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Refactor MPU to use the built-in DMP coprocessor #76

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Refactor MPU to use the built-in DMP coprocessor #76

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Tasssadar
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@Tasssadar Tasssadar commented Mar 2, 2024 •
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  • Používá DMP na vypočítání reálného úhlu natočení RBCX. Vyextrahováno z https://github.com/ElectronicCats/mpu6050
  • Používá interrupt, DMP ma FIFO které je potřeba dostatečně rychle vyčítat
  • Obsahuje kalibraci na nulové hodnoty
  • MPU kód rozdělen na "Driver" (vyloženě posílání MPU příkazů) a "Controller" (integrace s RBCX, posílání do ESP32 a tak).

Tasssadar
Tasssadar commented Mar 2, 2024
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fw/rbcx-coprocessor/.vscode/settings.json
@@ -3,5 +3,55 @@
"spellright.documentTypes": ["markdown", "latex", "plaintext", "cpp"],
"editor.formatOnSave": true,
"editor.formatOnPaste": false,
"C_Cpp.default.includePath": ["include/"]
"C_Cpp.default.includePath": [
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Tohle se mi pokaždé snaží uložit VScode, tak jsem to tam už nechal.

fw/rbcx-coprocessor/src/MpuController.cpp

// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
mpu_reset();
vTaskDelay(pdMS_TO_TICKS(50));
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50ms delay v hlavní smyčce, nevím, jestli vadí.

@Tasssadar Tasssadar mentioned this pull request Mar 2, 2024
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JakubAndrysek commented Mar 12, 2024 •
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Samotné čtení MPU funguje krásně viz video.

20240312_194910_1_1_1_1.mp4

Při čtení MPU a souběžném vypisování na displej dojde po delší době k přeplnění bufferu a začnou tam skákat náhodná čísla.

20240312_200012_1.mp4

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@dzarda dzarda Awaiting requested review from dzarda

@JakubAndrysek JakubAndrysek Awaiting requested review from JakubAndrysek

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@Tasssadar @JakubAndrysek