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🐛 Fixes mpu6050 dmp

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This commit is contained in:
Rune Harlyk
2026-01-30 12:05:03 +01:00
committed by Rune Harlyk
parent dbc74d6f88
commit 1e9f38fe7b
1 changed files with 440 additions and 164 deletions
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esp32/include/peripherals/drivers/mpu6050.h
+440 -164
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@@ -12,31 +12,15 @@ class MPU6050Driver {
bool begin() {
if (!I2CBus::instance().probe(_addr)) return false;
writeReg(REG_PWR_MGMT_1, 0x80);
uint8_t whoami = readReg(REG_WHO_AM_I);
if (whoami != 0x68 && whoami != 0x72) return false;
if (dmpInitialize() != 0) return false;
setDMPEnabled(true);
vTaskDelay(pdMS_TO_TICKS(100));
writeReg(REG_PWR_MGMT_1, 0x01);
writeReg(REG_PWR_MGMT_2, 0x00);
vTaskDelay(pdMS_TO_TICKS(50));
uint8_t who = readReg(REG_WHO_AM_I);
if (who != 0x68 && who != 0x98 && who != 0x72) return false;
setI2CMasterModeEnabled(false);
setI2CBypassEnabled(true);
setSleepEnabled(false);
writeReg(REG_SMPLRT_DIV, 4);
writeReg(REG_CONFIG, 0x03);
writeReg(REG_GYRO_CONFIG, 0x00);
writeReg(REG_ACCEL_CONFIG, 0x00);
writeReg(REG_INT_PIN_CFG, 0x02);
writeReg(REG_INT_ENABLE, 0x01);
resetFIFO();
setGyroOffsets(0, 0, 0);
setAccelOffsets(0, 0, 0);
vTaskDelay(pdMS_TO_TICKS(50));
_initialized = true;
return true;
@@ -45,44 +29,18 @@ class MPU6050Driver {
bool update() {
if (!_initialized) return false;
uint8_t buf[14];
if (I2CBus::instance().readReg(_addr, REG_ACCEL_XOUT_H, buf, 14) != ESP_OK) return false;
int16_t rawAx = (buf[0] << 8) | buf[1];
int16_t rawAy = (buf[2] << 8) | buf[3];
int16_t rawAz = (buf[4] << 8) | buf[5];
int16_t rawTemp = (buf[6] << 8) | buf[7];
int16_t rawGx = (buf[8] << 8) | buf[9];
int16_t rawGy = (buf[10] << 8) | buf[11];
int16_t rawGz = (buf[12] << 8) | buf[13];
_accel[0] = (rawAx - _accelOffset[0]) / 16384.0f;
_accel[1] = (rawAy - _accelOffset[1]) / 16384.0f;
_accel[2] = (rawAz - _accelOffset[2]) / 16384.0f;
_gyro[0] = (rawGx - _gyroOffset[0]) / 131.0f;
_gyro[1] = (rawGy - _gyroOffset[1]) / 131.0f;
_gyro[2] = (rawGz - _gyroOffset[2]) / 131.0f;
_temp = rawTemp / 340.0f + 36.53f;
uint32_t now = xTaskGetTickCount() * portTICK_PERIOD_MS;
float dt = (now - _lastUpdate) / 1000.0f;
if (dt <= 0 || dt > 1.0f) dt = 0.02f;
_lastUpdate = now;
float accelMag = sqrtf(_accel[0] * _accel[0] + _accel[1] * _accel[1] + _accel[2] * _accel[2]);
bool accelValid = (accelMag > 0.8f && accelMag < 1.2f);
float accelRoll = atan2f(_accel[1], _accel[2]) * RAD2DEG_F;
float accelPitch = atan2f(-_accel[0], sqrtf(_accel[1] * _accel[1] + _accel[2] * _accel[2])) * RAD2DEG_F;
if (accelValid) {
_roll = ALPHA * (_roll + _gyro[0] * dt) + (1.0f - ALPHA) * accelRoll;
_pitch = ALPHA * (_pitch + _gyro[1] * dt) + (1.0f - ALPHA) * accelPitch;
} else {
_roll += _gyro[0] * dt;
_pitch += _gyro[1] * dt;
if (dmpGetCurrentFIFOPacket(_fifoBuffer)) {
float q[4];
dmpGetQuaternion(q, _fifoBuffer);
dmpGetGravity(_gravity, q);
dmpGetYawPitchRoll(_rpy, q, _gravity);
}
uint8_t buf[2];
if (I2CBus::instance().readReg(_addr, REG_TEMP_OUT_H, buf, 2) == ESP_OK) {
int16_t rawTemp = (buf[0] << 8) | buf[1];
_temp = rawTemp / 340.0f + 36.53f;
}
_yaw += _gyro[2] * dt;
return true;
}
@@ -90,109 +48,21 @@ class MPU6050Driver {
bool calibrate() {
if (!_initialized) return false;
_gyroOffset[0] = 0;
_gyroOffset[1] = 0;
_gyroOffset[2] = 0;
_accelOffset[0] = 0;
_accelOffset[1] = 0;
_accelOffset[2] = 0;
int32_t gxSum = 0, gySum = 0, gzSum = 0;
int32_t axSum = 0, aySum = 0, azSum = 0;
int validSamples = 0;
for (int iteration = 0; iteration < 6; iteration++) {
gxSum = gySum = gzSum = 0;
axSum = aySum = azSum = 0;
validSamples = 0;
for (int i = 0; i < 100; i++) {
uint8_t buf[14];
if (I2CBus::instance().readReg(_addr, REG_ACCEL_XOUT_H, buf, 14) != ESP_OK) continue;
axSum += (int16_t)((buf[0] << 8) | buf[1]);
aySum += (int16_t)((buf[2] << 8) | buf[3]);
azSum += (int16_t)((buf[4] << 8) | buf[5]);
gxSum += (int16_t)((buf[8] << 8) | buf[9]);
gySum += (int16_t)((buf[10] << 8) | buf[11]);
gzSum += (int16_t)((buf[12] << 8) | buf[13]);
validSamples++;
vTaskDelay(pdMS_TO_TICKS(2));
}
if (validSamples == 0) return false;
_gyroOffset[0] += gxSum / validSamples;
_gyroOffset[1] += gySum / validSamples;
_gyroOffset[2] += gzSum / validSamples;
_accelOffset[0] += axSum / validSamples;
_accelOffset[1] += aySum / validSamples;
_accelOffset[2] += (azSum / validSamples) - 16384;
}
_roll = 0;
_pitch = 0;
_yaw = 0;
_lastUpdate = xTaskGetTickCount() * portTICK_PERIOD_MS;
CalibrateGyro(6);
CalibrateAccel(6);
return true;
}
void setGyroOffsets(int16_t x, int16_t y, int16_t z) {
uint8_t buf[6] = {static_cast<uint8_t>(x >> 8), static_cast<uint8_t>(x & 0xFF),
static_cast<uint8_t>(y >> 8), static_cast<uint8_t>(y & 0xFF),
static_cast<uint8_t>(z >> 8), static_cast<uint8_t>(z & 0xFF)};
I2CBus::instance().writeReg(_addr, REG_XG_OFFSET_H, buf, 6);
}
void setAccelOffsets(int16_t x, int16_t y, int16_t z) {
uint8_t buf[2];
buf[0] = x >> 8;
buf[1] = x & 0xFF;
I2CBus::instance().writeReg(_addr, REG_XA_OFFSET_H, buf, 2);
buf[0] = y >> 8;
buf[1] = y & 0xFF;
I2CBus::instance().writeReg(_addr, REG_YA_OFFSET_H, buf, 2);
buf[0] = z >> 8;
buf[1] = z & 0xFF;
I2CBus::instance().writeReg(_addr, REG_ZA_OFFSET_H, buf, 2);
}
void setI2CMasterModeEnabled(bool enabled) {
uint8_t val = readReg(REG_USER_CTRL);
writeReg(REG_USER_CTRL, enabled ? (val | 0x20) : (val & ~0x20));
}
void setI2CBypassEnabled(bool enabled) {
uint8_t val = readReg(REG_INT_PIN_CFG);
writeReg(REG_INT_PIN_CFG, enabled ? (val | 0x02) : (val & ~0x02));
}
void setSleepEnabled(bool enabled) {
uint8_t val = readReg(REG_PWR_MGMT_1);
writeReg(REG_PWR_MGMT_1, enabled ? (val | 0x40) : (val & ~0x40));
}
void resetFIFO() { writeReg(REG_USER_CTRL, readReg(REG_USER_CTRL) | 0x04); }
void setFIFOEnabled(bool enabled) {
uint8_t val = readReg(REG_USER_CTRL);
writeReg(REG_USER_CTRL, enabled ? (val | 0x40) : (val & ~0x40));
}
float getRoll() const { return _roll; }
float getPitch() const { return _pitch; }
float getYaw() const { return _yaw; }
float getRoll() const { return _rpy[2]; }
float getPitch() const { return _rpy[1]; }
float getYaw() const { return _rpy[0]; }
float getTemperature() const { return _temp; }
const float* getAccel() const { return _accel; }
const float* getGyro() const { return _gyro; }
bool isInitialized() const { return _initialized; }
private:
static constexpr uint8_t REG_XG_OFFSET_H = 0x13;
static constexpr uint8_t REG_XA_OFFSET_H = 0x06;
static constexpr uint8_t REG_YA_OFFSET_H = 0x08;
static constexpr uint8_t REG_ZA_OFFSET_H = 0x0A;
static constexpr uint8_t REG_XG_OFFS_USRH = 0x13;
static constexpr uint8_t REG_XA_OFFS_H = 0x06;
static constexpr uint8_t REG_SMPLRT_DIV = 0x19;
static constexpr uint8_t REG_CONFIG = 0x1A;
static constexpr uint8_t REG_GYRO_CONFIG = 0x1B;
@@ -200,15 +70,198 @@ class MPU6050Driver {
static constexpr uint8_t REG_FIFO_EN = 0x23;
static constexpr uint8_t REG_INT_PIN_CFG = 0x37;
static constexpr uint8_t REG_INT_ENABLE = 0x38;
static constexpr uint8_t REG_INT_STATUS = 0x3A;
static constexpr uint8_t REG_ACCEL_XOUT_H = 0x3B;
static constexpr uint8_t REG_TEMP_OUT_H = 0x41;
static constexpr uint8_t REG_GYRO_XOUT_H = 0x43;
static constexpr uint8_t REG_SIGNAL_PATH_RESET = 0x68;
static constexpr uint8_t REG_USER_CTRL = 0x6A;
static constexpr uint8_t REG_PWR_MGMT_1 = 0x6B;
static constexpr uint8_t REG_PWR_MGMT_2 = 0x6C;
static constexpr uint8_t REG_BANK_SEL = 0x6D;
static constexpr uint8_t REG_MEM_START_ADDR = 0x6E;
static constexpr uint8_t REG_MEM_R_W = 0x6F;
static constexpr uint8_t REG_DMP_CFG_1 = 0x70;
static constexpr uint8_t REG_DMP_CFG_2 = 0x71;
static constexpr uint8_t REG_FIFO_COUNT_H = 0x72;
static constexpr uint8_t REG_FIFO_R_W = 0x74;
static constexpr uint8_t REG_WHO_AM_I = 0x75;
static constexpr float ALPHA = 0.98f;
static constexpr uint16_t DMP_PACKET_SIZE = 28;
static constexpr uint16_t DMP_CODE_SIZE = 3062;
static constexpr uint8_t dmpMemory[DMP_CODE_SIZE] = {
0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x03, 0x00, 0x00, 0x00, 0x65,
0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01, 0x03, 0x0C, 0x30, 0xC3,
0x0A, 0x74, 0x56, 0x2D, 0x0D, 0x62, 0xDB, 0xC7, 0x16, 0xF4, 0xBA, 0x02, 0x38, 0x83, 0xF8, 0x83, 0x30, 0x00,
0xF8, 0x83, 0x25, 0x8E, 0xF8, 0x83, 0x30, 0x00, 0xF8, 0x83, 0xFF, 0xFF, 0xFF, 0xFF, 0x0C, 0xBD, 0xD8, 0x11,
0x24, 0x00, 0x04, 0x00, 0x1A, 0x82, 0x79, 0xA1, 0x00, 0x36, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10,
0x00, 0x00, 0x38, 0x83, 0x6F, 0xA2, 0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09,
0x3E, 0x80, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00,
0x00, 0x00, 0x1F, 0xA4, 0xE8, 0xE4, 0xFF, 0xF5, 0xDC, 0xB9, 0x00, 0x5B, 0x79, 0xCF, 0x1F, 0x3F, 0x78, 0x76,
0x00, 0x86, 0x7C, 0x5A, 0x00, 0x86, 0x23, 0x47, 0xFA, 0xB9, 0x86, 0x31, 0x00, 0x74, 0x87, 0x8A, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x43, 0x05, 0xFF, 0xFF, 0xE9, 0xA8, 0x00, 0x00, 0x21, 0x82, 0xFA, 0xB8, 0x4D, 0x46,
0xFF, 0xFA, 0xDF, 0x3D, 0xFF, 0xFF, 0xB2, 0xB3, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xBA, 0x98, 0x00, 0x5D,
0xAC, 0x08, 0x00, 0x0A, 0x63, 0x78, 0x00, 0x01, 0x46, 0x21, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x42, 0xB5,
0x00, 0x06, 0x00, 0x64, 0x00, 0x64, 0x00, 0x06, 0x14, 0x06, 0x02, 0x9F, 0x0F, 0x47, 0x91, 0x32, 0xD9, 0x0E,
0x9F, 0xC9, 0x1D, 0xCF, 0x4C, 0x34, 0x3B, 0xB6, 0x7A, 0xE8, 0x00, 0x64, 0x00, 0x06, 0x00, 0xC8, 0x00, 0x00,
0x00, 0x00, 0xFF, 0xFE, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00, 0xA2, 0xB8, 0x00, 0x00,
0x10, 0x00, 0x00, 0x00, 0x04, 0xD6, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00, 0x04, 0xCC, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x02,
0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x0C, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x32, 0xF8, 0x98, 0x00, 0x00, 0xFF, 0x65,
0x00, 0x00, 0x83, 0x0F, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xFF, 0xF1, 0x00, 0x00, 0xFA, 0x46, 0x00, 0x00,
0xA2, 0xB8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0D, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01,
0xFB, 0x83, 0x00, 0x7C, 0x00, 0x00, 0xFB, 0x15, 0xFC, 0x00, 0x1F, 0xB4, 0xFF, 0x83, 0x00, 0x00, 0x00, 0x01,
0x00, 0x65, 0x00, 0x07, 0x00, 0x64, 0x03, 0xE8, 0x00, 0x64, 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFD, 0x00, 0x00,
0x00, 0x00, 0x16, 0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x2F, 0x00, 0x00,
0x00, 0x00, 0x01, 0xF4, 0x00, 0x00, 0x10, 0x00, 0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF,
0xFA, 0x72, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x01, 0x00, 0x05, 0xBA, 0xC6,
0x00, 0x47, 0x78, 0xA2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00,
0x00, 0x14, 0x00, 0x00, 0x23, 0xBB, 0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49,
0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1B,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x07,
0x00, 0x08, 0x00, 0x06, 0x00, 0x06, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2E, 0xA2, 0x5B, 0x00, 0x00, 0x05, 0x68, 0x00, 0x0B, 0xCF, 0x49,
0x00, 0x00, 0x00, 0x00, 0x00, 0xF8, 0xF6, 0x2A, 0x3F, 0x68, 0xF5, 0x7A, 0x00, 0x04, 0xFF, 0xFD, 0x00, 0x02,
0x00, 0x00, 0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0E, 0x00, 0x0E,
0xFF, 0xFF, 0xFF, 0xCF, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xFF, 0xFF, 0xFF, 0x9C, 0x00, 0x00,
0x43, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, 0xFF, 0xE5, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00,
0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00,
0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xD3, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06,
0x00, 0x10, 0x00, 0x96, 0x00, 0x3C, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1F, 0x9E, 0x65, 0x5D, 0x0C, 0x0A, 0x4E, 0x68, 0xCD, 0xCF, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xC6, 0x19,
0xCE, 0x82, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47, 0x71, 0x1C,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xD7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x11,
0xDC, 0x47, 0x03, 0x00, 0x00, 0x00, 0xC7, 0x93, 0x8F, 0x9D, 0x1E, 0x1B, 0x1C, 0x19, 0xFF, 0xFF, 0xFF, 0xFF,
0x00, 0x00, 0x00, 0x00, 0x0E, 0xDF, 0xA4, 0x38, 0x1F, 0x9E, 0x65, 0x5D, 0x00, 0x00, 0x00, 0x00, 0x00, 0x47,
0x71, 0x1C, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xFF, 0xFF, 0xFD, 0xFF, 0xFF, 0xF4, 0xC9, 0xFF, 0xFF,
0xBC, 0xF0, 0x00, 0x01, 0x0C, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0xF5, 0xB7, 0xBA, 0xB3, 0x67, 0x7D, 0xDF, 0x7E, 0x72, 0x90, 0x2E, 0x55, 0x4C, 0xF6, 0xE6, 0x88,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD8, 0xDC,
0xB4, 0xB8, 0xB0, 0xD8, 0xB9, 0xAB, 0xF3, 0xF8, 0xFA, 0xB3, 0xB7, 0xBB, 0x8E, 0x9E, 0xAE, 0xF1, 0x32, 0xF5,
0x1B, 0xF1, 0xB4, 0xB8, 0xB0, 0x80, 0x97, 0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA,
0x4C, 0xCD, 0x6C, 0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB2, 0x89, 0x99, 0xA9,
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0x86, 0x96, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x87, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 0x82, 0x92, 0xF3,
0x41, 0x80, 0xF1, 0xD9, 0x2E, 0xD8, 0xA8, 0x82, 0xF3, 0x19, 0x80, 0xF1, 0xD9, 0x2E, 0xD8, 0x82, 0xAC, 0xF3,
0xC0, 0xA2, 0x80, 0x22, 0xF1, 0xA6, 0x2E, 0xA7, 0x2E, 0xA9, 0x22, 0x98, 0xA8, 0x29, 0xDA, 0xAC, 0xDE, 0xFF,
0xD8, 0xA2, 0xF2, 0x2A, 0xF1, 0xA9, 0x2E, 0x82, 0x92, 0xA8, 0xF2, 0x31, 0x80, 0xA6, 0x96, 0xF1, 0xD9, 0x00,
0xAC, 0x8C, 0x9C, 0x0C, 0x30, 0xAC, 0xDE, 0xD0, 0xDE, 0xFF, 0xD8, 0x8C, 0x9C, 0xAC, 0xD0, 0x10, 0xAC, 0xDE,
0x80, 0x92, 0xA2, 0xF2, 0x4C, 0x82, 0xA8, 0xF1, 0xCA, 0xF2, 0x35, 0xF1, 0x96, 0x88, 0xA6, 0xD9, 0x00, 0xD8,
0xF1, 0xFF};
void writeReg(uint8_t reg, uint8_t val) { I2CBus::instance().writeReg(_addr, reg, &val, 1); }
@@ -218,15 +271,238 @@ class MPU6050Driver {
return val;
}
void writeBit(uint8_t reg, uint8_t bit, uint8_t val) {
uint8_t b = readReg(reg);
b = val ? (b | (1 << bit)) : (b & ~(1 << bit));
writeReg(reg, b);
}
void writeBits(uint8_t reg, uint8_t startBit, uint8_t len, uint8_t val) {
uint8_t b = readReg(reg);
uint8_t mask = ((1 << len) - 1) << (startBit - len + 1);
val <<= (startBit - len + 1);
b = (b & ~mask) | (val & mask);
writeReg(reg, b);
}
void setDMPEnabled(bool enabled) { writeBit(REG_USER_CTRL, 7, enabled ? 1 : 0); }
uint16_t getFIFOCount() {
uint8_t buf[2];
I2CBus::instance().readReg(_addr, REG_FIFO_COUNT_H, buf, 2);
return (buf[0] << 8) | buf[1];
}
void resetFIFO() { writeBit(REG_USER_CTRL, 2, 1); }
void setMemoryBank(uint8_t bank) { writeReg(REG_BANK_SEL, bank & 0x1F); }
void setMemoryStartAddress(uint8_t address) { writeReg(REG_MEM_START_ADDR, address); }
bool writeMemoryBlock(const uint8_t* data, uint16_t dataSize, uint8_t bank, uint8_t address) {
uint8_t chunkSize;
uint16_t i = 0;
setMemoryBank(bank);
setMemoryStartAddress(address);
while (i < dataSize) {
chunkSize = 16;
if (i + chunkSize > dataSize) chunkSize = dataSize - i;
if (address + chunkSize > 256) chunkSize = 256 - address;
I2CBus::instance().writeReg(_addr, REG_MEM_R_W, data + i, chunkSize);
i += chunkSize;
address += chunkSize;
if (address == 0 || address >= 256) {
address = 0;
bank++;
setMemoryBank(bank);
}
if (address > 0) {
setMemoryStartAddress(address);
}
}
return true;
}
int dmpInitialize() {
writeBit(REG_PWR_MGMT_1, 7, 1);
vTaskDelay(pdMS_TO_TICKS(100));
writeBits(REG_USER_CTRL, 2, 3, 0b111);
vTaskDelay(pdMS_TO_TICKS(100));
writeReg(REG_PWR_MGMT_1, 0x01);
writeReg(REG_INT_ENABLE, 0x00);
writeReg(REG_FIFO_EN, 0x00);
writeReg(REG_ACCEL_CONFIG, 0x00);
writeReg(REG_INT_PIN_CFG, 0x82);
writeReg(REG_PWR_MGMT_1, 0x01);
writeReg(REG_SMPLRT_DIV, 0x04);
writeReg(REG_CONFIG, 0x01);
if (!writeMemoryBlock(dmpMemory, DMP_CODE_SIZE, 0, 0)) return 1;
uint8_t verify[2];
setMemoryBank(0);
setMemoryStartAddress(0);
I2CBus::instance().readReg(_addr, REG_MEM_R_W, verify, 2);
if (verify[0] != 0x00 || verify[1] != 0xF8) return 2;
uint8_t dmpStart[2] = {0x04, 0x00};
I2CBus::instance().writeReg(_addr, REG_DMP_CFG_1, dmpStart, 2);
writeReg(REG_GYRO_CONFIG, 0x18);
writeReg(REG_USER_CTRL, 0xC0);
writeReg(REG_INT_ENABLE, 0x02);
resetFIFO();
setDMPEnabled(false);
return 0;
}
bool dmpGetCurrentFIFOPacket(uint8_t* data) {
int16_t fifoC = getFIFOCount();
if (fifoC > 200) {
resetFIFO();
uint32_t start = xTaskGetTickCount();
fifoC = 0;
while (!fifoC && (xTaskGetTickCount() - start) < pdMS_TO_TICKS(100)) {
vTaskDelay(pdMS_TO_TICKS(2));
fifoC = getFIFOCount();
}
} else if (fifoC > DMP_PACKET_SIZE) {
uint8_t trash[32];
while ((fifoC = getFIFOCount()) > DMP_PACKET_SIZE) {
uint16_t toRemove = fifoC - DMP_PACKET_SIZE;
while (toRemove > 0) {
uint8_t chunk = (toRemove < 32) ? toRemove : 32;
I2CBus::instance().readReg(_addr, REG_FIFO_R_W, trash, chunk);
toRemove -= chunk;
}
}
}
if (!fifoC) return false;
if (fifoC != DMP_PACKET_SIZE) return false;
I2CBus::instance().readReg(_addr, REG_FIFO_R_W, data, DMP_PACKET_SIZE);
return true;
}
void dmpGetQuaternion(float* q, const uint8_t* packet) {
int16_t qI[4];
qI[0] = (packet[0] << 8) | packet[1];
qI[1] = (packet[4] << 8) | packet[5];
qI[2] = (packet[8] << 8) | packet[9];
qI[3] = (packet[12] << 8) | packet[13];
q[0] = qI[0] / 16384.0f;
q[1] = qI[1] / 16384.0f;
q[2] = qI[2] / 16384.0f;
q[3] = qI[3] / 16384.0f;
}
void dmpGetGravity(float* g, const float* q) {
g[0] = 2.0f * (q[1] * q[3] - q[0] * q[2]);
g[1] = 2.0f * (q[0] * q[1] + q[2] * q[3]);
g[2] = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
}
void dmpGetYawPitchRoll(float* ypr, const float* q, const float* gravity) {
ypr[0] = atan2f(2.0f * q[1] * q[2] - 2.0f * q[0] * q[3], 2.0f * q[0] * q[0] + 2.0f * q[1] * q[1] - 1.0f);
ypr[1] = atan2f(gravity[0], sqrtf(gravity[1] * gravity[1] + gravity[2] * gravity[2]));
ypr[2] = atan2f(gravity[1], gravity[2]);
if (gravity[2] < 0) {
if (ypr[1] > 0) {
ypr[1] = M_PI - ypr[1];
} else {
ypr[1] = -M_PI - ypr[1];
}
}
}
void CalibrateGyro(int loops) {
float kP = 0.3f;
float kI = 90.0f;
float x = (100.0f - (loops < 1 ? 20 : (loops > 5 ? 0 : 20 - (loops - 1) * 5))) * 0.01f;
kP *= x;
kI *= x;
PID(REG_GYRO_XOUT_H, kP, kI, loops);
}
void CalibrateAccel(int loops) {
float kP = 0.3f;
float kI = 20.0f;
float x = (100.0f - (loops < 1 ? 20 : (loops > 5 ? 0 : 20 - (loops - 1) * 5))) * 0.01f;
kP *= x;
kI *= x;
PID(REG_ACCEL_XOUT_H, kP, kI, loops);
}
void PID(uint8_t readAddr, float kP, float kI, int loops) {
uint8_t saveAddr = (readAddr == REG_ACCEL_XOUT_H) ? REG_XA_OFFS_H : REG_XG_OFFS_USRH;
uint8_t shift = (readAddr == REG_ACCEL_XOUT_H) ? 2 : 2;
int16_t data;
float reading;
int16_t bitZero[3] = {0, 0, 0};
float iTerm[3] = {0, 0, 0};
int16_t gravity = 16384;
for (int i = 0; i < 3; i++) {
uint8_t buf[2];
I2CBus::instance().readReg(_addr, saveAddr + (i * shift), buf, 2);
data = (buf[0] << 8) | buf[1];
reading = data;
if (readAddr == REG_ACCEL_XOUT_H) {
bitZero[i] = data & 1;
iTerm[i] = reading * 8.0f;
} else {
iTerm[i] = reading * 4.0f;
}
}
for (int l = 0; l < loops; l++) {
for (int c = 0; c < 100; c++) {
for (int i = 0; i < 3; i++) {
uint8_t buf[2];
I2CBus::instance().readReg(_addr, readAddr + (i * 2), buf, 2);
data = (buf[0] << 8) | buf[1];
reading = data;
if (readAddr == REG_ACCEL_XOUT_H && i == 2) reading -= gravity;
float error = -reading;
float pTerm = kP * error;
iTerm[i] += (error * 0.001f) * kI;
if (readAddr == REG_ACCEL_XOUT_H) {
data = (int16_t)roundf((pTerm + iTerm[i]) / 8.0f);
data = (data & 0xFFFE) | bitZero[i];
} else {
data = (int16_t)roundf((pTerm + iTerm[i]) / 4.0f);
}
uint8_t outBuf[2] = {(uint8_t)(data >> 8), (uint8_t)(data & 0xFF)};
I2CBus::instance().writeReg(_addr, saveAddr + (i * shift), outBuf, 2);
}
vTaskDelay(pdMS_TO_TICKS(1));
}
kP *= 0.75f;
kI *= 0.75f;
}
}
uint8_t _addr;
bool _initialized = false;
float _accel[3] = {0};
float _gyro[3] = {0};
int16_t _gyroOffset[3] = {0};
int16_t _accelOffset[3] = {0};
uint8_t _fifoBuffer[DMP_PACKET_SIZE];
float _gravity[3] = {0};
float _rpy[3] = {0};
float _temp = 0;
float _roll = 0;
float _pitch = 0;
float _yaw = 0;
uint32_t _lastUpdate = 0;
};