From 59358fb2822d6a54fa01550122f448cecdaa09fa Mon Sep 17 00:00:00 2001 From: John Date: Tue, 19 Sep 2023 14:41:17 -0500 Subject: [PATCH 1/3] added dmpSetFIFOPacketSize --- src/MPU6050.h | 2 ++ src/MPU6050_6Axis_MotionApps20.h | 4 +++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/MPU6050.h b/src/MPU6050.h index 15d3be6..3221f39 100644 --- a/src/MPU6050.h +++ b/src/MPU6050.h @@ -1066,6 +1066,8 @@ class MPU6050 { uint32_t dmpGetAccelSumOfSquare(); void dmpOverrideQuaternion(long *q); uint16_t dmpGetFIFOPacketSize(); + void MPU6050::dmpSetFIFOPacketSize(uint16_t packetSize); + uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof #endif diff --git a/src/MPU6050_6Axis_MotionApps20.h b/src/MPU6050_6Axis_MotionApps20.h index 4f3437d..b8fed6c 100644 --- a/src/MPU6050_6Axis_MotionApps20.h +++ b/src/MPU6050_6Axis_MotionApps20.h @@ -614,7 +614,9 @@ uint16_t MPU6050::dmpGetFIFOPacketSize() { return dmpPacketSize; } - +void MPU6050::dmpSetFIFOPacketSize(uint16_t packetSize) { + dmpPacketSize = packetSize; +} uint8_t MPU6050::dmpGetCurrentFIFOPacket(uint8_t *data) { // overflow proof return(GetCurrentFIFOPacket(data, dmpPacketSize)); From 0c4d4f5d671d492918b8ec04caae2ab5a08bb3da Mon Sep 17 00:00:00 2001 From: John Date: Fri, 8 Dec 2023 10:51:48 -0600 Subject: [PATCH 2/3] fix syntax for declaration of dmpSetFIFOPacketSize --- src/MPU6050.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/MPU6050.h b/src/MPU6050.h index 3221f39..aa05833 100644 --- a/src/MPU6050.h +++ b/src/MPU6050.h @@ -1066,7 +1066,7 @@ class MPU6050 { uint32_t dmpGetAccelSumOfSquare(); void dmpOverrideQuaternion(long *q); uint16_t dmpGetFIFOPacketSize(); - void MPU6050::dmpSetFIFOPacketSize(uint16_t packetSize); + void dmpSetFIFOPacketSize(uint16_t packetSize); uint8_t dmpGetCurrentFIFOPacket(uint8_t *data); // overflow proof #endif From bc5c57e7e4517ffd00ac5a804bff6dc2c1975c85 Mon Sep 17 00:00:00 2001 From: John Date: Mon, 11 Dec 2023 16:13:02 -0600 Subject: [PATCH 3/3] example code showing use of dmpSetFIFOPacketSize when MCU is powercycled or goes into deep sleep but MPU6050 remains active --- .../MCU_Powercycle_DMP6.ino | 134 ++++++++++++++++++ 1 file changed, 134 insertions(+) create mode 100644 examples/MCU_Powercycle_DMP6/MCU_Powercycle_DMP6.ino diff --git a/examples/MCU_Powercycle_DMP6/MCU_Powercycle_DMP6.ino b/examples/MCU_Powercycle_DMP6/MCU_Powercycle_DMP6.ino new file mode 100644 index 0000000..2664c36 --- /dev/null +++ b/examples/MCU_Powercycle_DMP6/MCU_Powercycle_DMP6.ino @@ -0,0 +1,134 @@ +// This sample code shows how to use dmpSetFIFOPacketSize() so as not to waste time +// initializaing the MPU6050 when the MCU has been reset or powercycled but the MPU6050 has not. +// Instead we just need to set the FIFOPacketSize, since this is the only setting needed +// that was stored in the MCU RAM. + +// This example code was written for the LGT8F328. In this example the LGT8F328 goes into +// a deep sleep for 1 second which erases its ram and thus causes the MCU to restart on wakeup. +// The code is based off a simplication of example code "MPU6050_DMP6". + +// Code and comments related to demonstrating how to use dmpSetFIFOPacketSize() are preceded +// by a line of asterisks (***************************************************************). + +#include "I2Cdev.h" +#include "MPU6050_6Axis_MotionApps20.h" +#include + +#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE +#include "Wire.h" +#endif + +MPU6050 mpu; + +// MPU control/status vars +uint8_t devStatus; // return status after each device operation (0 = success, !0 = error) +uint16_t packetSize; // expected DMP packet size (default is 42 bytes) +uint8_t fifoBuffer[42]; // FIFO storage buffer + +// orientation/motion vars +Quaternion q; // [w, x, y, z] quaternion container +VectorFloat gravity; // [x, y, z] gravity vector +float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector +uint32_t startTime; + +// ================================================================ +// === INITIAL SETUP === +// ================================================================ + +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 + + Serial.begin(115200); + Serial.println(F("Starting setup")); + + // *************************************************************** + // if MotionDetectionDuration is not the default value (0) but is instead a value we have set previously (1) + // then we know that the mpu6050 has not been reset or powercycled only the MCU has been, so we don't need + // to waste time reininitializing the mpu6050. Instead we just have to set the MCU to know the packet size + // since this value was only retained previously in the MCU RAM: + if (mpu.getMotionDetectionDuration() == 1) { + Serial.println("Skipping MPU6050 initialization"); + mpu.dmpSetFIFOPacketSize(42); + return; + } + + // *************************************************************** + // if we got here then the MPU6050 has been power cycled or reset so we have to do a full initialization + 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")); + + // load and configure the DMP + Serial.println(F("Initializing DMP...")); + devStatus = mpu.dmpInitialize(); + + // make sure it worked (returns 0 if so) + if (devStatus == 0) { + // Calibration Time: generate offsets and calibrate our MPU6050 + mpu.CalibrateAccel(6); + mpu.CalibrateGyro(6); + Serial.println(F("Enabling DMP...")); + mpu.setDMPEnabled(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(")")); + } + + // *************************************************************** + // set MotionDetectionDuration to a value other than the default (0). + // Note that we could set any value other than default in the MPU6050 + // and test for that instead of MotionDetectionDuration. We chose + // MotionDetectionDuration to set in this example only as an example + // of how to test for reset/powerup on the MPU6050. + mpu.setMotionDetectionDuration(1); + + startTime = millis(); +} + + + +// ================================================================ +// === MAIN PROGRAM LOOP === +// ================================================================ + +void loop() { + if ((millis() - startTime) < 5000) { // show YPR values for 5 seconds + if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet + // 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); + } + } else { + // *************************************************************** + // 5 seconds have passed + // put the MCU into a deep sleep for 1 second. All RAM is lost + // however the MPU6050 will continue to operate. + Serial.println("going to sleep for 1 Sec."); + delay(100); // give the MCU a chance to print the above message + LowPower.deepSleep2(SLEEP_1S); + } +}