

María. 

 

 

[aile_alhenai]

Here's an update: I've changed one of the functions:

 

 

void initMPU6050()

{

    // initialize MPU6050

    Wire.beginTransmission(MPU6050_Address);

    accelgyro.initialize();

    Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

    devStatus = accelgyro.dmpInitialize();

 

    // make sure it worked (returns 0 if so)

    if (devStatus == 0) {

        // turn on the DMP, now that it's ready

        Serial.println(F("Enabling DMP..."));

        accelgyro.setDMPEnabled(true);

 

        // enable Arduino interrupt detection

        Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));

        attachInterrupt(0, dmpDataReady, RISING);

        mpuIntStatus = accelgyro.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 = accelgyro.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(")"));

    }

    

    Wire.endTransmission(MPU6050_Address);

 

}

 

 

 

But now the yaw doesn't work. There's almost no variation when I move the breadboard where the MPU is. Any thoughts at all?