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MPU_6050_CAN.ino
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/*
Arduino and MPU6050 Accelerometer and Gyroscope Sensor Tutorial
by Dejan, https://howtomechatronics.com
*/
#include <Wire.h>
#include <SPI.h>
#include <mcp_can.h>
const int spiCSPin = 10;
int ledHIGH = 1;
int ledLOW = 0;
int count =0;
const int MPU = 0x68; // MPU6050 I2C address
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;
float accAngleX, accAngleY, gyroAngleX, gyroAngleY, gyroAngleZ;
float roll, pitch, yaw;
float AccErrorX, AccErrorY, GyroErrorX, GyroErrorY, GyroErrorZ;
float elapsedTime, currentTime, previousTime;
int c = 0;
MCP_CAN CAN(spiCSPin);
void setup() {
Serial.begin(115200);
while (CAN_OK != CAN.begin(CAN_500KBPS))
{
Serial.println("CAN BUS init Failed");
delay(100);
}
Serial.println("CAN BUS Shield Init OK!");
Wire.begin(); // Initialize comunication
Wire.beginTransmission(MPU); // Start communication with MPU6050 // MPU=0x68
Wire.write(0x6B); // Talk to the register 6B
Wire.write(0x00); // Make reset - place a 0 into the 6B register
Wire.endTransmission(true); //end the transmission
/*
// Configure Accelerometer Sensitivity - Full Scale Range (default +/- 2g)
Wire.beginTransmission(MPU);
Wire.write(0x1C); //Talk to the ACCEL_CONFIG register (1C hex)
Wire.write(0x10); //Set the register bits as 00010000 (+/- 8g full scale range)
Wire.endTransmission(true);
// Configure Gyro Sensitivity - Full Scale Range (default +/- 250deg/s)
Wire.beginTransmission(MPU);
Wire.write(0x1B); // Talk to the GYRO_CONFIG register (1B hex)
Wire.write(0x10); // Set the register bits as 00010000 (1000deg/s full scale)
Wire.endTransmission(true);
delay(20);
*/
// Call this function if you need to get the IMU error values for your module
calculate_IMU_error();
delay(20);
}
void loop() {
// === Read acceleromter data === //
Wire.beginTransmission(MPU);
Wire.write(0x3B); // Start with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true); // Read 6 registers total, each axis value is stored in 2 registers
//For a range of +-2g, we need to divide the raw values by 16384, according to the datasheet
AccX = (Wire.read() << 8 | Wire.read()) / 16384.0; // X-axis value
AccY = (Wire.read() << 8 | Wire.read()) / 16384.0; // Y-axis value
AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0; // Z-axis value
// Calculating Roll and Pitch from the accelerometer data
accAngleX = (atan(AccY / sqrt(pow(AccX, 2) + pow(AccZ, 2))) * 180 / PI) - 0.58; // AccErrorX ~(0.58) See the calculate_IMU_error()custom function for more details
accAngleY = (atan(-1 * AccX / sqrt(pow(AccY, 2) + pow(AccZ, 2))) * 180 / PI) + 1.58; // AccErrorY ~(-1.58)
// === Read gyroscope data === //
previousTime = currentTime; // Previous time is stored before the actual time read
currentTime = millis(); // Current time actual time read
elapsedTime = (currentTime - previousTime) / 1000; // Divide by 1000 to get seconds
Wire.beginTransmission(MPU);
Wire.write(0x43); // Gyro data first register address 0x43
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true); // Read 4 registers total, each axis value is stored in 2 registers
GyroX = (Wire.read() << 8 | Wire.read()) / 131.0; // For a 250deg/s range we have to divide first the raw value by 131.0, according to the datasheet
GyroY = (Wire.read() << 8 | Wire.read()) / 131.0;
GyroZ = (Wire.read() << 8 | Wire.read()) / 131.0;
// Correct the outputs with the calculated error values
GyroX = GyroX + GyroErrorX; // GyroErrorX ~(-0.56)
GyroY = GyroY - GyroErrorY; // GyroErrorY ~(2)
GyroZ = GyroZ + GyroErrorZ; // GyroErrorZ ~ (-0.8)
// Currently the raw values are in degrees per seconds, deg/s, so we need to multiply by sendonds (s) to get the angle in degrees
gyroAngleX = gyroAngleX + GyroX * elapsedTime; // deg/s * s = deg
gyroAngleY = gyroAngleY + GyroY * elapsedTime;
yaw = yaw + GyroZ * elapsedTime;
// Complementary filter - combine acceleromter and gyro angle values
roll = 0.96 * gyroAngleX + 0.04 * accAngleX;
pitch = 0.96 * gyroAngleY + 0.04 * accAngleY;
// Print the values on the serial monitor
Serial.print(AccX);
Serial.print("/");
Serial.print(AccY);
Serial.print("/");
Serial.print(AccZ);
Serial.print("/");
Serial.println(yaw);
// int a=analogRead(A1);
float b=analogRead(A0)*5/1024;
// Serial.println(a);
{
unsigned int b=(unsigned int) (AccX*100);
unsigned int d=(unsigned int) (AccY*100);
unsigned int f=(unsigned int) (AccZ*100);
unsigned int h=(unsigned int) (GyroX*100);
byte *p=(byte*) &AccX;
byte *q=(byte*) &AccY;
byte *r=(byte*) &AccZ;
byte *t=(byte*) &GyroY;
byte *u=(byte*) &GyroZ;
byte *s=(byte*) &GyroX;
Serial.println("In loop");
CAN.sendMsgBuf(0x43, 0, 4, p);
CAN.sendMsgBuf(0x44, 0, 4, q);
CAN.sendMsgBuf(0x45, 0, 4, r);
CAN.sendMsgBuf(0x46, 0, 4, s);
CAN.sendMsgBuf(0x47, 0, 4, t);
CAN.sendMsgBuf(0x48, 0, 4, u);
unsigned char a[8]={1,2,3,4,5,3,4,3};
// CAN.sendMsgBuf(0x49, 0, 8, a);
// CAN.sendMsgBuf(0x50, 0,8,a);
// CAN.sendMsgBuf(0x51, 0, 8, a);
// CAN.sendMsgBuf(0x52, 0, 8, a);
// CAN.sendMsgBuf(0x53, 0, 8, a);
// CAN.sendMsgBuf(0x54, 0, 8, a);
//Serial.println(p);
//Serial.println(q);
}
}
void calculate_IMU_error() {
// We can call this funtion in the setup section to calculate the accelerometer and gyro data error. From here we will get the error values used in the above equations printed on the Serial Monitor.
// Note that we should place the IMU flat in order to get the proper values, so that we then can the correct values
// Read accelerometer values 200 times
while (c < 200) {
Wire.beginTransmission(MPU);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true);
AccX = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
AccY = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
AccZ = (Wire.read() << 8 | Wire.read()) / 16384.0 ;
// Sum all readings
AccErrorX = AccErrorX + ((atan((AccY) / sqrt(pow((AccX), 2) + pow((AccZ), 2))) * 180 / PI));
AccErrorY = AccErrorY + ((atan(-1 * (AccX) / sqrt(pow((AccY), 2) + pow((AccZ), 2))) * 180 / PI));
c++;
}
//Divide the sum by 200 to get the error value
AccErrorX = AccErrorX / 200;
AccErrorY = AccErrorY / 200;
c = 0;
// Read gyro values 200 times
while (c < 200) {
Wire.beginTransmission(MPU);
Wire.write(0x43);
Wire.endTransmission(false);
Wire.requestFrom(MPU, 6, true);
GyroX = Wire.read() << 8 | Wire.read();
GyroY = Wire.read() << 8 | Wire.read();
GyroZ = Wire.read() << 8 | Wire.read();
// Sum all readings
GyroErrorX = GyroErrorX + (GyroX / 131.0);
GyroErrorY = GyroErrorY + (GyroY / 131.0);
GyroErrorZ = GyroErrorZ + (GyroZ / 131.0);
c++;
}
//Divide the sum by 200 to get the error value
GyroErrorX = GyroErrorX / 200;
GyroErrorY = GyroErrorY / 200;
GyroErrorZ = GyroErrorZ / 200;
// Print the error values on the Serial Monitor
Serial.print("AccErrorX: ");
Serial.println(AccErrorX);
Serial.print("AccErrorY: ");
Serial.println(AccErrorY);
Serial.print("GyroErrorX: ");
Serial.println(GyroErrorX);
Serial.print("GyroErrorY: ");
Serial.println(GyroErrorY);
Serial.print("GyroErrorZ: ");
Serial.println(GyroErrorZ);
}