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ajout des programmes test : manette 3 boutons et imu
This commit is contained in:
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1466
labyrinthe/3-arduino/Test/imu-test/I2Cdev.cpp
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1466
labyrinthe/3-arduino/Test/imu-test/I2Cdev.cpp
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270
labyrinthe/3-arduino/Test/imu-test/I2Cdev.h
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labyrinthe/3-arduino/Test/imu-test/I2Cdev.h
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// I2Cdev library collection - Main I2C device class header file
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
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// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
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// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
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// 2011-10-03 - added automatic Arduino version detection for ease of use
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// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
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// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
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// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
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// 2011-08-02 - added support for 16-bit registers
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// - fixed incorrect Doxygen comments on some methods
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// - added timeout value for read operations (thanks mem @ Arduino forums)
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// 2011-07-30 - changed read/write function structures to return success or byte counts
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// - made all methods static for multi-device memory savings
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// 2011-07-28 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2012 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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||||||
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of this software and associated documentation files (the "Software"), to deal
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||||||
|
in the Software without restriction, including without limitation the rights
|
||||||
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
copies of the Software, and to permit persons to whom the Software is
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||||||
|
furnished to do so, subject to the following conditions:
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||||||
|
|
||||||
|
The above copyright notice and this permission notice shall be included in
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||||||
|
all copies or substantial portions of the Software.
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||||||
|
|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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||||||
|
THE SOFTWARE.
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||||||
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===============================================
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*/
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#ifndef _I2CDEV_H_
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#define _I2CDEV_H_
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// -----------------------------------------------------------------------------
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// I2C interface implementation setting
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// -----------------------------------------------------------------------------
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#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
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// comment this out if you are using a non-optimal IDE/implementation setting
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// but want the compiler to shut up about it
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#define I2CDEV_IMPLEMENTATION_WARNINGS
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// -----------------------------------------------------------------------------
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// I2C interface implementation options
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// -----------------------------------------------------------------------------
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#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
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#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
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// ^^^ NBWire implementation is still buggy w/some interrupts!
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#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
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// ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
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#ifndef BUFFER_LENGTH
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#define BUFFER_LENGTH 32
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#endif
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// -----------------------------------------------------------------------------
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// Arduino-style "Serial.print" debug constant (uncomment to enable)
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// -----------------------------------------------------------------------------
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//#define I2CDEV_SERIAL_DEBUG
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#ifdef ARDUINO
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#if ARDUINO < 100
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#include "WProgram.h"
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#else
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#include "Arduino.h"
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include <Wire.h>
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#endif
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#else
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#include "ArduinoWrapper.h"
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#endif
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// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
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#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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class I2Cdev {
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public:
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I2Cdev();
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static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t* data, uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t* data, uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data,
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uint16_t timeout = I2Cdev::readTimeout);
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static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
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static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
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static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data);
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static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
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static uint16_t readTimeout;
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};
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#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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//////////////////////
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// FastWire 0.2
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// This is a library to help faster programs to read I2C devices.
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// Copyright(C) 2011
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// Francesco Ferrara
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//////////////////////
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/* Master */
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#define TW_START 0x08
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#define TW_REP_START 0x10
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/* Master Transmitter */
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#define TW_MT_SLA_ACK 0x18
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#define TW_MT_SLA_NACK 0x20
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#define TW_MT_DATA_ACK 0x28
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#define TW_MT_DATA_NACK 0x30
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#define TW_MT_ARB_LOST 0x38
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/* Master Receiver */
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#define TW_MR_ARB_LOST 0x38
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#define TW_MR_SLA_ACK 0x40
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#define TW_MR_SLA_NACK 0x48
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#define TW_MR_DATA_ACK 0x50
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#define TW_MR_DATA_NACK 0x58
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#define TW_OK 0
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#define TW_ERROR 1
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class Fastwire {
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private:
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static boolean waitInt();
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public:
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static void setup(int khz, boolean pullup);
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static byte write(byte device, byte address, byte value);
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static byte readBuf(byte device, byte address, byte* data, byte num);
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};
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
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// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
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// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
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// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
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#define NBWIRE_BUFFER_LENGTH 32
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class TwoWire {
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private:
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static uint8_t rxBuffer[];
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static uint8_t rxBufferIndex;
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static uint8_t rxBufferLength;
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static uint8_t txAddress;
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static uint8_t txBuffer[];
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static uint8_t txBufferIndex;
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static uint8_t txBufferLength;
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||||||
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// static uint8_t transmitting;
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static void (*user_onRequest)(void);
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static void (*user_onReceive)(int);
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static void onRequestService(void);
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static void onReceiveService(uint8_t*, int);
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public:
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TwoWire();
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void begin();
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void begin(uint8_t);
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void begin(int);
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void beginTransmission(uint8_t);
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//void beginTransmission(int);
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uint8_t endTransmission(uint16_t timeout = 0);
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void nbendTransmission(void (*function)(int)) ;
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uint8_t requestFrom(uint8_t, int, uint16_t timeout = 0);
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//uint8_t requestFrom(int, int);
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void nbrequestFrom(uint8_t, int, void (*function)(int));
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void send(uint8_t);
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void send(uint8_t*, uint8_t);
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//void send(int);
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void send(char*);
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uint8_t available(void);
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uint8_t receive(void);
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void onReceive(void (*)(int));
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void onRequest(void (*)(void));
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};
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#define TWI_READY 0
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#define TWI_MRX 1
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#define TWI_MTX 2
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#define TWI_SRX 3
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#define TWI_STX 4
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#define TW_WRITE 0
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#define TW_READ 1
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#define TW_MT_SLA_NACK 0x20
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#define TW_MT_DATA_NACK 0x30
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#define CPU_FREQ 16000000L
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#define TWI_FREQ 100000L
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#define TWI_BUFFER_LENGTH 32
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/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
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#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
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#define TW_STATUS (TWSR & TW_STATUS_MASK)
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#define TW_START 0x08
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#define TW_REP_START 0x10
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#define TW_MT_SLA_ACK 0x18
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#define TW_MT_SLA_NACK 0x20
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|
#define TW_MT_DATA_ACK 0x28
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#define TW_MT_DATA_NACK 0x30
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|
#define TW_MT_ARB_LOST 0x38
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#define TW_MR_ARB_LOST 0x38
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#define TW_MR_SLA_ACK 0x40
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#define TW_MR_SLA_NACK 0x48
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#define TW_MR_DATA_ACK 0x50
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#define TW_MR_DATA_NACK 0x58
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#define TW_ST_SLA_ACK 0xA8
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#define TW_ST_ARB_LOST_SLA_ACK 0xB0
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#define TW_ST_DATA_ACK 0xB8
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#define TW_ST_DATA_NACK 0xC0
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#define TW_ST_LAST_DATA 0xC8
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#define TW_SR_SLA_ACK 0x60
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#define TW_SR_ARB_LOST_SLA_ACK 0x68
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#define TW_SR_GCALL_ACK 0x70
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|
#define TW_SR_ARB_LOST_GCALL_ACK 0x78
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#define TW_SR_DATA_ACK 0x80
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||||||
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#define TW_SR_DATA_NACK 0x88
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||||||
|
#define TW_SR_GCALL_DATA_ACK 0x90
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#define TW_SR_GCALL_DATA_NACK 0x98
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||||||
|
#define TW_SR_STOP 0xA0
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|
#define TW_NO_INFO 0xF8
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|
#define TW_BUS_ERROR 0x00
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|
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||||||
|
//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
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|
//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
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|
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||||||
|
#ifndef sbi // set bit
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||||||
|
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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||||||
|
#endif // sbi
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||||||
|
|
||||||
|
#ifndef cbi // clear bit
|
||||||
|
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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||||||
|
#endif // cbi
|
||||||
|
|
||||||
|
extern TwoWire Wire;
|
||||||
|
|
||||||
|
#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
|
||||||
|
|
||||||
|
#endif /* _I2CDEV_H_ */
|
||||||
3237
labyrinthe/3-arduino/Test/imu-test/MPU6050.cpp
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3237
labyrinthe/3-arduino/Test/imu-test/MPU6050.cpp
Normal file
File diff suppressed because it is too large
Load Diff
997
labyrinthe/3-arduino/Test/imu-test/MPU6050.h
Normal file
997
labyrinthe/3-arduino/Test/imu-test/MPU6050.h
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@ -0,0 +1,997 @@
|
|||||||
|
// I2Cdev library collection - MPU6050 I2C device class
|
||||||
|
// Based on InvenSense MPU-6050 register map document rev. 2.0, 5/19/2011 (RM-MPU-6000A-00)
|
||||||
|
// 10/3/2011 by Jeff Rowberg <jeff@rowberg.net>
|
||||||
|
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
|
||||||
|
//
|
||||||
|
// Changelog:
|
||||||
|
// ... - ongoing debug release
|
||||||
|
|
||||||
|
// NOTE: THIS IS ONLY A PARIAL RELEASE. THIS DEVICE CLASS IS CURRENTLY UNDERGOING ACTIVE
|
||||||
|
// DEVELOPMENT AND IS STILL MISSING SOME IMPORTANT FEATURES. PLEASE KEEP THIS IN MIND IF
|
||||||
|
// YOU DECIDE TO USE THIS PARTICULAR CODE FOR ANYTHING.
|
||||||
|
|
||||||
|
/* ============================================
|
||||||
|
I2Cdev device library code is placed under the MIT license
|
||||||
|
Copyright (c) 2012 Jeff Rowberg
|
||||||
|
|
||||||
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||||
|
of this software and associated documentation files (the "Software"), to deal
|
||||||
|
in the Software without restriction, including without limitation the rights
|
||||||
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
copies of the Software, and to permit persons to whom the Software is
|
||||||
|
furnished to do so, subject to the following conditions:
|
||||||
|
|
||||||
|
The above copyright notice and this permission notice shall be included in
|
||||||
|
all copies or substantial portions of the Software.
|
||||||
|
|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||||
|
THE SOFTWARE.
|
||||||
|
===============================================
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _MPU6050_H_
|
||||||
|
#define _MPU6050_H_
|
||||||
|
|
||||||
|
#include "I2Cdev.h"
|
||||||
|
#include <avr/pgmspace.h>
|
||||||
|
|
||||||
|
//Magnetometer Registers
|
||||||
|
#define MPU9150_RA_MAG_ADDRESS 0x0C
|
||||||
|
#define MPU9150_RA_MAG_XOUT_L 0x03
|
||||||
|
#define MPU9150_RA_MAG_XOUT_H 0x04
|
||||||
|
#define MPU9150_RA_MAG_YOUT_L 0x05
|
||||||
|
#define MPU9150_RA_MAG_YOUT_H 0x06
|
||||||
|
#define MPU9150_RA_MAG_ZOUT_L 0x07
|
||||||
|
#define MPU9150_RA_MAG_ZOUT_H 0x08
|
||||||
|
|
||||||
|
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
|
||||||
|
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
|
||||||
|
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
|
||||||
|
|
||||||
|
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
|
||||||
|
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
|
||||||
|
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
|
||||||
|
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
|
||||||
|
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
|
||||||
|
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
|
||||||
|
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
|
||||||
|
#define MPU6050_RA_XA_OFFS_L_TC 0x07
|
||||||
|
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
|
||||||
|
#define MPU6050_RA_YA_OFFS_L_TC 0x09
|
||||||
|
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
|
||||||
|
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
|
||||||
|
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
|
||||||
|
#define MPU6050_RA_XG_OFFS_USRL 0x14
|
||||||
|
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
|
||||||
|
#define MPU6050_RA_YG_OFFS_USRL 0x16
|
||||||
|
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
|
||||||
|
#define MPU6050_RA_ZG_OFFS_USRL 0x18
|
||||||
|
#define MPU6050_RA_SMPLRT_DIV 0x19
|
||||||
|
#define MPU6050_RA_CONFIG 0x1A
|
||||||
|
#define MPU6050_RA_GYRO_CONFIG 0x1B
|
||||||
|
#define MPU6050_RA_ACCEL_CONFIG 0x1C
|
||||||
|
#define MPU6050_RA_FF_THR 0x1D
|
||||||
|
#define MPU6050_RA_FF_DUR 0x1E
|
||||||
|
#define MPU6050_RA_MOT_THR 0x1F
|
||||||
|
#define MPU6050_RA_MOT_DUR 0x20
|
||||||
|
#define MPU6050_RA_ZRMOT_THR 0x21
|
||||||
|
#define MPU6050_RA_ZRMOT_DUR 0x22
|
||||||
|
#define MPU6050_RA_FIFO_EN 0x23
|
||||||
|
#define MPU6050_RA_I2C_MST_CTRL 0x24
|
||||||
|
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
|
||||||
|
#define MPU6050_RA_I2C_SLV0_REG 0x26
|
||||||
|
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
|
||||||
|
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
|
||||||
|
#define MPU6050_RA_I2C_SLV1_REG 0x29
|
||||||
|
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
|
||||||
|
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
|
||||||
|
#define MPU6050_RA_I2C_SLV2_REG 0x2C
|
||||||
|
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
|
||||||
|
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
|
||||||
|
#define MPU6050_RA_I2C_SLV3_REG 0x2F
|
||||||
|
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
|
||||||
|
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
|
||||||
|
#define MPU6050_RA_I2C_SLV4_REG 0x32
|
||||||
|
#define MPU6050_RA_I2C_SLV4_DO 0x33
|
||||||
|
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
|
||||||
|
#define MPU6050_RA_I2C_SLV4_DI 0x35
|
||||||
|
#define MPU6050_RA_I2C_MST_STATUS 0x36
|
||||||
|
#define MPU6050_RA_INT_PIN_CFG 0x37
|
||||||
|
#define MPU6050_RA_INT_ENABLE 0x38
|
||||||
|
#define MPU6050_RA_DMP_INT_STATUS 0x39
|
||||||
|
#define MPU6050_RA_INT_STATUS 0x3A
|
||||||
|
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
|
||||||
|
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
|
||||||
|
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
|
||||||
|
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
|
||||||
|
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
|
||||||
|
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
|
||||||
|
#define MPU6050_RA_TEMP_OUT_H 0x41
|
||||||
|
#define MPU6050_RA_TEMP_OUT_L 0x42
|
||||||
|
#define MPU6050_RA_GYRO_XOUT_H 0x43
|
||||||
|
#define MPU6050_RA_GYRO_XOUT_L 0x44
|
||||||
|
#define MPU6050_RA_GYRO_YOUT_H 0x45
|
||||||
|
#define MPU6050_RA_GYRO_YOUT_L 0x46
|
||||||
|
#define MPU6050_RA_GYRO_ZOUT_H 0x47
|
||||||
|
#define MPU6050_RA_GYRO_ZOUT_L 0x48
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
|
||||||
|
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
|
||||||
|
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
|
||||||
|
#define MPU6050_RA_I2C_SLV0_DO 0x63
|
||||||
|
#define MPU6050_RA_I2C_SLV1_DO 0x64
|
||||||
|
#define MPU6050_RA_I2C_SLV2_DO 0x65
|
||||||
|
#define MPU6050_RA_I2C_SLV3_DO 0x66
|
||||||
|
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
|
||||||
|
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
|
||||||
|
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
|
||||||
|
#define MPU6050_RA_USER_CTRL 0x6A
|
||||||
|
#define MPU6050_RA_PWR_MGMT_1 0x6B
|
||||||
|
#define MPU6050_RA_PWR_MGMT_2 0x6C
|
||||||
|
#define MPU6050_RA_BANK_SEL 0x6D
|
||||||
|
#define MPU6050_RA_MEM_START_ADDR 0x6E
|
||||||
|
#define MPU6050_RA_MEM_R_W 0x6F
|
||||||
|
#define MPU6050_RA_DMP_CFG_1 0x70
|
||||||
|
#define MPU6050_RA_DMP_CFG_2 0x71
|
||||||
|
#define MPU6050_RA_FIFO_COUNTH 0x72
|
||||||
|
#define MPU6050_RA_FIFO_COUNTL 0x73
|
||||||
|
#define MPU6050_RA_FIFO_R_W 0x74
|
||||||
|
#define MPU6050_RA_WHO_AM_I 0x75
|
||||||
|
|
||||||
|
#define MPU6050_TC_PWR_MODE_BIT 7
|
||||||
|
#define MPU6050_TC_OFFSET_BIT 6
|
||||||
|
#define MPU6050_TC_OFFSET_LENGTH 6
|
||||||
|
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
|
||||||
|
#define MPU6050_VDDIO_LEVEL_VDD 1
|
||||||
|
|
||||||
|
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
|
||||||
|
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
|
||||||
|
#define MPU6050_CFG_DLPF_CFG_BIT 2
|
||||||
|
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
|
||||||
|
|
||||||
|
#define MPU6050_EXT_SYNC_DISABLED 0x0
|
||||||
|
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
|
||||||
|
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
|
||||||
|
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
|
||||||
|
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
|
||||||
|
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
|
||||||
|
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
|
||||||
|
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
|
||||||
|
|
||||||
|
#define MPU6050_DLPF_BW_256 0x00
|
||||||
|
#define MPU6050_DLPF_BW_188 0x01
|
||||||
|
#define MPU6050_DLPF_BW_98 0x02
|
||||||
|
#define MPU6050_DLPF_BW_42 0x03
|
||||||
|
#define MPU6050_DLPF_BW_20 0x04
|
||||||
|
#define MPU6050_DLPF_BW_10 0x05
|
||||||
|
#define MPU6050_DLPF_BW_5 0x06
|
||||||
|
|
||||||
|
#define MPU6050_GCONFIG_FS_SEL_BIT 4
|
||||||
|
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
|
||||||
|
|
||||||
|
#define MPU6050_GYRO_FS_250 0x00
|
||||||
|
#define MPU6050_GYRO_FS_500 0x01
|
||||||
|
#define MPU6050_GYRO_FS_1000 0x02
|
||||||
|
#define MPU6050_GYRO_FS_2000 0x03
|
||||||
|
|
||||||
|
#define MPU6050_ACONFIG_XA_ST_BIT 7
|
||||||
|
#define MPU6050_ACONFIG_YA_ST_BIT 6
|
||||||
|
#define MPU6050_ACONFIG_ZA_ST_BIT 5
|
||||||
|
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
|
||||||
|
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
|
||||||
|
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
|
||||||
|
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
|
||||||
|
|
||||||
|
#define MPU6050_ACCEL_FS_2 0x00
|
||||||
|
#define MPU6050_ACCEL_FS_4 0x01
|
||||||
|
#define MPU6050_ACCEL_FS_8 0x02
|
||||||
|
#define MPU6050_ACCEL_FS_16 0x03
|
||||||
|
|
||||||
|
#define MPU6050_DHPF_RESET 0x00
|
||||||
|
#define MPU6050_DHPF_5 0x01
|
||||||
|
#define MPU6050_DHPF_2P5 0x02
|
||||||
|
#define MPU6050_DHPF_1P25 0x03
|
||||||
|
#define MPU6050_DHPF_0P63 0x04
|
||||||
|
#define MPU6050_DHPF_HOLD 0x07
|
||||||
|
|
||||||
|
#define MPU6050_TEMP_FIFO_EN_BIT 7
|
||||||
|
#define MPU6050_XG_FIFO_EN_BIT 6
|
||||||
|
#define MPU6050_YG_FIFO_EN_BIT 5
|
||||||
|
#define MPU6050_ZG_FIFO_EN_BIT 4
|
||||||
|
#define MPU6050_ACCEL_FIFO_EN_BIT 3
|
||||||
|
#define MPU6050_SLV2_FIFO_EN_BIT 2
|
||||||
|
#define MPU6050_SLV1_FIFO_EN_BIT 1
|
||||||
|
#define MPU6050_SLV0_FIFO_EN_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_MULT_MST_EN_BIT 7
|
||||||
|
#define MPU6050_WAIT_FOR_ES_BIT 6
|
||||||
|
#define MPU6050_SLV_3_FIFO_EN_BIT 5
|
||||||
|
#define MPU6050_I2C_MST_P_NSR_BIT 4
|
||||||
|
#define MPU6050_I2C_MST_CLK_BIT 3
|
||||||
|
#define MPU6050_I2C_MST_CLK_LENGTH 4
|
||||||
|
|
||||||
|
#define MPU6050_CLOCK_DIV_348 0x0
|
||||||
|
#define MPU6050_CLOCK_DIV_333 0x1
|
||||||
|
#define MPU6050_CLOCK_DIV_320 0x2
|
||||||
|
#define MPU6050_CLOCK_DIV_308 0x3
|
||||||
|
#define MPU6050_CLOCK_DIV_296 0x4
|
||||||
|
#define MPU6050_CLOCK_DIV_286 0x5
|
||||||
|
#define MPU6050_CLOCK_DIV_276 0x6
|
||||||
|
#define MPU6050_CLOCK_DIV_267 0x7
|
||||||
|
#define MPU6050_CLOCK_DIV_258 0x8
|
||||||
|
#define MPU6050_CLOCK_DIV_500 0x9
|
||||||
|
#define MPU6050_CLOCK_DIV_471 0xA
|
||||||
|
#define MPU6050_CLOCK_DIV_444 0xB
|
||||||
|
#define MPU6050_CLOCK_DIV_421 0xC
|
||||||
|
#define MPU6050_CLOCK_DIV_400 0xD
|
||||||
|
#define MPU6050_CLOCK_DIV_381 0xE
|
||||||
|
#define MPU6050_CLOCK_DIV_364 0xF
|
||||||
|
|
||||||
|
#define MPU6050_I2C_SLV_RW_BIT 7
|
||||||
|
#define MPU6050_I2C_SLV_ADDR_BIT 6
|
||||||
|
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
|
||||||
|
#define MPU6050_I2C_SLV_EN_BIT 7
|
||||||
|
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
|
||||||
|
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
|
||||||
|
#define MPU6050_I2C_SLV_GRP_BIT 4
|
||||||
|
#define MPU6050_I2C_SLV_LEN_BIT 3
|
||||||
|
#define MPU6050_I2C_SLV_LEN_LENGTH 4
|
||||||
|
|
||||||
|
#define MPU6050_I2C_SLV4_RW_BIT 7
|
||||||
|
#define MPU6050_I2C_SLV4_ADDR_BIT 6
|
||||||
|
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
|
||||||
|
#define MPU6050_I2C_SLV4_EN_BIT 7
|
||||||
|
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
|
||||||
|
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
|
||||||
|
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
|
||||||
|
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
|
||||||
|
|
||||||
|
#define MPU6050_MST_PASS_THROUGH_BIT 7
|
||||||
|
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
|
||||||
|
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
|
||||||
|
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
|
||||||
|
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
|
||||||
|
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
|
||||||
|
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
|
||||||
|
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
|
||||||
|
#define MPU6050_INTCFG_INT_OPEN_BIT 6
|
||||||
|
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
|
||||||
|
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
|
||||||
|
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
|
||||||
|
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
|
||||||
|
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
|
||||||
|
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
|
||||||
|
#define MPU6050_INTMODE_ACTIVELOW 0x01
|
||||||
|
|
||||||
|
#define MPU6050_INTDRV_PUSHPULL 0x00
|
||||||
|
#define MPU6050_INTDRV_OPENDRAIN 0x01
|
||||||
|
|
||||||
|
#define MPU6050_INTLATCH_50USPULSE 0x00
|
||||||
|
#define MPU6050_INTLATCH_WAITCLEAR 0x01
|
||||||
|
|
||||||
|
#define MPU6050_INTCLEAR_STATUSREAD 0x00
|
||||||
|
#define MPU6050_INTCLEAR_ANYREAD 0x01
|
||||||
|
|
||||||
|
#define MPU6050_INTERRUPT_FF_BIT 7
|
||||||
|
#define MPU6050_INTERRUPT_MOT_BIT 6
|
||||||
|
#define MPU6050_INTERRUPT_ZMOT_BIT 5
|
||||||
|
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
|
||||||
|
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
|
||||||
|
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
|
||||||
|
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
|
||||||
|
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
|
||||||
|
|
||||||
|
// TODO: figure out what these actually do
|
||||||
|
// UMPL source code is not very obivous
|
||||||
|
#define MPU6050_DMPINT_5_BIT 5
|
||||||
|
#define MPU6050_DMPINT_4_BIT 4
|
||||||
|
#define MPU6050_DMPINT_3_BIT 3
|
||||||
|
#define MPU6050_DMPINT_2_BIT 2
|
||||||
|
#define MPU6050_DMPINT_1_BIT 1
|
||||||
|
#define MPU6050_DMPINT_0_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_MOTION_MOT_XNEG_BIT 7
|
||||||
|
#define MPU6050_MOTION_MOT_XPOS_BIT 6
|
||||||
|
#define MPU6050_MOTION_MOT_YNEG_BIT 5
|
||||||
|
#define MPU6050_MOTION_MOT_YPOS_BIT 4
|
||||||
|
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
|
||||||
|
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
|
||||||
|
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
|
||||||
|
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
|
||||||
|
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
|
||||||
|
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
|
||||||
|
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
|
||||||
|
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
|
||||||
|
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
|
||||||
|
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
|
||||||
|
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
|
||||||
|
#define MPU6050_DETECT_FF_COUNT_BIT 3
|
||||||
|
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
|
||||||
|
#define MPU6050_DETECT_MOT_COUNT_BIT 1
|
||||||
|
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
|
||||||
|
|
||||||
|
#define MPU6050_DETECT_DECREMENT_RESET 0x0
|
||||||
|
#define MPU6050_DETECT_DECREMENT_1 0x1
|
||||||
|
#define MPU6050_DETECT_DECREMENT_2 0x2
|
||||||
|
#define MPU6050_DETECT_DECREMENT_4 0x3
|
||||||
|
|
||||||
|
#define MPU6050_USERCTRL_DMP_EN_BIT 7
|
||||||
|
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
|
||||||
|
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
|
||||||
|
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
|
||||||
|
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
|
||||||
|
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
|
||||||
|
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
|
||||||
|
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
|
||||||
|
#define MPU6050_PWR1_SLEEP_BIT 6
|
||||||
|
#define MPU6050_PWR1_CYCLE_BIT 5
|
||||||
|
#define MPU6050_PWR1_TEMP_DIS_BIT 3
|
||||||
|
#define MPU6050_PWR1_CLKSEL_BIT 2
|
||||||
|
#define MPU6050_PWR1_CLKSEL_LENGTH 3
|
||||||
|
|
||||||
|
#define MPU6050_CLOCK_INTERNAL 0x00
|
||||||
|
#define MPU6050_CLOCK_PLL_XGYRO 0x01
|
||||||
|
#define MPU6050_CLOCK_PLL_YGYRO 0x02
|
||||||
|
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
|
||||||
|
#define MPU6050_CLOCK_PLL_EXT32K 0x04
|
||||||
|
#define MPU6050_CLOCK_PLL_EXT19M 0x05
|
||||||
|
#define MPU6050_CLOCK_KEEP_RESET 0x07
|
||||||
|
|
||||||
|
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
|
||||||
|
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
|
||||||
|
#define MPU6050_PWR2_STBY_XA_BIT 5
|
||||||
|
#define MPU6050_PWR2_STBY_YA_BIT 4
|
||||||
|
#define MPU6050_PWR2_STBY_ZA_BIT 3
|
||||||
|
#define MPU6050_PWR2_STBY_XG_BIT 2
|
||||||
|
#define MPU6050_PWR2_STBY_YG_BIT 1
|
||||||
|
#define MPU6050_PWR2_STBY_ZG_BIT 0
|
||||||
|
|
||||||
|
#define MPU6050_WAKE_FREQ_1P25 0x0
|
||||||
|
#define MPU6050_WAKE_FREQ_2P5 0x1
|
||||||
|
#define MPU6050_WAKE_FREQ_5 0x2
|
||||||
|
#define MPU6050_WAKE_FREQ_10 0x3
|
||||||
|
|
||||||
|
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
|
||||||
|
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
|
||||||
|
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
|
||||||
|
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
|
||||||
|
|
||||||
|
#define MPU6050_WHO_AM_I_BIT 6
|
||||||
|
#define MPU6050_WHO_AM_I_LENGTH 6
|
||||||
|
|
||||||
|
#define MPU6050_DMP_MEMORY_BANKS 8
|
||||||
|
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
|
||||||
|
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
|
||||||
|
|
||||||
|
// note: DMP code memory blocks defined at end of header file
|
||||||
|
|
||||||
|
class MPU6050 {
|
||||||
|
public:
|
||||||
|
MPU6050();
|
||||||
|
MPU6050(uint8_t address);
|
||||||
|
|
||||||
|
void initialize();
|
||||||
|
bool testConnection();
|
||||||
|
|
||||||
|
// AUX_VDDIO register
|
||||||
|
uint8_t getAuxVDDIOLevel();
|
||||||
|
void setAuxVDDIOLevel(uint8_t level);
|
||||||
|
|
||||||
|
// SMPLRT_DIV register
|
||||||
|
uint8_t getRate();
|
||||||
|
void setRate(uint8_t rate);
|
||||||
|
|
||||||
|
// CONFIG register
|
||||||
|
uint8_t getExternalFrameSync();
|
||||||
|
void setExternalFrameSync(uint8_t sync);
|
||||||
|
uint8_t getDLPFMode();
|
||||||
|
void setDLPFMode(uint8_t bandwidth);
|
||||||
|
|
||||||
|
// GYRO_CONFIG register
|
||||||
|
uint8_t getFullScaleGyroRange();
|
||||||
|
void setFullScaleGyroRange(uint8_t range);
|
||||||
|
|
||||||
|
// ACCEL_CONFIG register
|
||||||
|
bool getAccelXSelfTest();
|
||||||
|
void setAccelXSelfTest(bool enabled);
|
||||||
|
bool getAccelYSelfTest();
|
||||||
|
void setAccelYSelfTest(bool enabled);
|
||||||
|
bool getAccelZSelfTest();
|
||||||
|
void setAccelZSelfTest(bool enabled);
|
||||||
|
uint8_t getFullScaleAccelRange();
|
||||||
|
void setFullScaleAccelRange(uint8_t range);
|
||||||
|
uint8_t getDHPFMode();
|
||||||
|
void setDHPFMode(uint8_t mode);
|
||||||
|
|
||||||
|
// FF_THR register
|
||||||
|
uint8_t getFreefallDetectionThreshold();
|
||||||
|
void setFreefallDetectionThreshold(uint8_t threshold);
|
||||||
|
|
||||||
|
// FF_DUR register
|
||||||
|
uint8_t getFreefallDetectionDuration();
|
||||||
|
void setFreefallDetectionDuration(uint8_t duration);
|
||||||
|
|
||||||
|
// MOT_THR register
|
||||||
|
uint8_t getMotionDetectionThreshold();
|
||||||
|
void setMotionDetectionThreshold(uint8_t threshold);
|
||||||
|
|
||||||
|
// MOT_DUR register
|
||||||
|
uint8_t getMotionDetectionDuration();
|
||||||
|
void setMotionDetectionDuration(uint8_t duration);
|
||||||
|
|
||||||
|
// ZRMOT_THR register
|
||||||
|
uint8_t getZeroMotionDetectionThreshold();
|
||||||
|
void setZeroMotionDetectionThreshold(uint8_t threshold);
|
||||||
|
|
||||||
|
// ZRMOT_DUR register
|
||||||
|
uint8_t getZeroMotionDetectionDuration();
|
||||||
|
void setZeroMotionDetectionDuration(uint8_t duration);
|
||||||
|
|
||||||
|
// FIFO_EN register
|
||||||
|
bool getTempFIFOEnabled();
|
||||||
|
void setTempFIFOEnabled(bool enabled);
|
||||||
|
bool getXGyroFIFOEnabled();
|
||||||
|
void setXGyroFIFOEnabled(bool enabled);
|
||||||
|
bool getYGyroFIFOEnabled();
|
||||||
|
void setYGyroFIFOEnabled(bool enabled);
|
||||||
|
bool getZGyroFIFOEnabled();
|
||||||
|
void setZGyroFIFOEnabled(bool enabled);
|
||||||
|
bool getAccelFIFOEnabled();
|
||||||
|
void setAccelFIFOEnabled(bool enabled);
|
||||||
|
bool getSlave2FIFOEnabled();
|
||||||
|
void setSlave2FIFOEnabled(bool enabled);
|
||||||
|
bool getSlave1FIFOEnabled();
|
||||||
|
void setSlave1FIFOEnabled(bool enabled);
|
||||||
|
bool getSlave0FIFOEnabled();
|
||||||
|
void setSlave0FIFOEnabled(bool enabled);
|
||||||
|
|
||||||
|
// I2C_MST_CTRL register
|
||||||
|
bool getMultiMasterEnabled();
|
||||||
|
void setMultiMasterEnabled(bool enabled);
|
||||||
|
bool getWaitForExternalSensorEnabled();
|
||||||
|
void setWaitForExternalSensorEnabled(bool enabled);
|
||||||
|
bool getSlave3FIFOEnabled();
|
||||||
|
void setSlave3FIFOEnabled(bool enabled);
|
||||||
|
bool getSlaveReadWriteTransitionEnabled();
|
||||||
|
void setSlaveReadWriteTransitionEnabled(bool enabled);
|
||||||
|
uint8_t getMasterClockSpeed();
|
||||||
|
void setMasterClockSpeed(uint8_t speed);
|
||||||
|
|
||||||
|
// I2C_SLV* registers (Slave 0-3)
|
||||||
|
uint8_t getSlaveAddress(uint8_t num);
|
||||||
|
void setSlaveAddress(uint8_t num, uint8_t address);
|
||||||
|
uint8_t getSlaveRegister(uint8_t num);
|
||||||
|
void setSlaveRegister(uint8_t num, uint8_t reg);
|
||||||
|
bool getSlaveEnabled(uint8_t num);
|
||||||
|
void setSlaveEnabled(uint8_t num, bool enabled);
|
||||||
|
bool getSlaveWordByteSwap(uint8_t num);
|
||||||
|
void setSlaveWordByteSwap(uint8_t num, bool enabled);
|
||||||
|
bool getSlaveWriteMode(uint8_t num);
|
||||||
|
void setSlaveWriteMode(uint8_t num, bool mode);
|
||||||
|
bool getSlaveWordGroupOffset(uint8_t num);
|
||||||
|
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
|
||||||
|
uint8_t getSlaveDataLength(uint8_t num);
|
||||||
|
void setSlaveDataLength(uint8_t num, uint8_t length);
|
||||||
|
|
||||||
|
// I2C_SLV* registers (Slave 4)
|
||||||
|
uint8_t getSlave4Address();
|
||||||
|
void setSlave4Address(uint8_t address);
|
||||||
|
uint8_t getSlave4Register();
|
||||||
|
void setSlave4Register(uint8_t reg);
|
||||||
|
void setSlave4OutputByte(uint8_t data);
|
||||||
|
bool getSlave4Enabled();
|
||||||
|
void setSlave4Enabled(bool enabled);
|
||||||
|
bool getSlave4InterruptEnabled();
|
||||||
|
void setSlave4InterruptEnabled(bool enabled);
|
||||||
|
bool getSlave4WriteMode();
|
||||||
|
void setSlave4WriteMode(bool mode);
|
||||||
|
uint8_t getSlave4MasterDelay();
|
||||||
|
void setSlave4MasterDelay(uint8_t delay);
|
||||||
|
uint8_t getSlate4InputByte();
|
||||||
|
|
||||||
|
// I2C_MST_STATUS register
|
||||||
|
bool getPassthroughStatus();
|
||||||
|
bool getSlave4IsDone();
|
||||||
|
bool getLostArbitration();
|
||||||
|
bool getSlave4Nack();
|
||||||
|
bool getSlave3Nack();
|
||||||
|
bool getSlave2Nack();
|
||||||
|
bool getSlave1Nack();
|
||||||
|
bool getSlave0Nack();
|
||||||
|
|
||||||
|
// INT_PIN_CFG register
|
||||||
|
bool getInterruptMode();
|
||||||
|
void setInterruptMode(bool mode);
|
||||||
|
bool getInterruptDrive();
|
||||||
|
void setInterruptDrive(bool drive);
|
||||||
|
bool getInterruptLatch();
|
||||||
|
void setInterruptLatch(bool latch);
|
||||||
|
bool getInterruptLatchClear();
|
||||||
|
void setInterruptLatchClear(bool clear);
|
||||||
|
bool getFSyncInterruptLevel();
|
||||||
|
void setFSyncInterruptLevel(bool level);
|
||||||
|
bool getFSyncInterruptEnabled();
|
||||||
|
void setFSyncInterruptEnabled(bool enabled);
|
||||||
|
bool getI2CBypassEnabled();
|
||||||
|
void setI2CBypassEnabled(bool enabled);
|
||||||
|
bool getClockOutputEnabled();
|
||||||
|
void setClockOutputEnabled(bool enabled);
|
||||||
|
|
||||||
|
// INT_ENABLE register
|
||||||
|
uint8_t getIntEnabled();
|
||||||
|
void setIntEnabled(uint8_t enabled);
|
||||||
|
bool getIntFreefallEnabled();
|
||||||
|
void setIntFreefallEnabled(bool enabled);
|
||||||
|
bool getIntMotionEnabled();
|
||||||
|
void setIntMotionEnabled(bool enabled);
|
||||||
|
bool getIntZeroMotionEnabled();
|
||||||
|
void setIntZeroMotionEnabled(bool enabled);
|
||||||
|
bool getIntFIFOBufferOverflowEnabled();
|
||||||
|
void setIntFIFOBufferOverflowEnabled(bool enabled);
|
||||||
|
bool getIntI2CMasterEnabled();
|
||||||
|
void setIntI2CMasterEnabled(bool enabled);
|
||||||
|
bool getIntDataReadyEnabled();
|
||||||
|
void setIntDataReadyEnabled(bool enabled);
|
||||||
|
|
||||||
|
// INT_STATUS register
|
||||||
|
uint8_t getIntStatus();
|
||||||
|
bool getIntFreefallStatus();
|
||||||
|
bool getIntMotionStatus();
|
||||||
|
bool getIntZeroMotionStatus();
|
||||||
|
bool getIntFIFOBufferOverflowStatus();
|
||||||
|
bool getIntI2CMasterStatus();
|
||||||
|
bool getIntDataReadyStatus();
|
||||||
|
|
||||||
|
// ACCEL_*OUT_* registers
|
||||||
|
void getMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz, int16_t* mx, int16_t* my,
|
||||||
|
int16_t* mz);
|
||||||
|
void getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
|
||||||
|
void getAcceleration(int16_t* x, int16_t* y, int16_t* z);
|
||||||
|
int16_t getAccelerationX();
|
||||||
|
int16_t getAccelerationY();
|
||||||
|
int16_t getAccelerationZ();
|
||||||
|
|
||||||
|
// TEMP_OUT_* registers
|
||||||
|
int16_t getTemperature();
|
||||||
|
|
||||||
|
// GYRO_*OUT_* registers
|
||||||
|
void getRotation(int16_t* x, int16_t* y, int16_t* z);
|
||||||
|
int16_t getRotationX();
|
||||||
|
int16_t getRotationY();
|
||||||
|
int16_t getRotationZ();
|
||||||
|
|
||||||
|
// EXT_SENS_DATA_* registers
|
||||||
|
uint8_t getExternalSensorByte(int position);
|
||||||
|
uint16_t getExternalSensorWord(int position);
|
||||||
|
uint32_t getExternalSensorDWord(int position);
|
||||||
|
|
||||||
|
// MOT_DETECT_STATUS register
|
||||||
|
bool getXNegMotionDetected();
|
||||||
|
bool getXPosMotionDetected();
|
||||||
|
bool getYNegMotionDetected();
|
||||||
|
bool getYPosMotionDetected();
|
||||||
|
bool getZNegMotionDetected();
|
||||||
|
bool getZPosMotionDetected();
|
||||||
|
bool getZeroMotionDetected();
|
||||||
|
|
||||||
|
// I2C_SLV*_DO register
|
||||||
|
void setSlaveOutputByte(uint8_t num, uint8_t data);
|
||||||
|
|
||||||
|
// I2C_MST_DELAY_CTRL register
|
||||||
|
bool getExternalShadowDelayEnabled();
|
||||||
|
void setExternalShadowDelayEnabled(bool enabled);
|
||||||
|
bool getSlaveDelayEnabled(uint8_t num);
|
||||||
|
void setSlaveDelayEnabled(uint8_t num, bool enabled);
|
||||||
|
|
||||||
|
// SIGNAL_PATH_RESET register
|
||||||
|
void resetGyroscopePath();
|
||||||
|
void resetAccelerometerPath();
|
||||||
|
void resetTemperaturePath();
|
||||||
|
|
||||||
|
// MOT_DETECT_CTRL register
|
||||||
|
uint8_t getAccelerometerPowerOnDelay();
|
||||||
|
void setAccelerometerPowerOnDelay(uint8_t delay);
|
||||||
|
uint8_t getFreefallDetectionCounterDecrement();
|
||||||
|
void setFreefallDetectionCounterDecrement(uint8_t decrement);
|
||||||
|
uint8_t getMotionDetectionCounterDecrement();
|
||||||
|
void setMotionDetectionCounterDecrement(uint8_t decrement);
|
||||||
|
|
||||||
|
// USER_CTRL register
|
||||||
|
bool getFIFOEnabled();
|
||||||
|
void setFIFOEnabled(bool enabled);
|
||||||
|
bool getI2CMasterModeEnabled();
|
||||||
|
void setI2CMasterModeEnabled(bool enabled);
|
||||||
|
void switchSPIEnabled(bool enabled);
|
||||||
|
void resetFIFO();
|
||||||
|
void resetI2CMaster();
|
||||||
|
void resetSensors();
|
||||||
|
|
||||||
|
// PWR_MGMT_1 register
|
||||||
|
void reset();
|
||||||
|
bool getSleepEnabled();
|
||||||
|
void setSleepEnabled(bool enabled);
|
||||||
|
bool getWakeCycleEnabled();
|
||||||
|
void setWakeCycleEnabled(bool enabled);
|
||||||
|
bool getTempSensorEnabled();
|
||||||
|
void setTempSensorEnabled(bool enabled);
|
||||||
|
uint8_t getClockSource();
|
||||||
|
void setClockSource(uint8_t source);
|
||||||
|
|
||||||
|
// PWR_MGMT_2 register
|
||||||
|
uint8_t getWakeFrequency();
|
||||||
|
void setWakeFrequency(uint8_t frequency);
|
||||||
|
bool getStandbyXAccelEnabled();
|
||||||
|
void setStandbyXAccelEnabled(bool enabled);
|
||||||
|
bool getStandbyYAccelEnabled();
|
||||||
|
void setStandbyYAccelEnabled(bool enabled);
|
||||||
|
bool getStandbyZAccelEnabled();
|
||||||
|
void setStandbyZAccelEnabled(bool enabled);
|
||||||
|
bool getStandbyXGyroEnabled();
|
||||||
|
void setStandbyXGyroEnabled(bool enabled);
|
||||||
|
bool getStandbyYGyroEnabled();
|
||||||
|
void setStandbyYGyroEnabled(bool enabled);
|
||||||
|
bool getStandbyZGyroEnabled();
|
||||||
|
void setStandbyZGyroEnabled(bool enabled);
|
||||||
|
|
||||||
|
// FIFO_COUNT_* registers
|
||||||
|
uint16_t getFIFOCount();
|
||||||
|
|
||||||
|
// FIFO_R_W register
|
||||||
|
uint8_t getFIFOByte();
|
||||||
|
void setFIFOByte(uint8_t data);
|
||||||
|
void getFIFOBytes(uint8_t* data, uint8_t length);
|
||||||
|
|
||||||
|
// WHO_AM_I register
|
||||||
|
uint8_t getDeviceID();
|
||||||
|
void setDeviceID(uint8_t id);
|
||||||
|
|
||||||
|
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
|
||||||
|
|
||||||
|
// XG_OFFS_TC register
|
||||||
|
uint8_t getOTPBankValid();
|
||||||
|
void setOTPBankValid(bool enabled);
|
||||||
|
int8_t getXGyroOffset();
|
||||||
|
void setXGyroOffset(int8_t offset);
|
||||||
|
|
||||||
|
// YG_OFFS_TC register
|
||||||
|
int8_t getYGyroOffset();
|
||||||
|
void setYGyroOffset(int8_t offset);
|
||||||
|
|
||||||
|
// ZG_OFFS_TC register
|
||||||
|
int8_t getZGyroOffset();
|
||||||
|
void setZGyroOffset(int8_t offset);
|
||||||
|
|
||||||
|
// X_FINE_GAIN register
|
||||||
|
int8_t getXFineGain();
|
||||||
|
void setXFineGain(int8_t gain);
|
||||||
|
|
||||||
|
// Y_FINE_GAIN register
|
||||||
|
int8_t getYFineGain();
|
||||||
|
void setYFineGain(int8_t gain);
|
||||||
|
|
||||||
|
// Z_FINE_GAIN register
|
||||||
|
int8_t getZFineGain();
|
||||||
|
void setZFineGain(int8_t gain);
|
||||||
|
|
||||||
|
// XA_OFFS_* registers
|
||||||
|
int16_t getXAccelOffset();
|
||||||
|
void setXAccelOffset(int16_t offset);
|
||||||
|
|
||||||
|
// YA_OFFS_* register
|
||||||
|
int16_t getYAccelOffset();
|
||||||
|
void setYAccelOffset(int16_t offset);
|
||||||
|
|
||||||
|
// ZA_OFFS_* register
|
||||||
|
int16_t getZAccelOffset();
|
||||||
|
void setZAccelOffset(int16_t offset);
|
||||||
|
|
||||||
|
// XG_OFFS_USR* registers
|
||||||
|
int16_t getXGyroOffsetUser();
|
||||||
|
void setXGyroOffsetUser(int16_t offset);
|
||||||
|
|
||||||
|
// YG_OFFS_USR* register
|
||||||
|
int16_t getYGyroOffsetUser();
|
||||||
|
void setYGyroOffsetUser(int16_t offset);
|
||||||
|
|
||||||
|
// ZG_OFFS_USR* register
|
||||||
|
int16_t getZGyroOffsetUser();
|
||||||
|
void setZGyroOffsetUser(int16_t offset);
|
||||||
|
|
||||||
|
// INT_ENABLE register (DMP functions)
|
||||||
|
bool getIntPLLReadyEnabled();
|
||||||
|
void setIntPLLReadyEnabled(bool enabled);
|
||||||
|
bool getIntDMPEnabled();
|
||||||
|
void setIntDMPEnabled(bool enabled);
|
||||||
|
|
||||||
|
// DMP_INT_STATUS
|
||||||
|
bool getDMPInt5Status();
|
||||||
|
bool getDMPInt4Status();
|
||||||
|
bool getDMPInt3Status();
|
||||||
|
bool getDMPInt2Status();
|
||||||
|
bool getDMPInt1Status();
|
||||||
|
bool getDMPInt0Status();
|
||||||
|
|
||||||
|
// INT_STATUS register (DMP functions)
|
||||||
|
bool getIntPLLReadyStatus();
|
||||||
|
bool getIntDMPStatus();
|
||||||
|
|
||||||
|
// USER_CTRL register (DMP functions)
|
||||||
|
bool getDMPEnabled();
|
||||||
|
void setDMPEnabled(bool enabled);
|
||||||
|
void resetDMP();
|
||||||
|
|
||||||
|
// BANK_SEL register
|
||||||
|
void setMemoryBank(uint8_t bank, bool prefetchEnabled = false, bool userBank = false);
|
||||||
|
|
||||||
|
// MEM_START_ADDR register
|
||||||
|
void setMemoryStartAddress(uint8_t address);
|
||||||
|
|
||||||
|
// MEM_R_W register
|
||||||
|
uint8_t readMemoryByte();
|
||||||
|
void writeMemoryByte(uint8_t data);
|
||||||
|
void readMemoryBlock(uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0);
|
||||||
|
bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0, bool verify = true,
|
||||||
|
bool useProgMem = false);
|
||||||
|
bool writeProgMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank = 0, uint8_t address = 0,
|
||||||
|
bool verify = true);
|
||||||
|
|
||||||
|
bool writeDMPConfigurationSet(const uint8_t* data, uint16_t dataSize, bool useProgMem = false);
|
||||||
|
bool writeProgDMPConfigurationSet(const uint8_t* data, uint16_t dataSize);
|
||||||
|
|
||||||
|
// DMP_CFG_1 register
|
||||||
|
uint8_t getDMPConfig1();
|
||||||
|
void setDMPConfig1(uint8_t config);
|
||||||
|
|
||||||
|
// DMP_CFG_2 register
|
||||||
|
uint8_t getDMPConfig2();
|
||||||
|
void setDMPConfig2(uint8_t config);
|
||||||
|
|
||||||
|
// special methods for MotionApps 2.0 implementation
|
||||||
|
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
|
||||||
|
uint8_t* dmpPacketBuffer;
|
||||||
|
uint16_t dmpPacketSize;
|
||||||
|
|
||||||
|
uint8_t dmpInitialize();
|
||||||
|
bool dmpPacketAvailable();
|
||||||
|
|
||||||
|
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||||
|
uint8_t dmpGetFIFORate();
|
||||||
|
uint8_t dmpGetSampleStepSizeMS();
|
||||||
|
uint8_t dmpGetSampleFrequency();
|
||||||
|
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||||
|
|
||||||
|
// Register callbacks after a packet of FIFO data is processed
|
||||||
|
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||||
|
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||||
|
uint8_t dmpRunFIFORateProcesses();
|
||||||
|
|
||||||
|
// Setup FIFO for various output
|
||||||
|
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
|
||||||
|
// Get Fixed Point data from FIFO
|
||||||
|
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||||
|
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
|
||||||
|
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||||
|
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||||
|
|
||||||
|
// Get Floating Point data from FIFO
|
||||||
|
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||||
|
|
||||||
|
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||||
|
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||||
|
|
||||||
|
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||||
|
|
||||||
|
uint8_t dmpInitFIFOParam();
|
||||||
|
uint8_t dmpCloseFIFO();
|
||||||
|
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||||
|
uint8_t dmpDecodeQuantizedAccel();
|
||||||
|
uint32_t dmpGetGyroSumOfSquare();
|
||||||
|
uint32_t dmpGetAccelSumOfSquare();
|
||||||
|
void dmpOverrideQuaternion(long* q);
|
||||||
|
uint16_t dmpGetFIFOPacketSize();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// special methods for MotionApps 4.1 implementation
|
||||||
|
#ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
|
||||||
|
uint8_t* dmpPacketBuffer;
|
||||||
|
uint16_t dmpPacketSize;
|
||||||
|
|
||||||
|
uint8_t dmpInitialize();
|
||||||
|
bool dmpPacketAvailable();
|
||||||
|
|
||||||
|
uint8_t dmpSetFIFORate(uint8_t fifoRate);
|
||||||
|
uint8_t dmpGetFIFORate();
|
||||||
|
uint8_t dmpGetSampleStepSizeMS();
|
||||||
|
uint8_t dmpGetSampleFrequency();
|
||||||
|
int32_t dmpDecodeTemperature(int8_t tempReg);
|
||||||
|
|
||||||
|
// Register callbacks after a packet of FIFO data is processed
|
||||||
|
//uint8_t dmpRegisterFIFORateProcess(inv_obj_func func, int16_t priority);
|
||||||
|
//uint8_t dmpUnregisterFIFORateProcess(inv_obj_func func);
|
||||||
|
uint8_t dmpRunFIFORateProcesses();
|
||||||
|
|
||||||
|
// Setup FIFO for various output
|
||||||
|
uint8_t dmpSendQuaternion(uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendGyro(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendLinearAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendLinearAccelInWorld(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendControlData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendExternalSensorData(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendGravity(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendPacketNumber(uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendQuantizedAccel(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
uint8_t dmpSendEIS(uint_fast16_t elements, uint_fast16_t accuracy);
|
||||||
|
|
||||||
|
// Get Fixed Point data from FIFO
|
||||||
|
uint8_t dmpGetAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGet6AxisQuaternion(Quaternion* q, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetRelativeQuaternion(Quaternion* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyro(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetMag(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpSetLinearAccelFilterCoefficient(float coef);
|
||||||
|
uint8_t dmpGetLinearAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccel(VectorInt16* v, VectorInt16* vRaw, VectorFloat* gravity);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetLinearAccelInWorld(VectorInt16* v, VectorInt16* vReal, Quaternion* q);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroAndAccelSensor(VectorInt16* g, VectorInt16* a, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGyroSensor(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetControlData(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetTemperature(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetGravity(VectorFloat* v, Quaternion* q);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetUnquantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(int16_t* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuantizedAccel(VectorInt16* v, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetExternalSensorData(int32_t* data, uint16_t size, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetEIS(int32_t* data, const uint8_t* packet = 0);
|
||||||
|
|
||||||
|
uint8_t dmpGetEuler(float* data, Quaternion* q);
|
||||||
|
uint8_t dmpGetYawPitchRoll(float* data, Quaternion* q, VectorFloat* gravity);
|
||||||
|
|
||||||
|
// Get Floating Point data from FIFO
|
||||||
|
uint8_t dmpGetAccelFloat(float* data, const uint8_t* packet = 0);
|
||||||
|
uint8_t dmpGetQuaternionFloat(float* data, const uint8_t* packet = 0);
|
||||||
|
|
||||||
|
uint8_t dmpProcessFIFOPacket(const unsigned char* dmpData);
|
||||||
|
uint8_t dmpReadAndProcessFIFOPacket(uint8_t numPackets, uint8_t* processed = NULL);
|
||||||
|
|
||||||
|
uint8_t dmpSetFIFOProcessedCallback(void (*func)(void));
|
||||||
|
|
||||||
|
uint8_t dmpInitFIFOParam();
|
||||||
|
uint8_t dmpCloseFIFO();
|
||||||
|
uint8_t dmpSetGyroDataSource(uint8_t source);
|
||||||
|
uint8_t dmpDecodeQuantizedAccel();
|
||||||
|
uint32_t dmpGetGyroSumOfSquare();
|
||||||
|
uint32_t dmpGetAccelSumOfSquare();
|
||||||
|
void dmpOverrideQuaternion(long* q);
|
||||||
|
uint16_t dmpGetFIFOPacketSize();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
private:
|
||||||
|
uint8_t devAddr;
|
||||||
|
uint8_t buffer[14];
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* _MPU6050_H_ */
|
||||||
313
labyrinthe/3-arduino/Test/imu-test/imu-test.ino
Normal file
313
labyrinthe/3-arduino/Test/imu-test/imu-test.ino
Normal file
@ -0,0 +1,313 @@
|
|||||||
|
#include "Wire.h"
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* imu-test.ino
|
||||||
|
* @title: Test du capteur IMU (liaison série)
|
||||||
|
* @project: Blender-EduTech - Tutoriel : Tutoriel 3 Labyrinthe à bille - Interfacer la scène 3D avec une carte Arduino
|
||||||
|
* @lang: fr
|
||||||
|
* @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||||
|
* @copyright: Copyright (C) 2023 Philippe Roy
|
||||||
|
* @license: GNU GPL
|
||||||
|
*
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* I2C
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
|
||||||
|
// for both classes must be in the include path of your project
|
||||||
|
#include "I2Cdev.h"
|
||||||
|
#include "MPU6050.h"
|
||||||
|
|
||||||
|
// class default I2C address is 0x68
|
||||||
|
// specific I2C addresses may be passed as a parameter here
|
||||||
|
// AD0 low = 0x68 (default for InvenSense evaluation board)
|
||||||
|
// AD0 high = 0x69
|
||||||
|
MPU6050 accelgyro;
|
||||||
|
I2Cdev I2C_M;
|
||||||
|
|
||||||
|
uint8_t buffer_m[6];
|
||||||
|
int16_t ax, ay, az;
|
||||||
|
int16_t gx, gy, gz;
|
||||||
|
int16_t mx, my, mz;
|
||||||
|
|
||||||
|
float heading;
|
||||||
|
float tiltheading;
|
||||||
|
|
||||||
|
float Axyz[3];
|
||||||
|
float roll;
|
||||||
|
float pitch;
|
||||||
|
float roll_deg;
|
||||||
|
float pitch_deg;
|
||||||
|
String roll_txt;
|
||||||
|
String pitch_txt;
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Pupitre
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
// Adressage Led Arduino
|
||||||
|
const int led = 13; // Led de mouvement (onboard)
|
||||||
|
const int led_com = 10; // Led de communication modele 3d-> arduino
|
||||||
|
|
||||||
|
// Adressage Entrees Arduino
|
||||||
|
// const int bt_a_m = A1; // Bouton A+ (verin droit)
|
||||||
|
// const int bt_a_d = A0; // Bouton A- (verin droit)
|
||||||
|
// const int bt_b_m = A3; // Bouton B+ (verin gauche arrière)
|
||||||
|
// const int bt_b_d = A2; // Bouton B- (verin gauche arrière)
|
||||||
|
// const int bt_c_m = 3; // Bouton C+ (verin gauche avant)
|
||||||
|
// const int bt_c_d = 2; // Bouton C- (verin gauche avant)
|
||||||
|
|
||||||
|
// Entrees numeriques (modele 3D)
|
||||||
|
// bool bt_a_m_num=false ; // Bouton A+ (verin droit)
|
||||||
|
// bool bt_a_d_num=false; // Bouton A- (verin droit)
|
||||||
|
// bool bt_b_m_num=false; // Bouton B+ (verin gauche arrière)
|
||||||
|
// bool bt_b_d_num=false; // Bouton B- (verin gauche arrière)
|
||||||
|
// bool bt_c_m_num=false; // Bouton C+ (verin gauche avant)
|
||||||
|
// bool bt_c_d_num=false; // Bouton C- (verin gauche avant)
|
||||||
|
|
||||||
|
// // Adressage Sorties Arduino
|
||||||
|
// const int v_a_v = 5; // Mouvement A (verin droit) : Vitesse (grove fil blanc)
|
||||||
|
// const int v_a_s = 4; // Mouvement A (verin droit) : Sens (grove fil jaune)
|
||||||
|
// const int v_b_v = 7; // Mouvement B (verin gauche arriere) : Vitesse (grove fil blanc)
|
||||||
|
// const int v_b_s = 6; // Mouvement B (verin gauche arriere) : Sens (grove fil jaune)
|
||||||
|
// const int v_c_v = 9; // Mouvement C (verin gauche avant) : Vitesse (grove fil blanc)
|
||||||
|
// const int v_c_s = 8; // Mouvement C (verin gauche avant) : Sens (grove fil jaune)
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Communication serie
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
String serial_msg = ""; // Message
|
||||||
|
bool serial_msg_complet = false; // Flag de message complet
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Initialisation
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
void setup() {
|
||||||
|
|
||||||
|
// Configure les broches des entrees
|
||||||
|
// pinMode(bt_a_m, INPUT);
|
||||||
|
// pinMode(bt_a_d, INPUT);
|
||||||
|
// pinMode(bt_b_m, INPUT);
|
||||||
|
// pinMode(bt_b_d, INPUT);
|
||||||
|
// pinMode(bt_c_m, INPUT);
|
||||||
|
// pinMode(bt_c_d, INPUT);
|
||||||
|
|
||||||
|
// // Configure les broches des sorties
|
||||||
|
// pinMode(v_a_v, OUTPUT);
|
||||||
|
// pinMode(v_a_s, OUTPUT);
|
||||||
|
// pinMode(v_b_v, OUTPUT);
|
||||||
|
// pinMode(v_b_s, OUTPUT);
|
||||||
|
// pinMode(v_c_v, OUTPUT);
|
||||||
|
// pinMode(v_c_s, OUTPUT);
|
||||||
|
|
||||||
|
pinMode(led, OUTPUT); // Led de mouvement
|
||||||
|
pinMode(led_com, OUTPUT); // Led de communication modele 3d-> arduino
|
||||||
|
digitalWrite(led, LOW);
|
||||||
|
digitalWrite(led_com, LOW);
|
||||||
|
|
||||||
|
// Moniteur serie
|
||||||
|
Serial.begin(115200); // 7 fps
|
||||||
|
/* Serial.begin(38400); */ // 6 fps
|
||||||
|
/* Serial.begin(9600); */ // trop lent 2fps
|
||||||
|
|
||||||
|
// I2C
|
||||||
|
Wire.begin();
|
||||||
|
Serial.println("Initializing I2C devices...");
|
||||||
|
accelgyro.initialize();
|
||||||
|
}
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Boucle principale
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
|
||||||
|
// /*****
|
||||||
|
// * Communication : modele 3d -> arduino
|
||||||
|
// *****/
|
||||||
|
|
||||||
|
// if (serial_msg_complet) {
|
||||||
|
// if (serial_msg =="Bp Am R\n") bt_a_m_num=false;
|
||||||
|
// if (serial_msg =="Bp Am\n") bt_a_m_num=true;
|
||||||
|
// if (serial_msg =="Bp Ad R\n") bt_a_d_num=false;
|
||||||
|
// if (serial_msg =="Bp Ad\n") bt_a_d_num=true;
|
||||||
|
// if (serial_msg =="Bp Bm R\n") bt_b_m_num=false;
|
||||||
|
// if (serial_msg =="Bp Bm\n") bt_b_m_num=true;
|
||||||
|
// if (serial_msg =="Bp Bd R\n") bt_b_d_num=false;
|
||||||
|
// if (serial_msg =="Bp Bd\n") bt_b_d_num=true;
|
||||||
|
// if (serial_msg =="Bp Cm R\n") bt_c_m_num=false;
|
||||||
|
// if (serial_msg =="Bp Cm\n") bt_c_m_num=true;
|
||||||
|
// if (serial_msg =="Bp Cd R\n") bt_c_d_num=false;
|
||||||
|
// if (serial_msg =="Bp Cd\n") bt_c_d_num=true;
|
||||||
|
|
||||||
|
// /* Serial.println("Echo : "+serial_msg); */
|
||||||
|
// serial_msg = "";
|
||||||
|
// serial_msg_complet = false;
|
||||||
|
// }
|
||||||
|
|
||||||
|
// /*****
|
||||||
|
// * Verin A (verin droit)
|
||||||
|
// *****/
|
||||||
|
|
||||||
|
// // Bouton physique : LOW = actif et HIGH = pas actif
|
||||||
|
// // Bouton numérique (modele 3d) : true = actif et false = pas actif
|
||||||
|
|
||||||
|
// // A+ (sortie de tige)
|
||||||
|
// if ((digitalRead(bt_a_m) == LOW || bt_a_m_num) && digitalRead(bt_a_d) == HIGH && !bt_a_d_num) {
|
||||||
|
// /* Serial.println("A+"); */
|
||||||
|
// digitalWrite(v_a_v, HIGH); // Mouvement A : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_a_s, LOW); // Mouvement A : Sens trigo (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // A- (rentrée de tige)
|
||||||
|
// if ((digitalRead(bt_a_d) == LOW || bt_a_d_num) && digitalRead(bt_a_m) == HIGH && !bt_a_m_num) {
|
||||||
|
// /* Serial.println("A-"); */
|
||||||
|
// digitalWrite(v_a_v, HIGH); // Mouvement A : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_a_s, HIGH); // Mouvement A : Sens horaire (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // Stop A
|
||||||
|
// if (digitalRead(bt_a_m) == LOW && (digitalRead(bt_a_d) == LOW || bt_a_d_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop A"); */
|
||||||
|
// digitalWrite(v_a_v, LOW); // Mouvement A : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_a_d) == LOW && (digitalRead(bt_a_m) == LOW || bt_a_m_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop A"); */
|
||||||
|
// digitalWrite(v_a_v, LOW); // Mouvement A : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_a_m) == HIGH && digitalRead(bt_a_d) == HIGH && !bt_a_m_num && !bt_a_d_num){ // Aucun ordre
|
||||||
|
// /* Serial.println("Stop A"); */
|
||||||
|
// digitalWrite(v_a_v, LOW); // Mouvement A : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// /*****
|
||||||
|
// * Verin B (verin gauche arriere)
|
||||||
|
// *****/
|
||||||
|
|
||||||
|
// // B+ (sortie de tige)
|
||||||
|
// if ((digitalRead(bt_b_m) == LOW || bt_b_m_num) && digitalRead(bt_b_d) == HIGH && !bt_b_d_num) {
|
||||||
|
// /* Serial.println("B+"); */
|
||||||
|
// digitalWrite(v_b_v, HIGH); // Mouvement B : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_b_s, LOW); // Mouvement B : Sens trigo (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // B- (rentrée de tige)
|
||||||
|
// if ((digitalRead(bt_b_d) == LOW || bt_b_d_num) && digitalRead(bt_b_m) == HIGH && !bt_b_m_num) {
|
||||||
|
// /* Serial.println("B-"); */
|
||||||
|
// digitalWrite(v_b_v, HIGH); // Mouvement B : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_b_s, HIGH); // Mouvement B : Sens horaire (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // Stop B
|
||||||
|
// if (digitalRead(bt_b_m) == LOW && (digitalRead(bt_b_d) == LOW || bt_b_d_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop B"); */
|
||||||
|
// digitalWrite(v_b_v, LOW); // Mouvement B : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_b_d) == LOW && (digitalRead(bt_b_m) == LOW || bt_b_m_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop B"); */
|
||||||
|
// digitalWrite(v_b_v, LOW); // Mouvement B : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_b_m) == HIGH && digitalRead(bt_b_d) == HIGH && !bt_b_m_num && !bt_b_d_num){ // Aucun ordre
|
||||||
|
// /* Serial.println("Stop B"); */
|
||||||
|
// digitalWrite(v_b_v, LOW); // Mouvement B : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// /*****
|
||||||
|
// * Verin C (verin gauche avant)
|
||||||
|
// *****/
|
||||||
|
|
||||||
|
// // C+ (sortie de tige)
|
||||||
|
// if ((digitalRead(bt_c_m) == LOW || bt_c_m_num) && digitalRead(bt_c_d) == HIGH && !bt_c_d_num) {
|
||||||
|
// /* Serial.println("C+"); */
|
||||||
|
// digitalWrite(v_c_v, HIGH); // Mouvement C : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_c_s, LOW); // Mouvement C : Sens trigo (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // C- (rentrée de tige)
|
||||||
|
// if ((digitalRead(bt_c_d) == LOW || bt_c_d_num) && digitalRead(bt_c_m) == HIGH && !bt_c_m_num) {
|
||||||
|
// /* Serial.println("C-"); */
|
||||||
|
// digitalWrite(v_c_v, HIGH); // Mouvement C : Vitesse (fil blanc)
|
||||||
|
// digitalWrite(v_c_s, HIGH); // Mouvement C : Sens horaire (fil jaune)
|
||||||
|
// digitalWrite(led, HIGH);
|
||||||
|
// }
|
||||||
|
|
||||||
|
// // Stop C
|
||||||
|
// if (digitalRead(bt_c_m) == LOW && (digitalRead(bt_c_d) == LOW || bt_c_d_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop C"); */
|
||||||
|
// digitalWrite(v_c_v, LOW); // Mouvement C : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_c_d) == LOW && (digitalRead(bt_c_m) == LOW || bt_c_m_num)){ // Ordres contradictoires
|
||||||
|
// /* Serial.println("Stop C"); */
|
||||||
|
// digitalWrite(v_c_v, LOW); // Mouvement C : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
// if (digitalRead(bt_c_m) == HIGH && digitalRead(bt_c_d) == HIGH && !bt_c_m_num && !bt_c_d_num){ // Aucun ordre
|
||||||
|
// /* Serial.println("Stop C"); */
|
||||||
|
// digitalWrite(v_c_v, LOW); // Mouvement C : Vitesse nulle (fil blanc)
|
||||||
|
// digitalWrite(led, LOW);
|
||||||
|
// }
|
||||||
|
|
||||||
|
/*****
|
||||||
|
* Lecture des accelerations
|
||||||
|
*****/
|
||||||
|
|
||||||
|
accelgyro.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);
|
||||||
|
Axyz[0] = (double) ax / 16384;
|
||||||
|
Axyz[1] = (double) ay / 16384;
|
||||||
|
Axyz[2] = (double) az / 16384;
|
||||||
|
roll = asin(-Axyz[0]);
|
||||||
|
roll_deg = roll*57.3;
|
||||||
|
roll_txt = String(roll_deg);
|
||||||
|
/* pitch = asin(Axyz[1]/cos(roll)); */
|
||||||
|
pitch = -asin(Axyz[1]/cos(roll)); // dépend du positionnement du capteur (X vers la droite, Y vers l'arriere, Z vers le haut)
|
||||||
|
pitch_deg = pitch*57.3;
|
||||||
|
pitch_txt = String(pitch_deg);
|
||||||
|
|
||||||
|
/*****
|
||||||
|
* Communication : arduino -> modele 3d
|
||||||
|
*****/
|
||||||
|
|
||||||
|
/* Serial.println("Roll (Rx): "+String(roll*57.3) + " Pitch (Ry): " + String(pitch*57.3) + */
|
||||||
|
/* " bt_a_m: " + String(digitalRead(bt_a_m)) + " bt_a_d: " + String(digitalRead(bt_a_d)) + */
|
||||||
|
/* " bt_b_m: " + String(digitalRead(bt_b_m)) + " bt_b_d: " + String(digitalRead(bt_b_d)) + */
|
||||||
|
/* " bt_c_m: " + String(digitalRead(bt_c_m)) + " bt_c_d: " + String(digitalRead(bt_c_d))); */
|
||||||
|
|
||||||
|
// Serial.println("Roll (Rx): "+ roll_txt + " Pitch (Ry): " + pitch_txt +
|
||||||
|
// " bt_a_m: " + digitalRead(bt_a_m) + " bt_a_d: " + digitalRead(bt_a_d) +
|
||||||
|
// " bt_b_m: " + digitalRead(bt_b_m) + " bt_b_d: " + digitalRead(bt_b_d) +
|
||||||
|
// " bt_c_m: " + digitalRead(bt_c_m) + " bt_c_d: " + digitalRead(bt_c_d));
|
||||||
|
|
||||||
|
Serial.println("Roll (Rx): "+ roll_txt + " Pitch (Ry): " + pitch_txt);
|
||||||
|
|
||||||
|
/* delay(300); */
|
||||||
|
}
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Evenements provoques par la communication serie
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
// void serialEvent() {
|
||||||
|
// while (Serial.available()) {
|
||||||
|
// char inChar = (char)Serial.read();
|
||||||
|
// serial_msg += inChar;
|
||||||
|
// if (inChar == '\n') {
|
||||||
|
// serial_msg_complet = true;
|
||||||
|
// }
|
||||||
|
// }
|
||||||
|
// }
|
||||||
80
labyrinthe/3-arduino/Test/manette-test.py
Normal file
80
labyrinthe/3-arduino/Test/manette-test.py
Normal file
@ -0,0 +1,80 @@
|
|||||||
|
import pyfirmata # Communication carte
|
||||||
|
import time
|
||||||
|
import signal # Interruptions systeme
|
||||||
|
import sys
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# manette-test.py :
|
||||||
|
# @title: Test de la manette 4 boutons et joystick (protocol Firmata)
|
||||||
|
# @project: Blender-EduTech - Tutoriel : Tutoriel 3 Labyrinthe à bille - Interfacer la scène 3D avec une carte Arduino
|
||||||
|
# @lang: fr
|
||||||
|
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||||
|
# @copyright: Copyright (C) 2023 Philippe Roy
|
||||||
|
# @license: GNU GPL
|
||||||
|
#
|
||||||
|
# Commandes simples avec une manette 4 boutons et un joystick
|
||||||
|
#
|
||||||
|
###############################################################################
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Communication avec la carte Arduino
|
||||||
|
###############################################################################
|
||||||
|
|
||||||
|
carte = pyfirmata.Arduino('COM4') # Windows
|
||||||
|
#carte = pyfirmata.Arduino('/dev/ttyACM0') # GNU/Linux
|
||||||
|
print("Communication Carte Arduino établie")
|
||||||
|
|
||||||
|
# Iterateur pour les entrees
|
||||||
|
it = pyfirmata.util.Iterator(carte)
|
||||||
|
it.start()
|
||||||
|
|
||||||
|
# Fermer proprement la communication avec la carte Arduino lors de l'arret du programme
|
||||||
|
def sigint_handler(signal, frame):
|
||||||
|
print ('Interruption du programme capturee.')
|
||||||
|
carte.exit()
|
||||||
|
time.sleep(1)
|
||||||
|
sys.exit(0)
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Definition entrees - sorties
|
||||||
|
###############################################################################
|
||||||
|
|
||||||
|
# Definition entrees
|
||||||
|
bt_a = carte.get_pin('d:2:i')
|
||||||
|
bt_r = carte.get_pin('d:3:i')
|
||||||
|
bt_g = carte.get_pin('d:4:i')
|
||||||
|
bt_d = carte.get_pin('d:5:i')
|
||||||
|
|
||||||
|
|
||||||
|
# led = carte.get_pin('d:13:o')
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Boucle principale
|
||||||
|
###############################################################################
|
||||||
|
|
||||||
|
while True:
|
||||||
|
|
||||||
|
##
|
||||||
|
# Manette
|
||||||
|
##
|
||||||
|
|
||||||
|
if bt_a.read() == True and bt_r.read() == False:
|
||||||
|
print("X+")
|
||||||
|
if bt_a.read() == False and bt_r.read() == True:
|
||||||
|
print("X-")
|
||||||
|
if bt_g.read() == True and bt_d.read() == False:
|
||||||
|
print("Y+")
|
||||||
|
if bt_g.read() == False and bt_d.read() == True :
|
||||||
|
print("Y-")
|
||||||
|
|
||||||
|
##
|
||||||
|
# Cadencement
|
||||||
|
##
|
||||||
|
|
||||||
|
time.sleep(0.1)
|
||||||
|
|
||||||
|
##
|
||||||
|
# Capture de l'interruption du programme
|
||||||
|
##
|
||||||
|
|
||||||
|
signal.signal(signal.SIGINT, sigint_handler)
|
||||||
64
labyrinthe/3-arduino/Test/pyfirmata-test.py
Normal file
64
labyrinthe/3-arduino/Test/pyfirmata-test.py
Normal file
@ -0,0 +1,64 @@
|
|||||||
|
import pyfirmata
|
||||||
|
import time
|
||||||
|
import signal
|
||||||
|
import sys
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# pyfirmata-test.py :
|
||||||
|
# @title: Test de l'environnement Python pour Arduino via pyFirmata
|
||||||
|
# @project:
|
||||||
|
# @lang: fr
|
||||||
|
# @authors: Philippe Roy <philippe.roy@ac-grenoble.fr>
|
||||||
|
# @copyright: Copyright (C) 2021-2022 Philippe Roy
|
||||||
|
# @license: GNU GPL
|
||||||
|
#
|
||||||
|
# Ce programme est un programme test pour vérifier si l'environnement Python pour Arduino est opérationnel.
|
||||||
|
# Il y a deux conditions pour son fonctionnement :
|
||||||
|
# - le programme de la carte Arduino doit être 'StandardFirmata',
|
||||||
|
# - la bibliothèque Python 'pyFirmata' doit être installée sur l'ordinateur.
|
||||||
|
#
|
||||||
|
# Il faut que la led de la carte Arduino clignote.
|
||||||
|
#
|
||||||
|
###############################################################################
|
||||||
|
|
||||||
|
# Explication dans la console
|
||||||
|
print("Ce programme est un programme test pour vérifier si l'environnement Python pour Arduino est opérationnel.")
|
||||||
|
print("Il faut que la led de carte Arduino clignote.")
|
||||||
|
print("")
|
||||||
|
print("Il y a deux conditions pour son fonctionnement :")
|
||||||
|
print("- le programme de la carte Arduino doit être 'StandardFirmata',")
|
||||||
|
print("- la bibliothèque Python 'pyFirmata' doit être installée sur l'ordinateur.")
|
||||||
|
print("")
|
||||||
|
|
||||||
|
# Connexion à la carte Arduino
|
||||||
|
#carte = pyfirmata.Arduino('/dev/ttyACM0')
|
||||||
|
carte = pyfirmata.Arduino('COM4')
|
||||||
|
print("Communication Carte Arduino établie")
|
||||||
|
|
||||||
|
# Itérateur pour les entrées
|
||||||
|
it = pyfirmata.util.Iterator(carte)
|
||||||
|
it.start()
|
||||||
|
|
||||||
|
# Définition entrées-sorties
|
||||||
|
led = carte.get_pin('d:13:o')
|
||||||
|
|
||||||
|
# Fermer proprement la communication avec la carte Arduino lors de l'arrêt du programme
|
||||||
|
def sigint_handler(signal, frame):
|
||||||
|
carte.exit()
|
||||||
|
time.sleep(1)
|
||||||
|
sys.exit(0)
|
||||||
|
|
||||||
|
# Boucle principale
|
||||||
|
while True:
|
||||||
|
led.write(1)
|
||||||
|
print("Led carte allumée")
|
||||||
|
time.sleep(1)
|
||||||
|
|
||||||
|
led.write(0)
|
||||||
|
print("Led carte éteinte")
|
||||||
|
time.sleep(1)
|
||||||
|
|
||||||
|
# Capture de l'interruption du programme
|
||||||
|
signal.signal(signal.SIGINT, sigint_handler)
|
||||||
|
|
||||||
|
|
||||||
@ -24,11 +24,12 @@ Il se décompose en 4 parties :
|
|||||||
|
|
||||||
### Tutoriel 3 : Interfacer la scène 3D avec une carte Arduino - En cours d'écriture
|
### Tutoriel 3 : Interfacer la scène 3D avec une carte Arduino - En cours d'écriture
|
||||||
- Installer les bibliothèques pySerial et pyFirmata
|
- Installer les bibliothèques pySerial et pyFirmata
|
||||||
- Créer une manette avec 4 boutons binaires (fichiers résultats : 3-1-labyrinthe.blend, 3-1-labyrinthe.py)
|
- Déplacer le plateau avec une manette (4 boutons binaires et/ou joystick) ; fichiers résultats : 3-1-labyrinthe-manette.blend, 3-1-labyrinthe-manette.py
|
||||||
- Créer une manette avec un capteur de position (fichiers résultats : 3-2-labyrinthe.blend, 3-2-labyrinthe.py, 3-2-labyrinthe.ino)
|
- Déplacer le plateau avec une centrale inertielle (IMU) ; fichiers résultats : 3-2-labyrinthe-imu.blend, 3-2-labyrinthe-imu.py, 3-2-labyrinthe-imu.ino
|
||||||
|
- Déplacer le plateau avec un détecteur de geste ; fichiers résultats : 3-3-labyrinthe-gest.blend, 3-3-labyrinthe-gest.py, 3-3-labyrinthe-gest.ino
|
||||||
|
|
||||||
### Tutoriel 4 : Interfacer la scène 3D avec une carte micro:bit - En cours d'écriture
|
### Tutoriel 4 : Interfacer la scène 3D avec une carte micro:bit - En cours d'écriture
|
||||||
- Installer la bibliothèque pySerial
|
- Installer la bibliothèque pySerial
|
||||||
- Créer une manette avec une carte micro:bit
|
- Créer une manette avec une carte micro:bit
|
||||||
- Fichiers résultats : 4-labyrinthe.blend, 4-labyrinthe.py, 4-labyrinthe-carte.py)
|
- Fichiers résultats : 4-labyrinthe.blend, 4-labyrinthe.py, 4-labyrinthe-carte.py
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user