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Hello I am combinig MPU6050 with Encoder for cycle simulation. But as I move the encoder very fastly it stopped automatically giving readings. I am little bit confused whats is the exact problem?

 

My Code

 

 
#define BAUDRATE 38400
//Encoder
//#define pinA A1
#define ARDUINOPIN A2
#define STATE_UNINIT 0
#define STATE_INIT 1
byte systemState;
volatile long count;
int pinA = 2;
int pinB = 3;
int limitSW_1 = 4;
boolean sigA = 0;
boolean sigB = 0;
boolean status_L1 = 0;
//Ends Encoder
 
//Start MPU
 
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "PinChangeInt.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
#define OUTPUT_READABLE_QUATERNION
//#define OUTPUT_READABLE_YAWPITCHROLL
//Ends MPU
 
MPU6050 mpu;
// MPU control/status vars
bool dmpReady = false;  
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
 
// 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
 
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
 
 
 
// ================================================================
// ===               INTERRUPT DETECTION ROUTINE                ===
// ================================================================
 
volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
void dmpDataReady() 
{
mpuInterrupt = true;
}
 
 
 
// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================
 
void setup() 
{
    // 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
    Serial.begin(BAUDRATE);
    //while (!Serial); // 
      mpu.initialize();
      devStatus = mpu.dmpInitialize();
       mpu.setXGyroOffset(52);
      mpu.setYGyroOffset(18);
      mpu.setZGyroOffset(-24);
      mpu.setZAccelOffset(1030); // 1688 factory default for my test chip
 
    if (devStatus == 0) 
{
mpu.setDMPEnabled(true);
      pinMode(ARDUINOPIN, INPUT_PULLUP);
// attachInterrupt(ARDUINOPIN, dmpDataReady, RISING);
      attachPinChangeInterrupt(ARDUINOPIN, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
dmpReady = true;
packetSize = mpu.dmpGetFIFOPacketSize();
else { } 
     
    systemState = STATE_UNINIT;
   // pinMode(pinA, INPUT_PULLUP);
  //  attachPinChangeInterrupt(pinA, interruptA, CHANGE);
    // pinMode(pinB, INPUT_PULLUP);
   // attachPinChangeInterrupt(pinB, interruptB, CHANGE);
    attachInterrupt(0, interruptA, CHANGE);
    attachInterrupt(1, interruptB, CHANGE);
}
// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================
 
void loop() 
{
    if (!dmpReady) return;
    while (!mpuInterrupt && fifoCount < packetSize) {}
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();
    fifoCount = mpu.getFIFOCount();
    if ((mpuIntStatus & 0x10) || fifoCount == 1024) 
{
mpu.resetFIFO();
    else if (mpuIntStatus & 0x02) 
         {
              while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
              mpu.getFIFOBytes(fifoBuffer, packetSize);
              fifoCount -= packetSize;
              //YPR
                #ifdef OUTPUT_READABLE_YAWPITCHROLL
                  // display Euler angles in degrees
                  mpu.dmpGetQuaternion(&q, fifoBuffer);
                  mpu.dmpGetGravity(&gravity, &q);
                  mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
                //  Serial.print("ypr\t");
                  //Serial.print(ypr[0] * 180/M_PI);
                 // Serial.print(",");
                 // Serial.print(ypr[1] * 180/M_PI);
                 // Serial.print(",");
                 // Serial.println(ypr[2] * 180/M_PI);
                #endif    
              //Quaternion
   #ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
  // Serial.print("quat\t");
Serial.print(q.w);
Serial.print(",");
Serial.print(q.x);
   Serial.print(",");
Serial.print(q.y);
Serial.print(",");
Serial.print(q.z);
Serial.print(",");
#endif
 Serial.print(count);   
            Serial.print(',');
            Serial.print(status_L1);
            Serial.println();
           // Stream.flush();
          } 
 status_L1 = digitalRead(limitSW_1);
            if (status_L1 == 1 && false)
                  {
                    count = 0;
                    systemState = STATE_INIT;    
                  }
          
           // delay(50);
}
 
//interupt for PinA
void interruptA()
{
 sigA = digitalRead(pinA);
 switch(sigA)
 {
case 0:
 if(sigB == 1)
 count++;
 else
 count--;
 break;
case 1:
 if(sigB == 0)
 count++;
 else
 count--;
 break;
 }
}
 
//interupt for PinA
 
   void interruptB()
{
 sigB = digitalRead(pinB);
 switch(sigB)
 {
case 0:
 if(sigA == 0)
 count++;
 else
 count--;
 break;
case 1:
 if(sigA == 1)
 count++;
 else
 count--;
 break;
 }
}
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