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111 lines
4.1 KiB
C++
111 lines
4.1 KiB
C++
//Source: https://blog.naver.com/ysahn2k/221410891895
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#include <Wire.h>
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#define SDA 0
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#define SCL 4
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const int MPU_ADDR=0x68; // I2C address of the MPU-6050
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int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
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long Cal_AcX, Cal_AcY, Cal_AcZ, Cal_Tmp, Cal_GyX, Cal_GyY, Cal_GyZ;
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void setup(){
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Wire.begin(SDA, SCL, 400000);
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init_MPU6050();
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Serial.begin(115200);
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}
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void loop(){
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for(int i = 0 ; i < 2000 ; i++) {
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if(i % 200 == 0) Serial.println("Calculating .....");
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
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Wire.endTransmission(false);
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Wire.requestFrom(MPU_ADDR,14,true); // request a total of 14 registers
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AcX=Wire.read()<<8|Wire.read(); // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
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AcY=Wire.read()<<8|Wire.read(); // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
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AcZ=(Wire.read()<<8|Wire.read()) - 4096; // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
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Tmp=Wire.read()<<8|Wire.read(); // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
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GyX=Wire.read()<<8|Wire.read(); // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
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GyY=Wire.read()<<8|Wire.read(); // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
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GyZ=Wire.read()<<8|Wire.read(); // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)
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delay(10);
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// Sum data
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Cal_AcX += AcX;
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Cal_AcY += AcY;
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Cal_AcZ += AcZ;
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Cal_GyX += GyX;
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Cal_GyY += GyY;
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Cal_GyZ += GyZ;
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}
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// Average Data
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Cal_AcX /= 2000;
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Cal_AcY /= 2000;
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Cal_AcZ /= 2000;
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Cal_GyX /= 2000;
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Cal_GyY /= 2000;
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Cal_GyZ /= 2000;
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// Print Data
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Serial.println("End of Calculation");
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Serial.print("AcX = "); Serial.print(Cal_AcX);
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Serial.print(" | AcY = "); Serial.print(Cal_AcY);
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Serial.print(" | AcZ = "); Serial.print(Cal_AcZ);
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//Serial.print(" | Tmp = "); Serial.print(Tmp/340.00+36.53); //equation for temperature in degrees C from datasheet
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Serial.print(" | GyX = "); Serial.print(Cal_GyX);
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Serial.print(" | GyY = "); Serial.print(Cal_GyY);
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Serial.print(" | GyZ = "); Serial.println(Cal_GyZ);
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while(1) {}
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}
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void init_MPU6050(){
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//MPU6050 Initializing & Reset
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x6B); // PWR_MGMT_1 register
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Wire.write(0); // set to zero (wakes up the MPU-6050)
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Wire.endTransmission(true);
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//MPU6050 Clock Type
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x6B); // PWR_MGMT_1 register
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Wire.write(0x03); // Selection Clock 'PLL with Z axis gyroscope reference'
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Wire.endTransmission(true);
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//MPU6050 Gyroscope Configuration Setting
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x1B); // Gyroscope Configuration register
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//Wire.write(0x00); // FS_SEL=0, Full Scale Range = +/- 250 [degree/sec]
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//Wire.write(0x08); // FS_SEL=1, Full Scale Range = +/- 500 [degree/sec]
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//Wire.write(0x10); // FS_SEL=2, Full Scale Range = +/- 1000 [degree/sec]
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Wire.write(0x18); // FS_SEL=3, Full Scale Range = +/- 2000 [degree/sec]
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Wire.endTransmission(true);
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//MPU6050 Accelerometer Configuration Setting
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x1C); // Accelerometer Configuration register
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//Wire.write(0x00); // AFS_SEL=0, Full Scale Range = +/- 2 [g]
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//Wire.write(0x08); // AFS_SEL=1, Full Scale Range = +/- 4 [g]
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Wire.write(0x10); // AFS_SEL=2, Full Scale Range = +/- 8 [g]
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//Wire.write(0x18); // AFS_SEL=3, Full Scale Range = +/- 10 [g]
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Wire.endTransmission(true);
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//MPU6050 DLPF(Digital Low Pass Filter)
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Wire.beginTransmission(MPU_ADDR);
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Wire.write(0x1A); // DLPF_CFG register
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Wire.write(0x00); // Accel BW 260Hz, Delay 0ms / Gyro BW 256Hz, Delay 0.98ms, Fs 8KHz
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//Wire.write(0x01); // Accel BW 184Hz, Delay 2ms / Gyro BW 188Hz, Delay 1.9ms, Fs 1KHz
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//Wire.write(0x02); // Accel BW 94Hz, Delay 3ms / Gyro BW 98Hz, Delay 2.8ms, Fs 1KHz
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//Wire.write(0x03); // Accel BW 44Hz, Delay 4.9ms / Gyro BW 42Hz, Delay 4.8ms, Fs 1KHz
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//Wire.write(0x04); // Accel BW 21Hz, Delay 8.5ms / Gyro BW 20Hz, Delay 8.3ms, Fs 1KHz
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//Wire.write(0x05); // Accel BW 10Hz, Delay 13.8ms / Gyro BW 10Hz, Delay 13.4ms, Fs 1KHz
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//Wire.write(0x06); // Accel BW 5Hz, Delay 19ms / Gyro BW 5Hz, Delay 18.6ms, Fs 1KHz
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Wire.endTransmission(true);
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}
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