arduino esp32 기존소스 분석
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//---------------------------------------------------------------------------------------------------
// Header files
#include <SPI.h>
#include <Wire.h>
#include <math.h>
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#include <QMC5883LCompass.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
//---------------------------------------------------------------------------------------------------
// Definitions
QMC5883LCompass compass;
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
#define OLED_RESET -1
Adafruit_SSD1306 display = Adafruit_SSD1306(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);
int status;
int calibrationData[3][2];
bool changed = false;
bool done = false;
int t = 0;
int c = 0;
bool calibrated = false;
void testdrawchar(void) {
display.clearDisplay();
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0, 0); // Start at top-left corner
display.cp437(true); // Use full 256 char 'Code Page 437' font
// Not all the characters will fit on the display. This is normal.
// Library will draw what it can and the rest will be clipped.
for(int16_t i=0; i<256; i++) {
if(i == '\n') display.write(' ');
else display.write(i);
}
display.display();
delay(2000);
}
// Definitions MPU6050.h
#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_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_A 0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#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_SELF_TEST_XA_1_BIT 0x07
#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_XA_2_BIT 0x05
#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_YA_1_BIT 0x07
#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_YA_2_BIT 0x03
#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_XG_1_BIT 0x04
#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_YG_1_BIT 0x04
#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
#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
// For Quaternion function
#define twoKpDef (2.0f * 0.5f) // 2 * proportional gain
#define twoKiDef (2.0f * 0.0f) // 2 * integral gain
// Transform raw data of accelerometer & gyroscope
#define MPU6050_AXOFFSET -208
#define MPU6050_AYOFFSET 417
#define MPU6050_AZOFFSET 93
//#define MPU6050_AXOFFSET 0
//#define MPU6050_AYOFFSET 0
//#define MPU6050_AZOFFSET 0
//#define MPU6050_AXGAIN 16384.0 // AFS_SEL = 0, +/-2g, MPU6050_ACCEL_FS_2
//#define MPU6050_AYGAIN 16384.0 // AFS_SEL = 0, +/-2g, MPU6050_ACCEL_FS_2
//#define MPU6050_AZGAIN 16384.0 // AFS_SEL = 0, +/-2g, MPU6050_ACCEL_FS_2
//#define MPU6050_AXGAIN 8192.0 // AFS_SEL = 1, +/-4g, MPU6050_ACCEL_FS_4
//#define MPU6050_AYGAIN 8192.0 // AFS_SEL = 1, +/-4g, MPU6050_ACCEL_FS_4
//#define MPU6050_AZGAIN 8192.0 // AFS_SEL = 1, +/-4g, MPU6050_ACCEL_FS_4
#define MPU6050_AXGAIN 4096.0 // AFS_SEL = 2, +/-8g, MPU6050_ACCEL_FS_8
#define MPU6050_AYGAIN 4096.0 // AFS_SEL = 2, +/-8g, MPU6050_ACCEL_FS_8
#define MPU6050_AZGAIN 4096.0 // AFS_SEL = 2, +/-8g, MPU6050_ACCEL_FS_8
//#define MPU6050_AXGAIN 2048.0 // AFS_SEL = 3, +/-16g, MPU6050_ACCEL_FS_16
//#define MPU6050_AYGAIN 2048.0 // AFS_SEL = 3, +/-16g, MPU6050_ACCEL_FS_16
//#define MPU6050_AZGAIN 2048.0 // AFS_SEL = 3, +/-16g, MPU6050_ACCEL_FS_16
#define MPU6050_GXOFFSET 0
#define MPU6050_GYOFFSET 2
#define MPU6050_GZOFFSET 3
//#define MPU6050_GXOFFSET 0
//#define MPU6050_GYOFFSET 0
//#define MPU6050_GZOFFSET 0
//#define MPU6050_GXGAIN 131.072 // FS_SEL = 0, +/-250degree/s, MPU6050_GYRO_FS_250
//#define MPU6050_GYGAIN 131.072 // FS_SEL = 0, +/-250degree/s, MPU6050_GYRO_FS_250
//#define MPU6050_GZGAIN 131.072 // FS_SEL = 0, +/-250degree/s, MPU6050_GYRO_FS_250
//#define MPU6050_GXGAIN 65.536 // FS_SEL = 1, +/-500degree/s, MPU6050_GYRO_FS_500
//#define MPU6050_GYGAIN 65.536 // FS_SEL = 1, +/-500degree/s, MPU6050_GYRO_FS_500
//#define MPU6050_GZGAIN 65.536 // FS_SEL = 1, +/-500degree/s, MPU6050_GYRO_FS_500
//#define MPU6050_GXGAIN 32.768 // FS_SEL = 2, +/-1000degree/s, MPU6050_GYRO_FS_1000
//#define MPU6050_GYGAIN 32.768 // FS_SEL = 2, +/-1000degree/s, MPU6050_GYRO_FS_1000
//#define MPU6050_GZGAIN 32.768 // FS_SEL = 2, +/-1000degree/s, MPU6050_GYRO_FS_1000
#define MPU6050_GXGAIN 16.384 // FS_SEL = 3, +/-2000degree/s, MPU6050_GYRO_FS_2000
#define MPU6050_GYGAIN 16.384 // FS_SEL = 3, +/-2000degree/s, MPU6050_GYRO_FS_2000
#define MPU6050_GZGAIN 16.384 // FS_SEL = 3, +/-2000degree/s, MPU6050_GYRO_FS_2000
// Blinking LED
#define SDA D4
#define SCL D5
#define INTERRUPT_PIN D1
#define SERVICE_UUID "0000FFE0-0000-1000-8000-00805F9B34FB"
#define CHARACTERISTIC_UUID "0000FFE1-0000-1000-8000-00805F9B34FB"
//---------------------------------------------------------------------------------------------------
// Variable definitions
RTC_DATA_ATTR int bootCount = 0;
int power_flag = 0;
int button_state = 0;
int button_cnt = 0;
const int readPin = D1;
float BAT_Value = 0;
hw_timer_t *My_timer = NULL;
volatile float twoKp = twoKpDef; // 2 * proportional gain (Kp)
volatile float twoKi = twoKiDef; // 2 * integral gain (Ki)
volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f, q4 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
volatile float integralFBx = 0.0f, integralFBy = 0.0f, integralFBz = 0.0f; // integral error terms scaled by Ki
long sampling_timer;
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
float axg, ayg, azg, gxrs, gyrs, gzrs;
float roll, pitch, yaw;
float SelfTest[6];
float gyroBias[3] = {0, 0, 0}, accelBias[3] = {0, 0, 0}; // Bias corrections for gyro and accelerometer
float sampleFreq = 0.0f; // integration interval for both filter schemes
uint32_t lastUpdate = 0, firstUpdate = 0; // used to calculate integration interval
uint32_t Now = 0; // used to calculate integration interval
bool blinkState = false; // LED Bliking for Pin13
BLEServer* pServer = NULL;
BLECharacteristic* pCharacteristic = NULL;
bool deviceConnected = false;
bool oldDeviceConnected = false;
unsigned int buff_size = 256;
uint8_t values[256];
class MyServerCallbacks: public BLEServerCallbacks {
void onConnect(BLEServer* pServer) {
deviceConnected = true;
BLEDevice::startAdvertising();
};
void onDisconnect(BLEServer* pServer) {
deviceConnected = false;
}
};
void IRAM_ATTR onTimer(){
}
void setup() {
Serial.begin(115200);
// 타이머 설정
My_timer = timerBegin(0, 80, true);
timerAttachInterrupt(My_timer, &onTimer, true);
timerAlarmWrite(My_timer, 100000, true);
timerAlarmEnable(My_timer); //Just Enable
pinMode(INTERRUPT_PIN, INPUT);
Serial.println("Hello, ESP32-C3!");
// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3D for 128x64
Serial.println(F("SSD1306 allocation failed"));
for(;;); // Don't proceed, loop forever
}
pinMode(D1, INPUT);
pinMode(D2, INPUT);
pinMode(A0, INPUT); // ADC
//Wire.begin(SDA, SCL, 400000);
Wire.begin();
compass.init();
// Self Test
MPU6050SelfTest(SelfTest);
// Calibrate MPU6050
//calibrateMPU6050(gyroBias, accelBias); // Calibrate gyro and accelerometers, load biases in bias registers
// Initialize MPU6050
MPU6050_Init();
// Sampling Timer
sampling_timer = micros();
ble_init();
Serial.println("display initialized");
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0, 0); // Start at top-left corner
display.cp437(true); // Use full 256 char 'Code Page 437' font
display.display();
delay(200); // Pause for 2 seconds
// Clear the buffer
display.clearDisplay();
//testdrawchar();
}
void loop() {
uint8_t sw1 = digitalRead(D1);
uint8_t sw2 = digitalRead(D2);
uint32_t Vbatt = 0;
char buf[buff_size] = "";
display.clearDisplay();
for(int i = 0; i < 16; i++) {
Vbatt = Vbatt + analogReadMilliVolts(A0); // ADC with correction
}
float Vbattf = 2 * Vbatt / 16 / 1000.0; // attenuation ratio 1/2, mV --> V
display.setCursor(0, 0);
display.print("Vbatt : ");
display.println(Vbattf, 3);
display.setCursor(0, 31);
display.print("SW1 : ");
display.println(sw1);
display.setCursor(0, 16);
display.print("SW2 : ");
display.println(sw2);
// Read accelerometer and gyroscope data
// Get raw data
mpu6050_GetData();
// Update raw data to Quaternion form
mpu6050_updateQuaternion();
mpu6050_getRollPitchYaw();
Now = micros();
sampleFreq = (1000000.0f / (Now - lastUpdate)); // set integration time by time elapsed since last filter update
lastUpdate = Now;
//compute data
MahonyAHRSupdateIMU(gxrs, gyrs, gzrs, axg, ayg, azg);
/* String temp = String(q0, 6);
temp += ",";
temp += String(q1, 6);
temp += ",";
temp += String(q2, 6);
temp += ",";
temp += String(q3, 6);
Serial.println(temp);*/
// If calibrating
float x, y, z;
// Read compass values
compass.read();
// Return XYZ readings
x = compass.getX();
y = compass.getY();
z = compass.getZ();
int azimut = compass.getAzimuth();
float bearing = compass.getBearing(azimut);
String temp="";
if(sw1 == 1) temp += "1";
else temp += "0";
if(sw2 == 1) temp += "1";
else temp += "0";
int q_x = abs(int(trunc((q1+2)*1000)));
int q_y = abs(int(trunc((q2+2)*1000)));
int q_z = abs(int(trunc((q3+2)*1000)));
int q_w = abs(int(trunc((q0+2)*1000)));
String s_x = String(q_x);
String s_y = String(q_y);
String s_z = String(q_z);
String s_w = String(q_w);
// while (s_x.length() < 4) {s_x = '0' + s_x;}
// while (s_y.length() < 4) {s_x = '0' + s_y;}
// while (s_z.length() < 4) {s_x = '0' + s_z;}
// while (s_w.length() < 4) {s_x = '0' + s_w;}
// temp += roll;
// temp += pitch;
// temp += yaw;
// temp += ",";
temp += s_x;
temp += s_y;
temp += s_z;
temp += s_w;
// temp += ",";
// temp += String(gxrs, 2);
// temp += ",";
// temp += String(gyrs, 2);
// temp += ",";
// temp += String(gzrs, 2);
// temp += ",";
// temp += String(axg, 2);
// temp += ",";
// temp += String(ayg, 2);
// temp += ",";
// temp += String(azg, 2);
// temp += ",";
// temp += String(x,0);
// temp += ",";
// temp += String(y,0);
// temp += ",";
// temp += String(z,0);
temp += ",";
temp += String(Vbattf, 2);
Serial.println(temp);
byte realByte[temp.length()];
temp.getBytes(realByte, temp.length());
Serial.print("Byte Size: ");
Serial.println(sizeof(realByte));
temp.toCharArray(buf, buff_size);
for(int ii=0;ii<buff_size;ii++)
{
values[ii] = buf[ii];
}
/*
byte* q0b = (byte*) &q0;
byte* q1b = (byte*) &q1;
byte* q2b = (byte*) &q2;
byte* q3b = (byte*) &q3;
byte* qArray[] = {q0b, q1b, q2b, q3b};
*/
if (deviceConnected) {
pCharacteristic->setValue(values, buff_size);
pCharacteristic->notify();
delay(10); // bluetooth stack will go into congestion, if too many packets are sent, in 6 hours test i was able to go as low as 3ms
}
// disconnecting
if (!deviceConnected && oldDeviceConnected) {
delay(500); // give the bluetooth stack the chance to get things ready
pServer->startAdvertising(); // restart advertising
Serial.println("start advertising");
oldDeviceConnected = deviceConnected;
}
// connecting
if (deviceConnected && !oldDeviceConnected) {
// do stuff here on connecting
oldDeviceConnected = deviceConnected;
}
// Sampling Timer
//while(micros() - sampling_timer < 3950); //
//sampling_timer = micros(); //Reset the sampling timer
display.display();
}
void setByteArray(uint8_t uintArray[], uint8_t index, byte* qb){
for(uint8_t i=0; i<4; i++){
uintArray[index+i] = qb[i];
}
}
void MPU6050_Init(){
// MPU6050 Initializing & Reset
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); // set to zero (wakes up the MPU-6050)
// MPU6050 Clock Type
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x01); // Selection Clock 'PLL with X axis gyroscope reference'
// MPU6050 Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV) for DMP
//writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x00); // Default is 1KHz // example 0x04 is 200Hz
// MPU6050 Gyroscope Configuration Setting
/* Wire.write(0x00); // FS_SEL=0, Full Scale Range = +/- 250 [degree/sec]
Wire.write(0x08); // FS_SEL=1, Full Scale Range = +/- 500 [degree/sec]
Wire.write(0x10); // FS_SEL=2, Full Scale Range = +/- 1000 [degree/sec]
Wire.write(0x18); // FS_SEL=3, Full Scale Range = +/- 2000 [degree/sec] */
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x18); // FS_SEL=3
// MPU6050 Accelerometer Configuration Setting
/* Wire.write(0x00); // AFS_SEL=0, Full Scale Range = +/- 2 [g]
Wire.write(0x08); // AFS_SEL=1, Full Scale Range = +/- 4 [g]
Wire.write(0x10); // AFS_SEL=2, Full Scale Range = +/- 8 [g]
Wire.write(0x18); // AFS_SEL=3, Full Scale Range = +/- 10 [g] */
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x10); // AFS_SEL=2
// MPU6050 DLPF(Digital Low Pass Filter)
/*Wire.write(0x00); // Accel BW 260Hz, Delay 0ms / Gyro BW 256Hz, Delay 0.98ms, Fs 8KHz
Wire.write(0x01); // Accel BW 184Hz, Delay 2ms / Gyro BW 188Hz, Delay 1.9ms, Fs 1KHz
Wire.write(0x02); // Accel BW 94Hz, Delay 3ms / Gyro BW 98Hz, Delay 2.8ms, Fs 1KHz
Wire.write(0x03); // Accel BW 44Hz, Delay 4.9ms / Gyro BW 42Hz, Delay 4.8ms, Fs 1KHz
Wire.write(0x04); // Accel BW 21Hz, Delay 8.5ms / Gyro BW 20Hz, Delay 8.3ms, Fs 1KHz
Wire.write(0x05); // Accel BW 10Hz, Delay 13.8ms / Gyro BW 10Hz, Delay 13.4ms, Fs 1KHz
Wire.write(0x06); // Accel BW 5Hz, Delay 19ms / Gyro BW 5Hz, Delay 18.6ms, Fs 1KHz */
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x00); //Accel BW 260Hz, Delay 0ms / Gyro BW 256Hz, Delay 0.98ms, Fs 8KHz
}
void mpu6050_GetData() {
uint8_t data_org[14]; // original data of accelerometer and gyro
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, 14, &data_org[0]);
AcX = data_org[0] << 8 | data_org[1]; // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
AcY = data_org[2] << 8 | data_org[3]; // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
AcZ = data_org[4] << 8 | data_org[5]; // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
Tmp = data_org[6] << 8 | data_org[7]; // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
GyX = data_org[8] << 8 | data_org[9]; // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
GyY = data_org[10] << 8 | data_org[11]; // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
GyZ = data_org[12] << 8 | data_org[13]; // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
}
void mpu6050_updateQuaternion() {
axg = (float)(AcX - MPU6050_AXOFFSET) / MPU6050_AXGAIN;
ayg = (float)(AcY - MPU6050_AYOFFSET) / MPU6050_AYGAIN;
azg = (float)(AcZ - MPU6050_AZOFFSET) / MPU6050_AZGAIN;
gxrs = (float)(GyX - MPU6050_GXOFFSET) / MPU6050_GXGAIN * 0.01745329; //degree to radians
gyrs = (float)(GyY - MPU6050_GYOFFSET) / MPU6050_GYGAIN * 0.01745329; //degree to radians
gzrs = (float)(GyZ - MPU6050_GZOFFSET) / MPU6050_GZGAIN * 0.01745329; //degree to radians
// Degree to Radians Pi / 180 = 0.01745329 0.01745329251994329576923690768489
//Serial.println(axg+":"+ayg+":"+azg+":"+gxrs+":"+gyrs+":"+gzrs);
}
void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) {
float norm;
float halfvx, halfvy, halfvz;
float halfex, halfey, halfez;
float qa, qb, qc;
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az);
ax /= norm;
ay /= norm;
az /= norm;
// Estimated direction of gravity and vector perpendicular to magnetic flux
halfvx = q1 * q3 - q0 * q2;
halfvy = q0 * q1 + q2 * q3;
halfvz = q0 * q0 - 0.5f + q3 * q3;
// Error is sum of cross product between estimated and measured direction of gravity
halfex = (ay * halfvz - az * halfvy);
halfey = (az * halfvx - ax * halfvz);
halfez = (ax * halfvy - ay * halfvx);
// Compute and apply integral feedback if enabled
if(twoKi > 0.0f) {
integralFBx += twoKi * halfex * (1.0f / sampleFreq); // integral error scaled by Ki
integralFBy += twoKi * halfey * (1.0f / sampleFreq);
integralFBz += twoKi * halfez * (1.0f / sampleFreq);
gx += integralFBx; // apply integral feedback
gy += integralFBy;
gz += integralFBz;
}
else {
integralFBx = 0.0f; // prevent integral windup
integralFBy = 0.0f;
integralFBz = 0.0f;
}
// Apply proportional feedback
gx += twoKp * halfex;
gy += twoKp * halfey;
gz += twoKp * halfez;
}
// Integrate rate of change of quaternion
gx *= (0.5f * (1.0f / sampleFreq)); // pre-multiply common factors
gy *= (0.5f * (1.0f / sampleFreq));
gz *= (0.5f * (1.0f / sampleFreq));
qa = q0;
qb = q1;
qc = q2;
q0 += (-qb * gx - qc * gy - q3 * gz);
q1 += (qa * gx + qc * gz - q3 * gy);
q2 += (qa * gy - qb * gz + q3 * gx);
q3 += (qa * gz + qb * gy - qc * gx);
// Normalise quaternion
norm = sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
q0 /= norm;
q1 /= norm;
q2 /= norm;
q3 /= norm;
}
void mpu6050_getRollPitchYaw() {
// yaw = atan2(2*q1*q2 - 2*q0*q3, 2*q0*q0 + 2*q1*q1 - 1) * 57.29577951;
// pitch = -asin(2*q1*q3 + 2*q0*q2) * 57.29577951;
// roll = atan2(2*q2*q3 - 2*q0*q1, 2*q0*q0 + 2*q3*q3 - 1) * 57.29577951;
// roll = atan2(2*q0*q1 + 2*q2*q3, 1 - 2*q1*q1 - 2*q2*q2) * 57.29577951;
// pitch = asin(2*q0*q2 - 2*q3*q1) * 57.29577951;
// yaw = atan2(2*q0*q3 + 2*q1*q2, 1 - 2*q2*q2 - 2*q3*q3) * 57.29577951;
yaw = -atan2(2.0f * (q1 * q2 + q0 * q3), q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * 57.29577951;
pitch = asin(2.0f * (q1 * q3 - q0 * q2)) * 57.29577951;
roll = atan2(2.0f * (q0 * q1 + q2 * q3), q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * 57.29577951;
}
void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.write(data); // Put data in Tx buffer
Wire.endTransmission(); // Send the Tx buffer
}
// Accelerometer and gyroscope self test; check calibration wrt factory settings
void MPU6050SelfTest(float * destination) // Should return percent deviation from factory trim values, +/- 14 or less deviation is a pass
{
uint8_t rawData[4];
uint8_t selfTest[6];
float factoryTrim[6];
// Configure the accelerometer for self-test
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
delay(250); // Delay a while to let the device execute the self-test
rawData[0] = readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SELF_TEST_X); // X-axis self-test results
rawData[1] = readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SELF_TEST_Y); // Y-axis self-test results
rawData[2] = readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SELF_TEST_Z); // Z-axis self-test results
rawData[3] = readByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SELF_TEST_A); // Mixed-axis self-test results
// Extract the acceleration test results first
selfTest[0] = (rawData[0] >> 3) | (rawData[3] & 0x30) >> 4 ; // XA_TEST result is a five-bit unsigned integer
selfTest[1] = (rawData[1] >> 3) | (rawData[3] & 0x0C) >> 2 ; // YA_TEST result is a five-bit unsigned integer
selfTest[2] = (rawData[2] >> 3) | (rawData[3] & 0x03) ; // ZA_TEST result is a five-bit unsigned integer
// Extract the gyration test results first
selfTest[3] = rawData[0] & 0x1F ; // XG_TEST result is a five-bit unsigned integer
selfTest[4] = rawData[1] & 0x1F ; // YG_TEST result is a five-bit unsigned integer
selfTest[5] = rawData[2] & 0x1F ; // ZG_TEST result is a five-bit unsigned integer
// Process results to allow final comparison with factory set values
factoryTrim[0] = (4096.0*0.34)*(pow( (0.92/0.34) , (((float)selfTest[0] - 1.0)/30.0))); // FT[Xa] factory trim calculation
factoryTrim[1] = (4096.0*0.34)*(pow( (0.92/0.34) , (((float)selfTest[1] - 1.0)/30.0))); // FT[Ya] factory trim calculation
factoryTrim[2] = (4096.0*0.34)*(pow( (0.92/0.34) , (((float)selfTest[2] - 1.0)/30.0))); // FT[Za] factory trim calculation
factoryTrim[3] = ( 25.0*131.0)*(pow( 1.046 , ((float)selfTest[3] - 1.0) )); // FT[Xg] factory trim calculation
factoryTrim[4] = (-25.0*131.0)*(pow( 1.046 , ((float)selfTest[4] - 1.0) )); // FT[Yg] factory trim calculation
factoryTrim[5] = ( 25.0*131.0)*(pow( 1.046 , ((float)selfTest[5] - 1.0) )); // FT[Zg] factory trim calculation
// Output self-test results and factory trim calculation if desired
// Serial.println(selfTest[0]); Serial.println(selfTest[1]); Serial.println(selfTest[2]);
// Serial.println(selfTest[3]); Serial.println(selfTest[4]); Serial.println(selfTest[5]);
// Serial.println(factoryTrim[0]); Serial.println(factoryTrim[1]); Serial.println(factoryTrim[2]);
// Serial.println(factoryTrim[3]); Serial.println(factoryTrim[4]); Serial.println(factoryTrim[5]);
// Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
// To get to percent, must multiply by 100 and subtract result from 100
for (int i = 0; i < 6; i++) {
destination[i] = 100.0 + 100.0*((float)selfTest[i] - factoryTrim[i])/factoryTrim[i]; // Report percent differences
}
}
// Function which accumulates gyro and accelerometer data after device initialization. It calculates the average
// of the at-rest readings and then loads the resulting offsets into accelerometer and gyro bias registers.
void calibrateMPU6050(float * dest1, float * dest2)
{
uint8_t data[12]; // data array to hold accelerometer and gyro x, y, z, data
uint16_t ii, packet_count, fifo_count;
int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
// reset device, reset all registers, clear gyro and accelerometer bias registers
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
delay(100);
// get stable time source
// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x01);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00);
delay(200);
// Configure device for bias calculation
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00); // Disable all interrupts
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable FIFO
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00); // Turn on internal clock source
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00); // Disable I2C master
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x00); // Disable FIFO and I2C master modes
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x0C); // Reset FIFO and DMP
delay(15);
// Configure MPU6050 gyro and accelerometer for bias calculation
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x01); // Set low-pass filter to 188 Hz
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
uint16_t accelsensitivity = 16384; // = 16384 LSB/g
// Configure FIFO to capture accelerometer and gyro data for bias calculation
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_USER_CTRL, 0x40); // Enable FIFO
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
delay(80); // accumulate 80 samples in 80 milliseconds = 960 bytes
// At end of sample accumulation, turn off FIFO sensor read
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
fifo_count = ((uint16_t)data[0] << 8) | data[1];
packet_count = fifo_count/12;// How many sets of full gyro and accelerometer data for averaging
for (ii = 0; ii < packet_count; ii++) {
int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_R_W, 12, &data[0]); // read data for averaging
accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
accel_bias[1] += (int32_t) accel_temp[1];
accel_bias[2] += (int32_t) accel_temp[2];
gyro_bias[0] += (int32_t) gyro_temp[0];
gyro_bias[1] += (int32_t) gyro_temp[1];
gyro_bias[2] += (int32_t) gyro_temp[2];
}
accel_bias[0] /= (int32_t) packet_count; // Normalize sums to get average count biases
accel_bias[1] /= (int32_t) packet_count;
accel_bias[2] /= (int32_t) packet_count;
gyro_bias[0] /= (int32_t) packet_count;
gyro_bias[1] /= (int32_t) packet_count;
gyro_bias[2] /= (int32_t) packet_count;
if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) accelsensitivity;} // Remove gravity from the z-axis accelerometer bias calculation
else {accel_bias[2] += (int32_t) accelsensitivity;}
// Construct the gyro biases for push to the hardware gyro bias registers, which are reset to zero upon device startup
data[0] = (-gyro_bias[0]/4 >> 8) & 0xFF; // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input format
data[1] = (-gyro_bias[0]/4) & 0xFF; // Biases are additive, so change sign on calculated average gyro biases
data[2] = (-gyro_bias[1]/4 >> 8) & 0xFF;
data[3] = (-gyro_bias[1]/4) & 0xFF;
data[4] = (-gyro_bias[2]/4 >> 8) & 0xFF;
data[5] = (-gyro_bias[2]/4) & 0xFF;
// Push gyro biases to hardware registers
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRH, data[0]);// might not be supported in MPU6050
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XG_OFFS_USRL, data[1]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRH, data[2]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YG_OFFS_USRL, data[3]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRH, data[4]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZG_OFFS_USRL, data[5]);
dest1[0] = (float) gyro_bias[0]/(float) gyrosensitivity; // construct gyro bias in deg/s for later manual subtraction
dest1[1] = (float) gyro_bias[1]/(float) gyrosensitivity;
dest1[2] = (float) gyro_bias[2]/(float) gyrosensitivity;
// Construct the accelerometer biases for push to the hardware accelerometer bias registers. These registers contain
// factory trim values which must be added to the calculated accelerometer biases; on boot up these registers will hold
// non-zero values. In addition, bit 0 of the lower byte must be preserved since it is used for temperature
// compensation calculations. Accelerometer bias registers expect bias input as 2048 LSB per g, so that
// the accelerometer biases calculated above must be divided by 8.
int32_t accel_bias_reg[3] = {0, 0, 0}; // A place to hold the factory accelerometer trim biases
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XA_OFFS_H, 2, &data[0]); // Read factory accelerometer trim values
accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YA_OFFS_H, 2, &data[0]);
accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZA_OFFS_H, 2, &data[0]);
accel_bias_reg[2] = (int16_t) ((int16_t)data[0] << 8) | data[1];
uint32_t mask = 1uL; // Define mask for temperature compensation bit 0 of lower byte of accelerometer bias registers
uint8_t mask_bit[3] = {0, 0, 0}; // Define array to hold mask bit for each accelerometer bias axis
for(ii = 0; ii < 3; ii++) {
if(accel_bias_reg[ii] & mask) mask_bit[ii] = 0x01; // If temperature compensation bit is set, record that fact in mask_bit
}
// Construct total accelerometer bias, including calculated average accelerometer bias from above
accel_bias_reg[0] -= (accel_bias[0]/8); // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g (16 g full scale)
accel_bias_reg[1] -= (accel_bias[1]/8);
accel_bias_reg[2] -= (accel_bias[2]/8);
data[0] = (accel_bias_reg[0] >> 8) & 0xFF;
data[1] = (accel_bias_reg[0]) & 0xFF;
data[1] = data[1] | mask_bit[0]; // preserve temperature compensation bit when writing back to accelerometer bias registers
data[2] = (accel_bias_reg[1] >> 8) & 0xFF;
data[3] = (accel_bias_reg[1]) & 0xFF;
data[3] = data[3] | mask_bit[1]; // preserve temperature compensation bit when writing back to accelerometer bias registers
data[4] = (accel_bias_reg[2] >> 8) & 0xFF;
data[5] = (accel_bias_reg[2]) & 0xFF;
data[5] = data[5] | mask_bit[2]; // preserve temperature compensation bit when writing back to accelerometer bias registers
// Push accelerometer biases to hardware registers
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XA_OFFS_H, data[0]); // might not be supported in MPU6050
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_XA_OFFS_L_TC, data[1]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YA_OFFS_H, data[2]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_YA_OFFS_L_TC, data[3]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZA_OFFS_H, data[4]);
writeByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ZA_OFFS_L_TC, data[5]);
// Output scaled accelerometer biases for manual subtraction in the main program
dest2[0] = (float)accel_bias[0]/(float)accelsensitivity;
dest2[1] = (float)accel_bias[1]/(float)accelsensitivity;
dest2[2] = (float)accel_bias[2]/(float)accelsensitivity;
}
uint8_t readByte(uint8_t address, uint8_t subAddress)
{
uint8_t data; // `data` will store the register data
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
data = Wire.read(); // Fill Rx buffer with result
return data; // Return data read from slave register
}
void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
{
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
uint8_t i = 0;
Wire.requestFrom(address, count); // Read bytes from slave register address
while (Wire.available()) {
dest[i++] = Wire.read(); } // Put read results in the Rx buffer
}
void ble_init()
{
// Create the BLE Device
// "Motion0001" 을 수정하여 장치의 이름 수정이 가능합니다.
BLEDevice::init("Motion0002");
// Create the BLE Server
pServer = BLEDevice::createServer();
pServer->setCallbacks(new MyServerCallbacks());
// Create the BLE Service
BLEService *pService = pServer->createService(SERVICE_UUID);
// Create a BLE Characteristic
pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID,
BLECharacteristic::PROPERTY_NOTIFY
);
// https://www.bluetooth.com/specifications/gatt/viewer?attributeXmlFile=org.bluetooth.descriptor.gatt.client_characteristic_configuration.xml
// Create a BLE Descriptor
pCharacteristic->addDescriptor(new BLE2902());
// Start the service
pService->start();
// Start advertising
BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
pAdvertising->addServiceUUID(SERVICE_UUID);
pAdvertising->setScanResponse(false);
pAdvertising->setMinPreferred(0x0); // set value to 0x00 to not advertise this parameter
BLEDevice::startAdvertising();
Serial.println("Waiting a client connection to notify...");
}
기본 시리얼 소스
void setup() {
Serial.begin(115200);
//while (!Serial) ;
delay(1000);
Serial.println("Hello, ESP32-C3!");
}
void loop(){
Serial.println("ing..");
delay(2000);
}
- setup에 선딜레이를 넣으면 시리얼이 연결되는 시간을 기다릴수 있다 (내용이 출력된다)
- setup에서 while 같은걸 돌리면 업로드에도 문제가 생기는듯 하다
- loop로는 넘어가야 다음 업로드를 받을 수 있는듯
LCD부분
Downloading Adafruit BusIO@1.16.1
Adafruit BusIO@1.16.1
Installing Adafruit BusIO@1.16.1
Installed Adafruit BusIO@1.16.1
Downloading Adafruit GFX Library@1.11.9
Adafruit GFX Library@1.11.9
Installing Adafruit GFX Library@1.11.9
Installed Adafruit GFX Library@1.11.9
Downloading Adafruit SSD1306@2.5.10
Adafruit SSD1306@2.5.10
Installing Adafruit SSD1306@2.5.10
Installed Adafruit SSD1306@2.5.10
- Adafruit BusIO
- Downloading Adafruit GFX Library
- Adafruit SSD1306
- 총 세가지 라이브러리 설치
#include <Adafruit_SSD1306.h>
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 64 // OLED display height, in pixels
Adafruit_SSD1306 display = Adafruit_SSD1306(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire);
bool displayReady = false;
void setup() {
Serial.begin(115200);
delay(1000);
Serial.println("Hello, ESP32-C3!");
}
void loop(){
delay(1000);
if(display.begin(SSD1306_SWITCHCAPVCC, 0x3C) && displayReady==false) { // Address 0x3D for 128x64
Serial.println("LCD ready");
//set default text
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0, 0); // Start at top-left corner
display.cp437(true); // Use full 256 char 'Code Page 437' font
displayReady = true;
}else if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C) && displayReady==false){
Serial.println(F("SSD1306 allocation failed"));
return;
}else{
//LCD already ready
}
Serial.println("LCD text set");
display.clearDisplay();
display.setCursor(0, 0);
display.print("Hello World!");
display.println("test 01");
display.setCursor(0, 31);
display.print("test 02");
display.setCursor(0, 16);
display.print("test 03");
display.display();
delay(2000);
}
MPU6050
calibration
// Arduino sketch that returns calibration offsets for MPU6050 // Version 1.1 (31th January 2014)
// Done by Luis Ródenas <luisrodenaslorda@gmail.com>
// Based on the I2Cdev library and previous work by Jeff Rowberg <jeff@rowberg.net>
// Updates (of the library) should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
// These offsets were meant to calibrate MPU6050's internal DMP, but can be also useful for reading sensors.
// The effect of temperature has not been taken into account so I can't promise that it will work if you
// calibrate indoors and then use it outdoors. Best is to calibrate and use at the same room temperature.
/* ========== LICENSE ==================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2011 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.
=========================================================
*/
// I2Cdev and MPU6050 must be installed as libraries
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Wire.h"
/////////////////////////////////// CONFIGURATION /////////////////////////////
//Change this 3 variables if you want to fine tune the skecth to your needs.
int buffersize=1000; //Amount of readings used to average, make it higher to get more precision but sketch will be slower (default:1000)
int acel_deadzone=8; //Acelerometer error allowed, make it lower to get more precision, but sketch may not converge (default:8)
int giro_deadzone=1; //Giro error allowed, make it lower to get more precision, but sketch may not converge (default:1)
// 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;
MPU6050 accelgyro(0x68); // <-- use for AD0 high
int16_t ax, ay, az,gx, gy, gz;
int mean_ax,mean_ay,mean_az,mean_gx,mean_gy,mean_gz,state=0;
int ax_offset,ay_offset,az_offset,gx_offset,gy_offset,gz_offset;
/////////////////////////////////// SETUP ////////////////////////////////////
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// COMMENT NEXT LINE IF YOU ARE USING ARDUINO DUE
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz). Leonardo measured 250kHz.
// initialize serial communication
Serial.begin(115200);
// initialize device
accelgyro.initialize();
// wait for ready
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()){
Serial.println(F("Send any character to start sketch.\n"));
delay(1500);
}
while (Serial.available() && Serial.read()); // empty buffer again
// start message
Serial.println("\nMPU6050 Calibration Sketch");
delay(2000);
Serial.println("\nYour MPU6050 should be placed in horizontal position, with package letters facing up. \nDon't touch it until you see a finish message.\n");
delay(3000);
// verify connection
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
delay(1000);
// reset offsets
accelgyro.setXAccelOffset(0);
accelgyro.setYAccelOffset(0);
accelgyro.setZAccelOffset(0);
accelgyro.setXGyroOffset(0);
accelgyro.setYGyroOffset(0);
accelgyro.setZGyroOffset(0);
}
/////////////////////////////////// LOOP ////////////////////////////////////
void loop() {
if (state==0){
Serial.println("\nReading sensors for first time...");
meansensors();
state++;
delay(1000);
}
if (state==1) {
Serial.println("\nCalculating offsets...");
calibration();
state++;
delay(1000);
}
if (state==2) {
meansensors();
Serial.println("\nFINISHED!");
Serial.print("\nSensor readings with offsets:\t");
Serial.print(mean_ax);
Serial.print("\t");
Serial.print(mean_ay);
Serial.print("\t");
Serial.print(mean_az);
Serial.print("\t");
Serial.print(mean_gx);
Serial.print("\t");
Serial.print(mean_gy);
Serial.print("\t");
Serial.println(mean_gz);
Serial.print("Your offsets:\t");
Serial.print(ax_offset);
Serial.print("\t");
Serial.print(ay_offset);
Serial.print("\t");
Serial.print(az_offset);
Serial.print("\t");
Serial.print(gx_offset);
Serial.print("\t");
Serial.print(gy_offset);
Serial.print("\t");
Serial.println(gz_offset);
Serial.println("\nData is printed as: acelX acelY acelZ giroX giroY giroZ");
Serial.println("Check that your sensor readings are close to 0 0 16384 0 0 0");
Serial.println("If calibration was succesful write down your offsets so you can set them in your projects using something similar to mpu.setXAccelOffset(youroffset)");
while (1);
}
}
/////////////////////////////////// FUNCTIONS ////////////////////////////////////
void meansensors(){
long i=0,buff_ax=0,buff_ay=0,buff_az=0,buff_gx=0,buff_gy=0,buff_gz=0;
while (i<(buffersize+101)){
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
if (i>100 && i<=(buffersize+100)){ //First 100 measures are discarded
buff_ax=buff_ax+ax;
buff_ay=buff_ay+ay;
buff_az=buff_az+az;
buff_gx=buff_gx+gx;
buff_gy=buff_gy+gy;
buff_gz=buff_gz+gz;
}
if (i==(buffersize+100)){
mean_ax=buff_ax/buffersize;
mean_ay=buff_ay/buffersize;
mean_az=buff_az/buffersize;
mean_gx=buff_gx/buffersize;
mean_gy=buff_gy/buffersize;
mean_gz=buff_gz/buffersize;
}
i++;
delay(2); //Needed so we don't get repeated measures
}
}
void calibration(){
ax_offset=-mean_ax/8;
ay_offset=-mean_ay/8;
az_offset=(16384-mean_az)/8;
gx_offset=-mean_gx/4;
gy_offset=-mean_gy/4;
gz_offset=-mean_gz/4;
while (1){
int ready=0;
accelgyro.setXAccelOffset(ax_offset);
accelgyro.setYAccelOffset(ay_offset);
accelgyro.setZAccelOffset(az_offset);
accelgyro.setXGyroOffset(gx_offset);
accelgyro.setYGyroOffset(gy_offset);
accelgyro.setZGyroOffset(gz_offset);
meansensors();
Serial.println("...");
if (abs(mean_ax)<=acel_deadzone) ready++;
else ax_offset=ax_offset-mean_ax/acel_deadzone;
if (abs(mean_ay)<=acel_deadzone) ready++;
else ay_offset=ay_offset-mean_ay/acel_deadzone;
if (abs(16384-mean_az)<=acel_deadzone) ready++;
else az_offset=az_offset+(16384-mean_az)/acel_deadzone;
if (abs(mean_gx)<=giro_deadzone) ready++;
else gx_offset=gx_offset-mean_gx/(giro_deadzone+1);
if (abs(mean_gy)<=giro_deadzone) ready++;
else gy_offset=gy_offset-mean_gy/(giro_deadzone+1);
if (abs(mean_gz)<=giro_deadzone) ready++;
else gz_offset=gz_offset-mean_gz/(giro_deadzone+1);
if (ready==6) break;
}
}
Sensor readings with offsets: 0 -5 16375 -1 0 0
Your offsets: -390 1481 1803 -78 73 35
Data is printed as: acelX acelY acelZ giroX giroY giroZ
mpu.setXAccelOffset(-390);
mpu.setYAccelOffset(1481);
mpu.setZAccelOffset(1803);
mpu.setXGyroOffset(-78);
mpu.setYGyroOffset(73);
mpu.setZGyroOffset(35);
DMP6
// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)
// 6/21/2012 by Jeff Rowberg <jeff@rowberg.net>
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2013-05-08 - added seamless Fastwire support
// - added note about gyro calibration
// 2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error
// 2012-06-20 - improved FIFO overflow handling and simplified read process
// 2012-06-19 - completely rearranged DMP initialization code and simplification
// 2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly
// 2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING
// 2012-06-05 - add gravity-compensated initial reference frame acceleration output
// - add 3D math helper file to DMP6 example sketch
// - add Euler output and Yaw/Pitch/Roll output formats
// 2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)
// 2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250
// 2012-05-30 - basic DMP initialization working
/* ============================================
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.
===============================================
*/
// 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_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using Serial.write(buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:
http://arduino.cc/forum/index.php/topic,109987.0.html
http://code.google.com/p/arduino/issues/detail?id=958
* ========================================================================= */
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
// #define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
// #define OUTPUT_TEAPOT
#define SDA D4
#define SCL D5
//#define INTERRUPT_PIN D1
#define INTERRUPT_PIN 3
//#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
Serial.begin(115200);
delay(1000);
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
Serial.println("I2CDEV_ARDUINO_WIRE");
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
Serial.println("I2CDEV_BUILTIN_FASTWIRE");
#endif
// initialize serial communication
// (115200 chosen because it is required for Teapot Demo output, but it's
// really up to you depending on your project)
//while (!Serial); // wait for Leonardo enumeration, others continue immediately
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
// the baud timing being too misaligned with processor ticks. You must use
// 38400 or slower in these cases, or use some kind of external separate
// crystal solution for the UART timer.
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// wait for ready
// Serial.println(F("\nSend any character to begin DMP programming and demo: "));
// while (Serial.available() && Serial.read()); // empty buffer
// while (!Serial.available()); // wait for data
// while (Serial.available() && Serial.read()); // empty buffer again
// load and configure the DMP
Serial.println(F("Initializing DMP..."));
devStatus = mpu.dmpInitialize();
// supply your own gyro offsets here, scaled for min sensitivity
/*
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
*/
mpu.setXAccelOffset(-390);
mpu.setYAccelOffset(1481);
mpu.setZAccelOffset(1803);
mpu.setXGyroOffset(-78);
mpu.setYGyroOffset(73);
mpu.setZGyroOffset(35);
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
Serial.println(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
for(int i=1; i<13; i++){
attachInterrupt(digitalPinToInterrupt(i), dmpDataReady, RISING);
//인터럽트핀 번호를 알수 없어서 전 핀에 인터럽트 신호를 받음
}
//attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
//pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
// other program behavior stuff here
// .
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
int q_x = abs(int(trunc((q1+2)*1000)));
int q_y = abs(int(trunc((q2+2)*1000)));
int q_z = abs(int(trunc((q3+2)*1000)));
int q_w = abs(int(trunc((q0+2)*1000)));
String s_x = String(q_x);
String s_y = String(q_y);
String s_z = String(q_z);
String s_w = String(q_w);
// while (s_x.length() < 4) {s_x = '0' + s_x;}
// while (s_y.length() < 4) {s_x = '0' + s_y;}
// while (s_z.length() < 4) {s_x = '0' + s_z;}
// while (s_w.length() < 4) {s_x = '0' + s_w;}
// temp += roll;
// temp += pitch;
// temp += yaw;
// temp += ",";
temp += s_x;
temp += s_y;
temp += s_z;
temp += s_w;
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
- 인터럽트 핀 번호를 알 수 없는 상황이라 전 핀으로 돌려서 해결함
for(int i=1; i<13; i++){
attachInterrupt(digitalPinToInterrupt(i), dmpDataReady, RISING);
//인터럽트핀 번호를 알수 없어서 전 핀에 인터럽트 신호를 받음
}
BLE bluebooth
#include <BLEDevice.h>
#include <BLEServer.h>
#include <BLEUtils.h>
#include <BLE2902.h>
#define SERVICE_UUID "0000FFE0-0000-1000-8000-00805F9B34FB"
#define CHARACTERISTIC_UUID "0000FFE1-0000-1000-8000-00805F9B34FB"
#define DEVICE_NAME "Motion002"
//상기 3가지 값이 BLE 디바이스를 찾고 연결하는데 사용됩니다. 유니티에서도 동일하게 입력되어야 함
BLEServer* pServer = NULL;
BLECharacteristic* pCharacteristic = NULL;
bool deviceConnected = false;
bool oldDeviceConnected = false;
unsigned int buff_size = 256;
uint8_t values[256];
void setup() {
Serial.begin(115200);
ble_init();
}
String temp = "";
void loop() {
char buf[buff_size] = "";
temp = "123456789101112131415";
Serial.println(temp);
byte realByte[temp.length()];
temp.getBytes(realByte, temp.length());
Serial.print("Byte Size: ");
Serial.println(sizeof(realByte));
delay(3000);
temp.toCharArray(buf, buff_size);
for(int ii=0;ii<buff_size;ii++)
{
values[ii] = buf[ii];
}
// put your main code here, to run repeatedly:
if (deviceConnected) {
pCharacteristic->setValue(values, buff_size);
pCharacteristic->notify();
delay(10); // bluetooth stack will go into congestion, if too many packets are sent, in 6 hours test i was able to go as low as 3ms
}
// disconnecting
if (!deviceConnected && oldDeviceConnected) {
delay(500); // give the bluetooth stack the chance to get things ready
pServer->startAdvertising(); // restart advertising
Serial.println("start advertising");
oldDeviceConnected = deviceConnected;
}
// connecting
if (deviceConnected && !oldDeviceConnected) {
// do stuff here on connecting
oldDeviceConnected = deviceConnected;
}
}
class MyServerCallbacks: public BLEServerCallbacks {
void onConnect(BLEServer* pServer) {
deviceConnected = true;
BLEDevice::startAdvertising();
};
void onDisconnect(BLEServer* pServer) {
deviceConnected = false;
}
};
void ble_init()
{
// Create the BLE Device
// "Motion0001" 을 수정하여 장치의 이름 수정이 가능합니다.
BLEDevice::init(DEVICE_NAME);
// Create the BLE Server
pServer = BLEDevice::createServer();
pServer->setCallbacks(new MyServerCallbacks());
// Create the BLE Service
BLEService *pService = pServer->createService(SERVICE_UUID);
// Create a BLE Characteristic
pCharacteristic = pService->createCharacteristic(
CHARACTERISTIC_UUID,
BLECharacteristic::PROPERTY_NOTIFY
);
// https://www.bluetooth.com/specifications/gatt/viewer?attributeXmlFile=org.bluetooth.descriptor.gatt.client_characteristic_configuration.xml
// Create a BLE Descriptor
pCharacteristic->addDescriptor(new BLE2902());
// Start the service
pService->start();
// Start advertising
BLEAdvertising *pAdvertising = BLEDevice::getAdvertising();
pAdvertising->addServiceUUID(SERVICE_UUID);
pAdvertising->setScanResponse(false);
pAdvertising->setMinPreferred(0x0); // set value to 0x00 to not advertise this parameter
BLEDevice::startAdvertising();
Serial.println("Waiting a client connection to notify...");
}