mpu6050 dmp6 欧拉角解算

MPU6050一款常用的集成加速度计的陀螺仪。今天就来介绍ESP32 Arduino如何使用mpu6050做dmp ，四元数姿态解算，从而获得欧拉角和xyz角。
最后的效果：可以看到很好的实验效果，eular和ypr角。
此外我使用的是esp32 PICO4芯片，PlatformIO开发环境 mpu6050接PIN32,PIN 33引脚

一、库安装：

用过PlatformIO的朋友们肯定知道，PlatformIO具有丰富的库文件，使用来那是十分的方便。在库中搜素mpu6050的话，会出现两个库。

Adafruit MPU6050 库：直接读取数据，不能进行dmp解算

MPU6050库：可以进行dmp解算，但是下载之后不可以用，文件不全。 编译的时候程序报错。

为此我找了好久，最后在github上找到了最新的库，这里我将库分享到百度网盘，需要自取。链接：https://pan.baidu.com/s/14h430aUozn4PEDeSu13n3Q 提取码：nmi6

内含一个可以使用的工程，和mpu6050的库

二、程序编写：

定义相关的宏之后就会显示不同的数据

#define OUTPUT_READABLE_QUATERNION  // 显示四元数值
#define OUTPUT_READABLE_EULER		// 以度为单位显示欧拉角度
#define OUTPUT_READABLE_YAWPITCHROLL// 以度为单位显示欧拉角度
#define OUTPUT_READABLE_REALACCEL	// 显示真实加速度，调整以消除重力 
#define OUTPUT_READABLE_WORLDACCEL	// 显示初始世界帧加速度，调整以移除重力，并基于四元数的已知方向旋转
#define OUTPUT_TEAPOT				// 显示四元数值

#include <Arduino.h>
#include <I2Cdev.h>
#include <MPU6050_6Axis_MotionApps20.h>
#include "Wire.h"

MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high

#define OUTPUT_READABLE_YAWPITCHROLL
#define OUTPUT_READABLE_EULER
#define LED_PIN 27 
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() {
    // join I2C bus (I2Cdev library doesn't do this automatically)
	Wire.begin(32, 33);
    Wire.setClock(400000);
	
    // initialize serial communication
    Serial.begin(115200);

    // initialize device
    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();

    // 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.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
        //attachInterrupt(19, c, RISING);
	      dmpDataReady();
        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();
        Serial.println(F("init—okkkk"));
    } 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);
}


void mup6050_read(void)
{
      // 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) 

    // 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 & 0x10) || fifoCount == 1024) {
        // reset so we can continue cleanly
        mpu.resetFIFO();
        Serial.println(F("FIFO overflow!"));

    // otherwise, check for DMP data ready interrupt (this should happen frequently)
    } else if ((mpuIntStatus & 0x02) > 0) {
        // wait for correct available data length, should be a VERY short wait
        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

        // read a packet from FIFO
        mpu.getFIFOBytes(fifoBuffer, packetSize);
        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.print(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
        // blink LED to indicate activity
        blinkState = !blinkState;
        digitalWrite(LED_PIN, blinkState);
    }
}

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

void loop() {
	mup6050_read();
}