Mired in code
Check-in [2c269f1a5e]
Not logged in
Public Repositories
mwm's Repositories

Many hyperlinks are disabled.
Use anonymous login to enable hyperlinks.

Overview
Comment:Save calibration data to eeprom after calibrating.
Timelines: family | ancestors | descendants | both | trunk
Files: files | file ages | folders
SHA1:2c269f1a5e5fcae017ec8c1869009fc54751ec10
User & Date: mwm 2015-08-28 13:31:27
Context
2015-08-28
14:15
Move calibration to a separate sketch. check-in: 1885651ed3 user: mwm tags: trunk
13:31
Save calibration data to eeprom after calibrating. check-in: 2c269f1a5e user: mwm tags: trunk
2015-08-26
13:00
Turn on serial debugging. check-in: 322fc62d8f user: mwm tags: trunk
Changes
Hide Diffs Unified Diffs Ignore Whitespace Patch

Changes to Arduino/FloatController/FloatController.ino.

1
2
3
4
5
6
7
8
..
21
22
23
24
25
26
27


28
29
30
31
32
33
34
..
60
61
62
63
64
65
66

67
68




69
70
71
72
73
74
75
...
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
...
158
159
160
161
162
163
164
165
166





167
168
169
170
171
172
173
...
223
224
225
226
227
228
229






























































































































































































#define SERIAL_DEBUG
// 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
//
// Modified 2015 as initial version of FloatController by Mike Meyer <mwm@mired.org>
//

................................................................................
#include "MPU6050_6Axis_MotionApps20.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include <Wire.h>
#endif



// 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
................................................................................
    mpuInterrupt = true;
}


// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================


void setup() {




    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif
................................................................................
    while (Serial.available() && Serial.read()); // empty buffer again

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

    // supply your own gyro offsets here, scaled for min sensitivity
    mpu.setXGyroOffset(120);
    mpu.setYGyroOffset(-25);
    mpu.setZGyroOffset(16);
    mpu.setXAccelOffset(-6791);
    mpu.setYAccelOffset(777);
    mpu.setZAccelOffset(755); // 1688 factory default for my test chip
// for my one MU6050, XAccelOffset = -7039(?), YAccelOffset = 806

    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
#ifdef	SERIAL_DEBUG
        Serial.println(F("Enabling DMP..."));
#endif
................................................................................
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {





    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        // other program behavior stuff here
        // .
................................................................................
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("\t");
        Serial.println(min(abs(ypr[1]) * 510 / M_PI, 1023));
        /* Serial.println(ypr[2] * 180/M_PI); */
#endif
    }
}






























































































































































































|







 







>
>







 







>


>
>
>
>







 







|
<
<
<
<
<
<
<







 







<

>
>
>
>
>







 







>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
>
1
2
3
4
5
6
7
8
..
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
..
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
...
113
114
115
116
117
118
119
120







121
122
123
124
125
126
127
...
158
159
160
161
162
163
164

165
166
167
168
169
170
171
172
173
174
175
176
177
...
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
// #define SERIAL_DEBUG
// 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
//
// Modified 2015 as initial version of FloatController by Mike Meyer <mwm@mired.org>
//

................................................................................
#include "MPU6050_6Axis_MotionApps20.h"

// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
    #include <Wire.h>
#endif

#include <EEPROM.h>

// 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
................................................................................
    mpuInterrupt = true;
}


// ================================================================
// ===                      INITIAL SETUP                       ===
// ================================================================
bool calibrated;

void setup() {
    void loadCalibration(), setCalibration();

    loadCalibration();

    // join I2C bus (I2Cdev library doesn't do this automatically)
    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
        Wire.begin();
        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
        Fastwire::setup(400, true);
    #endif
................................................................................
    while (Serial.available() && Serial.read()); // empty buffer again

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

    setCalibration();








    // make sure it worked (returns 0 if so)
    if (devStatus == 0) {
        // turn on the DMP, now that it's ready
#ifdef	SERIAL_DEBUG
        Serial.println(F("Enabling DMP..."));
#endif
................................................................................
}



// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================

void loop() {
    void calibrate();

    // For now, we just do this at install time. Add some way to control it later.
    if (!calibrated) calibrate();

    // if programming failed, don't try to do anything
    if (!dmpReady) return;

    // wait for MPU interrupt or extra packet(s) available
    while (!mpuInterrupt && fifoCount < packetSize) {
        // other program behavior stuff here
        // .
................................................................................
        Serial.print(ypr[1] * 180/M_PI);
        Serial.print("\t");
        Serial.println(min(abs(ypr[1]) * 510 / M_PI, 1023));
        /* Serial.println(ypr[2] * 180/M_PI); */
#endif
    }
}

/**********************************************
 * Additional calibration code by luisrodenas *
 **********************************************/
// Change this 3 variables if you want to fine tune the skecth to your needs.
int buffersize = 1000;   //Amount of readings used to average, make it higher to get more precision but sketch will be slower  (default:1000)
int acel_deadzone = 8;   //Acelerometer error allowed, make it lower to get more precision, but sketch may not converge  (default:8)
int giro_deadzone = 1;   //Giro error allowed, make it lower to get more precision, but sketch may not converge  (default:1)
int16_t ax, ay, az, gx, gy, gz;

int mean_ax, mean_ay, mean_az, mean_gx, mean_gy, mean_gz;
int ax_offset, ay_offset, az_offset, gx_offset, gy_offset, gz_offset;

void calibrate()
{
  void calibration(), meansensors(), saveCalibration(), setCalibration();

#ifdef SERIAL_DEBUG
  Serial.print(F("Calibrating..."));
#endif

  // Shut things down.
  mpu.setDMPEnabled(false);
  detachInterrupt(0);

  // Reset offsets
  mpu.setXAccelOffset(0);
  mpu.setYAccelOffset(0);
  mpu.setZAccelOffset(0);
  mpu.setXGyroOffset(0);
  mpu.setYGyroOffset(0);
  mpu.setZGyroOffset(0);

  delay(100);

#ifdef SERIAL_DEBUG
  Serial.print(F("state 0..."));
#endif
  meansensors();
  delay(1000);

#ifdef SERIAL_DEBUG
  Serial.print(F("state 1..."));
#endif
  calibration();
  delay(1000);

  meansensors();
  setCalibration();
  calibrated = true;
  saveCalibration();

#ifdef SERIAL_DEBUG
  Serial.println("done!");
  Serial.print("\nSensor readings with offsets:\t");
  Serial.print(mean_ax); 
  Serial.print("\t");
  Serial.print(mean_ay); 
  Serial.print("\t");
  Serial.print(mean_az); 
  Serial.print("\t");
  Serial.print(mean_gx); 
  Serial.print("\t");
  Serial.print(mean_gy); 
  Serial.print("\t");
  Serial.println(mean_gz);
  Serial.println("Values should be close to 0 0 16384 0 0 0");
#endif

  // Start us up again.
  mpu.setDMPEnabled(true);
  attachInterrupt(0, dmpDataReady, RISING);
  mpuIntStatus = mpu.getIntStatus();

  digitalWrite(LED_PIN, HIGH);
}

///////////////////////////////////   FUNCTIONS   ////////////////////////////////////
void meansensors() {
  long i = 0, buff_ax = 0, buff_ay = 0, buff_az = 0, buff_gx = 0, buff_gy = 0, buff_gz = 0;
  static int blinkstate = 0 ;

  while (i < (buffersize + 101)) {
    analogWrite(LED_PIN, blinkstate += 1);
    if (blinkstate > 255) blinkstate = 0;

    // read raw accel/gyro measurements from device
    mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

    if (i > 100 && i <= (buffersize + 100)) { //First 100 measures are discarded
      buff_ax = buff_ax + ax;
      buff_ay = buff_ay + ay;
      buff_az = buff_az + az;
      buff_gx = buff_gx + gx;
      buff_gy = buff_gy + gy;
      buff_gz = buff_gz + gz;
    }
    if (i == (buffersize + 100)) {
      mean_ax = buff_ax / buffersize;
      mean_ay = buff_ay / buffersize;
      mean_az = buff_az / buffersize;
      mean_gx = buff_gx / buffersize;
      mean_gy = buff_gy / buffersize;
      mean_gz = buff_gz / buffersize;
    }
    i++;
    delay(2); //Needed so we don't get repeated measures
  }
}

void calibration() {
  ax_offset = -mean_ax / 8;
  ay_offset = -mean_ay / 8;
  az_offset = (16384 - mean_az) / 8;

  gx_offset = -mean_gx / 4;
  gy_offset = -mean_gy / 4;
  gz_offset = -mean_gz / 4;
  while (1) {
    int ready = 0;
    mpu.setXAccelOffset(ax_offset);
    mpu.setYAccelOffset(ay_offset);
    mpu.setZAccelOffset(az_offset);

    mpu.setXGyroOffset(gx_offset);
    mpu.setYGyroOffset(gy_offset);
    mpu.setZGyroOffset(gz_offset);

    meansensors();

    if (abs(mean_ax) <= acel_deadzone) ready++;
    else ax_offset = ax_offset - mean_ax / acel_deadzone;

    if (abs(mean_ay) <= acel_deadzone) ready++;
    else ay_offset = ay_offset - mean_ay / acel_deadzone;

    if (abs(16384 - mean_az) <= acel_deadzone) ready++;
    else az_offset = az_offset + (16384 - mean_az) / acel_deadzone;

    if (abs(mean_gx) <= giro_deadzone) ready++;
    else gx_offset = gx_offset - mean_gx / (giro_deadzone + 1);

    if (abs(mean_gy) <= giro_deadzone) ready++;
    else gy_offset = gy_offset - mean_gy / (giro_deadzone + 1);

    if (abs(mean_gz) <= giro_deadzone) ready++;
    else gz_offset = gz_offset - mean_gz / (giro_deadzone + 1);

    if (ready == 6) break;
  }
}

// Save/restore our EEPROM values.
void
saveCalibration() {
  EEPROM.write(0, calibrated);
  EEPROM.write(1, ax_offset & 0xFF);
  EEPROM.write(2, ax_offset >> 8);
  EEPROM.write(3, ay_offset & 0xFF);
  EEPROM.write(4, ay_offset >> 8);
  EEPROM.write(5, az_offset & 0xFF);
  EEPROM.write(6, az_offset >> 8);
  EEPROM.write(7, gx_offset & 0xFF);
  EEPROM.write(8, gx_offset >> 8);
  EEPROM.write(9, gy_offset & 0xFF);
  EEPROM.write(10, gy_offset >> 8);
  EEPROM.write(11, gz_offset & 0xFF);
  EEPROM.write(12, gz_offset >> 8);
}

void
loadCalibration() {
  calibrated = EEPROM.read(0);
  ax_offset = EEPROM.read(1) | (EEPROM.read(2) << 8);
  ay_offset = EEPROM.read(3) | (EEPROM.read(4) << 8);
  az_offset = EEPROM.read(5) | (EEPROM.read(6) << 8);
  gx_offset = EEPROM.read(7) | (EEPROM.read(8) << 8);
  gy_offset = EEPROM.read(9) | (EEPROM.read(10) << 8);
  gz_offset = EEPROM.read(11) | (EEPROM.read(12) << 8);
}

void
setCalibration() {
  mpu.setXGyroOffset(gx_offset);
  mpu.setYGyroOffset(gy_offset);
  mpu.setZGyroOffset(gz_offset);
  mpu.setXAccelOffset(ax_offset);
  mpu.setYAccelOffset(ay_offset);
  mpu.setZAccelOffset(az_offset);
}

Changes to Arduino/FloatController/Makefile.

1
2
3
ARDUINO_LIBS = I2Cdev MPU6050 Wire Wire/utility

include ../Makefile
|


1
2
3
ARDUINO_LIBS = I2Cdev MPU6050 Wire Wire/utility EEPROM

include ../Makefile