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archival cleanup

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Görkem 2025-02-01 13:41:17 -08:00
parent 08cce695d1
commit 9feb7925f2
25 changed files with 1837 additions and 174 deletions
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/*
MPU6050.cpp - Class file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
Version: 1.0.3
(c) 2014-2015 Korneliusz Jarzebski
www.jarzebski.pl
This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#include <Wire.h>
#include <math.h>
#include <MPU6050.h>
bool MPU6050::begin(mpu6050_dps_t scale, mpu6050_range_t range, int mpua)
{
// Set Address
mpuAddress = mpua;
Wire.begin();
// Reset calibrate values
dg.XAxis = 0;
dg.YAxis = 0;
dg.ZAxis = 0;
useCalibrate = false;
// Reset threshold values
tg.XAxis = 0;
tg.YAxis = 0;
tg.ZAxis = 0;
actualThreshold = 0;
// Check MPU6050 Who Am I Register
if (fastRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
{
return false;
}
// Set Clock Source
setClockSource(MPU6050_CLOCK_PLL_XGYRO);
// Set Scale & Range
setScale(scale);
setRange(range);
// Disable Sleep Mode
setSleepEnabled(false);
return true;
}
void MPU6050::setScale(mpu6050_dps_t scale)
{
uint8_t value;
switch (scale)
{
case MPU6050_SCALE_250DPS:
dpsPerDigit = .007633f;
break;
case MPU6050_SCALE_500DPS:
dpsPerDigit = .015267f;
break;
case MPU6050_SCALE_1000DPS:
dpsPerDigit = .030487f;
break;
case MPU6050_SCALE_2000DPS:
dpsPerDigit = .060975f;
break;
default:
break;
}
value = readRegister8(MPU6050_REG_GYRO_CONFIG);
value &= 0b11100111;
value |= (scale << 3);
writeRegister8(MPU6050_REG_GYRO_CONFIG, value);
}
mpu6050_dps_t MPU6050::getScale(void)
{
uint8_t value;
value = readRegister8(MPU6050_REG_GYRO_CONFIG);
value &= 0b00011000;
value >>= 3;
return (mpu6050_dps_t)value;
}
void MPU6050::setRange(mpu6050_range_t range)
{
uint8_t value;
switch (range)
{
case MPU6050_RANGE_2G:
rangePerDigit = .000061f;
break;
case MPU6050_RANGE_4G:
rangePerDigit = .000122f;
break;
case MPU6050_RANGE_8G:
rangePerDigit = .000244f;
break;
case MPU6050_RANGE_16G:
rangePerDigit = .0004882f;
break;
default:
break;
}
value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
value &= 0b11100111;
value |= (range << 3);
writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
}
mpu6050_range_t MPU6050::getRange(void)
{
uint8_t value;
value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
value &= 0b00011000;
value >>= 3;
return (mpu6050_range_t)value;
}
void MPU6050::setDHPFMode(mpu6050_dhpf_t dhpf)
{
uint8_t value;
value = readRegister8(MPU6050_REG_ACCEL_CONFIG);
value &= 0b11111000;
value |= dhpf;
writeRegister8(MPU6050_REG_ACCEL_CONFIG, value);
}
void MPU6050::setDLPFMode(mpu6050_dlpf_t dlpf)
{
uint8_t value;
value = readRegister8(MPU6050_REG_CONFIG);
value &= 0b11111000;
value |= dlpf;
writeRegister8(MPU6050_REG_CONFIG, value);
}
void MPU6050::setClockSource(mpu6050_clockSource_t source)
{
uint8_t value;
value = readRegister8(MPU6050_REG_PWR_MGMT_1);
value &= 0b11111000;
value |= source;
writeRegister8(MPU6050_REG_PWR_MGMT_1, value);
}
mpu6050_clockSource_t MPU6050::getClockSource(void)
{
uint8_t value;
value = readRegister8(MPU6050_REG_PWR_MGMT_1);
value &= 0b00000111;
return (mpu6050_clockSource_t)value;
}
bool MPU6050::getSleepEnabled(void)
{
return readRegisterBit(MPU6050_REG_PWR_MGMT_1, 6);
}
void MPU6050::setSleepEnabled(bool state)
{
writeRegisterBit(MPU6050_REG_PWR_MGMT_1, 6, state);
}
bool MPU6050::getIntZeroMotionEnabled(void)
{
return readRegisterBit(MPU6050_REG_INT_ENABLE, 5);
}
void MPU6050::setIntZeroMotionEnabled(bool state)
{
writeRegisterBit(MPU6050_REG_INT_ENABLE, 5, state);
}
bool MPU6050::getIntMotionEnabled(void)
{
return readRegisterBit(MPU6050_REG_INT_ENABLE, 6);
}
void MPU6050::setIntMotionEnabled(bool state)
{
writeRegisterBit(MPU6050_REG_INT_ENABLE, 6, state);
}
bool MPU6050::getIntFreeFallEnabled(void)
{
return readRegisterBit(MPU6050_REG_INT_ENABLE, 7);
}
void MPU6050::setIntFreeFallEnabled(bool state)
{
writeRegisterBit(MPU6050_REG_INT_ENABLE, 7, state);
}
uint8_t MPU6050::getMotionDetectionThreshold(void)
{
return readRegister8(MPU6050_REG_MOT_THRESHOLD);
}
void MPU6050::setMotionDetectionThreshold(uint8_t threshold)
{
writeRegister8(MPU6050_REG_MOT_THRESHOLD, threshold);
}
uint8_t MPU6050::getMotionDetectionDuration(void)
{
return readRegister8(MPU6050_REG_MOT_DURATION);
}
void MPU6050::setMotionDetectionDuration(uint8_t duration)
{
writeRegister8(MPU6050_REG_MOT_DURATION, duration);
}
uint8_t MPU6050::getZeroMotionDetectionThreshold(void)
{
return readRegister8(MPU6050_REG_ZMOT_THRESHOLD);
}
void MPU6050::setZeroMotionDetectionThreshold(uint8_t threshold)
{
writeRegister8(MPU6050_REG_ZMOT_THRESHOLD, threshold);
}
uint8_t MPU6050::getZeroMotionDetectionDuration(void)
{
return readRegister8(MPU6050_REG_ZMOT_DURATION);
}
void MPU6050::setZeroMotionDetectionDuration(uint8_t duration)
{
writeRegister8(MPU6050_REG_ZMOT_DURATION, duration);
}
uint8_t MPU6050::getFreeFallDetectionThreshold(void)
{
return readRegister8(MPU6050_REG_FF_THRESHOLD);
}
void MPU6050::setFreeFallDetectionThreshold(uint8_t threshold)
{
writeRegister8(MPU6050_REG_FF_THRESHOLD, threshold);
}
uint8_t MPU6050::getFreeFallDetectionDuration(void)
{
return readRegister8(MPU6050_REG_FF_DURATION);
}
void MPU6050::setFreeFallDetectionDuration(uint8_t duration)
{
writeRegister8(MPU6050_REG_FF_DURATION, duration);
}
bool MPU6050::getI2CMasterModeEnabled(void)
{
return readRegisterBit(MPU6050_REG_USER_CTRL, 5);
}
void MPU6050::setI2CMasterModeEnabled(bool state)
{
writeRegisterBit(MPU6050_REG_USER_CTRL, 5, state);
}
void MPU6050::setI2CBypassEnabled(bool state)
{
return writeRegisterBit(MPU6050_REG_INT_PIN_CFG, 1, state);
}
bool MPU6050::getI2CBypassEnabled(void)
{
return readRegisterBit(MPU6050_REG_INT_PIN_CFG, 1);
}
void MPU6050::setAccelPowerOnDelay(mpu6050_onDelay_t delay)
{
uint8_t value;
value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
value &= 0b11001111;
value |= (delay << 4);
writeRegister8(MPU6050_REG_MOT_DETECT_CTRL, value);
}
mpu6050_onDelay_t MPU6050::getAccelPowerOnDelay(void)
{
uint8_t value;
value = readRegister8(MPU6050_REG_MOT_DETECT_CTRL);
value &= 0b00110000;
return (mpu6050_onDelay_t)(value >> 4);
}
uint8_t MPU6050::getIntStatus(void)
{
return readRegister8(MPU6050_REG_INT_STATUS);
}
Activites MPU6050::readActivites(void)
{
uint8_t data = readRegister8(MPU6050_REG_INT_STATUS);
a.isOverflow = ((data >> 4) & 1);
a.isFreeFall = ((data >> 7) & 1);
a.isInactivity = ((data >> 5) & 1);
a.isActivity = ((data >> 6) & 1);
a.isDataReady = ((data >> 0) & 1);
data = readRegister8(MPU6050_REG_MOT_DETECT_STATUS);
a.isNegActivityOnX = ((data >> 7) & 1);
a.isPosActivityOnX = ((data >> 6) & 1);
a.isNegActivityOnY = ((data >> 5) & 1);
a.isPosActivityOnY = ((data >> 4) & 1);
a.isNegActivityOnZ = ((data >> 3) & 1);
a.isPosActivityOnZ = ((data >> 2) & 1);
return a;
}
Vector MPU6050::readRawAccel(void)
{
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(MPU6050_REG_ACCEL_XOUT_H);
#else
Wire.send(MPU6050_REG_ACCEL_XOUT_H);
#endif
Wire.endTransmission();
Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 6);
while (Wire.available() < 6);
#if ARDUINO >= 100
uint8_t xha = Wire.read();
uint8_t xla = Wire.read();
uint8_t yha = Wire.read();
uint8_t yla = Wire.read();
uint8_t zha = Wire.read();
uint8_t zla = Wire.read();
#else
uint8_t xha = Wire.receive();
uint8_t xla = Wire.receive();
uint8_t yha = Wire.receive();
uint8_t yla = Wire.receive();
uint8_t zha = Wire.receive();
uint8_t zla = Wire.receive();
#endif
ra.XAxis = xha << 8 | xla;
ra.YAxis = yha << 8 | yla;
ra.ZAxis = zha << 8 | zla;
return ra;
}
Vector MPU6050::readNormalizeAccel(void)
{
readRawAccel();
na.XAxis = ra.XAxis * rangePerDigit * 9.80665f;
na.YAxis = ra.YAxis * rangePerDigit * 9.80665f;
na.ZAxis = ra.ZAxis * rangePerDigit * 9.80665f;
return na;
}
Vector MPU6050::readScaledAccel(void)
{
readRawAccel();
na.XAxis = ra.XAxis * rangePerDigit;
na.YAxis = ra.YAxis * rangePerDigit;
na.ZAxis = ra.ZAxis * rangePerDigit;
return na;
}
Vector MPU6050::readRawGyro(void)
{
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(MPU6050_REG_GYRO_XOUT_H);
#else
Wire.send(MPU6050_REG_GYRO_XOUT_H);
#endif
Wire.endTransmission();
Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 6);
while (Wire.available() < 6);
#if ARDUINO >= 100
uint8_t xha = Wire.read();
uint8_t xla = Wire.read();
uint8_t yha = Wire.read();
uint8_t yla = Wire.read();
uint8_t zha = Wire.read();
uint8_t zla = Wire.read();
#else
uint8_t xha = Wire.receive();
uint8_t xla = Wire.receive();
uint8_t yha = Wire.receive();
uint8_t yla = Wire.receive();
uint8_t zha = Wire.receive();
uint8_t zla = Wire.receive();
#endif
rg.XAxis = xha << 8 | xla;
rg.YAxis = yha << 8 | yla;
rg.ZAxis = zha << 8 | zla;
return rg;
}
Vector MPU6050::readNormalizeGyro(void)
{
readRawGyro();
if (useCalibrate)
{
ng.XAxis = (rg.XAxis - dg.XAxis) * dpsPerDigit;
ng.YAxis = (rg.YAxis - dg.YAxis) * dpsPerDigit;
ng.ZAxis = (rg.ZAxis - dg.ZAxis) * dpsPerDigit;
} else
{
ng.XAxis = rg.XAxis * dpsPerDigit;
ng.YAxis = rg.YAxis * dpsPerDigit;
ng.ZAxis = rg.ZAxis * dpsPerDigit;
}
if (actualThreshold)
{
if (abs(ng.XAxis) < tg.XAxis) ng.XAxis = 0;
if (abs(ng.YAxis) < tg.YAxis) ng.YAxis = 0;
if (abs(ng.ZAxis) < tg.ZAxis) ng.ZAxis = 0;
}
return ng;
}
float MPU6050::readTemperature(void)
{
int16_t T;
T = readRegister16(MPU6050_REG_TEMP_OUT_H);
return (float)T/340 + 36.53;
}
int16_t MPU6050::getGyroOffsetX(void)
{
return readRegister16(MPU6050_REG_GYRO_XOFFS_H);
}
int16_t MPU6050::getGyroOffsetY(void)
{
return readRegister16(MPU6050_REG_GYRO_YOFFS_H);
}
int16_t MPU6050::getGyroOffsetZ(void)
{
return readRegister16(MPU6050_REG_GYRO_ZOFFS_H);
}
void MPU6050::setGyroOffsetX(int16_t offset)
{
writeRegister16(MPU6050_REG_GYRO_XOFFS_H, offset);
}
void MPU6050::setGyroOffsetY(int16_t offset)
{
writeRegister16(MPU6050_REG_GYRO_YOFFS_H, offset);
}
void MPU6050::setGyroOffsetZ(int16_t offset)
{
writeRegister16(MPU6050_REG_GYRO_ZOFFS_H, offset);
}
int16_t MPU6050::getAccelOffsetX(void)
{
return readRegister16(MPU6050_REG_ACCEL_XOFFS_H);
}
int16_t MPU6050::getAccelOffsetY(void)
{
return readRegister16(MPU6050_REG_ACCEL_YOFFS_H);
}
int16_t MPU6050::getAccelOffsetZ(void)
{
return readRegister16(MPU6050_REG_ACCEL_ZOFFS_H);
}
void MPU6050::setAccelOffsetX(int16_t offset)
{
writeRegister16(MPU6050_REG_ACCEL_XOFFS_H, offset);
}
void MPU6050::setAccelOffsetY(int16_t offset)
{
writeRegister16(MPU6050_REG_ACCEL_YOFFS_H, offset);
}
void MPU6050::setAccelOffsetZ(int16_t offset)
{
writeRegister16(MPU6050_REG_ACCEL_ZOFFS_H, offset);
}
// Calibrate algorithm
void MPU6050::calibrateGyro(uint8_t samples)
{
// Set calibrate
useCalibrate = true;
// Reset values
float sumX = 0;
float sumY = 0;
float sumZ = 0;
float sigmaX = 0;
float sigmaY = 0;
float sigmaZ = 0;
// Read n-samples
for (uint8_t i = 0; i < samples; ++i)
{
readRawGyro();
sumX += rg.XAxis;
sumY += rg.YAxis;
sumZ += rg.ZAxis;
sigmaX += rg.XAxis * rg.XAxis;
sigmaY += rg.YAxis * rg.YAxis;
sigmaZ += rg.ZAxis * rg.ZAxis;
delay(5);
}
// Calculate delta vectors
dg.XAxis = sumX / samples;
dg.YAxis = sumY / samples;
dg.ZAxis = sumZ / samples;
// Calculate threshold vectors
th.XAxis = sqrt((sigmaX / 50) - (dg.XAxis * dg.XAxis));
th.YAxis = sqrt((sigmaY / 50) - (dg.YAxis * dg.YAxis));
th.ZAxis = sqrt((sigmaZ / 50) - (dg.ZAxis * dg.ZAxis));
// If already set threshold, recalculate threshold vectors
if (actualThreshold > 0)
{
setThreshold(actualThreshold);
}
}
// Get current threshold value
uint8_t MPU6050::getThreshold(void)
{
return actualThreshold;
}
// Set treshold value
void MPU6050::setThreshold(uint8_t multiple)
{
if (multiple > 0)
{
// If not calibrated, need calibrate
if (!useCalibrate)
{
calibrateGyro();
}
// Calculate threshold vectors
tg.XAxis = th.XAxis * multiple;
tg.YAxis = th.YAxis * multiple;
tg.ZAxis = th.ZAxis * multiple;
} else
{
// No threshold
tg.XAxis = 0;
tg.YAxis = 0;
tg.ZAxis = 0;
}
// Remember old threshold value
actualThreshold = multiple;
}
// Fast read 8-bit from register
uint8_t MPU6050::fastRegister8(uint8_t reg)
{
uint8_t value;
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
#else
Wire.send(reg);
#endif
Wire.endTransmission();
Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
#if ARDUINO >= 100
value = Wire.read();
#else
value = Wire.receive();
#endif;
Wire.endTransmission();
return value;
}
// Read 8-bit from register
uint8_t MPU6050::readRegister8(uint8_t reg)
{
uint8_t value;
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
#else
Wire.send(reg);
#endif
Wire.endTransmission();
Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
while(!Wire.available()) {};
#if ARDUINO >= 100
value = Wire.read();
#else
value = Wire.receive();
#endif;
Wire.endTransmission();
return value;
}
// Write 8-bit to register
void MPU6050::writeRegister8(uint8_t reg, uint8_t value)
{
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
Wire.write(value);
#else
Wire.send(reg);
Wire.send(value);
#endif
Wire.endTransmission();
}
int16_t MPU6050::readRegister16(uint8_t reg)
{
int16_t value;
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
#else
Wire.send(reg);
#endif
Wire.endTransmission();
Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 2);
while(!Wire.available()) {};
#if ARDUINO >= 100
uint8_t vha = Wire.read();
uint8_t vla = Wire.read();
#else
uint8_t vha = Wire.receive();
uint8_t vla = Wire.receive();
#endif;
Wire.endTransmission();
value = vha << 8 | vla;
return value;
}
void MPU6050::writeRegister16(uint8_t reg, int16_t value)
{
Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
Wire.write((uint8_t)(value >> 8));
Wire.write((uint8_t)value);
#else
Wire.send(reg);
Wire.send((uint8_t)(value >> 8));
Wire.send((uint8_t)value);
#endif
Wire.endTransmission();
}
// Read register bit
bool MPU6050::readRegisterBit(uint8_t reg, uint8_t pos)
{
uint8_t value;
value = readRegister8(reg);
return ((value >> pos) & 1);
}
// Write register bit
void MPU6050::writeRegisterBit(uint8_t reg, uint8_t pos, bool state)
{
uint8_t value;
value = readRegister8(reg);
if (state)
{
value |= (1 << pos);
} else
{
value &= ~(1 << pos);
}
writeRegister8(reg, value);
}

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/*
MPU6050.h - Header file for the MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
Version: 1.0.3
(c) 2014-2015 Korneliusz Jarzebski
www.jarzebski.pl
This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef MPU6050_h
#define MPU6050_h
#if ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define MPU6050_ADDRESS (0x68) // 0x69 when AD0 pin to Vcc
#define MPU6050_REG_ACCEL_XOFFS_H (0x06)
#define MPU6050_REG_ACCEL_XOFFS_L (0x07)
#define MPU6050_REG_ACCEL_YOFFS_H (0x08)
#define MPU6050_REG_ACCEL_YOFFS_L (0x09)
#define MPU6050_REG_ACCEL_ZOFFS_H (0x0A)
#define MPU6050_REG_ACCEL_ZOFFS_L (0x0B)
#define MPU6050_REG_GYRO_XOFFS_H (0x13)
#define MPU6050_REG_GYRO_XOFFS_L (0x14)
#define MPU6050_REG_GYRO_YOFFS_H (0x15)
#define MPU6050_REG_GYRO_YOFFS_L (0x16)
#define MPU6050_REG_GYRO_ZOFFS_H (0x17)
#define MPU6050_REG_GYRO_ZOFFS_L (0x18)
#define MPU6050_REG_CONFIG (0x1A)
#define MPU6050_REG_GYRO_CONFIG (0x1B) // Gyroscope Configuration
#define MPU6050_REG_ACCEL_CONFIG (0x1C) // Accelerometer Configuration
#define MPU6050_REG_FF_THRESHOLD (0x1D)
#define MPU6050_REG_FF_DURATION (0x1E)
#define MPU6050_REG_MOT_THRESHOLD (0x1F)
#define MPU6050_REG_MOT_DURATION (0x20)
#define MPU6050_REG_ZMOT_THRESHOLD (0x21)
#define MPU6050_REG_ZMOT_DURATION (0x22)
#define MPU6050_REG_INT_PIN_CFG (0x37) // INT Pin. Bypass Enable Configuration
#define MPU6050_REG_INT_ENABLE (0x38) // INT Enable
#define MPU6050_REG_INT_STATUS (0x3A)
#define MPU6050_REG_ACCEL_XOUT_H (0x3B)
#define MPU6050_REG_ACCEL_XOUT_L (0x3C)
#define MPU6050_REG_ACCEL_YOUT_H (0x3D)
#define MPU6050_REG_ACCEL_YOUT_L (0x3E)
#define MPU6050_REG_ACCEL_ZOUT_H (0x3F)
#define MPU6050_REG_ACCEL_ZOUT_L (0x40)
#define MPU6050_REG_TEMP_OUT_H (0x41)
#define MPU6050_REG_TEMP_OUT_L (0x42)
#define MPU6050_REG_GYRO_XOUT_H (0x43)
#define MPU6050_REG_GYRO_XOUT_L (0x44)
#define MPU6050_REG_GYRO_YOUT_H (0x45)
#define MPU6050_REG_GYRO_YOUT_L (0x46)
#define MPU6050_REG_GYRO_ZOUT_H (0x47)
#define MPU6050_REG_GYRO_ZOUT_L (0x48)
#define MPU6050_REG_MOT_DETECT_STATUS (0x61)
#define MPU6050_REG_MOT_DETECT_CTRL (0x69)
#define MPU6050_REG_USER_CTRL (0x6A) // User Control
#define MPU6050_REG_PWR_MGMT_1 (0x6B) // Power Management 1
#define MPU6050_REG_WHO_AM_I (0x75) // Who Am I
#ifndef VECTOR_STRUCT_H
#define VECTOR_STRUCT_H
struct Vector
{
float XAxis;
float YAxis;
float ZAxis;
};
#endif
struct Activites
{
bool isOverflow;
bool isFreeFall;
bool isInactivity;
bool isActivity;
bool isPosActivityOnX;
bool isPosActivityOnY;
bool isPosActivityOnZ;
bool isNegActivityOnX;
bool isNegActivityOnY;
bool isNegActivityOnZ;
bool isDataReady;
};
typedef enum
{
MPU6050_CLOCK_KEEP_RESET = 0b111,
MPU6050_CLOCK_EXTERNAL_19MHZ = 0b101,
MPU6050_CLOCK_EXTERNAL_32KHZ = 0b100,
MPU6050_CLOCK_PLL_ZGYRO = 0b011,
MPU6050_CLOCK_PLL_YGYRO = 0b010,
MPU6050_CLOCK_PLL_XGYRO = 0b001,
MPU6050_CLOCK_INTERNAL_8MHZ = 0b000
} mpu6050_clockSource_t;
typedef enum
{
MPU6050_SCALE_2000DPS = 0b11,
MPU6050_SCALE_1000DPS = 0b10,
MPU6050_SCALE_500DPS = 0b01,
MPU6050_SCALE_250DPS = 0b00
} mpu6050_dps_t;
typedef enum
{
MPU6050_RANGE_16G = 0b11,
MPU6050_RANGE_8G = 0b10,
MPU6050_RANGE_4G = 0b01,
MPU6050_RANGE_2G = 0b00,
} mpu6050_range_t;
typedef enum
{
MPU6050_DELAY_3MS = 0b11,
MPU6050_DELAY_2MS = 0b10,
MPU6050_DELAY_1MS = 0b01,
MPU6050_NO_DELAY = 0b00,
} mpu6050_onDelay_t;
typedef enum
{
MPU6050_DHPF_HOLD = 0b111,
MPU6050_DHPF_0_63HZ = 0b100,
MPU6050_DHPF_1_25HZ = 0b011,
MPU6050_DHPF_2_5HZ = 0b010,
MPU6050_DHPF_5HZ = 0b001,
MPU6050_DHPF_RESET = 0b000,
} mpu6050_dhpf_t;
typedef enum
{
MPU6050_DLPF_6 = 0b110,
MPU6050_DLPF_5 = 0b101,
MPU6050_DLPF_4 = 0b100,
MPU6050_DLPF_3 = 0b011,
MPU6050_DLPF_2 = 0b010,
MPU6050_DLPF_1 = 0b001,
MPU6050_DLPF_0 = 0b000,
} mpu6050_dlpf_t;
class MPU6050
{
public:
bool begin(mpu6050_dps_t scale = MPU6050_SCALE_2000DPS, mpu6050_range_t range = MPU6050_RANGE_2G, int mpua = MPU6050_ADDRESS);
void setClockSource(mpu6050_clockSource_t source);
void setScale(mpu6050_dps_t scale);
void setRange(mpu6050_range_t range);
mpu6050_clockSource_t getClockSource(void);
mpu6050_dps_t getScale(void);
mpu6050_range_t getRange(void);
void setDHPFMode(mpu6050_dhpf_t dhpf);
void setDLPFMode(mpu6050_dlpf_t dlpf);
mpu6050_onDelay_t getAccelPowerOnDelay();
void setAccelPowerOnDelay(mpu6050_onDelay_t delay);
uint8_t getIntStatus(void);
bool getIntZeroMotionEnabled(void);
void setIntZeroMotionEnabled(bool state);
bool getIntMotionEnabled(void);
void setIntMotionEnabled(bool state);
bool getIntFreeFallEnabled(void);
void setIntFreeFallEnabled(bool state);
uint8_t getMotionDetectionThreshold(void);
void setMotionDetectionThreshold(uint8_t threshold);
uint8_t getMotionDetectionDuration(void);
void setMotionDetectionDuration(uint8_t duration);
uint8_t getZeroMotionDetectionThreshold(void);
void setZeroMotionDetectionThreshold(uint8_t threshold);
uint8_t getZeroMotionDetectionDuration(void);
void setZeroMotionDetectionDuration(uint8_t duration);
uint8_t getFreeFallDetectionThreshold(void);
void setFreeFallDetectionThreshold(uint8_t threshold);
uint8_t getFreeFallDetectionDuration(void);
void setFreeFallDetectionDuration(uint8_t duration);
bool getSleepEnabled(void);
void setSleepEnabled(bool state);
bool getI2CMasterModeEnabled(void);
void setI2CMasterModeEnabled(bool state);
bool getI2CBypassEnabled(void);
void setI2CBypassEnabled(bool state);
float readTemperature(void);
Activites readActivites(void);
int16_t getGyroOffsetX(void);
void setGyroOffsetX(int16_t offset);
int16_t getGyroOffsetY(void);
void setGyroOffsetY(int16_t offset);
int16_t getGyroOffsetZ(void);
void setGyroOffsetZ(int16_t offset);
int16_t getAccelOffsetX(void);
void setAccelOffsetX(int16_t offset);
int16_t getAccelOffsetY(void);
void setAccelOffsetY(int16_t offset);
int16_t getAccelOffsetZ(void);
void setAccelOffsetZ(int16_t offset);
void calibrateGyro(uint8_t samples = 50);
void setThreshold(uint8_t multiple = 1);
uint8_t getThreshold(void);
Vector readRawGyro(void);
Vector readNormalizeGyro(void);
Vector readRawAccel(void);
Vector readNormalizeAccel(void);
Vector readScaledAccel(void);
private:
Vector ra, rg; // Raw vectors
Vector na, ng; // Normalized vectors
Vector tg, dg; // Threshold and Delta for Gyro
Vector th; // Threshold
Activites a; // Activities
float dpsPerDigit, rangePerDigit;
float actualThreshold;
bool useCalibrate;
int mpuAddress;
uint8_t fastRegister8(uint8_t reg);
uint8_t readRegister8(uint8_t reg);
void writeRegister8(uint8_t reg, uint8_t value);
int16_t readRegister16(uint8_t reg);
void writeRegister16(uint8_t reg, int16_t value);
bool readRegisterBit(uint8_t reg, uint8_t pos);
void writeRegisterBit(uint8_t reg, uint8_t pos, bool state);
};
#endif

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Arduino-MPU6050
===============
MPU6050 Triple Axis Gyroscope & Accelerometer Arduino Library.
![MPU6050 Processing](http://www.jarzebski.pl/media/zoom/publish/2014/10/mpu6050-processing-2.png "MPU6050 Processing")
Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
This library use I2C to communicate, 2 pins are required to interface

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Firmware/MPU6050/examples/MPU6050_accel_pitch_roll/MPU6050_accel_pitch_roll.ino Normal file
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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll Accelerometer Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
}
void loop()
{
// Read normalized values
Vector normAccel = mpu.readNormalizeAccel();
// Calculate Pitch & Roll
int pitch = -(atan2(normAccel.XAxis, sqrt(normAccel.YAxis*normAccel.YAxis + normAccel.ZAxis*normAccel.ZAxis))*180.0)/M_PI;
int roll = (atan2(normAccel.YAxis, normAccel.ZAxis)*180.0)/M_PI;
// Output
Serial.print(" Pitch = ");
Serial.print(pitch);
Serial.print(" Roll = ");
Serial.print(roll);
Serial.println();
delay(10);
}

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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Accelerometer Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// If you want, you can set accelerometer offsets
// mpu.setAccelOffsetX();
// mpu.setAccelOffsetY();
// mpu.setAccelOffsetZ();
checkSettings();
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Accelerometer: ");
switch(mpu.getRange())
{
case MPU6050_RANGE_16G: Serial.println("+/- 16 g"); break;
case MPU6050_RANGE_8G: Serial.println("+/- 8 g"); break;
case MPU6050_RANGE_4G: Serial.println("+/- 4 g"); break;
case MPU6050_RANGE_2G: Serial.println("+/- 2 g"); break;
}
Serial.print(" * Accelerometer offsets: ");
Serial.print(mpu.getAccelOffsetX());
Serial.print(" / ");
Serial.print(mpu.getAccelOffsetY());
Serial.print(" / ");
Serial.println(mpu.getAccelOffsetZ());
Serial.println();
}
void loop()
{
Vector rawAccel = mpu.readRawAccel();
Vector normAccel = mpu.readNormalizeAccel();
Serial.print(" Xraw = ");
Serial.print(rawAccel.XAxis);
Serial.print(" Yraw = ");
Serial.print(rawAccel.YAxis);
Serial.print(" Zraw = ");
Serial.println(rawAccel.ZAxis);
Serial.print(" Xnorm = ");
Serial.print(normAccel.XAxis);
Serial.print(" Ynorm = ");
Serial.print(normAccel.YAxis);
Serial.print(" Znorm = ");
Serial.println(normAccel.ZAxis);
delay(10);
}

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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Free fall detection.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
boolean ledState = false;
boolean freefallDetected = false;
int freefallBlinkCount = 0;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
mpu.setIntFreeFallEnabled(true);
mpu.setIntZeroMotionEnabled(false);
mpu.setIntMotionEnabled(false);
mpu.setDHPFMode(MPU6050_DHPF_5HZ);
mpu.setFreeFallDetectionThreshold(17);
mpu.setFreeFallDetectionDuration(2);
checkSettings();
pinMode(4, OUTPUT);
digitalWrite(4, LOW);
attachInterrupt(0, doInt, RISING);
}
void doInt()
{
freefallBlinkCount = 0;
freefallDetected = true;
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Motion Interrupt: ");
Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Zero Motion Interrupt: ");
Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Free Fall Interrupt: ");
Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Free Fal Threshold: ");
Serial.println(mpu.getFreeFallDetectionThreshold());
Serial.print(" * Free FallDuration: ");
Serial.println(mpu.getFreeFallDetectionDuration());
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Accelerometer: ");
switch(mpu.getRange())
{
case MPU6050_RANGE_16G: Serial.println("+/- 16 g"); break;
case MPU6050_RANGE_8G: Serial.println("+/- 8 g"); break;
case MPU6050_RANGE_4G: Serial.println("+/- 4 g"); break;
case MPU6050_RANGE_2G: Serial.println("+/- 2 g"); break;
}
Serial.print(" * Accelerometer offsets: ");
Serial.print(mpu.getAccelOffsetX());
Serial.print(" / ");
Serial.print(mpu.getAccelOffsetY());
Serial.print(" / ");
Serial.println(mpu.getAccelOffsetZ());
Serial.print(" * Accelerometer power delay: ");
switch(mpu.getAccelPowerOnDelay())
{
case MPU6050_DELAY_3MS: Serial.println("3ms"); break;
case MPU6050_DELAY_2MS: Serial.println("2ms"); break;
case MPU6050_DELAY_1MS: Serial.println("1ms"); break;
case MPU6050_NO_DELAY: Serial.println("0ms"); break;
}
Serial.println();
}
void loop()
{
Vector rawAccel = mpu.readRawAccel();
Activites act = mpu.readActivites();
Serial.print(act.isFreeFall);
Serial.print("\n");
if (freefallDetected)
{
ledState = !ledState;
digitalWrite(4, ledState);
freefallBlinkCount++;
if (freefallBlinkCount == 20)
{
freefallDetected = false;
ledState = false;
digitalWrite(4, ledState);
}
}
delay(100);
}

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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Pitch & Roll & Yaw Gyroscope Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
// Timers
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch, Roll and Yaw values
float pitch = 0;
float roll = 0;
float yaw = 0;
void setup()
{
Serial.begin(115200);
// Initialize MPU6050
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(3);
}
void loop()
{
timer = millis();
// Read normalized values
Vector norm = mpu.readNormalizeGyro();
// Calculate Pitch, Roll and Yaw
pitch = pitch + norm.YAxis * timeStep;
roll = roll + norm.XAxis * timeStep;
yaw = yaw + norm.ZAxis * timeStep;
// Output raw
Serial.print(" Pitch = ");
Serial.print(pitch);
Serial.print(" Roll = ");
Serial.print(roll);
Serial.print(" Yaw = ");
Serial.println(yaw);
// Wait to full timeStep period
delay((timeStep*1000) - (millis() - timer));
}

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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Simple Gyroscope Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
// Initialize MPU6050
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
// If you want, you can set gyroscope offsets
// mpu.setGyroOffsetX(155);
// mpu.setGyroOffsetY(15);
// mpu.setGyroOffsetZ(15);
// Calibrate gyroscope. The calibration must be at rest.
// If you don't want calibrate, comment this line.
mpu.calibrateGyro();
// Set threshold sensivty. Default 3.
// If you don't want use threshold, comment this line or set 0.
mpu.setThreshold(3);
// Check settings
checkSettings();
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Gyroscope: ");
switch(mpu.getScale())
{
case MPU6050_SCALE_2000DPS: Serial.println("2000 dps"); break;
case MPU6050_SCALE_1000DPS: Serial.println("1000 dps"); break;
case MPU6050_SCALE_500DPS: Serial.println("500 dps"); break;
case MPU6050_SCALE_250DPS: Serial.println("250 dps"); break;
}
Serial.print(" * Gyroscope offsets: ");
Serial.print(mpu.getGyroOffsetX());
Serial.print(" / ");
Serial.print(mpu.getGyroOffsetY());
Serial.print(" / ");
Serial.println(mpu.getGyroOffsetZ());
Serial.println();
}
void loop()
{
Vector rawGyro = mpu.readRawGyro();
Vector normGyro = mpu.readNormalizeGyro();
Serial.print(" Xraw = ");
Serial.print(rawGyro.XAxis);
Serial.print(" Yraw = ");
Serial.print(rawGyro.YAxis);
Serial.print(" Zraw = ");
Serial.println(rawGyro.ZAxis);
Serial.print(" Xnorm = ");
Serial.print(normGyro.XAxis);
Serial.print(" Ynorm = ");
Serial.print(normGyro.YAxis);
Serial.print(" Znorm = ");
Serial.println(normGyro.ZAxis);
delay(10);
}

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/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Motion detection.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
mpu.setIntFreeFallEnabled(false);
mpu.setIntZeroMotionEnabled(false);
mpu.setIntMotionEnabled(false);
mpu.setDHPFMode(MPU6050_DHPF_5HZ);
mpu.setMotionDetectionThreshold(2);
mpu.setMotionDetectionDuration(5);
mpu.setZeroMotionDetectionThreshold(4);
mpu.setZeroMotionDetectionDuration(2);
checkSettings();
pinMode(4, OUTPUT);
digitalWrite(4, LOW);
pinMode(7, OUTPUT);
digitalWrite(7, LOW);
}
void checkSettings()
{
Serial.println();
Serial.print(" * Sleep Mode: ");
Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Motion Interrupt: ");
Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Zero Motion Interrupt: ");
Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Free Fall Interrupt: ");
Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
Serial.print(" * Motion Threshold: ");
Serial.println(mpu.getMotionDetectionThreshold());
Serial.print(" * Motion Duration: ");
Serial.println(mpu.getMotionDetectionDuration());
Serial.print(" * Zero Motion Threshold: ");
Serial.println(mpu.getZeroMotionDetectionThreshold());
Serial.print(" * Zero Motion Duration: ");
Serial.println(mpu.getZeroMotionDetectionDuration());
Serial.print(" * Clock Source: ");
switch(mpu.getClockSource())
{
case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
}
Serial.print(" * Accelerometer: ");
switch(mpu.getRange())
{
case MPU6050_RANGE_16G: Serial.println("+/- 16 g"); break;
case MPU6050_RANGE_8G: Serial.println("+/- 8 g"); break;
case MPU6050_RANGE_4G: Serial.println("+/- 4 g"); break;
case MPU6050_RANGE_2G: Serial.println("+/- 2 g"); break;
}
Serial.print(" * Accelerometer offsets: ");
Serial.print(mpu.getAccelOffsetX());
Serial.print(" / ");
Serial.print(mpu.getAccelOffsetY());
Serial.print(" / ");
Serial.println(mpu.getAccelOffsetZ());
Serial.print(" * Accelerometer power delay: ");
switch(mpu.getAccelPowerOnDelay())
{
case MPU6050_DELAY_3MS: Serial.println("3ms"); break;
case MPU6050_DELAY_2MS: Serial.println("2ms"); break;
case MPU6050_DELAY_1MS: Serial.println("1ms"); break;
case MPU6050_NO_DELAY: Serial.println("0ms"); break;
}
Serial.println();
}
void loop()
{
Vector rawAccel = mpu.readRawAccel();
Activites act = mpu.readActivites();
if (act.isActivity)
{
digitalWrite(4, HIGH);
} else
{
digitalWrite(4, LOW);
}
if (act.isInactivity)
{
digitalWrite(7, HIGH);
} else
{
digitalWrite(7, LOW);
}
Serial.print(act.isActivity);
Serial.print(act.isInactivity);
Serial.print(" ");
Serial.print(act.isPosActivityOnX);
Serial.print(act.isNegActivityOnX);
Serial.print(" ");
Serial.print(act.isPosActivityOnY);
Serial.print(act.isNegActivityOnY);
Serial.print(" ");
Serial.print(act.isPosActivityOnZ);
Serial.print(act.isNegActivityOnZ);
Serial.print("\n");
delay(50);
}

38
Firmware/MPU6050/examples/MPU6050_temperature/MPU6050_temperature.ino Normal file
View File

@ -0,0 +1,38 @@
/*
MPU6050 Triple Axis Gyroscope & Accelerometer. Temperature Example.
Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
GIT: https://github.com/jarzebski/Arduino-MPU6050
Web: http://www.jarzebski.pl
(c) 2014 by Korneliusz Jarzebski
*/
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
void setup()
{
Serial.begin(115200);
Serial.println("Initialize MPU6050");
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
delay(500);
}
}
void loop()
{
float temp = mpu.readTemperature();
Serial.print(" Temp = ");
Serial.print(temp);
Serial.println(" *C");
delay(500);
}

338
master.ino → Firmware/master.ino
View File

@ -1,169 +1,169 @@
/*
This is the source code for the master-module of Star Track.
Required Libraries:
https://virtuabotix-virtuabotixllc.netdna-ssl.com/core/wp-content/uploads/2014/01/virtuabotixRTC.zip
https://drive.google.com/folderview?id=0B1p6T9dV6tnqSjU2WnBXREZPbms&usp=sharing
Created 20 July 2016 by Görkem Bozkurt
*/
#include <virtuabotixRTC.h>
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
//define RTC.
virtuabotixRTC myRTC(A0, A1, A2);
double M,Y,D,MN,H,S;
double A,B;
double location =32.88;//your longtitude.
double location2 =39.933363//your latitude.
double LST_degrees;//variable to store local side real time(LST) in degrees.
double LST_hours;//variable to store local side real time(LST) in decimal hours.
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch and Yaw values
double pitch = 0;
double yaw = 0;
double val = 0;//variable to store the user input DEC
double val2 = 0;//variable to store the user input RA
double temp = val2;//temporary value to store val2
const int stahp=7,stahp2=10;
const int cw=8,cw2=11;
const int ccw=6,ccw2=9;
void setup() {
//set date-time according to (seconds, minutes, hours, day of the week, day of the month, month, year)
myRTC.setDS1302Time(00, 38, 23, 5, 27, 7, 2016);
Serial.begin(115200);
pinMode(stahp,OUTPUT);
pinMode(cw,OUTPUT);
pinMode(ccw,OUTPUT);
pinMode(stahp2,OUTPUT);
pinMode(cw2,OUTPUT);
pinMode(ccw2,OUTPUT);
delay(5000);//wait before starting
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
}
mpu.calibrateGyro();
mpu.setThreshold(3);
}//--(end setup )---
void loop()
{
//this will update the RA degrees with sidereal time 1degree at a time
//this way the object or star on the sky is tracked.
if(location2>0){//for the northern hemisphere.
if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){
val2 = temp+(360-LST_degrees);
}else{
val2 = temp-LST_degrees; //use val2 = temp+LST_degrees; if you are located in the southern hemisphere.
}
}
}else{//for the southern hemisphere.
if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){
val2 = temp-(360-LST_degrees);
}else{
val2 = temp+LST_degrees; //use val2 = temp+LST_degrees; if you are located in the southern hemisphere.
}
}
}
myRTC.updateTime();
LST_time();
recvdata();
pitch_check();
yaw_check();
timer = millis();
Vector norm = mpu.readNormalizeGyro();
//I've put the sensor with a 90 degree angle on the setup due to
//cable connection problems. Because of that the data values from the mpu6050 chip are
//different in this case:
//roll data(X-axis) is pitch.
//pitch data(Y-axis) is yaw.
yaw = yaw + norm.YAxis * timeStep;
pitch = pitch + norm.XAxis * timeStep;
Serial.print(" Yaw = ");
Serial.print(yaw);
Serial.print(" Pitch = ");
Serial.print(pitch);
Serial.print(" LST_d = ");
Serial.print(LST_degrees);
Serial.print(" LST_h = ");
Serial.println(LST_hours);//local sidereal time in decimal hours.
delay((timeStep*1000) - (millis() - timer));//timer for the gyro.
}
void recvdata(){
//This function receives data from serial as (0.00,0.00)
//splits it to strings by the comma ","
//than converts them to doubles
if (Serial.available() > 0){
String a= Serial.readString();
String value1, value2;
// For loop which will separate the String in parts
// and assign them the the variables we declare
for (int i = 0; i < a.length(); i++) {
if (a.substring(i, i+1) == ",") {
value2 = a.substring(0, i);
value1= a.substring(i+1);
break;
}
}
val=90-value1.toFloat();
val2=value2.toFloat();
temp = val2;
}
}
void pitch_check(){
//check if pitch is high, low or equal to the user input
//send commands to slave-module to start and stop motors
if(floor(pitch*100)/100==floor(val*100)/100){
digitalWrite(stahp,HIGH);
}else{
digitalWrite(stahp,LOW);
}
if(floor(pitch*100)<floor(val*100)){
digitalWrite(cw,HIGH);
}else{
digitalWrite(cw,LOW);
}
if(floor(pitch*100)>floor(val*100)){
digitalWrite(ccw,HIGH);
}else{
digitalWrite(ccw,LOW);
}
}
void yaw_check(){
//check if yaw is high, low or equal to the user input
//send commands to slave-module to start and stop motors
if(floor(yaw*100)==floor(val2*100)){
digitalWrite(stahp2,HIGH);
}else{
digitalWrite(stahp2,LOW);
}
if(floor(yaw*100)<floor(val2*100)){
digitalWrite(cw2,HIGH);
}else{
digitalWrite(cw2,LOW);
}
if(floor(yaw*100)>floor(val2*100)){
digitalWrite(ccw2,HIGH);
}else{
digitalWrite(ccw2,LOW);
}
}
void LST_time(){
//Calculates local sidereal time based on this calculation,
//http://www.stargazing.net/kepler/altaz.html
M = (double) myRTC.month;
Y = (double) myRTC.year;
D = (double) myRTC.dayofmonth;
MN = (double) myRTC.minutes;
H = (double) myRTC.hours;
S = (double) myRTC.seconds;
A = (double)(Y-2000)*365.242199;
B = (double)(M-1)*30.4368499;
double JDN2000=A+B+(D-1)+myRTC.hours/24;
double decimal_time = H+(MN/60)+(S/3600) ;
double LST = 100.46 + 0.985647 * JDN2000 + location + 15*decimal_time;
LST_degrees = (LST-(floor(LST/360)*360));
LST_hours = LST_degrees/15;
}
/*
This is the source code for the master-module of Star Track.
Required Libraries:
https://virtuabotix-virtuabotixllc.netdna-ssl.com/core/wp-content/uploads/2014/01/virtuabotixRTC.zip
https://drive.google.com/folderview?id=0B1p6T9dV6tnqSjU2WnBXREZPbms&usp=sharing
Created 20 July 2016 by Görkem Bozkurt
*/
#include <virtuabotixRTC.h>
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
//define RTC.
virtuabotixRTC myRTC(A0, A1, A2);
double M,Y,D,MN,H,S;
double A,B;
double location =32.88;//your longtitude.
double location2 =39.933363//your latitude.
double LST_degrees;//variable to store local side real time(LST) in degrees.
double LST_hours;//variable to store local side real time(LST) in decimal hours.
unsigned long timer = 0;
float timeStep = 0.01;
// Pitch and Yaw values
double pitch = 0;
double yaw = 0;
double val = 0;//variable to store the user input DEC
double val2 = 0;//variable to store the user input RA
double temp = val2;//temporary value to store val2
const int stahp=7,stahp2=10;
const int cw=8,cw2=11;
const int ccw=6,ccw2=9;
void setup() {
//set date-time according to (seconds, minutes, hours, day of the week, day of the month, month, year)
myRTC.setDS1302Time(00, 38, 23, 5, 27, 7, 2016);
Serial.begin(115200);
pinMode(stahp,OUTPUT);
pinMode(cw,OUTPUT);
pinMode(ccw,OUTPUT);
pinMode(stahp2,OUTPUT);
pinMode(cw2,OUTPUT);
pinMode(ccw2,OUTPUT);
delay(5000);//wait before starting
while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
{
}
mpu.calibrateGyro();
mpu.setThreshold(3);
}//--(end setup )---
void loop()
{
//this will update the RA degrees with sidereal time 1degree at a time
//this way the object or star on the sky is tracked.
if(location2>0){//for the northern hemisphere.
if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){
val2 = temp+(360-LST_degrees);
}else{
val2 = temp-LST_degrees; //use val2 = temp+LST_degrees; if you are located in the southern hemisphere.
}
}
}else{//for the southern hemisphere.
if( floor(LST_degrees)==LST_degrees ){
if (LST_degrees>180){
val2 = temp-(360-LST_degrees);
}else{
val2 = temp+LST_degrees; //use val2 = temp+LST_degrees; if you are located in the southern hemisphere.
}
}
}
myRTC.updateTime();
LST_time();
recvdata();
pitch_check();
yaw_check();
timer = millis();
Vector norm = mpu.readNormalizeGyro();
//I've put the sensor with a 90 degree angle on the setup due to
//cable connection problems. Because of that the data values from the mpu6050 chip are
//different in this case:
//roll data(X-axis) is pitch.
//pitch data(Y-axis) is yaw.
yaw = yaw + norm.YAxis * timeStep;
pitch = pitch + norm.XAxis * timeStep;
Serial.print(" Yaw = ");
Serial.print(yaw);
Serial.print(" Pitch = ");
Serial.print(pitch);
Serial.print(" LST_d = ");
Serial.print(LST_degrees);
Serial.print(" LST_h = ");
Serial.println(LST_hours);//local sidereal time in decimal hours.
delay((timeStep*1000) - (millis() - timer));//timer for the gyro.
}
void recvdata(){
//This function receives data from serial as (0.00,0.00)
//splits it to strings by the comma ","
//than converts them to doubles
if (Serial.available() > 0){
String a= Serial.readString();
String value1, value2;
// For loop which will separate the String in parts
// and assign them the the variables we declare
for (int i = 0; i < a.length(); i++) {
if (a.substring(i, i+1) == ",") {
value2 = a.substring(0, i);
value1= a.substring(i+1);
break;
}
}
val=90-value1.toFloat();
val2=value2.toFloat();
temp = val2;
}
}
void pitch_check(){
//check if pitch is high, low or equal to the user input
//send commands to puppet-module to start and stop motors
if(floor(pitch*100)/100==floor(val*100)/100){
digitalWrite(stahp,HIGH);
}else{
digitalWrite(stahp,LOW);
}
if(floor(pitch*100)<floor(val*100)){
digitalWrite(cw,HIGH);
}else{
digitalWrite(cw,LOW);
}
if(floor(pitch*100)>floor(val*100)){
digitalWrite(ccw,HIGH);
}else{
digitalWrite(ccw,LOW);
}
}
void yaw_check(){
//check if yaw is high, low or equal to the user input
//send commands to puppet-module to start and stop motors
if(floor(yaw*100)==floor(val2*100)){
digitalWrite(stahp2,HIGH);
}else{
digitalWrite(stahp2,LOW);
}
if(floor(yaw*100)<floor(val2*100)){
digitalWrite(cw2,HIGH);
}else{
digitalWrite(cw2,LOW);
}
if(floor(yaw*100)>floor(val2*100)){
digitalWrite(ccw2,HIGH);
}else{
digitalWrite(ccw2,LOW);
}
}
void LST_time(){
//Calculates local sidereal time based on this calculation,
//http://www.stargazing.net/kepler/altaz.html
M = (double) myRTC.month;
Y = (double) myRTC.year;
D = (double) myRTC.dayofmonth;
MN = (double) myRTC.minutes;
H = (double) myRTC.hours;
S = (double) myRTC.seconds;
A = (double)(Y-2000)*365.242199;
B = (double)(M-1)*30.4368499;
double JDN2000=A+B+(D-1)+myRTC.hours/24;
double decimal_time = H+(MN/60)+(S/3600) ;
double LST = 100.46 + 0.985647 * JDN2000 + location + 15*decimal_time;
LST_degrees = (LST-(floor(LST/360)*360));
LST_hours = LST_degrees/15;
}

4
slave.ino → Firmware/puppet.ino
View File

@ -1,5 +1,5 @@
/*
this is the source code for the slave module of Star Track
this is the source code for the puppet module of Star Track
Required Libraries:
http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.51.zip
Created 20 July 2016 by Görkem Bozkurt
@ -75,4 +75,4 @@ void motor_pitch(){
}
}
}
}

6
README.md
View File

@ -1,9 +1,9 @@
# Star-Track
Arduino powered GoTo-mount inspired star tracking system.
more info: http://www.instructables.com/id/Star-Track-Arduino-Powered-Star-Pointer-and-Tracke/
more info: https://gorkem.cc/projects/StarTrack/
There are two Arduino's working in order. Arduino Uno being master and nano being the slave.
There are two Arduino's working in order. Arduino Uno being master and nano being the puppet.
Master module
@ -27,7 +27,7 @@ and 6 outputs,
6-stahp2(DEC motor stop)
The RTC is set to UTC time, a function calculates local sidereal time in degrees and rotates the mount to 0h RA position. The loop constantly checks if the gyro data is equal to the user input & sidereal time data. The default is 0,0. If there is a change and the equality breaks the master module send a command to the slave module.
The RTC is set to UTC time, a function calculates local sidereal time in degrees and rotates the mount to 0h RA position. The loop constantly checks if the gyro data is equal to the user input & sidereal time data. The default is 0,0. If there is a change and the equality breaks the master module send a command to the puppet module.
If the user value is higher than the gyro value a signal is sent through cw the motor turns clockwise.