144 lines
4.0 KiB
C++
144 lines
4.0 KiB
C++
/*
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MPU6050 Triple Axis Gyroscope & Accelerometer. Free fall detection.
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Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-zyroskop-i-akcelerometr-mpu6050.html
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GIT: https://github.com/jarzebski/Arduino-MPU6050
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Web: http://www.jarzebski.pl
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(c) 2014 by Korneliusz Jarzebski
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*/
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#include <Wire.h>
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#include <MPU6050.h>
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MPU6050 mpu;
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boolean ledState = false;
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boolean freefallDetected = false;
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int freefallBlinkCount = 0;
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void setup()
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{
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Serial.begin(115200);
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Serial.println("Initialize MPU6050");
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while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G))
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{
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Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
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delay(500);
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}
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mpu.setAccelPowerOnDelay(MPU6050_DELAY_3MS);
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mpu.setIntFreeFallEnabled(true);
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mpu.setIntZeroMotionEnabled(false);
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mpu.setIntMotionEnabled(false);
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mpu.setDHPFMode(MPU6050_DHPF_5HZ);
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mpu.setFreeFallDetectionThreshold(17);
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mpu.setFreeFallDetectionDuration(2);
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checkSettings();
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pinMode(4, OUTPUT);
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digitalWrite(4, LOW);
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attachInterrupt(0, doInt, RISING);
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}
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void doInt()
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{
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freefallBlinkCount = 0;
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freefallDetected = true;
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}
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void checkSettings()
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{
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Serial.println();
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Serial.print(" * Sleep Mode: ");
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Serial.println(mpu.getSleepEnabled() ? "Enabled" : "Disabled");
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Serial.print(" * Motion Interrupt: ");
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Serial.println(mpu.getIntMotionEnabled() ? "Enabled" : "Disabled");
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Serial.print(" * Zero Motion Interrupt: ");
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Serial.println(mpu.getIntZeroMotionEnabled() ? "Enabled" : "Disabled");
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Serial.print(" * Free Fall Interrupt: ");
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Serial.println(mpu.getIntFreeFallEnabled() ? "Enabled" : "Disabled");
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Serial.print(" * Free Fal Threshold: ");
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Serial.println(mpu.getFreeFallDetectionThreshold());
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Serial.print(" * Free FallDuration: ");
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Serial.println(mpu.getFreeFallDetectionDuration());
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Serial.print(" * Clock Source: ");
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switch(mpu.getClockSource())
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{
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case MPU6050_CLOCK_KEEP_RESET: Serial.println("Stops the clock and keeps the timing generator in reset"); break;
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case MPU6050_CLOCK_EXTERNAL_19MHZ: Serial.println("PLL with external 19.2MHz reference"); break;
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case MPU6050_CLOCK_EXTERNAL_32KHZ: Serial.println("PLL with external 32.768kHz reference"); break;
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case MPU6050_CLOCK_PLL_ZGYRO: Serial.println("PLL with Z axis gyroscope reference"); break;
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case MPU6050_CLOCK_PLL_YGYRO: Serial.println("PLL with Y axis gyroscope reference"); break;
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case MPU6050_CLOCK_PLL_XGYRO: Serial.println("PLL with X axis gyroscope reference"); break;
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case MPU6050_CLOCK_INTERNAL_8MHZ: Serial.println("Internal 8MHz oscillator"); break;
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}
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Serial.print(" * Accelerometer: ");
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switch(mpu.getRange())
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{
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case MPU6050_RANGE_16G: Serial.println("+/- 16 g"); break;
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case MPU6050_RANGE_8G: Serial.println("+/- 8 g"); break;
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case MPU6050_RANGE_4G: Serial.println("+/- 4 g"); break;
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case MPU6050_RANGE_2G: Serial.println("+/- 2 g"); break;
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}
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Serial.print(" * Accelerometer offsets: ");
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Serial.print(mpu.getAccelOffsetX());
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Serial.print(" / ");
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Serial.print(mpu.getAccelOffsetY());
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Serial.print(" / ");
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Serial.println(mpu.getAccelOffsetZ());
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Serial.print(" * Accelerometer power delay: ");
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switch(mpu.getAccelPowerOnDelay())
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{
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case MPU6050_DELAY_3MS: Serial.println("3ms"); break;
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case MPU6050_DELAY_2MS: Serial.println("2ms"); break;
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case MPU6050_DELAY_1MS: Serial.println("1ms"); break;
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case MPU6050_NO_DELAY: Serial.println("0ms"); break;
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}
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Serial.println();
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}
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void loop()
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{
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Vector rawAccel = mpu.readRawAccel();
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Activites act = mpu.readActivites();
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Serial.print(act.isFreeFall);
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Serial.print("\n");
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if (freefallDetected)
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{
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ledState = !ledState;
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digitalWrite(4, ledState);
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freefallBlinkCount++;
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if (freefallBlinkCount == 20)
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{
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freefallDetected = false;
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ledState = false;
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digitalWrite(4, ledState);
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}
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}
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delay(100);
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}
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