MPU6050 sensor read with the Netduino VB

Hi.

I am using the NP2 with MPU6050 to make a system for a wheelie controller for my motorbike.

Below is the VB code for the MPU6050 sensor.

If anyone has the code for Orientation or code that tells me the position of the IMU I would really love to have it. If you have code with a different sensor, no problem, I will buy the sensor required. I think a 9DOF would of been better than my 6DOF. (I am new to this micro controller world)

If you code is in C# , no problem as I will use online code converter to get in to VB.net.

The code bellow is thanks to Johannes Paul Langer in Germany. It was in C# and I converted it to VB.net and translated all the German parts to English.

If you want the C# version it is here at the bottom of there page: http://meineweltinme...m-netduino.html

Here is a link to VB.net code. http://www.laspalmer...oPlus2 Gyro 01/

It is the same code as I have pasted in this post.

I sure hope some one can pass me the code for Orientation as there is not much on the internet for Netduino.

Thanks and hope to see a lot more Code for the Netduino users posted here.

Posted Image

File structure looks like this:

[color=#daa520;]I2C Hardware[/color] ___ [color=#0000cd;]I2CConnector.vb[/color]

[color=#daa520;]Sensor[/color] ________ [color=#0000cd;]AccelerationAndGyroData.vb[/color]

l___ [color=#0000cd;]Module1.vb[/color]

I___ [color=#0000cd;]MPU6050.vb[/color]

[color=#0000cd;]File: Module1.vb[/color]

Imports Microsoft.SPOT
Imports NetduinoApplication1.ExampleAccelGyroSensor.Sensor
Namespace NetduinoApplication1
Public Class Program
Public Shared Sub Main()
' Initializing the Sensor
Dim mpu6050 As New MPU6050()
' Creating object for gyro and accelerometer
Dim senorResult As AccelerationAndGyroData = mpu6050.GetSensorData()
While True
' retrieve data
senorResult = mpu6050.GetSensorData()
' issue
' Here it prints Data to screen
Debug.Print(senorResult.ToString())
Thread.Sleep(100)
End While
End Sub
End Class
End Namespace

[color=#0000cd;]File : MPU6050.vb[/color]

Imports Microsoft.SPOT
Imports NetduinoApplication1.ExampleAccelGyroSensor.I2C_Hardware
Namespace ExampleAccelGyroSensor.Sensor
Public Class MPU6050
' <summary>
' Classes for the connection via the I � C bus
' </summary>
Private _I2C As I2C_Connector
' <summary>
' Class with the initializing Appropriate addresses
' </summary>
Public Sub New()
Debug.Print("Initialize the accelerometer and gyro sensor MPU-6050")
_I2C = New I2C_Connector(MPU6050_Registers.I2C_ADDRESS, 100)
Initialize()
' test connection
Debug.Print("testing the Connection:")
ErrorStatus(_I2C.Read(New Byte() {MPU6050_Registers.WHO_AM_I}))
Debug.Print("-----------------------------------------------------------------------")
End Sub
' <summary>
' Initialize the sensor with the default address
' </summary>
Public Sub Initialize()
' PWR_MGMT_1 = Power Management 1 (11111001)
' 0xF9 = Device Reset (1) Sleep (1) Cycle (1) nothing (1) temperature (1), set clock source (001)
ErrorStatus(_I2C.Write(New Byte() {MPU6050_Registers.PWR_MGMT_1, &HF9}))
' FullScaleGyroRange
ErrorStatus(_I2C.Write(New Byte() {MPU6050_Registers.GYRO_CONFIG, &HE7}))
' FullScaleAccelRange
ErrorStatus(_I2C.Write(New Byte() {MPU6050_Registers.ACCEL_CONFIG, &HE7}))
' Exit sleep mode
ErrorStatus(_I2C.Write(New Byte() {MPU6050_Registers.PWR_MGMT_1, &H1}))
End Sub
' <summary>
' Returns an error status via Debug
' </summary>
' <param name="error"></param>
Private Sub ErrorStatus(ByVal [error] As Object)
If [error] IsNot Nothing Then
If CInt([error]) = 0 Then
Debug.Print("Status: Error")
Else
Debug.Print("Status: OK")
End If
End If
End Sub
' <summary>
' Retrieves the data from the sensor from
' </summary>
Public Function GetSensorData() As AccelerationAndGyroData
Dim registerList As Byte() = New Byte(13) {}
registerList(0) = MPU6050_Registers.ACCEL_XOUT_H
registerList(1) = MPU6050_Registers.ACCEL_XOUT_L
registerList(2) = MPU6050_Registers.ACCEL_YOUT_H
registerList(3) = MPU6050_Registers.ACCEL_YOUT_L
registerList(4) = MPU6050_Registers.ACCEL_ZOUT_H
registerList(5) = MPU6050_Registers.ACCEL_ZOUT_L
registerList(6) = MPU6050_Registers.TEMP_OUT_H
registerList(7) = MPU6050_Registers.TEMP_OUT_L
registerList(8) = MPU6050_Registers.GYRO_XOUT_H
registerList(9) = MPU6050_Registers.GYRO_XOUT_L
registerList(10) = MPU6050_Registers.GYRO_YOUT_H
registerList(11) = MPU6050_Registers.GYRO_YOUT_L
registerList(12) = MPU6050_Registers.GYRO_ZOUT_H
registerList(13) = MPU6050_Registers.GYRO_ZOUT_L
_I2C.Write(New Byte() {MPU6050_Registers.ACCEL_XOUT_H})
_I2C.Read(registerList)
Return New AccelerationAndGyroData(registerList)
End Function
End Class
End Namespace

File: [color=#0000cd;]AccelerationAndGyroData.vb[/color]

Namespace ExampleAccelGyroSensor.Sensor
' <summary>
' Object to evaluate the results and provide the measured values.
' </summary>
Public Structure AccelerationAndGyroData
' <summary>
' X Axis of the acceleration sensor
' </summary>
Public Acceleration_X As Integer
' <summary>
' Y Axis of the acceleration sensor
' </summary>
Public Acceleration_Y As Integer
' <summary>
' Z Axis of the acceleration sensor
' </summary>
Public Acceleration_Z As Integer
' <summary>
' Temperatur Wert
' </summary>
Public Temperatur As Integer
' <summary>
' X Axis of the gyroscope
' </summary>
Public Gyro_X As Integer
' <summary>
' Y Axis of the gyroscope
' </summary>
Public Gyro_Y As Integer
' <summary>
' Z Axis of the gyroscope
' </summary>
Public Gyro_Z As Integer
' <summary>
' Creates the object with the results
' </summary>
' <param name="results"></param>
Public Sub New(ByVal results As Byte())
' Result for the acceleration sensor put together by bit shifting
Acceleration_X = (CInt(results(0)) << 8) Or results(1)
Acceleration_Y = (CInt(results(2)) << 8) Or results(3)
Acceleration_Z = (CInt(results(4)) << 8) Or results(5)
' Results for temperature (date not yet tested)
Temperatur = (CInt(results(6)) << 8) Or results(7)
' Result for the gyroscope sensor put together by bit shifting
Gyro_X = (CInt(results(8)) << 8) Or results(9)
Gyro_Y = (CInt(results(10)) << 8) Or results(11)
Gyro_Z = (CInt(results(12)) << 8) Or results(13)
End Sub
Private Property vbTab As String
' <summary>
' Override the ToString () method
' Are all values ??in a string
' </summary>
' <returns></returns>
Public Overrides Function ToString() As String
Return "Acceleration: X: " & GetProzent(Acceleration_X) & vbTab & "Y:" & GetProzent(Acceleration_Y) & vbTab & "Z:" & GetProzent(Acceleration_Z) & " " & vbTab & " Temp: " & GetProzent(Temperatur) & " " & vbTab & " Gyro: X: " & GetProzent(Gyro_X) & vbTab & "Y: " & GetProzent(Gyro_Y) & vbTab & "Z: " & GetProzent(Gyro_Z)
End Function
' <summary>
' Returns the value as a percentage value in order to keep the number small.
' </summary>
' <param name="value"></param>
' <returns></returns>
Private Function GetProzent(ByVal value As Integer) As String
Dim d As Double = CDbl(value)
Dim result As Double = System.Math.Round((d / 65535) * 100)
Return GetToThreeStellingerWorth(result.ToString())
End Function
' <summary>
' Makes the value of a three-digit number
' </summary>
' <param name="content"></param>
' <returns></returns>
Private Function GetToThreeStellingerWorth(ByVal content As String) As String
If content.Length = 1 Then
Return "__" & content
ElseIf content.Length = 2 Then
Return "_" & content
End If
Return content
End Function
End Structure
End Namespace

File : [color=#0000cd;]I2CConnector.vb[/color]

Imports Microsoft.SPOT.Hardware
Imports Microsoft.SPOT
Namespace ExampleAccelGyroSensor.I2C_Hardware
''' <summary>
'''Simple class to connect a module to the I � C bus.
''' Is from an example in the forum of Netduino.com derived.
''' </summary>
Public Class I2C_Connector
''' <summary>
''' Hold configurations
''' </summary>
Private _Config As I2CDevice.Configuration
''' <summary>
''' Main class for the connection
''' </summary>
Private _Device As I2CDevice
''' <summary>
''' Initializes the class
''' Configuration is created and
''' the corresponding class I2C device is initialized
''' </summary>
''' <param name="address"> address byte transferred from the module. </ param>
''' <param name="clockRateKHz"> clock rate in KHz set </ param>
Public Sub New(ByVal address As Byte, ByVal clockRateKHz As Integer)
' Transfer the address and clock frequency
_Config = New I2CDevice.Configuration(address, clockRateKHz)
_Device = New I2CDevice(_Config)
End Sub
''' <summary>
''' Sends the contents of the byte array to the hardware
''' </summary>
''' <param name="writeBuffer">Byte Array</param>
Public Function Write(ByVal writeBuffer As Byte()) As Integer
' Byte array passed to the ertellen a Transaction
Dim writeTransaction As I2CDevice.I2CTransaction() = New I2CDevice.I2CTransaction() {I2CDevice.CreateWriteTransaction(writeBuffer)}
' Send the data to the hardware. Timeout at 1 second
Dim written As Integer = Me._Device.Execute(writeTransaction, 1000)
' Check if all data have been sent otherwise perform exception
If written <> writeBuffer.Length Then
Debug.Print("Data can not be sent to the module.")
End If
Return written
End Function
''' <summary>
''' Gets the addresses in the buffer, the values ??from
''' </summary>
''' <param name="read Buffer"> byte array containing addresses for the retrieval of relevant data </ param>
Public Function Read(ByVal readBuffer As Byte()) As Integer
' Create a transaction for reading with handover of the byte array
Dim readTransaction As I2CDevice.I2CTransaction() = New I2CDevice.I2CTransaction() {I2CDevice.CreateReadTransaction(readBuffer)}
' Reading the data from the hardware. Timeout of one second
Dim read__1 As Integer = Me._Device.Execute(readTransaction, 1000)
' Check if the data were sent
If read__1 <> readBuffer.Length Then
'throw new Exception("It could not be read from the module.");
Debug.Print("It could not be read from the module.")
End If
Return read__1
End Function
End Class
End Namespace