Ardunio mpu6050 dmp 数据通过串口实现与matlab(mac)实时绘图 学习过程 【2014-9-8】
Day2
0. Ardunio 端：
今天早上顺丰就把我定的ardunio mega送来了。一时困意全无，翻身起来就开始
第一步自然是写Ardunio 端的程序：
这并不难，尤其是ardunio的社区就有现成的代码的时候，只要认认真真读完，自己再重新写一个合意的十分轻松。
当然为了便于今后的学习，我还是把社区里的代码粘上来较为妥当，自己写的实在是乱的不堪入目
// MPU-6050 Accelerometer + Gyro
// -----------------------------
//
// By arduino.cc user "Krodal".
//
// June 2012
// first version
// July 2013
// The 'int' in the union for the x,y,z
// changed into int16_t to be compatible
// with Arduino Due.
//
// Open Source / Public Domain
//
// Using Arduino 1.0.1
// It will not work with an older version,
// since Wire.endTransmission() uses a parameter
// to hold or release the I2C bus.
//
// Documentation:
// - The InvenSense documents:
// - "MPU-6000 and MPU-6050 Product Specification",
// PS-MPU-6000A.pdf
// - "MPU-6000 and MPU-6050 Register Map and Descriptions",
// RM-MPU-6000A.pdf or RS-MPU-6000A.pdf
// - "MPU-6000/MPU-6050 9-Axis Evaluation Board User Guide"
// AN-MPU-6000EVB.pdf
//
// The accuracy is 16-bits.
//
// Temperature sensor from -40 to +85 degrees Celsius
// 340 per degrees, -512 at 35 degrees.
//
// At power-up, all registers are zero, except these two:
// Register 0x6B (PWR_MGMT_2) = 0x40 (I read zero).
// Register 0x75 (WHO_AM_I) = 0x68.
//
#include
// The name of the sensor is "MPU-6050".
// For program code, I omit the '-',
// therefor I use the name "MPU6050....".
// Register names according to the datasheet.
// According to the InvenSense document
// "MPU-6000 and MPU-6050 Register Map
// and Descriptions Revision 3.2", there are no registers
// at 0x02 ... 0x18, but according other information
// the registers in that unknown area are for gain
// and offsets.
//
#define MPU6050_AUX_VDDIO 0x01 // R/W
#define MPU6050_SMPLRT_DIV 0x19 // R/W
#define MPU6050_CONFIG 0x1A // R/W
#define MPU6050_GYRO_CONFIG 0x1B // R/W
#define MPU6050_ACCEL_CONFIG 0x1C // R/W
#define MPU6050_FF_THR 0x1D // R/W
#define MPU6050_FF_DUR 0x1E // R/W
#define MPU6050_MOT_THR 0x1F // R/W
#define MPU6050_MOT_DUR 0x20 // R/W
#define MPU6050_ZRMOT_THR 0x21 // R/W
#define MPU6050_ZRMOT_DUR 0x22 // R/W
#define MPU6050_FIFO_EN 0x23 // R/W
#define MPU6050_I2C_MST_CTRL 0x24 // R/W
#define MPU6050_I2C_SLV0_ADDR 0x25 // R/W
#define MPU6050_I2C_SLV0_REG 0x26 // R/W
#define MPU6050_I2C_SLV0_CTRL 0x27 // R/W
#define MPU6050_I2C_SLV1_ADDR 0x28 // R/W
#define MPU6050_I2C_SLV1_REG 0x29 // R/W
#define MPU6050_I2C_SLV1_CTRL 0x2A // R/W
#define MPU6050_I2C_SLV2_ADDR 0x2B // R/W
#define MPU6050_I2C_SLV2_REG 0x2C // R/W
#define MPU6050_I2C_SLV2_CTRL 0x2D // R/W
#define MPU6050_I2C_SLV3_ADDR 0x2E // R/W
#define MPU6050_I2C_SLV3_REG 0x2F // R/W
#define MPU6050_I2C_SLV3_CTRL 0x30 // R/W
#define MPU6050_I2C_SLV4_ADDR 0x31 // R/W
#define MPU6050_I2C_SLV4_REG 0x32 // R/W
#define MPU6050_I2C_SLV4_DO 0x33 // R/W
#define MPU6050_I2C_SLV4_CTRL 0x34 // R/W
#define MPU6050_I2C_SLV4_DI 0x35 // R
#define MPU6050_I2C_MST_STATUS 0x36 // R
#define MPU6050_INT_PIN_CFG 0x37 // R/W
#define MPU6050_INT_ENABLE 0x38 // R/W
#define MPU6050_INT_STATUS 0x3A // R
#define MPU6050_ACCEL_XOUT_H 0x3B // R
#define MPU6050_ACCEL_XOUT_L 0x3C // R
#define MPU6050_ACCEL_YOUT_H 0x3D // R
#define MPU6050_ACCEL_YOUT_L 0x3E // R
#define MPU6050_ACCEL_ZOUT_H 0x3F // R
#define MPU6050_ACCEL_ZOUT_L 0x40 // R
#define MPU6050_TEMP_OUT_H 0x41 // R
#define MPU6050_TEMP_OUT_L 0x42 // R
#define MPU6050_GYRO_XOUT_H 0x43 // R
#define MPU6050_GYRO_XOUT_L 0x44 // R
#define MPU6050_GYRO_YOUT_H 0x45 // R
#define MPU6050_GYRO_YOUT_L 0x46 // R
#define MPU6050_GYRO_ZOUT_H 0x47 // R
#define MPU6050_GYRO_ZOUT_L 0x48 // R
#define MPU6050_EXT_SENS_DATA_00 0x49 // R
#define MPU6050_EXT_SENS_DATA_01 0x4A // R
#define MPU6050_EXT_SENS_DATA_02 0x4B // R
#define MPU6050_EXT_SENS_DATA_03 0x4C // R
#define MPU6050_EXT_SENS_DATA_04 0x4D // R
#define MPU6050_EXT_SENS_DATA_05 0x4E // R
#define MPU6050_EXT_SENS_DATA_06 0x4F // R
#define MPU6050_EXT_SENS_DATA_07 0x50 // R
#define MPU6050_EXT_SENS_DATA_08 0x51 // R
#define MPU6050_EXT_SENS_DATA_09 0x52 // R
#define MPU6050_EXT_SENS_DATA_10 0x53 // R
#define MPU6050_EXT_SENS_DATA_11 0x54 // R
#define MPU6050_EXT_SENS_DATA_12 0x55 // R
#define MPU6050_EXT_SENS_DATA_13 0x56 // R
#define MPU6050_EXT_SENS_DATA_14 0x57 // R
#define MPU6050_EXT_SENS_DATA_15 0x58 // R
#define MPU6050_EXT_SENS_DATA_16 0x59 // R
#define MPU6050_EXT_SENS_DATA_17 0x5A // R
#define MPU6050_EXT_SENS_DATA_18 0x5B // R
#define MPU6050_EXT_SENS_DATA_19 0x5C // R
#define MPU6050_EXT_SENS_DATA_20 0x5D // R
#define MPU6050_EXT_SENS_DATA_21 0x5E // R
#define MPU6050_EXT_SENS_DATA_22 0x5F // R
#define MPU6050_EXT_SENS_DATA_23 0x60 // R
#define MPU6050_MOT_DETECT_STATUS 0x61 // R
#define MPU6050_I2C_SLV0_DO 0x63 // R/W
#define MPU6050_I2C_SLV1_DO 0x64 // R/W
#define MPU6050_I2C_SLV2_DO 0x65 // R/W
#define MPU6050_I2C_SLV3_DO 0x66 // R/W
#define MPU6050_I2C_MST_DELAY_CTRL 0x67 // R/W
#define MPU6050_SIGNAL_PATH_RESET 0x68 // R/W
#define MPU6050_MOT_DETECT_CTRL 0x69 // R/W
#define MPU6050_USER_CTRL 0x6A // R/W
#define MPU6050_PWR_MGMT_1 0x6B // R/W
#define MPU6050_PWR_MGMT_2 0x6C // R/W
#define MPU6050_FIFO_COUNTH 0x72 // R/W
#define MPU6050_FIFO_COUNTL 0x73 // R/W
#define MPU6050_FIFO_R_W 0x74 // R/W
#define MPU6050_WHO_AM_I 0x75 // R
// Defines for the bits, to be able to change
// between bit number and binary definition.
// By using the bit number, programming the sensor
// is like programming the AVR microcontroller.
// But instead of using "(1< 上面的代码绝大部分都是宏定义，建议不愿意用官方库的同学，复制粘贴下来作为头文件使用。
上一篇我推荐了一个 串口调试 的app，经测试非常不好用
这里可以直接用ardunio的serial monitor
<--- Ardunio
<--- 首先在Tools栏里面选择串口
<--- 然后点击这个按钮就弹出Serial Monitor窗口了
<--- 使用Ardunio社区程序后的输出
想必大家也想到了，这里的输出有很多注解，必定会对后面的matlab采集数据造成困难。不过这就是学习过程，佛挡杀佛，神挡杀神。
思路：
0. 对字符串进行筛选，截取，获得double型的数据
1. 将数据放入 data 数组中
2. 实时更新图像
要点：
0. 将字符串str从第a个字符截取到第b个字符的方法：
str = str(a:b)1. 将元素e放入A数组的方法：
A = [A, e]2. 在一个窗口画多个图像的方法：
help subplot // 参数m为列数, n为行数, p为第几个图像 具体可以使用 3. 在一个图像内画多个函数的方法：
hold all //可理解为暂时不更新图像
plot(x1,y1,s) //参数s，为线条描述，详细可help slop查阅
plot(x2,y2,s)
hold off //可理解为跟新图像程序：
callback.m //下载地址在下面
%%callback.m 文件function callback(s, ~)
global count1;
global count2;
global count3;
global accelX;
global gyroX;
global tempX;
global accelY1;
global accelY2;
global accelY3;
global gyroY1;
global gyroY2;
global gyroY3;
global tempY;
out = fscanf(s);
out = deblank(out);
if (strfind(char(out),'accel:') > 0)
temp = out(7:end);
data = regexp(temp,',','split');
data1 = str2num(char(data(1)));
data2 = str2num(char(data(2)));
data3 = str2num(char(data(3)));
accelX = [accelX,count1];
accelY1 = [accelY1,data1];
accelY2 = [accelY2,data2];
accelY3 = [accelY3,data3];
count1 = count1 + 1;
subplot(2,2,1)
hold all
plot(accelX, accelY1, 'b');
plot(accelX, accelY2, 'g');
plot(accelX, accelY3, 'r');
hold off
break;
elseif (strfind(char(out),'gyro:') > 0)
temp = out(6:end);
data = regexp(temp,',','split');
data1 = str2num(char(data(1)));
data2 = str2num(char(data(2)));
data3 = str2num(char(data(3)));
gyroX = [gyroX,count2];
gyroY1 = [gyroY1,data1];
gyroY2 = [gyroY2,data2];
gyroY3 = [gyroY3,data3];
count2 = count2 + 1;
subplot(2,2,2)
hold all
plot(gyroX, gyroY1, 'b');
plot(gyroX, gyroY2, 'g');
plot(gyroX, gyroY3, 'r');
hold off
break;
elseif (strfind(char(out),'temp:') > 0)
temp = out(6:end);
data = str2num(char(temp));
tempX = [tempX,count3];
tempY = [gyroY1,data];
count3 = count3 + 1;
subplot(2,2,3:4)
plot(tempX, tempY, 'b');
break;
end
%%x = x + 1;
%%subplot(2,2,1);
%%plot()
%%axis([x x+500 -1000 1000]);
end
live.m //下载地址在下面
%%live.mfunction live
global count1;
global count2;
global count3;
global accelX;
global gyroX;
global tempX;
global accelY1;
global accelY2;
global accelY3;
global gyroY1;
global gyroY2;
global gyroY3;
global tempY;
count1 = 1;
count2 = 1;
count3 = 1;
accelX = [];
gyroX = [];
tempX =[];
accelY1 = [];
accelY2 = [];
accelY3 = [];
gyroY1 = [];
gyroY2 = [];
gyroY3 = [];
tempY = [];
%ONTIME Summary of this function goes here
% Detailed explanation goes here
s=serial('/dev/tty.usbmodem1411');
set(s,'BaudRate', 9600,'DataBits',8,'StopBits',1,'Parity','none','FlowControl','none');
s.BytesAvailableFcnMode = 'terminator';
s.BytesAvailableFcn = {@callback};
fopen(s);
pause;
fclose(s);
delete(s);
clear s;
close all;
clear all;
end
callback.m 中的函数是会掉函数，当串口中有数据时边会自动调用
然后就是这样啦！
目标：
0. 读取dmp中的数据，进行绘图
1. 继续使用row data，对数据进行卡尔曼滤波，进行绘图
2. 比较效果
送自己一句话：Ever since the world has been characterized by a rancorous bitterness.