Thank you very much.
Here is code.
/* MPU6050 Basic Example Code*/
#include <Wire.h>
#define XGOFFS_TC 0x00
#define YGOFFS_TC 0x01
#define ZGOFFS_TC 0x02
#define X_FINE_GAIN 0x03
#define Y_FINE_GAIN 0x04
#define Z_FINE_GAIN 0x05
#define XA_OFFSET_H 0x06
#define XA_OFFSET_L_TC 0x07
#define YA_OFFSET_H 0x08
#define YA_OFFSET_L_TC 0x09
#define ZA_OFFSET_H 0x0A
#define ZA_OFFSET_L_TC 0x0B
#define SELF_TEST_X 0x0D
#define SELF_TEST_Y 0x0E
#define SELF_TEST_Z 0x0F
#define SELF_TEST_A 0x10
#define XG_OFFS_USRH 0x13
#define XG_OFFS_USRL 0x14
#define YG_OFFS_USRH 0x15
#define YG_OFFS_USRL 0x16
#define ZG_OFFS_USRH 0x17
#define ZG_OFFS_USRL 0x18
#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
#define FF_THR 0x1D
#define FF_DUR 0x1E
#define MOT_THR 0x1F
#define MOT_DUR 0x20
#define ZMOT_THR 0x21
#define ZRMOT_DUR 0x22
#define FIFO_EN 0x23
#define I2C_MST_CTRL 0x24
#define I2C_SLV0_ADDR 0x25
#define I2C_SLV0_REG 0x26
#define I2C_SLV0_CTRL 0x27
#define I2C_SLV1_ADDR 0x28
#define I2C_SLV1_REG 0x29
#define I2C_SLV1_CTRL 0x2A
#define I2C_SLV2_ADDR 0x2B
#define I2C_SLV2_REG 0x2C
#define I2C_SLV2_CTRL 0x2D
#define I2C_SLV3_ADDR 0x2E
#define I2C_SLV3_REG 0x2F
#define I2C_SLV3_CTRL 0x30
#define I2C_SLV4_ADDR 0x31
#define I2C_SLV4_REG 0x32
#define I2C_SLV4_DO 0x33
#define I2C_SLV4_CTRL 0x34
#define I2C_SLV4_DI 0x35
#define I2C_MST_STATUS 0x36
#define INT_PIN_CFG 0x37
#define INT_ENABLE 0x38
#define DMP_INT_STATUS 0x39
#define INT_STATUS 0x3A
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define EXT_SENS_DATA_00 0x49
#define EXT_SENS_DATA_01 0x4A
#define EXT_SENS_DATA_02 0x4B
#define EXT_SENS_DATA_03 0x4C
#define EXT_SENS_DATA_04 0x4D
#define EXT_SENS_DATA_05 0x4E
#define EXT_SENS_DATA_06 0x4F
#define EXT_SENS_DATA_07 0x50
#define EXT_SENS_DATA_08 0x51
#define EXT_SENS_DATA_09 0x52
#define EXT_SENS_DATA_10 0x53
#define EXT_SENS_DATA_11 0x54
#define EXT_SENS_DATA_12 0x55
#define EXT_SENS_DATA_13 0x56
#define EXT_SENS_DATA_14 0x57
#define EXT_SENS_DATA_15 0x58
#define EXT_SENS_DATA_16 0x59
#define EXT_SENS_DATA_17 0x5A
#define EXT_SENS_DATA_18 0x5B
#define EXT_SENS_DATA_19 0x5C
#define EXT_SENS_DATA_20 0x5D
#define EXT_SENS_DATA_21 0x5E
#define EXT_SENS_DATA_22 0x5F
#define EXT_SENS_DATA_23 0x60
#define MOT_DETECT_STATUS 0x61
#define I2C_SLV0_DO 0x63
#define I2C_SLV1_DO 0x64
#define I2C_SLV2_DO 0x65
#define I2C_SLV3_DO 0x66
#define I2C_MST_DELAY_CTRL 0x67
#define SIGNAL_PATH_RESET 0x68
#define MOT_DETECT_CTRL 0x69
#define USER_CTRL 0x6A
#define PWR_MGMT_1 0x6B
#define PWR_MGMT_2 0x6C
#define DMP_BANK 0x6D
#define DMP_RW_PNT 0x6E
#define DMP_REG 0x6F
#define DMP_REG_1 0x70
#define DMP_REG_2 0x71
#define FIFO_COUNTH 0x72
#define FIFO_COUNTL 0x73
#define FIFO_R_W 0x74
#define WHO_AM_I_MPU6050 0x75
#define ADO 0
#if ADO
#define MPU6050_ADDRESS 0x69 // Device address when ADO = 1
#else
#define MPU6050_ADDRESS 0x68 // Device address when ADO = 0
#endif
// Set initial input parameters
enum Ascale {
AFS_2G = 0,
AFS_4G,
AFS_8G,
AFS_16G
};
enum Gscale {
GFS_250DPS = 0,
GFS_500DPS,
GFS_1000DPS,
GFS_2000DPS
};
// Specify sensor full scale
int Gscale = GFS_250DPS;
int Ascale = AFS_2G;
float aRes, gRes; // scale resolutions per LSB for the sensors
// Pin definitions
int intPin = 12; // This can be changed, 2 and 3 are the Arduinos ext int pins
int16_t accelCount[3];
float ax, ay, az;
int16_t gyroCount[3];
float gx, gy, gz;
float gyroBias[3], accelBias[3];
int16_t tempCount;
float temperature;
float SelfTest[6];
uint32_t count = 0;
void setup()
{
Wire.begin();
Serial.begin(38400);
// Set up the interrupt pin, its set as active high, push-pull
pinMode(intPin, INPUT);
digitalWrite(intPin, LOW);
// Read the WHO_AM_I register, this is a good test of communication
uint8_t c = readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050); // Read WHO_AM_I register for MPU-6050
if (c == 0x68) // WHO_AM_I should always be 0x68
{
Serial.println("MPU6050 is online...");
MPU6050SelfTest(SelfTest);
Serial.print("x-axis self test: acceleration trim within : "); Serial.print(SelfTest[0],1); Serial.println("% of factory value");
Serial.print("y-axis self test: acceleration trim within : "); Serial.print(SelfTest[1],1); Serial.println("% of factory value");
Serial.print("z-axis self test: acceleration trim within : "); Serial.print(SelfTest[2],1); Serial.println("% of factory value");
Serial.print("x-axis self test: gyration trim within : "); Serial.print(SelfTest[3],1); Serial.println("% of factory value");
Serial.print("y-axis self test: gyration trim within : "); Serial.print(SelfTest[4],1); Serial.println("% of factory value");
Serial.print("z-axis self test: gyration trim within : "); Serial.print(SelfTest[5],1); Serial.println("% of factory value");
if(SelfTest[0] < 1.0f && SelfTest[1] < 1.0f && SelfTest[2] < 1.0f && SelfTest[3] < 1.0f && SelfTest[4] < 1.0f && SelfTest[5] < 1.0f) {
Serial.println("Pass Selftest!");
calibrateMPU6050(gyroBias, accelBias);
initMPU6050(); Serial.println("MPU6050 initialized for active data mode....");
}
else
{
Serial.print("Could not connect to MPU6050: 0x");
Serial.println(c, HEX);
while(1) ; // Loop forever if communication doesn't happen
}
}
}
void loop()
{
// If data ready bit set, all data registers have new data
if(readByte(MPU6050_ADDRESS, INT_STATUS) & 0x01) {
readAccelData(accelCount); // Read the x/y/z adc values
getAres();
// Now we'll calculate the accleration value into actual g's
ax = (float)accelCount[0]*aRes - accelBias[0];
ay = (float)accelCount[1]*aRes - accelBias[1];
az = (float)accelCount[2]*aRes - accelBias[2];
readGyroData(gyroCount); // Read the x/y/z adc values
getGres();
// Calculate the gyro value into actual degrees per second
gx = (float)gyroCount[0]*gRes - gyroBias[0];
gy = (float)gyroCount[1]*gRes - gyroBias[1];
gz = (float)gyroCount[2]*gRes - gyroBias[2];
tempCount = readTempData(); // Read the x/y/z adc values
temperature = ((float) tempCount) / 340. + 36.53; // Temperature in degrees Centigrade
}
uint32_t deltat = millis() - count;
if(deltat > 500) {
// Print acceleration values in milligs!
Serial.print("X-acceleration: "); Serial.print(1000*ax); Serial.print(" mg ");
Serial.print("Y-acceleration: "); Serial.print(1000*ay); Serial.print(" mg ");
Serial.print("Z-acceleration: "); Serial.print(1000*az); Serial.println(" mg");
// Print gyro values in degree/sec
Serial.print("X-gyro rate: "); Serial.print(gx, 1); Serial.print(" degrees/sec ");
Serial.print("Y-gyro rate: "); Serial.print(gy, 1); Serial.print(" degrees/sec ");
Serial.print("Z-gyro rate: "); Serial.print(gz, 1); Serial.println(" degrees/sec");
// Print temperature in degrees Centigrade
Serial.print("Temperature is "); Serial.print(temperature, 2); Serial.println(" degrees C");
Serial.println("");
count = millis();
}
}
void getGres() {
switch (Gscale)
{
case GFS_250DPS:
gRes = 250.0/32768.0;
break;
case GFS_500DPS:
gRes = 500.0/32768.0;
break;
case GFS_1000DPS:
gRes = 1000.0/32768.0;
break;
case GFS_2000DPS:
gRes = 2000.0/32768.0;
break;
}
}
void getAres() {
switch (Ascale)
{
case AFS_2G:
aRes = 2.0/32768.0;
break;
case AFS_4G:
aRes = 4.0/32768.0;
break;
case AFS_8G:
aRes = 8.0/32768.0;
break;
case AFS_16G:
aRes = 16.0/32768.0;
break;
}
}
void readAccelData(int16_t * destination)
{
uint8_t rawData[6];
readBytes(MPU6050_ADDRESS, ACCEL_XOUT_H, 6, &rawData[0]);
destination[0] = (int16_t)((rawData[0] << 8) | rawData[1]) ;
destination[1] = (int16_t)((rawData[2] << 8) | rawData[3]) ;
destination[2] = (int16_t)((rawData[4] << 8) | rawData[5]) ;
}
void readGyroData(int16_t * destination)
{
uint8_t rawData[6]; // x/y/z gyro register data stored here
readBytes(MPU6050_ADDRESS, GYRO_XOUT_H, 6, &rawData[0]);
destination[0] = (int16_t)((rawData[0] << 8) | rawData[1]) ;
destination[1] = (int16_t)((rawData[2] << 8) | rawData[3]) ;
destination[2] = (int16_t)((rawData[4] << 8) | rawData[5]) ;
}
int16_t readTempData()
{
uint8_t rawData[2]; // x/y/z gyro register data stored here
readBytes(MPU6050_ADDRESS, TEMP_OUT_H, 2, &rawData[0]);
return ((int16_t)rawData[0]) << 8 | rawData[1] ;
}
// Configure the motion detection control for low power accelerometer mode
void LowPowerAccelOnlyMPU6050()
{
uint8_t c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x30);
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x30);
c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0x38);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x00);
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x00);
c = readByte(MPU6050_ADDRESS, CONFIG);
writeByte(MPU6050_ADDRESS, CONFIG, c & ~0x07); // Clear low-pass filter bits [2:0]
writeByte(MPU6050_ADDRESS, CONFIG, c | 0x00); // Set DLPD_CFG to 0; 260 Hz bandwidth, 1 kHz rate
c = readByte(MPU6050_ADDRESS, INT_ENABLE);
writeByte(MPU6050_ADDRESS, INT_ENABLE, c & ~0xFF); // Clear all interrupts
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x40); // Enable motion threshold (bits 5) interrupt only
// Motion detection interrupt requires the absolute value of any axis to lie above the detection threshold
// for at least the counter duration
writeByte(MPU6050_ADDRESS, MOT_THR, 0x80); // Set motion detection to 0.256 g; LSB = 2 mg
writeByte(MPU6050_ADDRESS, MOT_DUR, 0x01); // Set motion detect duration to 1 ms; LSB is 1 ms @ 1 kHz rate
delay (100); // Add delay for accumulation of samples
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x07); // Clear high-pass filter bits [2:0]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | 0x07); // Set ACCEL_HPF to 7; hold the initial accleration value as a referance
c = readByte(MPU6050_ADDRESS, PWR_MGMT_2);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c & ~0xC7); // Clear standby XA, YA, and ZA bits [3:5] and LP_WAKE_CTRL bits [6:7]
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, c | 0x47); // Set wakeup frequency to 5 Hz, and disable XG, YG, and ZG gyros (bits [0:2])
c = readByte(MPU6050_ADDRESS, PWR_MGMT_1);
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c & ~0x20); // Clear sleep and cycle bit 5
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, c | 0x20); // Set cycle bit 5 to begin low power accelerometer motion interrupts
}
void initMPU6050()
{
// Initialize MPU6050 device
// get stable time source
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01); // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
// Configure Gyro and Accelerometer
// Disable FSYNC and set accelerometer and gyro bandwidth to 44 and 42 Hz, respectively;
// DLPF_CFG = bits 2:0 = 010; this sets the sample rate at 1 kHz for both
writeByte(MPU6050_ADDRESS, CONFIG, 0x03);
// Set sample rate = gyroscope output rate/(1 + SMPLRT_DIV)
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x04); // Use a 200 Hz sample rate
// Set gyroscope full scale range
// Range selects FS_SEL and AFS_SEL are 0 - 3, so 2-bit values are left-shifted into positions 4:3
uint8_t c = readByte(MPU6050_ADDRESS, GYRO_CONFIG);
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, c | Gscale << 3); // Set full scale range for the gyro
// Set accelerometer configuration
c = readByte(MPU6050_ADDRESS, ACCEL_CONFIG);
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0xE0); // Clear self-test bits [7:5]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c & ~0x18); // Clear AFS bits [4:3]
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, c | Ascale << 3); // Set full scale range for the accelerometer
// Configure Interrupts and Bypass Enable
// Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
// can join the I2C bus and all can be controlled by the Arduino as master
writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x02);
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
}
// 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_ADDRESS, 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_ADDRESS, PWR_MGMT_1, 0x01);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
delay(200);
// Configure device for bias calculation
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
delay(15);
// Configure MPU6050 gyro and accelerometer for bias calculation
writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
writeByte(MPU6050_ADDRESS, 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_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
writeByte(MPU6050_ADDRESS, 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_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
readBytes(MPU6050_ADDRESS, 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_ADDRESS, 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; works well for gyro but not for accelerometer
// writeByte(MPU6050_ADDRESS, XG_OFFS_USRH, data[0]);
// writeByte(MPU6050_ADDRESS, XG_OFFS_USRL, data[1]);
// writeByte(MPU6050_ADDRESS, YG_OFFS_USRH, data[2]);
// writeByte(MPU6050_ADDRESS, YG_OFFS_USRL, data[3]);
// writeByte(MPU6050_ADDRESS, ZG_OFFS_USRH, data[4]);
// writeByte(MPU6050_ADDRESS, 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_ADDRESS, XA_OFFSET_H, 2, &data[0]); // Read factory accelerometer trim values
accel_bias_reg[0] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_ADDRESS, YA_OFFSET_H, 2, &data[0]);
accel_bias_reg[1] = (int16_t) ((int16_t)data[0] << 8) | data[1];
readBytes(MPU6050_ADDRESS, ZA_OFFSET_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; doesn't work well for accelerometer
// Are we handling the temperature compensation bit correctly?
// writeByte(MPU6050_ADDRESS, XA_OFFSET_H, data[0]);
// writeByte(MPU6050_ADDRESS, XA_OFFSET_L_TC, data[1]);
// writeByte(MPU6050_ADDRESS, YA_OFFSET_H, data[2]);
// writeByte(MPU6050_ADDRESS, YA_OFFSET_L_TC, data[3]);
// writeByte(MPU6050_ADDRESS, ZA_OFFSET_H, data[4]);
// writeByte(MPU6050_ADDRESS, ZA_OFFSET_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;
}
// 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_ADDRESS, ACCEL_CONFIG, 0xF0); // Enable self test on all three axes and set accelerometer range to +/- 8 g
writeByte(MPU6050_ADDRESS, 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_ADDRESS, SELF_TEST_X); // X-axis self-test results
rawData[1] = readByte(MPU6050_ADDRESS, SELF_TEST_Y); // Y-axis self-test results
rawData[2] = readByte(MPU6050_ADDRESS, SELF_TEST_Z); // Z-axis self-test results
rawData[3] = readByte(MPU6050_ADDRESS, 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) >> 0 ; // 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
Serial.print("SelftTest0: "); Serial.println(selfTest[0]);
Serial.print("ft0: "); Serial.println(factoryTrim[0]);
// 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
}
}
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
}
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
}
Hopefully that is easy to copy/paste.
