hi, heres my entire sketch:
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <TimerOne.h>
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
//debug
#define DEBUG
MPU6050 mpu;
//MPU6050 mpu(0x69); // <-- use for AD0 high
#define OUTPUT_READABLE_YAWPITCHROLL
#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
bool blinkState = false;
// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorInt16 aaWorld; // [x, y, z] world-frame accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
// ================================================================
// === STEPPER MOTORS CONFIGURATION ===
// ================================================================
//200 kroków, podział na 8 microstepów = 1600 kroków
const int stepPin1 = PB5; //11; //PB5
const int dirPin1 = 3;
const int stepPin2 = PB6; //12; //PB6
const int dirPin2 = 4;
const int stepPin3 = PB7; //13; //PB7
const int dirPin3 = 5;
int incomingByte = 0;
int stepVal = LOW;
int16_t motor_speed[3];
uint8_t motor_dir[3];
int counter_m[3]; // counters for periods
#define Nmotor 3
volatile long phase[Nmotor];
volatile long frequency[Nmotor];
byte step_pins[Nmotor] = { PB5, PB6, PB7 } ; // step pins for each motor
byte dir_pins[Nmotor] = { PE5, PG5, PE3 } ; // direction pins for each motor
// ================================================================
// === INTERRUPT DETECTION ROUTINE ===
// ================================================================
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady() {
mpuInterrupt = true;
}
// ================================================================
// === INITIAL SETUP ===
// ================================================================
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
#ifdef DEBUG
Serial.begin(115200);
while (!Serial); // wait for Leonardo enumeration, others continue immediately
#endif
// initialize device
#ifdef DEBUG
Serial.println(F("Initializing I2C devices..."));
#endif
mpu.initialize();
// verify connection
#ifdef DEBUG
Serial.println(F("Testing device connections..."));
Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
#endif
// wait for ready
#ifdef DEBUG
Serial.println(F("\nSend any character to begin DMP programming and demo: "));
while (Serial.available() && Serial.read()); // empty buffer
while (!Serial.available()); // wait for data
while (Serial.available() && Serial.read()); // empty buffer again
#endif
// load and configure the DMP
#ifdef DEBUG
Serial.println(F("Initializing DMP..."));
#endif
devStatus = mpu.dmpInitialize();
mpu.setXGyroOffset(220);
mpu.setYGyroOffset(76);
mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
#ifdef DEBUG
Serial.println(F("Enabling DMP..."));
#endif
mpu.setDMPEnabled(true);
// enable Arduino interrupt detection
#ifdef DEBUG
Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
#endif
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
#ifdef DEBUG
Serial.println(F("DMP ready! Waiting for first interrupt..."));
#endif
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
} else {
#ifdef DEBUG
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
#endif
}
//init steppers
init_steppers();
// configure LED for output
pinMode(LED_PIN, OUTPUT);
}
// ================================================================
// === MAIN PROGRAM LOOP ===
// ================================================================
void loop() {
if (!dmpReady) return;
while (!mpuInterrupt && fifoCount < packetSize) {
}
// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
fifoCount = mpu.getFIFOCount();
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
mpu.resetFIFO();
#ifdef DEBUG
Serial.println(F("FIFO overflow!"));
#endif
// otherwise, check for DMP data ready interrupt (this should happen frequently)
} else if (mpuIntStatus & 0x02) {
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
#ifdef OUTPUT_READABLE_YAWPITCHROLL
// display Euler angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
#endif
}
}
// ================================================================
// === INIT STEPPERS PINS ===
// ================================================================
void init_steppers()
{
//dirPIN HIGH -> CCW
//dirPIN LOW -> CW
pinMode(22,OUTPUT);
digitalWrite(22,LOW);
pinMode(11,OUTPUT);
pinMode(dirPin1,OUTPUT);
pinMode(12,OUTPUT);
pinMode(dirPin2,OUTPUT);
pinMode(13,OUTPUT);
pinMode(dirPin3,OUTPUT);
digitalWrite(dirPin3,LOW);
Timer1.initialize(20);
//100us = 0.01mHz
//100us = 10kHz
Timer1.attachInterrupt(ddsMotors);
digitalWrite(dirPin1,LOW);
digitalWrite(dirPin2,LOW);
digitalWrite(dirPin3,LOW);
for (byte i = 0 ; i < Nmotor ; i++)
{
phase[i] = 0L ;
frequency[i] = 0L ;
}
setSpeed(0, 50);
setSpeed(1, 50);
setSpeed(2, 50);
}
// ================================================================
// === STEP STEPPERS ===
// ================================================================
void ddsMotors(void)
{
for (byte i = 0; i < Nmotor; i++)
{
long new_phase = phase[i] + frequency[i] ; // phase accumulate
if ((phase[i] ^ new_phase) < 0L) // sign bit changed, time to step (2 steps per wrap-around)
{
//step
PORTB |= (1<<step_pins[i]);
}
phase[i] = new_phase ;
}
for (byte i = 0 ; i < Nmotor ; i++)
{
PORTB &= ~(1<<step_pins[i]);
}
}
void setSpeed (byte motor, long freq) // interrupt safe function to change motor speed
{
noInterrupts () ;
//frequency = (long)((pow(2, 32) * (float)freq / 10)); ??
frequency[motor] = (long)((pow(2, 32) * (float)freq / 2));
interrupts () ;
}
