C++ MPU6050::setXGyroOffset方法代码示例

bool Gyro_init(void)
{  
    Wire.begin();
    mpu.initialize();

    if (mpu.testConnection() == false) {
      return false;
    }
    devStatus = mpu.dmpInitialize();
    
    if (devStatus == 0) {
        mpu.setXGyroOffset(X_GYRO_OFFSET);
        mpu.setYGyroOffset(Y_GYRO_OFFSET);
        mpu.setZGyroOffset(Z_GYRO_OFFSET);
        mpu.setXAccelOffset(X_ACCEL_OFFSET);
        mpu.setYAccelOffset(Y_ACCEL_OFFSET);
        mpu.setZAccelOffset(Z_ACCEL_OFFSET);
    
        mpu.setDMPEnabled(true);
        dmpReady = true;

        attachInterrupt(0, dmp_data_ready, RISING);

        mpuIntStatus = mpu.getIntStatus();
        packetSize = mpu.dmpGetFIFOPacketSize();
        
        return true;
    }
    else {
        return false;
    }
}

void setup()
{
    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        //Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif

    // initialize serial communication
    Serial.begin(38400);
    while (!Serial);

    mpu.initialize();
    pinMode(INTERRUPT_PIN, INPUT);

	send_status(MPU_INITIALIZE, STATUS_OK);

    // verify connection
	send_status(MPU_CONNECTION, mpu.testConnection() ? STATUS_OK : STATUS_FAIL);

    // load and configure the DMP
    // 0 = DMP OK
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    ua_dev_status = mpu.dmpInitialize();
	send_status(DMP_INITIALIZE, ua_dev_status);

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(120);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-185);
    mpu.setZAccelOffset(1688); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (ua_dev_status == 0)
	{
        // turn on the DMP, now that it's ready
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        attachPinChangeInterrupt(INTERRUPT_PIN, dmpDataReady, RISING);
        ua_mpu_interrupt_status = mpu.getIntStatus();
        send_status(DMP_INTERRUPT, ua_mpu_interrupt_status);

        b_dmp_ready = true;

        // get expected DMP packet size for later comparison
        uh_packet_size = mpu.dmpGetFIFOPacketSize();
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}

void setup() {
    mpu.initialize();

//    trace_printf(mpu.testConnection() ? ("MPU6050 connection successful\n") : ("MPU6050 connection failed\n"));

    // load and configure the DMP
//    trace_printf("Initializing DMP...\n");
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
//	trace_printf("Enabling DMP...\n");
        mpu.setDMPEnabled(true);

        mpuIntStatus = mpu.getIntStatus();

        // set our DMP Ready flag so the main loop() function knows it's okay to use it
//        trace_printf("DMP ready! Waiting for first interrupt...\n");
//        trace_printf("System is running!\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)
//	trace_printf("DMP Initialization failed (code \n");
//	trace_printf("%d\n", devStatus);
    }
}

void calibrate_gyros(){
  byte i=0;
  while (i < ITERATIONS){ //hope that offsets converge in 6 iterations
    accelgyro.getRotation(&gx, &gy, &gz);
    if (count == SAMPLE_COUNT){
      xoff += int(gxm/-3);
      yoff += int(gym/-3);
      zoff += int(gzm/-3);
      accelgyro.setXGyroOffset(xoff);
      accelgyro.setYGyroOffset(yoff);
      accelgyro.setZGyroOffset(zoff);
      #ifdef CAL_DEBUG
        Serial.print(gxm); Serial.print(" ");
        Serial.print(gym); Serial.print(" ");
        Serial.println(gzm);
        Serial.print(xoff); Serial.print(" ");
        Serial.print(yoff); Serial.print(" ");
        Serial.println(zoff);
        Serial.println("*********************");
      #endif
      count = 0;
      i++; //iteration++
      #ifdef CAL_DEBUG
        Serial.print(".");
      #endif
    }
    else{
      gxm = (gxm*count + gx)/(count+1.0);
      gym = (gym*count + gy)/(count+1.0);
      gzm = (gzm*count + gz)/(count+1.0);
      count++;
    }
  }
  #ifdef CAL_DEBUG
    Serial.println(" Done.");
  #endif
}

void setup() {

    Spark.variable("quaternionW", &quaternionW, DOUBLE);
    // join I2C bus (I2Cdev library doesn't do this automatically)
    Wire.begin();
    //TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)

    // initialize serial communication
    // (115200 chosen because it is required for Teapot Demo output, but it's
    // really up to you depending on your project)
    Serial.begin(115200);
    while (!Serial.available()) ; // wait for Leonardo enumeration, others continue immediately

    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio
    // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to
    // the baud timing being too misaligned with processor ticks. You must use
    // 38400 or slower in these cases, or use some kind of external separate
    // crystal solution for the UART timer.

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

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

    // wait for ready
    Serial.println("\nSend any character to begin DMP programming and demo: ");
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again

    // load and configure the DMP
    Serial.println("Initializing DMP...");
    devStatus = mpu.dmpInitialize();

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
        Serial.println("Enabling DMP...");
        mpu.setDMPEnabled(true);

        // enable Arduino interrupt detection
        Serial.println("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
        Serial.println("DMP ready! Waiting for first interrupt...");
        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)
        Serial.print("DMP Initialization failed (code ");
        Serial.print(devStatus);
        Serial.println(")");
    }

    // configure LED for output
    pinMode(LED_PIN, OUTPUT);
}

//PROGRAM FUNCTIONS
void setup_mpu6050(){
	clear_i2c();
	Wire.begin();
	SERIAL_OUT.println("Initializing gyro...");
	accelgyro.initialize();
	//accelgyro.reset();
    accelgyro.setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!

	// verify connection
	SERIAL_OUT.println("Testing device connections...");
	SERIAL_OUT.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");

	SERIAL_OUT.println(F("Setting clock source to Z Gyro..."));
	accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
	//SERIAL_OUT.println(accelgyro.getClockSource(MPU6050_CLOCK_PLL_ZGYRO);

	SERIAL_OUT.println(F("Setting sample rate to 200Hz..."));
	accelgyro.setRate(0); // 1khz / (1 + 4) = 200 Hz

// *          |   ACCELEROMETER    |           GYROSCOPE
// * DLPF_CFG | Bandwidth | Delay  | Bandwidth | Delay  | Sample Rate
// * ---------+-----------+--------+-----------+--------+-------------
// * 0        | 260Hz     | 0ms    | 256Hz     | 0.98ms | 8kHz
// * 1        | 184Hz     | 2.0ms  | 188Hz     | 1.9ms  | 1kHz
// * 2        | 94Hz      | 3.0ms  | 98Hz      | 2.8ms  | 1kHz
// * 3        | 44Hz      | 4.9ms  | 42Hz      | 4.8ms  | 1kHz
// * 4        | 21Hz      | 8.5ms  | 20Hz      | 8.3ms  | 1kHz
// * 5        | 10Hz      | 13.8ms | 10Hz      | 13.4ms | 1kHz
// * 6        | 5Hz       | 19.0ms | 5Hz       | 18.6ms | 1kHz
// * 7        |   -- Reserved --   |   -- Reserved --   | Reserved

	SERIAL_OUT.println(F("Setting DLPF bandwidth"));
	accelgyro.setDLPFMode(MPU6050_DLPF_BW_42);

	SERIAL_OUT.println(F("Setting gyro sensitivity to +/- 250 deg/sec..."));
	accelgyro.setFullScaleGyroRange(0);
	//accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_250);
	//accelgyro.setFullScaleGyroRange(0);  // 0=250, 1=500, 2=1000, 3=2000 deg/sec

	//SERIAL_OUT.println(F("Resetting FIFO..."));
	//accelgyro.resetFIFO();

	// use the code below to change accel/gyro offset values
	accelgyro.setXGyroOffset(XGYROOFFSET);
	accelgyro.setYGyroOffset(YGYROOFFSET);
	accelgyro.setZGyroOffset(ZGYROOFFSET);
	SERIAL_OUT.print(accelgyro.getXAccelOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print(accelgyro.getYAccelOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print(accelgyro.getZAccelOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print(accelgyro.getXGyroOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print(accelgyro.getYGyroOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print(accelgyro.getZGyroOffset()); SERIAL_OUT.print("\t"); // 
	SERIAL_OUT.print("\n");
		
	SERIAL_OUT.println(F("Enabling FIFO..."));
	accelgyro.setFIFOEnabled(true);
	accelgyro.setZGyroFIFOEnabled(true);
	accelgyro.setXGyroFIFOEnabled(false);
	accelgyro.setYGyroFIFOEnabled(false);
	accelgyro.setAccelFIFOEnabled(false);
	SERIAL_OUT.print("Z axis enabled?\t"); SERIAL_OUT.println(accelgyro.getZGyroFIFOEnabled());
	SERIAL_OUT.print("x axis enabled?\t"); SERIAL_OUT.println(accelgyro.getXGyroFIFOEnabled());
	SERIAL_OUT.print("y axis enabled?\t"); SERIAL_OUT.println(accelgyro.getYGyroFIFOEnabled());
	SERIAL_OUT.print("accel enabled?\t"); SERIAL_OUT.println(accelgyro.getAccelFIFOEnabled());
	accelgyro.resetFIFO();
	return ;
}

void imu_init()
{
		
	uint8_t count = 10;
	
    // initialize device
#ifdef __BOARD_YUN__
	Console.println(F("Initializing I2C devices..."));
#else
    Serial.println(F("Initializing I2C devices..."));
#endif
    mpu.initialize();

    // verify connection
#ifdef __BOARD_YUN__
    Console.println(F("Testing device connections..."));
    Console.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#else
    Serial.println(F("Testing device connections..."));
    Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#endif
/*
    // wait for ready
    Serial.println(F("\nSend any character to begin DMP programming and demo: "));
    while (Serial.available() && Serial.read()); // empty buffer
    while (!Serial.available());                 // wait for data
    while (Serial.available() && Serial.read()); // empty buffer again
*/
    // load and configure the DMP
#ifdef __BOARD_YUN__
    Console.println(F("Initializing DMP..."));
#else
    Serial.println(F("Initializing DMP..."));
#endif    
	do {
	
		devStatus = mpu.dmpInitialize();
		// Set some offset to the MEMS
		mpu.setXGyroOffset(220);
		mpu.setYGyroOffset(76);
		mpu.setZGyroOffset(-85);
		mpu.setZAccelOffset(1788);
		// make sure it worked (returns 0 if so)
		if (devStatus == 0) 
		{
			count = 10;
			// turn on the DMP, now that it's ready
#ifdef __BOARD_YUN__
			Console.println(F("Enabling DMP..."));
#else			
			Serial.println(F("Enabling DMP..."));
#endif
			mpu.setDMPEnabled(true);

			mpuIntStatus = mpu.getIntStatus();

			// set our DMP Ready flag so the main loop() function knows it's okay to use it
#ifdef __BOARD_YUN__
			Console.println(F("DMP ready! Waiting for first interrupt..."));
#else
			Serial.println(F("DMP ready! Waiting for first interrupt..."));
#endif
			dmpReady = true;

			// get expected DMP packet size for later comparison
			packetSize = mpu.dmpGetFIFOPacketSize();
			return;
		} 
		else {
			// ERROR!
			// 1 = initial memory load failed
			// 2 = DMP configuration updates failed
			// (if it's going to break, usually the code will be 1)
#ifdef __BOARD_YUN__
			Console.print(F("DMP Initialization failed (code"));
			Console.print(devStatus);
			Console.println(F(")"));
			// New attempt message
			Console.println(F("Trying again"));
#else
			Serial.print(F("DMP Initialization failed (code "));
			Serial.print(devStatus);
			Serial.println(F(")"));
			// New attempt message
			Serial.println(F("Trying again"));
#endif
		}
	}
	while (--count);
	
	// configure LED for output	
	pinMode(SOL_LED, OUTPUT);
	
	// Check if the configuration has failed
//	if (!count) 
	{	
#ifdef __BOARD_YUN__
		Console.println(F("DMP initializaion failed"));
#else
		Serial.println(F("DMP initialization failed"));
//.........这里部分代码省略.........