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added ability to print acceleration in g unit #20

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added ability to print acceleration in g unit #20

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10 changes: 6 additions & 4 deletions 10 AvrCopter.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ void setup() {
ret = mympu_open(200);
Serial.print("MPU init: "); Serial.println(ret);
Serial.print("Free mem: "); Serial.println(freeRam());

}

unsigned int c = 0; //cumulative number of successful MPU/DMP reads
Expand All @@ -25,8 +25,8 @@ void loop() {
case 0: c++; break;
case 1: np++; return;
case 2: err_o++; return;
case 3: err_c++; return;
default:
case 3: err_c++; return;
default:
Serial.print("READ ERROR! ");
Serial.println(ret);
return;
Expand All @@ -40,6 +40,8 @@ void loop() {
Serial.print("\tgy: "); Serial.print(mympu.gyro[0]);
Serial.print(" gp: "); Serial.print(mympu.gyro[1]);
Serial.print(" gr: "); Serial.println(mympu.gyro[2]);
Serial.print("\taX: "); Serial.print(mympu.accel[0]/2048); // 2048 is spcified in the datasheet for a 2g full scale range
Serial.print("g aY: "); Serial.print(mympu.accel[1]/2048); // the scale range can be changed in file mpu.cpp line 46
Serial.print("g aZ: "); Serial.print(mympu.accel[2]/2048); Serial.println('g');
}
}

26 changes: 14 additions & 12 deletions 26 mpu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,15 +4,15 @@

#define FSR 2000
//#define GYRO_SENS ( 131.0f * 250.f / (float)FSR )
#define GYRO_SENS 16.375f
#define GYRO_SENS 16.375f
#define QUAT_SENS 1073741824.f //2^30

#define EPSILON 0.0001f
#define PI_2 1.57079632679489661923f

struct s_mympu mympu;

struct s_quat { float w, x, y, z; };
struct s_quat { float w, x, y, z; };

union u_quat {
struct s_quat _f;
Expand All @@ -21,6 +21,7 @@ union u_quat {

static int ret;
static short gyro[3];
static short accel[3];
static short sensors;
static unsigned char fifoCount;

Expand All @@ -32,8 +33,7 @@ int mympu_open(unsigned int rate) {
#ifdef MPU_DEBUG
if (ret) return 10+ret;
#endif

ret = mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
ret = mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
#ifdef MPU_DEBUG
if (ret) return 20+ret;
#endif
Expand All @@ -52,7 +52,6 @@ int mympu_open(unsigned int rate) {
#ifdef MPU_DEBUG
if (!ret) return 50+ret;
#endif

ret = mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);
#ifdef MPU_DEBUG
if (ret) return 60+ret;
Expand All @@ -76,7 +75,7 @@ int mympu_open(unsigned int rate) {
if (ret) return 100+ret;
#endif

ret = dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_SEND_CAL_GYRO|DMP_FEATURE_GYRO_CAL);
ret = dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_SEND_CAL_GYRO|DMP_FEATURE_GYRO_CAL|DMP_FEATURE_SEND_RAW_ACCEL);
// ret = dmp_enable_feature(DMP_FEATURE_SEND_CAL_GYRO|DMP_FEATURE_GYRO_CAL);
#ifdef MPU_DEBUG
if (ret) return 110+ret;
Expand Down Expand Up @@ -127,7 +126,7 @@ static inline float wrap_180(float x) {
int mympu_update() {

do {
ret = dmp_read_fifo(gyro,NULL,q._l,NULL,&sensors,&fifoCount);
ret = dmp_read_fifo(gyro,accel,q._l,NULL,&sensors,&fifoCount);
/* will return:
0 - if ok
1 - no packet available
Expand All @@ -136,7 +135,7 @@ int mympu_update() {
<0 - if error
*/

if (ret!=0) return ret;
if (ret!=0) return ret;
} while (fifoCount>1);

q._f.w = (float)q._l[0] / (float)QUAT_SENS;
Expand All @@ -146,19 +145,22 @@ int mympu_update() {


quaternionToEuler( &q._f, &mympu.ypr[2], &mympu.ypr[1], &mympu.ypr[0] );
/* need to adjust signs and do the wraps depending on the MPU mount orientation */

/* need to adjust signs and do the wraps depending on the MPU mount orientation */
/* if axis is no centered around 0 but around i.e 90 degree due to mount orientation */
/* then do: mympu.ypr[x] = wrap_180(90.f+rad2deg(mympu.ypr[x])); */
mympu.ypr[0] = rad2deg(mympu.ypr[0]);
mympu.ypr[1] = rad2deg(mympu.ypr[1]);
mympu.ypr[2] = rad2deg(mympu.ypr[2]);

/* need to adjust signs depending on the MPU mount orientation */
/* need to adjust signs depending on the MPU mount orientation */
mympu.gyro[0] = -(float)gyro[2] / GYRO_SENS;
mympu.gyro[1] = (float)gyro[1] / GYRO_SENS;
mympu.gyro[2] = (float)gyro[0] / GYRO_SENS;

mympu.accel[0]=(float)accel[0];
mympu.accel[1]=(float)accel[1];
mympu.accel[2]=(float)accel[2];

return 0;
}

2 changes: 1 addition & 1 deletion 2 mpu.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
struct s_mympu {
float ypr[3];
float gyro[3];
float accel[3];
};

extern struct s_mympu mympu;
Expand All @@ -12,4 +13,3 @@ int mympu_open(unsigned int rate);
int mympu_update();

#endif

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