Le programme gravé dans le microcontroleur:

#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() {

    // 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

 

    // 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);

    while (!Serial); // wait for Leonardo enumeration, others continue immediately

 

    // 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.

 

    // 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"));

 

    // wait for ready

    Serial.println(F("\nSend any character to begin DMP programming and demo: "));

    while (Serial.available() && Serial.read()); // empty buffer

    while (!Serial.available());                 // wait for data

    while (Serial.available() && Serial.read()); // empty buffer again

 

    // 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;

 

    // 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 & _BV(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 & _BV(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

        mpu.getFIFOBytes(fifoBuffer, packetSize);

        

        // 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

 

        // blink LED to indicate activity

        blinkState = !blinkState;

        digitalWrite(LED_PIN, blinkState);

    }

}