Problem with continues reading FIFO #54
Comments
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Please do not post code here.
Did you read the data sheet? You need to configure the FIFO for continuous
mode. You need to poll or use the interrupt to detect FIFO full and then
read the FIFO.
…On Fri, Oct 22, 2021 at 12:44 PM williamesp2015 ***@***.***> wrote:
I want to read FIFO continuously. So I copied calibrateMPU6050 in a new
function and in the loop I wait for 80 msec and then read fifo_count but I
always one data packet.
void setup(){
......
uint8_t c = mpu.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
Serial.print("I AM ");
Serial.print(c, HEX);
Serial.print(" I Should Be ");
Serial.println(0x68, HEX);
// my mpu6050 return 0x98
if((c == 0x68) || (c==0x98)){
{
Serial.println("MPU6050 is online...");
}
mpu.InitialteFIFO();
LastRead=millis();
}
}
while((millis()-LastRead)<80)// I already enabled FIFO in the
InitializeByFIFO()
{
delayMicroseconds(50);
}
LastRead=millis();
fifo_count=0;
while(fifo_count<512)// I already enabled FIFO in the InitializeByFIFO()
{
// At end of sample accumulation, turn off FIFO sensor read
mpu.writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and
accelerometer sensors for FIFO
mpu.readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO
sample count
fifo_count = ((uint16_t)data[0] << 8) | data[1];
}
packet_count = fifo_count / 12; // How many sets of full gyro and
accelerometer data for averaging
Serial.println("");
Serial.print(" FC:");
Serial.println( fifo_count);
for (ii = 0; ii < packet_count; ii++) {
int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
mpu.readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for
averaging
accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form
signed 16-bit integer for each sample in FIFO
accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
Serial.print(" X:");
Serial.print(accel_temp[0]); // Sum individual signed 16-bit biases to get
accumulated signed 32-bit biases
Serial.print(" Y:");
Serial.print(accel_temp[1]);
Serial.print(" Z:");
Serial.print(accel_temp[2]);
Serial.print(" GX:");
Serial.print(gyro_temp[0]);
Serial.print(" GY:");
Serial.print(gyro_temp[1]);
Serial.print(" GZ:");
Serial.println(gyro_temp[2]);
}
}
In the MPU6050.cpp
void MPU6050lib::InitialteFIFO()
{
// reset device, reset all registers, clear gyro and accelerometer bias
registers
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7
reset bit; toggle reset device
delay(100);
// get stable time source
// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 =
001
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
delay(200);
// Configure device for bias calculation
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock
source
writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C
master modes
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
delay(15);
// Configure MPU6050 gyro and accelerometer for bias calculation
writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to
250 degrees per second, maximum sensitivity
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer
full-scale to 2 g, maximum sensitivity
uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
uint16_t accelsensitivity = 16384; // = 16384 LSB/g
// Configure Interrupts and Bypass Enable
// Set interrupt pin active high, push-pull, and clear on read of
INT_STATUS, enable I2C_BYPASS_EN so additional chips
// can join the I2C bus and all can be controlled by the Arduino as master
writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0)
interrupt
delay(15);
// Configure FIFO to capture accelerometer and gyro data for bias
calculation
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and
accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
}
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I did changes and now its reading FIFO continuously but I need you to check the Acc, Gyro, DLF and sampling rate to be correct and add to your examples: // reset device, reset all registers, clear gyro and accelerometer bias registers // get stable time source // Configure device for bias calculation // Configure MPU6050 gyro and accelerometer for bias calculation writeByte(MPU6050_ADDRESS, FIFO_EN, 0x88); |
I want to read FIFO continuously. So I copied calibrateMPU6050 in a new function and in the loop I wait for 80 msec and then read fifo_count but I always one data packet.
void setup(){
......
uint8_t c = mpu.readByte(MPU6050_ADDRESS, WHO_AM_I_MPU6050);
Serial.print("I AM ");
Serial.print(c, HEX);
Serial.print(" I Should Be ");
Serial.println(0x68, HEX);
// my mpu6050 return 0x98
if((c == 0x68) || (c==0x98)){
{
Serial.println("MPU6050 is online...");
}
mpu.InitialteFIFO();
LastRead=millis();
}
}
while((millis()-LastRead)<80)// I already enabled FIFO in the InitializeByFIFO()
{
delayMicroseconds(50);
}
LastRead=millis();
fifo_count=0;
while(fifo_count<512)// I already enabled FIFO in the InitializeByFIFO()
{
// At end of sample accumulation, turn off FIFO sensor read
mpu.writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable gyro and accelerometer sensors for FIFO
mpu.readBytes(MPU6050_ADDRESS, FIFO_COUNTH, 2, &data[0]); // read FIFO sample count
fifo_count = ((uint16_t)data[0] << 8) | data[1];
}
packet_count = fifo_count / 12; // How many sets of full gyro and accelerometer data for averaging
Serial.println("");
Serial.print(" FC:");
Serial.println( fifo_count);
for (ii = 0; ii < packet_count; ii++) {
int16_t accel_temp[3] = {0, 0, 0}, gyro_temp[3] = {0, 0, 0};
mpu.readBytes(MPU6050_ADDRESS, FIFO_R_W, 12, &data[0]); // read data for averaging
accel_temp[0] = (int16_t) (((int16_t)data[0] << 8) | data[1] ) ; // Form signed 16-bit integer for each sample in FIFO
accel_temp[1] = (int16_t) (((int16_t)data[2] << 8) | data[3] ) ;
accel_temp[2] = (int16_t) (((int16_t)data[4] << 8) | data[5] ) ;
gyro_temp[0] = (int16_t) (((int16_t)data[6] << 8) | data[7] ) ;
gyro_temp[1] = (int16_t) (((int16_t)data[8] << 8) | data[9] ) ;
gyro_temp[2] = (int16_t) (((int16_t)data[10] << 8) | data[11]) ;
Serial.print(" X:");
Serial.print(accel_temp[0]); // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
Serial.print(" Y:");
Serial.print(accel_temp[1]);
Serial.print(" Z:");
Serial.print(accel_temp[2]);
Serial.print(" GX:");
Serial.print(gyro_temp[0]);
Serial.print(" GY:");
Serial.print(gyro_temp[1]);
Serial.print(" GZ:");
Serial.println(gyro_temp[2]);
}
}
In the MPU6050.cpp
void MPU6050lib::InitialteFIFO()
{
// reset device, reset all registers, clear gyro and accelerometer bias registers
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x80); // Write a one to bit 7 reset bit; toggle reset device
delay(100);
// get stable time source
// Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x01);
writeByte(MPU6050_ADDRESS, PWR_MGMT_2, 0x00);
delay(200);
// Configure device for bias calculation
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x00); // Disable all interrupts
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x00); // Disable FIFO
writeByte(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); // Turn on internal clock source
writeByte(MPU6050_ADDRESS, I2C_MST_CTRL, 0x00); // Disable I2C master
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x00); // Disable FIFO and I2C master modes
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x0C); // Reset FIFO and DMP
delay(15);
// Configure MPU6050 gyro and accelerometer for bias calculation
writeByte(MPU6050_ADDRESS, CONFIG, 0x01); // Set low-pass filter to 188 Hz
writeByte(MPU6050_ADDRESS, SMPLRT_DIV, 0x00); // Set sample rate to 1 kHz
writeByte(MPU6050_ADDRESS, GYRO_CONFIG, 0x00); // Set gyro full-scale to 250 degrees per second, maximum sensitivity
writeByte(MPU6050_ADDRESS, ACCEL_CONFIG, 0x00); // Set accelerometer full-scale to 2 g, maximum sensitivity
uint16_t gyrosensitivity = 131; // = 131 LSB/degrees/sec
uint16_t accelsensitivity = 16384; // = 16384 LSB/g
// Configure Interrupts and Bypass Enable
// Set interrupt pin active high, push-pull, and clear on read of INT_STATUS, enable I2C_BYPASS_EN so additional chips
// can join the I2C bus and all can be controlled by the Arduino as master
writeByte(MPU6050_ADDRESS, INT_PIN_CFG, 0x22);
writeByte(MPU6050_ADDRESS, INT_ENABLE, 0x01); // Enable data ready (bit 0) interrupt
delay(15);
// Configure FIFO to capture accelerometer and gyro data for bias calculation
writeByte(MPU6050_ADDRESS, USER_CTRL, 0x40); // Enable FIFO
writeByte(MPU6050_ADDRESS, FIFO_EN, 0x78); // Enable gyro and accelerometer sensors for FIFO (max size 1024 bytes in MPU-6050)
}
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