"MPU6050 Initialization" rev_02

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    - Project: "MPU6050 Initialization"
    - Source Code NOT compiled for: Arduino Uno
    - Source Code created on: 2024-06-16 13:34:44

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* flight controller for brushed motors using radio */
    /* frequency transmitters and receiver like flysky , */
    /* radiolink */
/****** END SYSTEM REQUIREMENTS *****/

/****** DEFINITION OF LIBRARIES *****/
#include <Wire.h>
#include <FastIMU.h>    // https://github.com/LiquidCGS/FastIMU

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

/***** DEFINITION OF DIGITAL INPUT PINS *****/
const uint8_t gyro_MPU6050_Interrupt_PIN_D2 = 2;

/***** DEFINITION OF I2C PINS *****/
const uint8_t gyro_MPU6050_I2C_PIN_SDA_A4 = A4;
const uint8_t gyro_MPU6050_I2C_PIN_SCL_A5 = A5;
const uint8_t gyro_MPU6050_I2C_SLAVE_ADDRESS = 0x68; // 104 in decimal

/****** DEFINITION OF LIBRARIES CLASS INSTANCES*****/
MPU6050 IMU; // Initialize MPU6050 with FastIMU library

/****** 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

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:
    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

    Serial.println(F("Initializing I2C devices..."));
    calData calib = { 0 }; // Calibration data
    int err = IMU.init(calib, gyro_MPU6050_I2C_SLAVE_ADDRESS);
    if (err != 0) {
        Serial.print(F("Error initializing IMU: "));
        Serial.println(err);
        while (true) { ; }
    }

    pinMode(gyro_MPU6050_Interrupt_PIN_D2, INPUT);

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

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

    Serial.println(F("Initializing DMP..."));
    devStatus = IMU.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    IMU.setXGyroOffset(220);
    IMU.setYGyroOffset(76);
    IMU.setZGyroOffset(-85);
    IMU.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..."));
        IMU.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
        Serial.print(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2));
        Serial.println(F(")..."));
        attachInterrupt(digitalPinToInterrupt(gyro_MPU6050_Interrupt_PIN_D2), dmpDataReady, RISING);
        mpuIntStatus = IMU.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 = IMU.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_BUILTIN, OUTPUT);
}

void loop(void) {
    // 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) {
        // 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 = IMU.getIntStatus();

    // get current FIFO count
    fifoCount = IMU.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
        IMU.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 = IMU.getFIFOCount();

        // read a packet from FIFO
        IMU.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;

        IMU.dmpGetQuaternion(&q, fifoBuffer);
        IMU.dmpGetGravity(&gravity, &q);
        IMU.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);

        // blink LED to indicate activity
        digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
    }
}

/* END CODE */