#include "MPU6050.h"
#include "I2C.h"
#include "usart.h"
#define PRINT_ACCEL     (0x01)
#define PRINT_GYRO      (0x02)
#define PRINT_QUAT      (0x04)
#define ACCEL_ON        (0x01)
#define GYRO_ON         (0x02)
#define MOTION          (0)
#define NO_MOTION       (1)
#define DEFAULT_MPU_HZ  (200)
#define FLASH_SIZE      (512)
#define FLASH_MEM_START ((void*)0x1800)
#define q30  1073741824.0f
short gyro[3], accel[3], sensors;
//零点漂移计数
int Deviation_Count;

short sum_gyro[3];
short sum_accel[3];

// Gyro static error, raw data
//陀螺仪静差，原始数据
short Deviation_gyro[3],Original_gyro[3];  
short Deviation_accel[3],Original_accel[3]; 
float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
//static signed char gyro_orientation[9] = {-1, 0, 0,
//                                           0,-1, 0,
//                                           0, 0, 1};

//static  unsigned short inv_row_2_scale(const signed char *row)
//{
//    unsigned short b;

//    if (row[0] > 0)
//        b = 0;
//    else if (row[0] < 0)
//        b = 4;
//    else if (row[1] > 0)
//        b = 1;
//    else if (row[1] < 0)
//        b = 5;
//    else if (row[2] > 0)
//        b = 2;
//    else if (row[2] < 0)
//        b = 6;
//    else
//        b = 7;      // error
//    return b;
//}

void MPU6050_task(void *pvParameters)
{
    u32 lastWakeTime = getSysTickCnt();
    while(1)
    {	
			//This task runs at 100Hz
			//此任务以100Hz的频率运行
			vTaskDelayUntil(&lastWakeTime, F2T(RATE_100_HZ));	
		
			//Read the gyroscope zero before starting
      //开机前，读取陀螺仪零点			
		  if(Deviation_Count<CONTROL_DELAY)
		  {	 
		  	Deviation_Count++;
				sum_gyro[0]+=gyro[0];
				sum_gyro[1]+=gyro[1];
				sum_gyro[2]+=gyro[2];
				sum_accel[0]+=accel[0];
				sum_accel[1]+=accel[1];
				sum_accel[2]+=accel[2];
				for(int i=0;i<3;i++)
				{
					Deviation_gyro[i] = (short)(sum_gyro[i] / (short)Deviation_Count);
				}
				
			  // memcpy(Deviation_gyro,gyro,sizeof(gyro));		
				memcpy(Deviation_accel,accel,sizeof(accel));	
		  }		

     MPU_Get_Gyroscope(); //得到陀螺仪数据
     MPU_Get_Accelscope(); //获得加速度计值(原始值)
    }
}  

//static  unsigned short inv_orientation_matrix_to_scalar(
//    const signed char *mtx)
//{
//    unsigned short scalar;
//    scalar = inv_row_2_scale(mtx);
//    scalar |= inv_row_2_scale(mtx + 3) << 3;
//    scalar |= inv_row_2_scale(mtx + 6) << 6;


//    return scalar;
//}

//static void run_self_test(void)
//{
//    int result;
//    long gyro[3], accel[3];

//    result = mpu_run_self_test(gyro, accel);
//    if (result == 0x7) {
//        /* Test passed. We can trust the gyro data here, so let's push it down
//         * to the DMP.
//         */
//        float sens;
//        unsigned short accel_sens;
//        mpu_get_gyro_sens(&sens);
//        gyro[0] = (long)(gyro[0] * sens);
//        gyro[1] = (long)(gyro[1] * sens);
//        gyro[2] = (long)(gyro[2] * sens);
//        dmp_set_gyro_bias(gyro);
//        mpu_get_accel_sens(&accel_sens);
//        accel[0] *= accel_sens;
//        accel[1] *= accel_sens;
//        accel[2] *= accel_sens;
//        dmp_set_accel_bias(accel);
//		//printf("setting bias succesfully ......\r\n");
//    }
//}



uint8_t buffer[14];

int16_t  MPU6050_FIFO[6][11];
int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0;



/**************************************************************************
Function: The new ADC data is updated to FIFO array for filtering
Input   : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data
Output  : none
函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理
入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据
返回  值：无
**************************************************************************/
void  MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)
{
unsigned char i ;
int32_t sum=0;
for(i=1;i<10;i++){	//FIFO 操作
MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0][i];
MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1][i];
MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2][i];
MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3][i];
MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4][i];
MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5][i];
}
MPU6050_FIFO[0][9]=ax;//将新的数据放置到 数据的最后面
MPU6050_FIFO[1][9]=ay;
MPU6050_FIFO[2][9]=az;
MPU6050_FIFO[3][9]=gx;
MPU6050_FIFO[4][9]=gy;
MPU6050_FIFO[5][9]=gz;

sum=0;
for(i=0;i<10;i++){	//求当前数组的合，再取平均值
   sum+=MPU6050_FIFO[0][i];
}
MPU6050_FIFO[0][10]=sum/10;

sum=0;
for(i=0;i<10;i++){
   sum+=MPU6050_FIFO[1][i];
}
MPU6050_FIFO[1][10]=sum/10;

sum=0;
for(i=0;i<10;i++){
   sum+=MPU6050_FIFO[2][i];
}
MPU6050_FIFO[2][10]=sum/10;

sum=0;
for(i=0;i<10;i++){
   sum+=MPU6050_FIFO[3][i];
}
MPU6050_FIFO[3][10]=sum/10;

sum=0;
for(i=0;i<10;i++){
   sum+=MPU6050_FIFO[4][i];
}
MPU6050_FIFO[4][10]=sum/10;

sum=0;
for(i=0;i<10;i++){
   sum+=MPU6050_FIFO[5][i];
}
MPU6050_FIFO[5][10]=sum/10;
}

/**************************************************************************
Function: Setting the clock source of mpu6050
Input   : source：Clock source number
Output  : none
函数功能：设置  MPU6050 的时钟源
入口参数：source：时钟源编号
返回  值：无
 * CLK_SEL | Clock Source
 * --------+--------------------------------------
 * 0       | Internal oscillator
 * 1       | PLL with X Gyro reference
 * 2       | PLL with Y Gyro reference
 * 3       | PLL with Z Gyro reference
 * 4       | PLL with external 32.768kHz reference
 * 5       | PLL with external 19.2MHz reference
 * 6       | Reserved
 * 7       | Stops the clock and keeps the timing generator in reset
**************************************************************************/
void MPU6050_setClockSource(uint8_t source){
    I2C_WriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);

}

/** Set full-scale gyroscope range.
 * @param range New full-scale gyroscope range value
 * @see getFullScaleRange()
 * @see MPU6050_GYRO_FS_250
 * @see MPU6050_RA_GYRO_CONFIG
 * @see MPU6050_GCONFIG_FS_SEL_BIT
 * @see MPU6050_GCONFIG_FS_SEL_LENGTH
 */
void MPU6050_setFullScaleGyroRange(uint8_t range) {
    I2C_WriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}

/**************************************************************************
Function: Setting the maximum range of mpu6050 accelerometer
Input   : range：Acceleration maximum range number
Output  : none
函数功能：设置 MPU6050 加速度计的最大量程
入口参数：range：加速度最大量程编号
返回  值：无
**************************************************************************/
//#define MPU6050_ACCEL_FS_2          0x00  		//===最大量程+-2G
//#define MPU6050_ACCEL_FS_4          0x01			//===最大量程+-4G
//#define MPU6050_ACCEL_FS_8          0x02			//===最大量程+-8G
//#define MPU6050_ACCEL_FS_16         0x03			//===最大量程+-16G
void MPU6050_setFullScaleAccelRange(uint8_t range) {
    I2C_WriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}

/**************************************************************************
Function: Set mpu6050 to sleep mode or not
Input   : enable：1，sleep；0，work；
Output  : none
函数功能：设置 MPU6050 是否进入睡眠模式
入口参数：enable：1，睡觉；0，工作；
返回  值：无
**************************************************************************/
void MPU6050_setSleepEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}

/**************************************************************************
Function: Read identity
Input   : none
Output  : 0x68
函数功能：读取  MPU6050 WHO_AM_I 标识
入口参数：无
返回  值：0x68
**************************************************************************/
uint8_t MPU6050_getDeviceID(void) {

	
	return I2C_ReadOneByte(devAddr,MPU6050_RA_WHO_AM_I);
	
//    IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer);
//    return buffer[0];
}

/**************************************************************************
Function: Check whether mpu6050 is connected
Input   : none
Output  : 1：Connected；0：Not connected
函数功能：检测MPU6050 是否已经连接
入口参数：无
返回  值：1：已连接；0：未连接
**************************************************************************/
uint8_t MPU6050_testConnection(void) {
   if(MPU6050_getDeviceID() == 0x68)  //0b01101000;
   return 1;
   	else return 0;
}

/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input   : enable：1，yes；0;not
Output  : none
函数功能：设置 MPU6050 是否为AUX I2C线的主机
入口参数：enable：1，是；0：否
返回  值：无
**************************************************************************/
void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}

/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input   : enable：1，yes；0;not
Output  : none
函数功能：设置 MPU6050 是否为AUX I2C线的主机
入口参数：enable：1，是；0：否
返回  值：无
**************************************************************************/
void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
    I2C_WriteOneBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}

/**************************************************************************
Function: initialization Mpu6050 to enter the available state
Input   : none
Output  : none
函数功能：初始化	MPU6050 以进入可用状态
入口参数：无
返回  值：无
**************************************************************************/
u8 MPU6050_initialize(void) 
	{
		u8 res;
	//IIC_Init();  //Initialize the IIC bus //初始化IIC总线
	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80);	//Reset MPUrobot_select_init.h //复位MPUrobot_select_init.h
  delay_ms(200); //Delay 200 ms //延时200ms
	I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00);	//Wake mpurobot_select_init.h //唤醒MPUrobot_select_init.h
	
  //MPU6050_Set_Gyro_Fsr(1);  //Gyroscope sensor              //陀螺仪传感器,±500dps=±500°/s ±32768 (gyro/32768*500)*PI/180(rad/s)=gyro/3754.9(rad/s)
	MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_500);
	//MPU6050_Set_Accel_Fsr(0);	//Acceleration sensor           //加速度传感器,±2g=±2*9.8m/s^2 ±32768 accel/32768*19.6=accel/1671.84
  MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
	MPU6050_Set_Rate(50);			//Set the sampling rate to 50Hz //设置采样率50Hz
	
	I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00);	  //Turn off all interrupts //关闭所有中断
	I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00);	//The I2C main mode is off //I2C主模式关闭
	I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00);	  //Close the FIFO //关闭FIFO
	//The INT pin is low, enabling bypass mode to read the magnetometer directly
	//INT引脚低电平有效，开启bypass模式，可以直接读取磁力计
	I2C_WriteOneByte(devAddr,MPU6050_RA_INT_PIN_CFG,0X80);
	//Read the ID of MPU6050 
	//读取MPU6050的ID	
	res=I2C_ReadOneByte(devAddr,MPU6050_RA_WHO_AM_I);
	if(res==MPU6050_DEFAULT_ADDRESS) //The device ID is correct, The correct device ID depends on the AD pin //器件ID正确, 器件ID的正确取决于AD引脚
	{
		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X01);	//Set CLKSEL,PLL X axis as reference //设置CLKSEL,PLL X轴为参考
		I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00);	//Acceleration and gyroscope both work //加速度与陀螺仪都工作
		MPU6050_Set_Rate(50);	                      //Set the sampling rate to 50Hz //设置采样率为50Hz   
 	}else return 1;
	return 0;

}

/**************************************************************************
Function: Initialization of DMP in mpu6050
Input   : none
Output  : none
函数功能：MPU6050内置DMP的初始化
入口参数：无
返回  值：无
**************************************************************************/
//void DMP_Init(void)
//{ 
//   u8 temp[1]={0};
//   i2cRead(0x68,0x75,1,temp);
//	 printf("mpu_set_sensor complete ......\r\n");
//	if(temp[0]!=0x68)NVIC_SystemReset();
//	if(!mpu_init())
//  {
//	  if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
//	  	 printf("mpu_set_sensor complete ......\r\n");
//	  if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))
//	  	 printf("mpu_configure_fifo complete ......\r\n");
//	  if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))
//	  	 printf("mpu_set_sample_rate complete ......\r\n");
//	  if(!dmp_load_motion_driver_firmware())
//	  	printf("dmp_load_motion_driver_firmware complete ......\r\n");
//	  if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
//	  	 printf("dmp_set_orientation complete ......\r\n");
//	  if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
//	      DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
//	      DMP_FEATURE_GYRO_CAL))
//	  	 printf("dmp_enable_feature complete ......\r\n");
//	  if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))
//	  	 printf("dmp_set_fifo_rate complete ......\r\n");
//	  run_self_test();
//		if(!mpu_set_dmp_state(1))
//			 printf("mpu_set_dmp_state complete ......\r\n");
//  }

//}
/**************************************************************************
Function: Read the attitude information of DMP in mpu6050
Input   : none
Output  : none
函数功能：读取MPU6050内置DMP的姿态信息
入口参数：无
返回  值：无
**************************************************************************/
//void Read_DMP(void)
//{	
//	  unsigned long sensor_timestamp;
//		unsigned char more;
//		long quat[4];

//				dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more);		//读取DMP数据
//				if (sensors & INV_WXYZ_QUAT )
//				{    
//					 q0=quat[0] / q30;
//					 q1=quat[1] / q30;
//					 q2=quat[2] / q30;
//					 q3=quat[3] / q30; 		//四元数
//					 Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; 	//计算出横滚角
//					 Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // 计算出俯仰角
//					 Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;	 //计算出偏航角
//				}

//}
/**************************************************************************
Function: Read mpu6050 built-in temperature sensor data
Input   : none
Output  : Centigrade temperature
函数功能：读取MPU6050内置温度传感器数据
入口参数：无
返回  值：摄氏温度
**************************************************************************/
int Read_Temperature(void)
{	   
	  float Temp;
	  Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L);
		if(Temp>32768) Temp-=65536;	//数据类型转换
		Temp=(36.53f+Temp/340)*10;	  //温度放大十倍存放
	  return (int)Temp;
}

/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input   : LPF: Digital low-pass filtering frequency (Hz)
Output  : 0: Settings successful, others: Settings failed
函数功能：设置MPUrobot_select_init.h的数字低通滤波器
入口参数：lpf:数字低通滤波频率(Hz)
返回  值：0:设置成功, 其他:设置失败
**************************************************************************/
unsigned char MPU6050_Set_LPF(u16 lpf)
{
	u8 data=0;
	if(lpf>=188)data=1;
	else if(lpf>=98)data=2;
	else if(lpf>=42)data=3;
	else if(lpf>=20)data=4;
	else if(lpf>=10)data=5;
	else data=6; 
	return I2C_WriteOneByte(devAddr,MPU6050_RA_CONFIG,data); //Set the digital lowpass filter//设置数字低通滤波器  
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input   : rate:4~1000(Hz)
Output  : 0: Settings successful, others: Settings failed
函数功能：设置MPUrobot_select_init.h的采样率(假定Fs=1KHz)
入口参数：rate:4~1000(Hz)
返回  值：0:设置成功, 其他:设置失败
**************************************************************************/
unsigned char MPU6050_Set_Rate(u16 rate)
{
	u8 data;
	if(rate>1000)rate=1000;
	if(rate<4)rate=4;
	data=1000/rate-1;
	data=I2C_WriteOneByte(devAddr,MPU6050_RA_SMPLRT_DIV,data);	//Set the digital lowpass filter//设置数字低通滤波器  
 	return MPU6050_Set_LPF(rate/2);	//Automatically sets LPF to half of the sampling rate //自动设置LPF为采样率的一半
}

/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input   : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
Output  : 0: success, others: error code
函数功能：获得陀螺仪值(原始值)
**************************************************************************/
void MPU_Get_Gyroscope(void)
{
		gyro[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_L);    //读取X轴陀螺仪
		gyro[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_L);    //读取Y轴陀螺仪
		gyro[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_L);    //读取Z轴陀螺仪
	
	if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
		{

			Led_Count=1; //LED high frequency flashing //LED高频闪烁
			Flag_Stop=1; //The software fails to flag location 1 //软件失能标志位置1		
		}
	else //10 seconds after starting //开机10秒后
		{  
			if(Deviation_Count==CONTROL_DELAY)
				Flag_Stop=0; //The software fails to flag location 0 //软件失能标志位置0
			Led_Count=300; //The LED returns to normal flicker frequency //LED恢复正常闪烁频率	
			
			//Save the raw data to update zero by clicking the user button
			//保存原始数据用于单击用户按键更新零点
			Original_gyro[0] =gyro[0];  
			Original_gyro[1] =gyro[1];  
			Original_gyro[2]= gyro[2];			
			
			//Removes zero drift data
			//去除零点漂移的数据
			gyro[0] =Original_gyro[0]-Deviation_gyro[0];  
			gyro[1] =Original_gyro[1]-Deviation_gyro[1];  
			gyro[2]= Original_gyro[2]-Deviation_gyro[2];
		}
	 	
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input   : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
Output  : 0: success, others: error code
函数功能：获得加速度计值(原始值)
**************************************************************************/
void MPU_Get_Accelscope(void)
{
		accel[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_L); //读取X轴加速度计
		accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //读取X轴加速度计
		accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //读取Z轴加速度计
	
		if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
		{
	
		}
		else //10 seconds after starting //开机10秒后
		{  		
			//Save the raw data to update zero by clicking the user button
			//保存原始数据用于单击用户按键更新零点
			Original_accel[0] =accel[0];  
			Original_accel[1] =accel[1];  
			Original_accel[2]= accel[2];			
			
			//Removes zero drift data
			//去除零点漂移的数据
			accel[0] =Original_accel[0]-Deviation_accel[0];  
			accel[1] =Original_accel[1]-Deviation_accel[1];  
			accel[2]= Original_accel[2]-Deviation_accel[2]+16384;
		}
}

//------------------End of File----------------------------