C++ MPU6050::setI2CBypassEnabled方法代码示例

void initialize_imu() {
  // join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  // **************************************************************
  // It is best to configure I2C to 400 kHz. 
  // If you are using an Arduino DUE, modify the variable TWI_CLOCK to 400000, defined in the file:
  // c:/Program Files/Arduino/hardware/arduino/sam/libraries/Wire/Wire.h
  // If you are using any other Arduino instead of the DUE, uncomment the following line:
  //TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)  //This line should be commented if you are using Arduino DUE
  // **************************************************************
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif

  // initialize serial communication
  Serial.begin(250000);

  // initialize device
  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();

  // verify connection
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // TODO: Compute these parameters
//  mpu.setXAccelOffset(-1600);
//  mpu.setYAccelOffset(-180);
//  mpu.setZAccelOffset(650);

  // mpu.setXGyroOffset(0);
  // mpu.setYGyroOffset(0);
  // mpu.setZGyroOffset(0);
  mpu.setFullScaleGyroRange(0);

  calibrate_imu();

  // Magnetometer configuration

  mpu.setI2CMasterModeEnabled(0);
  mpu.setI2CBypassEnabled(1);

  Wire.beginTransmission(HMC5883L_DEFAULT_ADDRESS);
  Wire.write(0x02); 
  Wire.write(0x00);  // Set continuous mode
  Wire.endTransmission();
  delay(5);

  Wire.beginTransmission(HMC5883L_DEFAULT_ADDRESS);
  Wire.write(0x00);
  Wire.write(B00011000);  // 75Hz
  Wire.endTransmission();
  delay(5);

  mpu.setI2CBypassEnabled(0);

  // X axis word
  mpu.setSlaveAddress(0, HMC5883L_DEFAULT_ADDRESS | 0x80); // 0x80 turns 7th bit ON, according to datasheet, 7th bit controls Read/Write direction
  mpu.setSlaveRegister(0, HMC5883L_RA_DATAX_H);
  mpu.setSlaveEnabled(0, true);
  mpu.setSlaveWordByteSwap(0, false);
  mpu.setSlaveWriteMode(0, false);
  mpu.setSlaveWordGroupOffset(0, false);
  mpu.setSlaveDataLength(0, 2);

  // Y axis word
  mpu.setSlaveAddress(1, HMC5883L_DEFAULT_ADDRESS | 0x80);
  mpu.setSlaveRegister(1, HMC5883L_RA_DATAY_H);
  mpu.setSlaveEnabled(1, true);
  mpu.setSlaveWordByteSwap(1, false);
  mpu.setSlaveWriteMode(1, false);
  mpu.setSlaveWordGroupOffset(1, false);
  mpu.setSlaveDataLength(1, 2);

  // Z axis word
  mpu.setSlaveAddress(2, HMC5883L_DEFAULT_ADDRESS | 0x80);
  mpu.setSlaveRegister(2, HMC5883L_RA_DATAZ_H);
  mpu.setSlaveEnabled(2, true);
  mpu.setSlaveWordByteSwap(2, false);
  mpu.setSlaveWriteMode(2, false);
  mpu.setSlaveWordGroupOffset(2, false);
  mpu.setSlaveDataLength(2, 2);

  mpu.setI2CMasterModeEnabled(1);

  mpu.setDLPFMode(6);
}

void* gyro_acc(void*)
{
    //float kp = 0.00375,ki = 0.0000,kd = 0.00076;
    float kp = 0.0068,ki = 0.000,kd = 0.0018;
    //0030 0088 0014 有偏角 p0.0031偏角更大 0.0029也是 i=0 小偏角 p0.00305 d0.00143 不错 i0.0005 偏角变大
    //0032 0017
    float pregyro =0;
    float desired = 0;
    //double error;
    float integ=0;//integral积分参数
    float iLimit =8 ;
    float deriv=0;//derivative微分参数 
    float prevError=0;
    float lastoutput=0;
    //float Piddeadband=0.3;
    // initialize device
    printf("Initializing I2C devices...\n");
    mpu.initialize();
    
    // verify connection
    printf("Testing device connections...\n");
    printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
    mpu.setI2CMasterModeEnabled(false);
    mpu.setI2CBypassEnabled(true);
    // load and configure the DMP
    printf("Initializing DMP...\n");
    devStatus = mpu.dmpInitialize();
    
    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        printf("Enabling DMP...\n");
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        //Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        //attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        printf("DMP ready!\n");
        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)
        printf("DMP Initialization failed (code %d)\n", devStatus);
    }
    /*****************************************************/
    while(1)
    {
        if (START_FLAG == 0)
        {
            delay(200);
        }
        if (START_FLAG == 1)
        {
            break;
        }
    }
    delay(50);
    for(;;)
    {
        if (!dmpReady) return 0;
        // get current FIFO count
        fifoCount = mpu.getFIFOCount();

        if (fifoCount == 1024) 
        {
            // reset so we can continue cleanly
            mpu.resetFIFO();
            printf("FIFO overflow!\n");

            // otherwise, check for DMP data ready interrupt (this should happen frequently)
        } 
        else if (fifoCount >= 42) 
        {
        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        
        // display Euler angles in degrees
        mpu.dmpGetQuaternion(&q, fifoBuffer);
        mpu.dmpGetGravity(&gravity, &q);
        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
        //printf("ypr  %7.2f %7.2f %7.2f  ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
        Angle[2] = ypr[0] * 180/M_PI;
        Angle[1] = ypr[1] * 180/M_PI;//此为Pitch
        Angle[0] = ypr[2] * 180/M_PI;//此为Roll
        // 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.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
        //printf("aworld %6d %6d %6d    ", aaWorld.x, aaWorld.y, aaWorld.z);
//.........这里部分代码省略.........

int main()
{
    pthread_t mpu6050,transport;
    int ret;
    unsigned int TimeNow,TimeStart;
    Pid_Inital();
    if (-1 == wiringPiSetup())
    {
        printf("Setup WiringPi failed!");
        return 1;
    }
    
    delay(100);
    
    ret = pthread_create(&mpu6050,NULL,gyro_acc,NULL);
    if(ret!=0)
    {
        printf ("Create mpu6050 thread error!\n");
        exit (1);
    }
    TimeStart = millis();
    
    delay(50);
    mpu.setI2CMasterModeEnabled(false);//不知道这句话要放哪，此处有作用
    mpu.setI2CBypassEnabled(true);
    int fd_pca9685 = pca9685Setup(PIN_BASE, 0x40, HERTZ);
	if (fd_pca9685 < 0)
	{
		printf("Error in setup pca9685\n");
		return 0;
	}
    pca9685PWMReset(fd_pca9685);
    
    /***********
    //启动方法1：最高油门确认
    PWMOut(PinNumber1,0.99);
    PWMOut(PinNumber2,0.99);
    PWMOut(PinNumber3,0.99);
    PWMOut(PinNumber4,0.99);
    printf("Way1:input to start ");
    getchar();
    PWMOut(PinNumber1,0.02);
    PWMOut(PinNumber2,0.02);
    PWMOut(PinNumber3,0.02);
    PWMOut(PinNumber4,0.02);
    delay(1200);
    PWMOut(PinNumber1,0.05);
    PWMOut(PinNumber2,0.05);
    PWMOut(PinNumber3,0.05);
    PWMOut(PinNumber4,0.05);
    printf("start!");
    fflush(stdout);
    ***************/
    
    //启动方法2：最低油门拉起
    
    printf("Way 2:PWM in 0 \n");
    PWMOut(PinNumber1,0);
    PWMOut(PinNumber2,0);
    PWMOut(PinNumber3,0);
    PWMOut(PinNumber4,0);
    printf("input to start!\n");
    fflush(stdout);
    getchar();
    
    START_FLAG = 1;
    PWMOut(PinNumber1,0.06);
    PWMOut(PinNumber2,0.06);
    PWMOut(PinNumber3,0.06);
    PWMOut(PinNumber4,0.06);
    delay(500);
    
    /*********************/
    ret = pthread_create(&transport,NULL,KeyBoard,NULL);
    if(ret!=0)
    {
        printf ("Create KeyBoard thread error!\n");
        exit (1);
    }
    while(1)  
    {  
        TimeNow = millis();
        system("clear");
        printf("Pid_Roll:%.4f  pid_error:%.3f  pid_pError:%.3f pregyro %.3f All_Count: %d",Pid_Roll,pid_error,Roll_PError,pregyro,All_Count);
        printf("A:%.2f %.2f %.2f\n",Angle[0],Angle[1],Angle[2]); 
        printf("Default_Acc:%.2f gyro： roll :%.2f\n",Default_Acc,AngleSpeed[0]); 
        fflush(stdout);
    }
}

int main()
{
    pthread_t mpu6050,transport;
    int ret;
    unsigned int TimeNow,TimeStart;
    if (-1 == wiringPiSetup())
    {
        printf("Setup WiringPi failed!");
        return 1;
    }
    
    delay(100);
    
    ret = pthread_create(&mpu6050,NULL,gyro_acc,NULL);
    if(ret!=0)
    {
        printf ("Create mpu6050 thread error!\n");
        exit (1);
    }
    TimeStart = millis();
    
    delay(50);
    mpu.setI2CMasterModeEnabled(false);//不知道这句话要放哪，此处有作用
    mpu.setI2CBypassEnabled(true);
    int fd_pca9685 = pca9685Setup(PIN_BASE, 0x40, HERTZ);
	if (fd_pca9685 < 0)
	{
		printf("Error in setup pca9685\n");
		return 0;
	}
    pca9685PWMReset(fd_pca9685);
    
    /***********
    //启动方法1：最高油门确认
    PWMOut(PinNumber1,0.99);
    PWMOut(PinNumber2,0.99);
    PWMOut(PinNumber3,0.99);
    PWMOut(PinNumber4,0.99);
    printf("Way1:input to start ");
    getchar();
    PWMOut(PinNumber1,0.02);
    PWMOut(PinNumber2,0.02);
    PWMOut(PinNumber3,0.02);
    PWMOut(PinNumber4,0.02);
    delay(1200);
    PWMOut(PinNumber1,0.05);
    PWMOut(PinNumber2,0.05);
    PWMOut(PinNumber3,0.05);
    PWMOut(PinNumber4,0.05);
    printf("start!");
    fflush(stdout);
    ***************/
    
    //启动方法2：最低油门拉起
    
    printf("Way 2:PWM in 0 \n");
    PWMOut(PinNumber1,0);
    PWMOut(PinNumber2,0);
    PWMOut(PinNumber3,0);
    PWMOut(PinNumber4,0);
    printf("input to start!\n");
    fflush(stdout);
    getchar();
    START_FLAG = 1;
    PWMOut(PinNumber1,0.06);
    PWMOut(PinNumber2,0.06);
    PWMOut(PinNumber3,0.06);
    PWMOut(PinNumber4,0.06);
    delay(500);
    
    /*********************/
    getchar();
    ret = pthread_create(&transport,NULL,KeyBoard,NULL);
    if(ret!=0)
    {
        printf ("Create KeyBoard thread error!\n");
        exit (1);
    }
    while(1)  
    {  
        //Pid_Pitch = PidUpdate(Angle[1],-1.6,AngleSpeed[1]);
        //Pid_Roll = PidUpdate_roll(Angle[0],0,AngleSpeed[0]);
        TimeNow = millis();
        system("clear");
        //delay(100);
        printf("Pid_Roll:%.4f   error %.3f  All_Count: %d time:%d\n",Pid_Roll,error,All_Count,TimeNow - TimeStart);
        printf("A:%.2f %.2f %.2f\n",Angle[0],Angle[1],Angle[2]); 
        printf("Default_Acc:%.2f gyro：Pitch：%.2f roll :%.2f\n",Default_Acc,AngleSpeed[1],AngleSpeed[0]); 
        fflush(stdout);
        //DutyCycle[3] = Default_Acc + Pid_Pitch - Pid_Roll;//+yaw
        //DutyCycle[2] = Default_Acc - Pid_Pitch + Pid_Roll;//+yaw
        //DutyCycle[1] = Default_Acc + Pid_Pitch + Pid_Roll;//-yaw
        //DutyCycle[0] = Default_Acc - Pid_Pitch - Pid_Roll;//-yaw
    }
}

void* gyro_acc(void*)
{
    int i = 0;
    // initialize device
    printf("Initializing I2C devices...\n");
    mpu.initialize();
    
    // verify connection
    printf("Testing device connections...\n");
    printf(mpu.testConnection() ? "MPU6050 connection successful\n" : "MPU6050 connection failed\n");
    mpu.setI2CMasterModeEnabled(false);
    mpu.setI2CBypassEnabled(true);
    // load and configure the DMP
    printf("Initializing DMP...\n");
    devStatus = mpu.dmpInitialize();
    
    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        printf("Enabling DMP...\n");
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        //Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        //attachInterrupt(0, dmpDataReady, RISING);
        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
        printf("DMP ready!\n");
        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)
        printf("DMP Initialization failed (code %d)\n", devStatus);
        return 0;
    }
    /*****************************************************/
    while(1)
    {
        if (START_FLAG == 0)
        {
            delay(200);
        }
        if (START_FLAG == 1)
        {
            break;
        }
    }
    delay(50);
    for(;;)
    {
        if (!dmpReady) return 0;
        // get current FIFO count
        fifoCount = mpu.getFIFOCount();

        if (fifoCount == 1024) 
        {
            // reset so we can continue cleanly
            mpu.resetFIFO();
            printf("FIFO overflow!\n");

            // otherwise, check for DMP data ready interrupt (this should happen frequently)
        } 
        else if (fifoCount >= 42) 
        {
            // read a packet from FIFO
            mpu.getFIFOBytes(fifoBuffer, packetSize);
            
            // display Euler angles in degrees
            mpu.dmpGetQuaternion(&q, fifoBuffer);
            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
            //printf("ypr  %7.2f %7.2f %7.2f  ", ypr[0] * 180/M_PI, ypr[1] * 180/M_PI, ypr[2] * 180/M_PI);
            Angle[2] = ypr[0] * 180/M_PI;
            Angle[1] = ypr[1] * 180/M_PI;//此为Pitch
            Angle[0] = ypr[2] * 180/M_PI;//此为Roll
            
            // 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.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
            //printf("aworld %6d %6d %6d    ", aaWorld.x, aaWorld.y, aaWorld.z);
            //AngleSpeed[0] =  aaWorld.x;
            //AngleSpeed[1] =  aaWorld.y;
            //AngleSpeed[2] =  aaWorld.z;
            */
            /****************************读取完毕*********************************/
            if (Inital <= 300)
            {
                Inital ++;
                if (Inital % 98 == 1)
                {
//.........这里部分代码省略.........