MPU-6050+8x8 BiColor
今回は、PSoC 5LPを使ってMPU-6050の出力を8x8 BiColor LEDに表示してみます。
PSoc Creatorで下記のようにI2C_1, Pin_1, PWM_1,Clock_1を定義します。
ここでは接続を示すために、8x8BiColor LED Matrix, MPU-6050, LED, 抵抗などが記述されていますが、
実際にPSoC Creatorで記述するのは、I2C_1, Pin_1, PWM_1, Clock1のみです。
I2C_1のConfiguration
PWM_1のConfiguration
次にPin Assignを行います。
ビルドオプションの変更：下記のようにビルドオプションを変更します。 Command LineのCustom Flagsに-std=c99をセットします。
main.cを選択して、右クリック、Build Settings...を選択。
リンカーオプションの変更：下記のようにリンカーオプションを変更します。
メインメニューからProjectを選択、Build Settings..を選択、LinkerのGeneralのAdditional Librariesにmを入れます。
コード：
main.c
#include "project.h"
#include <stdbool.h>
#include <math.h>
#define bool _Bool
#define true 1
#define false 0
#define min(a, b) ((a) < (b) ? (a) : (b))
void I2CDev_initialize(void);
void I2CDev_cleanup(void);
bool I2CDev_readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data);
bool I2CDev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint8_t length);
int8_t I2CDev_readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
int8_t I2CDev_readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout);
int8_t I2CDev_readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout);
int8_t I2CDev_readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout);
int8_t I2CDev_readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout);
int8_t I2CDev_readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout);
bool I2CDev_writeCommand(uint8_t devAddr, uint8_t command);
bool I2CDev_writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
bool I2CDev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint8_t length);
bool I2CDev_writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data);
bool I2CDev_writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
bool I2CDev_writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
bool I2CDev_writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
bool I2CDev_writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
bool I2CDev_writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
static uint8_t I2CDev_devAddr;
void I2CDev_initialize(void)
{
I2C_1_Start();
}
void I2CDev_cleanup(void)
{
I2C_1_Stop();
}
bool I2CDev_readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data)
{
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
I2C_1_MasterSendRestart(devAddr, I2C_1_READ_XFER_MODE);
*data = I2C_1_MasterReadByte(I2C_1_ACK_DATA);
I2C_1_MasterSendStop();
return true;
}
bool I2CDev_readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint8_t length)
{
uint8_t i=0;
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
I2C_1_MasterSendRestart(devAddr, I2C_1_READ_XFER_MODE);
while (i++ < (length-1)) {
*data++ = I2C_1_MasterReadByte(I2C_1_ACK_DATA);
}
*data = I2C_1_MasterReadByte(I2C_1_NAK_DATA);
I2C_1_MasterSendStop();
return true;
}
int8_t I2CDev_readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
{
int8_t count;
for (uint8_t k = 0; k < length * 2; k += length * 2) {
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
I2C_1_MasterSendRestart(devAddr, I2C_1_READ_XFER_MODE);
bool msb = true; // starts with MSB, then LSB
for (; count < length;) {
if (msb) {
// first byte is bits 15-8 (MSb=15)
data[count] = I2C_1_MasterReadByte(I2C_1_ACK_DATA) << 8;
} else {
// second byte is bits 7-0 (LSb=0)
data[count] |= I2C_1_MasterReadByte(I2C_1_ACK_DATA);
count++;
}
msb = !msb;
}
}
I2C_1_MasterSendStop();
return count;
}
int8_t I2CDev_readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout)
{
return I2CDev_readWords(devAddr, regAddr, 1, data);
}
int8_t I2CDev_readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout)
{
uint8_t b;
uint8_t count = I2CDev_readByte(devAddr, regAddr, &b);
*data = b & (1 << bitNum);
return count;
}
int8_t I2CDev_readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout)
{
uint16_t b;
uint8_t count = I2CDev_readWord(devAddr, regAddr, &b, timeout);
*data = b & (1 << bitNum);
return count;
}
int8_t I2CDev_readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout)
{
// 01101001 read byte
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 010 masked
// -> 010 shifted
uint8_t count, b;
if ((count = I2CDev_readByte(devAddr, regAddr, &b)) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
b &= mask;
b >>= (bitStart - length + 1);
*data = b;
}
return count;
}
int8_t I2CDev_readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout)
{
// 1101011001101001 read byte
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 010 masked
// -> 010 shifted
uint8_t count;
uint16_t w;
if ((count = I2CDev_readWord(devAddr, regAddr, &w, timeout)) != 0) {
uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
w &= mask;
w >>= (bitStart - length + 1);
*data = w;
}
return count;
}
bool I2CDev_writeCommand(uint8_t devAddr, uint8_t command)
{
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(command);
I2C_1_MasterSendStop();
return true;
}
bool I2CDev_writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data)
{
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
I2C_1_MasterWriteByte(data);
I2C_1_MasterSendStop();
return true;
}
bool I2CDev_writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint8_t length)
{
uint8_t i;
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
for (i = 0; i < length; i++)
{
I2C_1_MasterWriteByte(*(data+i));
}
I2C_1_MasterSendStop();
return true;
}
bool I2CDev_writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data)
{
I2C_1_MasterSendStart(devAddr, I2C_1_WRITE_XFER_MODE);
I2C_1_MasterWriteByte(regAddr);
for (uint8_t i = 0; i < length * 2; i++) {
I2C_1_MasterWriteByte((uint8_t)((data[i] >> 8) & 0xFF));
I2C_1_MasterWriteByte( (uint8_t)(data[i++] & 0xFF));
}
I2C_1_MasterSendStop();
return true;
}
bool I2CDev_writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data)
{
return I2CDev_writeWords(devAddr, regAddr, 1, &data);
}
bool I2CDev_writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
{
uint8_t b;
I2CDev_readByte(devAddr, regAddr, &b);
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
return I2CDev_writeByte(devAddr, regAddr, b);
}
bool I2CDev_writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data)
{
uint16_t w;
I2CDev_readWord(devAddr, regAddr, &w, 0);
w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
return I2CDev_writeWord(devAddr, regAddr, w);
}
bool I2CDev_writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t b;
if (I2CDev_readByte(devAddr, regAddr, &b) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
b &= ~(mask); // zero all important bits in existing byte
b |= data; // combine data with existing byte
return I2CDev_writeByte(devAddr, regAddr, b);
} else {
return false;
}
}
bool I2CDev_writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data)
{
// 010 value to write
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
// 0001110000000000 mask word
// 1010111110010110 original value (sample)
// 1010001110010110 original & ~mask
// 1010101110010110 masked | value
uint16_t w;
if (I2CDev_readWord(devAddr, regAddr, &w, 0) != 0) {
uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
w &= ~(mask); // zero all important bits in existing word
w |= data; // combine data with existing word
return I2CDev_writeWord(devAddr, regAddr, w);
} else {
return false;
}
}
//------------------------------------------------------------------------------------------------------------------------------
#define LED_ON 1
#define LED_OFF 0
#define LED_RED 1
#define LED_YELLOW 2
#define LED_GREEN 3
#define HT16K33_BLINK_CMD 0x80
#define HT16K33_BLINK_DISPLAYON 0x01
#define HT16K33_BLINK_OFF 0
#define HT16K33_BLINK_2HZ 1
#define HT16K33_BLINK_1HZ 2
#define HT16K33_BLINK_HALFHZ 3
#define HT16K33_CMD_BRIGHTNESS 0xE0
#define SEVENSEG_DIGITS 5
#define ADAFRUIT_LEDBACKPACK_DEFAULT_ADDR 0x70 //b'1110000
uint8_t LED8x8bi_i2c_addr = ADAFRUIT_LEDBACKPACK_DEFAULT_ADDR;
uint16_t LED8x8bi_displaybuffer[8];
uint8_t LED8x8bi_rotation = 1;
#define swap(a, b) { int16_t t = a; a = b; b = t; }
#define _BV(bit) (1<<(bit))
void LED8x8bi_setBrightness(uint8_t b)
{
if (b > 15) b = 15;
I2CDev_writeCommand(LED8x8bi_i2c_addr, HT16K33_CMD_BRIGHTNESS | b);
}
void LED8x8bi_blinkRate(uint8_t b)
{
if (b > 3) b = 0; // turn off if not sure
I2CDev_writeCommand(LED8x8bi_i2c_addr, HT16K33_BLINK_CMD | HT16K33_BLINK_DISPLAYON | (b << 1));
}
void LED8x8bi_begin(uint8_t _addr)
{
LED8x8bi_i2c_addr = _addr;
I2CDev_writeCommand(LED8x8bi_i2c_addr, 0x21); // turn on oscillator
LED8x8bi_blinkRate(HT16K33_BLINK_OFF);
LED8x8bi_setBrightness(15); // max brightness
}
void LED8x8bi_writeDisplay(void)
{
uint8_t buffer[16];
uint8_t i,j;
j=0;
for (i=0;i<8;i++)
{
buffer[j++] = LED8x8bi_displaybuffer[i] & 0xFF;
buffer[j++] = (LED8x8bi_displaybuffer[i & 0xF] >> 8) & 0xFF;
}
I2CDev_writeBytes(LED8x8bi_i2c_addr, 0, buffer, 16);
}
void LED8x8bi_clear(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0;
}
}
void LED8x8bi_all_yellow(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0xFFFF;
}
}
void LED8x8bi_all_yellow_1(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0x0101;
}
}
void LED8x8bi_all_red(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0xFF00;
}
}
void LED8x8bi_all_red_1(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0x0100;
}
}
void LED8x8bi_all_green(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0x00FF;
}
}
void LED8x8bi_all_green_1(void)
{
for (uint8_t i=0; i<8; i++) {
LED8x8bi_displaybuffer[i] = 0x0001;
}
}
uint8_t LED8x8bi_getRotation(void)
{
return LED8x8bi_rotation;
}
void LED8x8bi_drawPixel(int16_t x, int16_t y, uint16_t color)
{
if ((y < 0) || (y >= 8)) return;
if ((x < 0) || (x >= 8)) return;
switch (LED8x8bi_getRotation()) {
case 1:
swap(x, y);
x = 8 - x - 1;
break;
case 2:
x = 8 - x - 1;
y = 8 - y - 1;
break;
case 3:
swap(x, y);
y = 8 - y - 1;
break;
}
if (color == LED_GREEN) {
// Turn on green LED.
LED8x8bi_displaybuffer[y] |= 1 << x;
// Turn off red LED.
LED8x8bi_displaybuffer[y] &= ~(1 << (x+8));
} else if (color == LED_RED) {
// Turn on red LED.
LED8x8bi_displaybuffer[y] |= 1 << (x+8);
// Turn off green LED.
LED8x8bi_displaybuffer[y] &= ~(1 << x);
} else if (color == LED_YELLOW) {
// Turn on green and red LED.
LED8x8bi_displaybuffer[y] |= (1 << (x+8)) | (1 << x);
} else if (color == LED_OFF) {
// Turn off green and red LED.
LED8x8bi_displaybuffer[y] &= ~(1 << x) & ~(1 << (x+8));
}
}
//------------------------------------------------------------------------------------------------------------------------------
#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW
#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_SELF_TEST_X 0x0D //[7:5] XA_TEST[4-2], [4:0] XG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Y 0x0E //[7:5] YA_TEST[4-2], [4:0] YG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_Z 0x0F //[7:5] ZA_TEST[4-2], [4:0] ZG_TEST[4-0]
#define MPU6050_RA_SELF_TEST_A 0x10 //[5:4] XA_TEST[1-0], [3:2] YA_TEST[1-0], [1:0] ZA_TEST[1-0]
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75
#define MPU6050_SELF_TEST_XA_1_BIT 0x07
#define MPU6050_SELF_TEST_XA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_XA_2_BIT 0x05
#define MPU6050_SELF_TEST_XA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_YA_1_BIT 0x07
#define MPU6050_SELF_TEST_YA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_YA_2_BIT 0x03
#define MPU6050_SELF_TEST_YA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_ZA_1_BIT 0x07
#define MPU6050_SELF_TEST_ZA_1_LENGTH 0x03
#define MPU6050_SELF_TEST_ZA_2_BIT 0x01
#define MPU6050_SELF_TEST_ZA_2_LENGTH 0x02
#define MPU6050_SELF_TEST_XG_1_BIT 0x04
#define MPU6050_SELF_TEST_XG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_YG_1_BIT 0x04
#define MPU6050_SELF_TEST_YG_1_LENGTH 0x05
#define MPU6050_SELF_TEST_ZG_1_BIT 0x04
#define MPU6050_SELF_TEST_ZG_1_LENGTH 0x05
#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
#define MPU6050_TC_OTP_BNK_VLD_BIT 0
#define MPU6050_VDDIO_LEVEL_VLOGIC 0
#define MPU6050_VDDIO_LEVEL_VDD 1
#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT 2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3
#define MPU6050_EXT_SYNC_DISABLED 0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7
#define MPU6050_DLPF_BW_256 0x00
#define MPU6050_DLPF_BW_188 0x01
#define MPU6050_DLPF_BW_98 0x02
#define MPU6050_DLPF_BW_42 0x03
#define MPU6050_DLPF_BW_20 0x04
#define MPU6050_DLPF_BW_10 0x05
#define MPU6050_DLPF_BW_5 0x06
#define MPU6050_GCONFIG_FS_SEL_BIT 4
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2
#define MPU6050_GYRO_FS_250 0x00
#define MPU6050_GYRO_FS_500 0x01
#define MPU6050_GYRO_FS_1000 0x02
#define MPU6050_GYRO_FS_2000 0x03
#define MPU6050_ACONFIG_XA_ST_BIT 7
#define MPU6050_ACONFIG_YA_ST_BIT 6
#define MPU6050_ACONFIG_ZA_ST_BIT 5
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3
#define MPU6050_ACCEL_FS_2 0x00
#define MPU6050_ACCEL_FS_4 0x01
#define MPU6050_ACCEL_FS_8 0x02
#define MPU6050_ACCEL_FS_16 0x03
#define MPU6050_DHPF_RESET 0x00
#define MPU6050_DHPF_5 0x01
#define MPU6050_DHPF_2P5 0x02
#define MPU6050_DHPF_1P25 0x03
#define MPU6050_DHPF_0P63 0x04
#define MPU6050_DHPF_HOLD 0x07
#define MPU6050_TEMP_FIFO_EN_BIT 7
#define MPU6050_XG_FIFO_EN_BIT 6
#define MPU6050_YG_FIFO_EN_BIT 5
#define MPU6050_ZG_FIFO_EN_BIT 4
#define MPU6050_ACCEL_FIFO_EN_BIT 3
#define MPU6050_SLV2_FIFO_EN_BIT 2
#define MPU6050_SLV1_FIFO_EN_BIT 1
#define MPU6050_SLV0_FIFO_EN_BIT 0
#define MPU6050_MULT_MST_EN_BIT 7
#define MPU6050_WAIT_FOR_ES_BIT 6
#define MPU6050_SLV_3_FIFO_EN_BIT 5
#define MPU6050_I2C_MST_P_NSR_BIT 4
#define MPU6050_I2C_MST_CLK_BIT 3
#define MPU6050_I2C_MST_CLK_LENGTH 4
#define MPU6050_CLOCK_DIV_348 0x0
#define MPU6050_CLOCK_DIV_333 0x1
#define MPU6050_CLOCK_DIV_320 0x2
#define MPU6050_CLOCK_DIV_308 0x3
#define MPU6050_CLOCK_DIV_296 0x4
#define MPU6050_CLOCK_DIV_286 0x5
#define MPU6050_CLOCK_DIV_276 0x6
#define MPU6050_CLOCK_DIV_267 0x7
#define MPU6050_CLOCK_DIV_258 0x8
#define MPU6050_CLOCK_DIV_500 0x9
#define MPU6050_CLOCK_DIV_471 0xA
#define MPU6050_CLOCK_DIV_444 0xB
#define MPU6050_CLOCK_DIV_421 0xC
#define MPU6050_CLOCK_DIV_400 0xD
#define MPU6050_CLOCK_DIV_381 0xE
#define MPU6050_CLOCK_DIV_364 0xF
#define MPU6050_I2C_SLV_RW_BIT 7
#define MPU6050_I2C_SLV_ADDR_BIT 6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT 7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT 4
#define MPU6050_I2C_SLV_LEN_BIT 3
#define MPU6050_I2C_SLV_LEN_LENGTH 4
#define MPU6050_I2C_SLV4_RW_BIT 7
#define MPU6050_I2C_SLV4_ADDR_BIT 6
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
#define MPU6050_I2C_SLV4_EN_BIT 7
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5
#define MPU6050_MST_PASS_THROUGH_BIT 7
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0
#define MPU6050_INTCFG_INT_LEVEL_BIT 7
#define MPU6050_INTCFG_INT_OPEN_BIT 6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0
#define MPU6050_INTMODE_ACTIVEHIGH 0x00
#define MPU6050_INTMODE_ACTIVELOW 0x01
#define MPU6050_INTDRV_PUSHPULL 0x00
#define MPU6050_INTDRV_OPENDRAIN 0x01
#define MPU6050_INTLATCH_50USPULSE 0x00
#define MPU6050_INTLATCH_WAITCLEAR 0x01
#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD 0x01
#define MPU6050_INTERRUPT_FF_BIT 7
#define MPU6050_INTERRUPT_MOT_BIT 6
#define MPU6050_INTERRUPT_ZMOT_BIT 5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0
// TODO: figure out what these actually do
// UMPL source code is not very obivous
#define MPU6050_DMPINT_5_BIT 5
#define MPU6050_DMPINT_4_BIT 4
#define MPU6050_DMPINT_3_BIT 3
#define MPU6050_DMPINT_2_BIT 2
#define MPU6050_DMPINT_1_BIT 1
#define MPU6050_DMPINT_0_BIT 0
#define MPU6050_MOTION_MOT_XNEG_BIT 7
#define MPU6050_MOTION_MOT_XPOS_BIT 6
#define MPU6050_MOTION_MOT_YNEG_BIT 5
#define MPU6050_MOTION_MOT_YPOS_BIT 4
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0
#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0
#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0
#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
#define MPU6050_DETECT_FF_COUNT_BIT 3
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
#define MPU6050_DETECT_MOT_COUNT_BIT 1
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2
#define MPU6050_DETECT_DECREMENT_RESET 0x0
#define MPU6050_DETECT_DECREMENT_1 0x1
#define MPU6050_DETECT_DECREMENT_2 0x2
#define MPU6050_DETECT_DECREMENT_4 0x3
#define MPU6050_USERCTRL_DMP_EN_BIT 7
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0
#define MPU6050_PWR1_DEVICE_RESET_BIT 7
#define MPU6050_PWR1_SLEEP_BIT 6
#define MPU6050_PWR1_CYCLE_BIT 5
#define MPU6050_PWR1_TEMP_DIS_BIT 3
#define MPU6050_PWR1_CLKSEL_BIT 2
#define MPU6050_PWR1_CLKSEL_LENGTH 3
#define MPU6050_CLOCK_INTERNAL 0x00
#define MPU6050_CLOCK_PLL_XGYRO 0x01
#define MPU6050_CLOCK_PLL_YGYRO 0x02
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
#define MPU6050_CLOCK_PLL_EXT32K 0x04
#define MPU6050_CLOCK_PLL_EXT19M 0x05
#define MPU6050_CLOCK_KEEP_RESET 0x07
#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
#define MPU6050_PWR2_STBY_XA_BIT 5
#define MPU6050_PWR2_STBY_YA_BIT 4
#define MPU6050_PWR2_STBY_ZA_BIT 3
#define MPU6050_PWR2_STBY_XG_BIT 2
#define MPU6050_PWR2_STBY_YG_BIT 1
#define MPU6050_PWR2_STBY_ZG_BIT 0
#define MPU6050_WAKE_FREQ_1P25 0x0
#define MPU6050_WAKE_FREQ_2P5 0x1
#define MPU6050_WAKE_FREQ_5 0x2
#define MPU6050_WAKE_FREQ_10 0x3
#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5
#define MPU6050_WHO_AM_I_BIT 6
#define MPU6050_WHO_AM_I_LENGTH 6
#define MPU6050_DMP_MEMORY_BANKS 8
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16
uint8_t i2c_buffer[256];
//#define MPU_6050_ADDRESS 0x68 // MPU-6050 i2c address = b1101000x
#define MPU_6050_ADDRESS 0x68 // MPU-6050 i2c address = b110 1000
typedef union {
struct{
uint8_t x_accel_h;
uint8_t x_accel_l;
uint8_t y_accel_h;
uint8_t y_accel_l;
uint8_t z_accel_h;
uint8_t z_accel_l;
uint8_t t_h;
uint8_t t_l;
uint8_t x_gyro_h;
uint8_t x_gyro_l;
uint8_t y_gyro_h;
uint8_t y_gyro_l;
uint8_t z_gyro_h;
uint8_t z_gyro_l;
}
reg;
struct{
int16_t x_accel;
int16_t y_accel;
int16_t z_accel;
int16_t temperature;
int16_t x_gyro;
int16_t y_gyro;
int16_t z_gyro;
}
value;
}accel_t_gyro_union;
float dT;
accel_t_gyro_union accel_t_gyro;
uint8_t swap;
#define SWAP(x,y) swap = x; x = y; y = swap
const static double PI = 4*atan(1.0);
float acc_x;
float acc_y;
float acc_z;
float acc_angle_x;
float acc_angle_y;
float acc_angle_z;
float gyro_x;
float gyro_y;
float gyro_z;
uint8_t led_seq=0;
uint16_t led_color = LED_GREEN;
uint16_t led_x=0, led_y=0;
int main(void)
{
CyGlobalIntEnable; /* Enable global interrupts. */
/* Place your initialization/startup code here (e.g. MyInst_Start()) */
PWM_1_Start();
I2CDev_initialize();
I2CDev_readByte(MPU_6050_ADDRESS, MPU6050_RA_WHO_AM_I, i2c_buffer); // read who am I
if (i2c_buffer[0] != 0x68)
{
PWM_1_Stop();
}
I2CDev_readByte(MPU_6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, i2c_buffer); // check power management status
I2CDev_writeByte(MPU_6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0); //
LED8x8bi_begin(ADAFRUIT_LEDBACKPACK_DEFAULT_ADDR);
LED8x8bi_clear();
LED8x8bi_writeDisplay();
for(;;)
{
/* Place your application code here. */
I2CDev_readBytes(MPU_6050_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
SWAP (accel_t_gyro.reg.y_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
SWAP (accel_t_gyro.reg.t_h, accel_t_gyro.reg.t_l);
SWAP (accel_t_gyro.reg.x_gyro_h, accel_t_gyro.reg.x_gyro_l);
SWAP (accel_t_gyro.reg.y_gyro_h, accel_t_gyro.reg.y_gyro_l);
SWAP (accel_t_gyro.reg.z_gyro_h, accel_t_gyro.reg.z_gyro_l);
dT = ( (float) accel_t_gyro.value.temperature + 12412.0) / 340.0;
acc_x = accel_t_gyro.value.x_accel / 16384.0; //FS_SEL_0 16,384 LSB / g
acc_y = accel_t_gyro.value.y_accel / 16384.0;
acc_z = accel_t_gyro.value.z_accel / 16384.0;
acc_angle_x = atan2(acc_x, acc_z) * 360 / 2.0 / PI;
acc_angle_y = atan2(acc_y, acc_z) * 360 / 2.0 / PI;
acc_angle_z = atan2(acc_x, acc_y) * 360 / 2.0 / PI;
gyro_x = accel_t_gyro.value.x_gyro / 131.0; //FS_SEL_0 131 LSB / (°/s)
gyro_y = accel_t_gyro.value.y_gyro / 131.0;
gyro_z = accel_t_gyro.value.z_gyro / 131.0;
LED8x8bi_clear();
led_y = 0;
if (acc_angle_y < -75.0) {
led_x = 6;
} else if (acc_angle_y < -45.0) {
led_x = 5;
} else if (acc_angle_y < -22.5) {
led_x = 4;
} else if (acc_angle_y < 0) {
led_x = 3;
} else if (acc_angle_y < 22.5) {
led_x = 2;
} else if (acc_angle_y < 45.0) {
led_x = 1;
} else {
led_x = 0;
}
if (acc_angle_x < -75.0) {
led_y = 6;
} else if (acc_angle_x < -45.0) {
led_y = 5;
} else if (acc_angle_x < -22.5) {
led_y = 4;
} else if (acc_angle_x < 0) {
led_y = 3;
} else if (acc_angle_x < 22.5) {
led_y = 2;
} else if (acc_angle_x < 45.0) {
led_y = 1;
} else {
led_y = 0;
}
if (acc_angle_z < -45){
led_color = LED_YELLOW;
} else if (acc_angle_z < 0) {
led_color = LED_GREEN;
} else {
led_color=LED_RED;
}
LED8x8bi_drawPixel(led_x, led_y, led_color);
LED8x8bi_drawPixel(led_x, led_y+1, led_color);
LED8x8bi_drawPixel(led_x+1, led_y, led_color);
LED8x8bi_drawPixel(led_x+1, led_y+1, led_color);
LED8x8bi_writeDisplay();
}
}