#pragma once #include #include class MPU6050Driver { public: static constexpr uint8_t DEFAULT_ADDR = 0x68; MPU6050Driver(uint8_t addr = DEFAULT_ADDR) : _addr(addr) {} bool begin() { if (!I2CBus::instance().probe(_addr)) return false; 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)); resetFIFO(); vTaskDelay(pdMS_TO_TICKS(50)); _initialized = true; return true; } bool update() { if (!_initialized) return false; 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; } return true; } bool calibrate() { if (!_initialized) return false; CalibrateGyro(6); CalibrateAccel(6); return true; } float getRoll() const { return _rpy[2]; } float getPitch() const { return _rpy[1]; } float getYaw() const { return _rpy[0]; } float getTemperature() const { return _temp; } bool isInitialized() const { return _initialized; } private: 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; static constexpr uint8_t REG_ACCEL_CONFIG = 0x1C; 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 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, 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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, 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0xA9, 0x0C, 0xC9, 0x2C, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB2, 0x89, 0x99, 0xA9, 0x2D, 0x55, 0x7D, 0xB0, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xBA, 0xA3, 0xB4, 0xB2, 0x80, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB2, 0x83, 0x98, 0xBA, 0xA3, 0xF0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xB2, 0xB9, 0xB4, 0x98, 0x83, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xBA, 0xB5, 0xB1, 0xA3, 0x83, 0x93, 0xF0, 0x00, 0x28, 0x50, 0xF5, 0xB2, 0xB6, 0xAA, 0x83, 0x93, 0x28, 0x54, 0x7C, 0xF1, 0xB9, 0xA3, 0x82, 0x93, 0x61, 0xBA, 0xA2, 0xDA, 0xDE, 0xDF, 0xDB, 0x81, 0x9A, 0xB9, 0xAE, 0xF5, 0x60, 0x68, 0x70, 0xF1, 0xDA, 0xBA, 0xA2, 0xDF, 0xD9, 0xBA, 0xA2, 0xFA, 0xB9, 0xA3, 0x82, 0x92, 0xDB, 0x31, 0xBA, 0xA2, 0xD9, 0xBA, 0xA2, 0xF8, 0xDF, 0x85, 0xA4, 0xD0, 0xC1, 0xBB, 0xAD, 0x83, 0xC2, 0xC5, 0xC7, 0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xBA, 0xA0, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xAA, 0xB3, 0x8D, 0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB2, 0xB6, 0xBA, 0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 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0xA8, 0x89, 0x39, 0xA9, 0x80, 0xDA, 0x3C, 0xD8, 0xA8, 0x2E, 0xA8, 0x39, 0x90, 0xD9, 0x0C, 0xD8, 0xA8, 0x95, 0x31, 0x98, 0xD9, 0x0C, 0xD8, 0xA8, 0x09, 0xD9, 0xFF, 0xD8, 0x01, 0xDA, 0xFF, 0xD8, 0x95, 0x39, 0xA9, 0xDA, 0x26, 0xFF, 0xD8, 0x90, 0xA8, 0x0D, 0x89, 0x99, 0xA8, 0x10, 0x80, 0x98, 0x21, 0xDA, 0x2E, 0xD8, 0x89, 0x99, 0xA8, 0x31, 0x80, 0xDA, 0x2E, 0xD8, 0xA8, 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); } uint8_t readReg(uint8_t reg) { uint8_t val = 0; I2CBus::instance().readReg(_addr, reg, &val, 1); 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; uint8_t _fifoBuffer[DMP_PACKET_SIZE]; float _gravity[3] = {0}; float _rpy[3] = {0}; float _temp = 0; };