the values which i get is totally random , when i use this code with my mpu-6050,
i think the control register value i have to change , i try many values after reading datasheet of mpu-6050 but the result is still random.
here is my code
#include <Wire.h> //Include the Wire.h library so we can communicate with the gyro
//Declaring variables
int cal_int;
unsigned long UL_timer;
double gyro_pitch, gyro_roll, gyro_yaw;
double gyro_roll_cal, gyro_pitch_cal, gyro_yaw_cal;
byte highByte, lowByte;
//Setup routine
void setup(){
Wire.begin(); //Start the I2C as master
Serial.begin(9600); //Start the serial connetion @ 9600bps
//The gyro is disabled by default and needs to be started
Wire.beginTransmission(0x68); //Start communication with the gyro (adress 1101001)
Wire.write(0x19); //We want to write to register 20
Wire.write(0); //Set the register bits as 00001111 (Turn on the gyro and enable all axis)
Wire.endTransmission(); //End the transmission with the gyro
Wire.beginTransmission(0x68); //Start communication with the gyro (adress 1101001)
Wire.write(0x00); //We want to write to register 23
Wire.write(0x00); //Set the register bits as 10000000 (Block Data Update active)
Wire.endTransmission(); //End the transmission with the gyro
delay(250); //Give the gyro time to start
//Let's take multiple samples so we can determine the average gyro offset
Serial.print("Starting calibration..."); //Print message
for (cal_int = 0; cal_int < 2000 ; cal_int ++){ //Take 2000 readings for calibration
gyro_signalen(); //Read the gyro output
gyro_roll_cal += gyro_roll; //Ad roll value to gyro_roll_cal
gyro_pitch_cal += gyro_pitch; //Ad pitch value to gyro_pitch_cal
gyro_yaw_cal += gyro_yaw; //Ad yaw value to gyro_yaw_cal
if(cal_int%100 == 0)Serial.print("."); //Print a dot every 100 readings
delay(4); //Wait 4 milliseconds before the next loop
}
//Now that we have 2000 measures, we need to devide by 2000 to get the average gyro offset
Serial.println(" done!"); //2000 measures are done!
gyro_roll_cal /= 2000; //Divide the roll total by 2000
gyro_pitch_cal /= 2000; //Divide the pitch total by 2000
gyro_yaw_cal /= 2000; //Divide the yaw total by 2000
//
}
//Main program
void loop(){
delay(250); //Wait 250 microseconds for every loop
gyro_signalen(); //Read the gyro signals
print_output(); //Print the output
}
void gyro_signalen(){
Wire.beginTransmission(0x68); //Start communication with the gyro (adress 1101001)
Wire.write(0x43); //Start reading @ register 28h and auto increment with every read
Wire.endTransmission(); //End the transmission
Wire.requestFrom(0x68, 6); //Request 6 bytes from the gyro
while(Wire.available() < 6); //Wait until the 6 bytes are received
lowByte = Wire.read(); //First received byte is the low part of the angular data
highByte = Wire.read(); //Second received byte is the high part of the angular data
gyro_roll = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte
if(cal_int == 2000)gyro_roll -= gyro_roll_cal; //Only compensate after the calibration
lowByte = Wire.read(); //First received byte is the low part of the angular data
highByte = Wire.read(); //Second received byte is the high part of the angular data
gyro_pitch = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte
gyro_pitch *= -1; //Invert axis
if(cal_int == 2000)gyro_pitch -= gyro_pitch_cal; //Only compensate after the calibration
lowByte = Wire.read(); //First received byte is the low part of the angular data
highByte = Wire.read(); //Second received byte is the high part of the angular data
gyro_yaw = ((highByte<<8)|lowByte); //Multiply highByte by 256 and ad lowByte
gyro_yaw *= -1; //Invert axis
if(cal_int == 2000)gyro_yaw -= gyro_yaw_cal; //Only compensate after the calibration
}
void print_output(){
Serial.print("Pitch:");
if(gyro_pitch >= 0)Serial.print("+");
Serial.print(gyro_pitch/57.14286,0); //Convert to degree per second
if(gyro_pitch/57.14286 - 2 > 0)Serial.print(" NoU");
else if(gyro_pitch/57.14286 + 2 < 0)Serial.print(" NoD");
else Serial.print(" ---");
Serial.print(" Roll:");
if(gyro_roll >= 0)Serial.print("+");
Serial.print(gyro_roll/57.14286,0); //Convert to degree per second
if(gyro_roll/57.14286 - 2 > 0)Serial.print(" RwD");
else if(gyro_roll/57.14286 + 2 < 0)Serial.print(" RwU");
else Serial.print(" ---");
Serial.print(" Yaw:");
if(gyro_yaw >= 0)Serial.print("+");
Serial.print(gyro_yaw/57.14286,0); //Convert to degree per second
if(gyro_yaw/57.14286 - 2 > 0)Serial.println(" NoR");
else if(gyro_yaw/57.14286 + 2 < 0)Serial.println(" NoL");
else Serial.println(" ---");
}
