"MPU6050 Initialization" rev_02

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    - Project: "MPU6050 Initialization"
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-06-05 22:36:04

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Create a motion tracking application using the */
    /* MPU6050 sensor. Configure I2C communication on */
    /* pins A4 (SDA) and A5 (SCL), and use pin D2 as an */
    /* interrupt to capture motion events. */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <Wire.h>
#include <MPU6050.h>  // https://github.com/electroniccats/mpu6050

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t sensor_MPU6050_Interrupt_PIN_D2 = 2;

/***** DEFINITION OF I2C PINS *****/
const uint8_t sensor_MPU6050_I2C_PIN_SDA_A4 = A4;
const uint8_t sensor_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t sensor_MPU6050_I2C_SLAVE_ADDRESS = 104;

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 mpu(sensor_MPU6050_I2C_SLAVE_ADDRESS);  // Initialize MPU6050 with the I2C address

/****** GLOBAL VARIABLES *****/
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

// 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

volatile bool mpuInterrupt = false;  // indicates whether MPU interrupt pin has gone high

void dmpDataReady() {
    mpuInterrupt = true;
}

void setup(void) {
    // put your setup code here, to run once:
    pinMode(sensor_MPU6050_Interrupt_PIN_D2, INPUT);

    Wire.begin();
    Wire.setClock(400000);  // 400kHz I2C clock. Comment this line if having compilation difficulties

    Serial.begin(115200);
    while (!Serial);  // wait for Leonardo enumeration, others continue immediately

    // initialize device
    Serial.println(F("Initializing I2C devices..."));
    mpu.initialize();

    // verify connection
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

    // wait for ready
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (!Serial.available());
    while (Serial.available() && Serial.read());  // empty buffer

    // load and configure the DMP
    Serial.println(F("Initializing DMP..."));
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788);  // 1688 factory default for my test chip

    // 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..."));
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(sensor_MPU6050_Interrupt_PIN_D2));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(sensor_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP ready flag
        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(")"));
    }
}

void loop(void) {
    // put your main code here, to run repeatedly:
    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 = 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;

        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("\t");
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("\t");
        Serial.println(ypr[2] * 180/M_PI);
    }
}

/* END CODE */