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examples/MPU6050_DMP6_Ethernet/MPU6050_DMP6_Ethernet.ino Normal file
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// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) over Ethernet
// 2/27/2016 by hellphoenix
// Based on I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0) (6/21/2012 by Jeff Rowberg <jeff@rowberg.net>)
// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
//
// Changelog:
// 2016-04-18 - Eliminated a potential infinite loop
// 2016-02-28 - Cleaned up code to be in line with other example codes
// - Added Ethernet outputs for Quaternion, Euler, RealAccel, WorldAccel
// 2016-02-27 - Initial working code compiled
// Bugs:
// - There is still a hangup after some time, though it only occurs when you are reading data from the website.
// If you only read the data from the serial port, there are no hangups.
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/
#include <Ethernet.h>
// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#include "Wire.h"
#include "avr/wdt.h"// Watchdog library
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
// MAC address from Ethernet shield sticker under board
byte mac[] = {
0x90, 0xA2, 0xDA, 0x10, 0x26, 0x82
};
// assign an IP address for the controller:
IPAddress ip(192,168,1,50);
// the router's gateway address:
byte gateway[] = { 192, 168, 1, 1 };
// the subnet:
byte subnet[] = { 255, 255, 0, 0 };
// Initialize the Ethernet server library
// with the IP address and port you want to use
// (port 80 is default for HTTP):
EthernetServer server(80);
String HTTP_req; // stores the HTTP request
/* =========================================================================
NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
depends on the MPU-6050's INT pin being connected to the Arduino's
external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
digital I/O pin 2.
* ========================================================================= */
/* =========================================================================
NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
when using Serial.write(buf, len). The Teapot output uses this method.
The solution requires a modification to the Arduino USBAPI.h file, which
is fortunately simple, but annoying. This will be fixed in the next IDE
release. For more info, see these links:
http://arduino.cc/forum/index.php/topic,109987.0.html
http://code.google.com/p/arduino/issues/detail?id=958
* ========================================================================= */
// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual
// quaternion components in a [w, x, y, z] format (not best for parsing
// on a remote host such as Processing or something though)
//#define OUTPUT_READABLE_QUATERNION
// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles
// (in degrees) calculated from the quaternions coming from the FIFO.
// Note that Euler angles suffer from gimbal lock (for more info, see
// http://en.wikipedia.org/wiki/Gimbal_lock)
//#define OUTPUT_READABLE_EULER
// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/
// pitch/roll angles (in degrees) calculated from the quaternions coming
// from the FIFO. Note this also requires gravity vector calculations.
// Also note that yaw/pitch/roll angles suffer from gimbal lock (for
// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)
#define OUTPUT_READABLE_YAWPITCHROLL
// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration
// components with gravity removed. This acceleration reference frame is
// not compensated for orientation, so +X is always +X according to the
// sensor, just without the effects of gravity. If you want acceleration
// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.
//#define OUTPUT_READABLE_REALACCEL
// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration
// components with gravity removed and adjusted for the world frame of
// reference (yaw is relative to initial orientation, since no magnetometer
// is present in this case). Could be quite handy in some cases.
//#define OUTPUT_READABLE_WORLDACCEL
// uncomment "OUTPUT_TEAPOT" if you want output that matches the
// format used for the InvenSense teapot demo
//#define OUTPUT_TEAPOT
#define INTERRUPT_PIN 2 // use pin 2 on Arduino Uno & most boards
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// packet structure for InvenSense teapot demo
uint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
wdt_enable(WDTO_1S); //Watchdog enable.
//WDTO_1S sets the watchdog timer to 1 second. The time set here is approximate.
// You can find more time settings at http://www.nongnu.org/avr-libc/user-manual/group__avr__watchdog.html .
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
Wire.setClock(400000); // 400kHz I2C clock (200kHz if CPU is 8MHz). Comment this line if having compilation difficulties
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// 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);
// NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
// 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.
Ethernet.begin(mac, ip, gateway, subnet);
server.begin();
Serial.print("server is at ");
Serial.println(Ethernet.localIP());
while (!Serial); // wait for Leonardo enumeration, others continue immediately
// initialize device
Serial.println(F("Initializing I2C devices..."));
mpu.initialize();
pinMode(INTERRUPT_PIN, INPUT);
// verify connection
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
// load and configure the DMP
Serial.println(F("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(F("Enabling DMP..."));
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
Serial.println(F(")..."));
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
Serial.println(F("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(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
// if programming failed, don't try to do anything
if (!dmpReady) return;
wdt_reset();//Resets the watchdog timer. If the timer is not reset, and the timer expires, a watchdog-initiated device reset will occur.
// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize) {
if (mpuInterrupt && fifoCount < packetSize) {
// try to get out of the infinite loop
fifoCount = mpu.getFIFOCount();
}
// other program behavior stuff here
// .
// .
// if you are really paranoid you can frequently test in between other
// stuff to see if mpuInterrupt is true, and if so, "break;" from the
// while() loop to immediately process the MPU data
// .
// .
// .
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & (1 << MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
// reset so we can continue cleanly
mpu.resetFIFO();
fifoCount = mpu.getFIFOCount();
Serial.println(F("FIFO overflow!"));
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & (1 << MPU6050_INTERRUPT_DMP_INT_BIT)) {
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO, then clear the buffer
mpu.getFIFOBytes(fifoBuffer, packetSize);
//mpu.resetFIFO();
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
mpu.dmpGetQuaternion(&q, fifoBuffer);
Serial.print("quat\t");
Serial.print(q.w);
Serial.print("\t");
Serial.print(q.x);
Serial.print("\t");
Serial.print(q.y);
Serial.print("\t");
Serial.println(q.z);
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetEuler(euler, &q);
Serial.print("euler\t");
Serial.print(euler[0] * 180/M_PI);
Serial.print("\t");
Serial.print(euler[1] * 180/M_PI);
Serial.print("\t");
Serial.println(euler[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
Serial.print("ypr\t");
Serial.print(ypr[0] * 180/M_PI);
Serial.print("\t");
Serial.print(ypr[1] * 180/M_PI);
Serial.print("\t");
Serial.println(ypr[2] * 180/M_PI);
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetAccel(&aa, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
Serial.print("areal\t");
Serial.print(aaReal.x);
Serial.print("\t");
Serial.print(aaReal.y);
Serial.print("\t");
Serial.println(aaReal.z);
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// 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.dmpGetLinearAccel(&aaReal, &aa, &gravity);
mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
Serial.print("aworld\t");
Serial.print(aaWorld.x);
Serial.print("\t");
Serial.print(aaWorld.y);
Serial.print("\t");
Serial.println(aaWorld.z);
#endif
#ifdef OUTPUT_TEAPOT
// display quaternion values in InvenSense Teapot demo format:
teapotPacket[2] = fifoBuffer[0];
teapotPacket[3] = fifoBuffer[1];
teapotPacket[4] = fifoBuffer[4];
teapotPacket[5] = fifoBuffer[5];
teapotPacket[6] = fifoBuffer[8];
teapotPacket[7] = fifoBuffer[9];
teapotPacket[8] = fifoBuffer[12];
teapotPacket[9] = fifoBuffer[13];
Serial.write(teapotPacket, 14);
teapotPacket[11]++; // packetCount, loops at 0xFF on purpose
#endif
serversend();
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}
}
void serversend(){
EthernetClient client = server.available(); // try to get client
if (client) { // got client?
//boolean currentLineIsBlank = true;
while (client.connected()) {
if (client.available()) { // client data available to read
char c = client.read(); // read 1 byte (character) from client
HTTP_req += c; // save the HTTP request 1 char at a time
// last line of client request is blank and ends with \n
// respond to client only after last line received
if (c == '\n') {
// send a standard http response header
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
//client.println("Connection: keep-alive");
client.println();
// AJAX request for switch state
if (HTTP_req.indexOf("ajax_switch") > -1) {
// read switch state and analog input
GetAjaxData(client);
}
else { // HTTP request for web page
// send web page - contains JavaScript with AJAX calls
client.println("<!DOCTYPE html>");
client.println("<html>");
client.println("<head>");
client.println("<title>Arduino Web Page</title>");
client.println("<script>");
client.println("function GetAjaxData() {");
client.println(
"nocache = \"&nocache=\" + Math.random() * 1000000;");
client.println("var request = new XMLHttpRequest();");
client.println("request.onreadystatechange = function() {");
client.println("if (this.readyState == 4) {");
client.println("if (this.status == 200) {");
client.println("if (this.responseText != null) {");
client.println("document.getElementById(\"sw_an_data\")\
.innerHTML = this.responseText;");
client.println("}}}}");
client.println(
"request.open(\"GET\", \"ajax_switch\" + nocache, true);");
client.println("request.send(null);");
client.println("setTimeout('GetAjaxData()', 10);");
client.println("}");
client.println("</script>");
client.println("</head>");
client.println("<body onload=\"GetAjaxData()\">");
client.println("<h1>MPU6050 Output</h1>");
client.println("<div id=\"sw_an_data\">");
client.println("</div>");
client.println("</body>");
client.println("</html>");
}
// display received HTTP request on serial port
Serial.print(HTTP_req);
HTTP_req = ""; // finished with request, empty string
client.stop(); // close the connection
break;
}
}
}
}
}
void GetAjaxData(EthernetClient cl)
{
#ifdef OUTPUT_READABLE_QUATERNION
// display quaternion values in easy matrix form: w x y z
cl.print("Quaternion Values:\t");
cl.print("<p>w:");
cl.print(q.w);
cl.print("\t");
cl.println("</p>");
cl.print("<p>x:");
cl.print(q.x);
cl.print("\t");
cl.println("</p>");
cl.print("<p>y:");
cl.print(q.y);
cl.print("\t");
cl.println("</p>");
cl.print("<p>z:");
cl.print(q.z);
cl.print("\t");
cl.println("</p>");
#endif
#ifdef OUTPUT_READABLE_EULER
// display Euler angles in degrees
cl.print("Euler Angles:\t");
cl.print("<p>Yaw:");
cl.print(euler[0] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Pitch:");
cl.print(euler[2] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Roll:");
cl.print(euler[1] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
#endif
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Yaw/Pitch/Roll values in degrees
cl.print("Yaw, Pitch, and Roll:\t");
cl.print("<p>Yaw:");
cl.print(ypr[0] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Pitch:");
cl.print(ypr[2] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Roll:");
cl.print(ypr[1] * 180/M_PI);
cl.print("\t");
cl.println("</p>");
#endif
#ifdef OUTPUT_READABLE_REALACCEL
// display real acceleration, adjusted to remove gravity
cl.print("Real Accel:\t");
cl.print("<p>Yaw:");
cl.print(aaReal.x);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Pitch:");
cl.print(aaReal.z);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Roll:");
cl.print(aaReal.y);
cl.print("\t");
cl.println("</p>");
#endif
#ifdef OUTPUT_READABLE_WORLDACCEL
// display initial world-frame acceleration, adjusted to remove gravity
// and rotated based on known orientation from quaternion
cl.print("World Accel:\t");
cl.print("<p>Yaw:");
cl.print(aaWorld.x);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Pitch:");
cl.print(aaWorld.z);
cl.print("\t");
cl.println("</p>");
cl.print("<p>Roll:");
cl.print(aaWorld.y);
cl.print("\t");
cl.println("</p>");
#endif
#ifdef OUTPUT_TEAPOT
cl.print("<p>teapotpacket:");
cl.write(teapotPacket, 14);
cl.print("\t");
cl.println("</p>");
#endif
}